CA2916488C - Method for detecting when a snowmobile falls through ice - Google Patents
Method for detecting when a snowmobile falls through ice Download PDFInfo
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- CA2916488C CA2916488C CA2916488A CA2916488A CA2916488C CA 2916488 C CA2916488 C CA 2916488C CA 2916488 A CA2916488 A CA 2916488A CA 2916488 A CA2916488 A CA 2916488A CA 2916488 C CA2916488 C CA 2916488C
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M27/00—Propulsion devices for sledges or the like
- B62M27/02—Propulsion devices for sledges or the like power driven
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J27/00—Safety equipment
- B62J27/20—Airbags specially adapted for motorcycles or the like
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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Abstract
The invention relates to a method for detecting when a snowmobile (100) falls through ice, wherein, during ongoing operation of the snowmobile (100), at least one inertial sensor (131, 132) determines measured values of at least one movement variable of the snowmobile (100), the determined measured values are monitored in order to determine whether the result is a pattern which indicates that the snowmobile (100) has fallen through ice, if the result is a pattern which indicates that the snowmobile (100) has fallen through ice, a current movement of the snowmobile (100) is compared with a movement of the snowmobile (100) predicted from a previous movement of the snowmobile (100), and it is detected that the snowmobile (100) has fallen through ice if the current movement of the snowmobile (100) differs from the movement of the snowmobile (100) predicted from the previous movement of the snowmobile (100).
Description
Description Method for detecting when a snowmobile falls through ice The present invention relates to a method for detecting when a snowmobile falls through ice and to a computing unit, a snowmobile and a computer program for carrying out said method.
Prior art Tracked vehicles for movement in snow are usually referred to as snowmobiles. Snowmobiles can also be moved on frozen water covered by a layer of ice. In this case, there is the risk of this layer of ice breaking, the snowmobile falling through the ice and sinking in the water underneath. If the snowmobile falls through ice, this may result in a mortal danger for the driver of the snowmobile. This danger is increased, in particular, at times of the year at which the weather slowly becomes warmer and the outside temperatures increase and layers of ice therefore become thinner.
Properties of the terrain on which the snowmobile is moved can often change quickly. It proves to be extremely difficult, even for experienced drivers, to always be aware of the substrate on which the snowmobile is operated. Even experienced drivers often do not notice that they are moving the snowmobile over frozen water and that there is possibly the risk of the snowmobile falling through.
It is therefore desirable to provide a possible way of detecting when a snowmobile falls through ice in order to be able to initiate corresponding measures.
Disclosure of the invention The invention proposes a method for detecting when a snowmobile falls through ice having the features of the disclosure. The disclosure and the following description relate to advantageous configurations.
A snowmobile is in the form of a tracked vehicle, in particular, and also has, in particular, an expedient drive which provides a drive torque. Such a drive may be in the form of an internal combustion engine or an electric motor, for example. This drive torque is transmitted to a track drive shaft, in particular, via a transmission, for example a continuously variable transmission (CVT). A snowmobile is operated, in particular, in snow, on snow-covered terrain or else on frozen water covered by a layer of ice. In particular, a snowmobile is operated on unprepared terrain, also on alpine, hilly or mountainous terrain, in particular.
During ongoing operation of the snowmobile, at least one inertial sensor determines measured values of at least one movement variable of the snowmobile. An inertial sensor can be understood as meaning, in particular, sensors which determine an acceleration and/or a rotation rate of the snowmobile. In particular, the inertial
Prior art Tracked vehicles for movement in snow are usually referred to as snowmobiles. Snowmobiles can also be moved on frozen water covered by a layer of ice. In this case, there is the risk of this layer of ice breaking, the snowmobile falling through the ice and sinking in the water underneath. If the snowmobile falls through ice, this may result in a mortal danger for the driver of the snowmobile. This danger is increased, in particular, at times of the year at which the weather slowly becomes warmer and the outside temperatures increase and layers of ice therefore become thinner.
Properties of the terrain on which the snowmobile is moved can often change quickly. It proves to be extremely difficult, even for experienced drivers, to always be aware of the substrate on which the snowmobile is operated. Even experienced drivers often do not notice that they are moving the snowmobile over frozen water and that there is possibly the risk of the snowmobile falling through.
It is therefore desirable to provide a possible way of detecting when a snowmobile falls through ice in order to be able to initiate corresponding measures.
Disclosure of the invention The invention proposes a method for detecting when a snowmobile falls through ice having the features of the disclosure. The disclosure and the following description relate to advantageous configurations.
A snowmobile is in the form of a tracked vehicle, in particular, and also has, in particular, an expedient drive which provides a drive torque. Such a drive may be in the form of an internal combustion engine or an electric motor, for example. This drive torque is transmitted to a track drive shaft, in particular, via a transmission, for example a continuously variable transmission (CVT). A snowmobile is operated, in particular, in snow, on snow-covered terrain or else on frozen water covered by a layer of ice. In particular, a snowmobile is operated on unprepared terrain, also on alpine, hilly or mountainous terrain, in particular.
During ongoing operation of the snowmobile, at least one inertial sensor determines measured values of at least one movement variable of the snowmobile. An inertial sensor can be understood as meaning, in particular, sensors which determine an acceleration and/or a rotation rate of the snowmobile. In particular, the inertial
2 Date Recue/Date Received 2023-01-16 sensor may be in the form of an acceleration sensor or a translation sensor and/or in the form of a rotation rate sensor or a gyroscopic sensor. In particular, the measured values are metrologically recorded directly as sensor values by the inertial sensor or are determined or calculated from metrologically recorded sensor values.
The determined measured values are monitored in order to determine whether the result is a pattern which indicates that the snowmobile has fallen through ice. For this purpose, the determined measured values are assessed or monitored, in particular, using assessment criteria. In particular, scalar measured values and/or a temporal profile of the measured values is/are monitored for this purpose. Such a pattern can be understood as meaning, in particular, that specific measured values which are typical or characteristic of the snowmobile falling through ice are determined for the at least one movement variable. If these specific measured values are determined for the at least one movement variable, it can be inferred that the snowmobile has fallen through. In particular, the measured values of a specific combination of movement variables are monitored.
If such a pattern is detected, it may possibly not yet be inferred with absolute certainty that the snowmobile has fallen through. For example, the snowmobile may only have been abruptly stopped, the snowmobile may only have overturned, for example, or may have jumped over a hill or a ski jump. In order to be able to nevertheless determine with certainty whether the snowmobile has
The determined measured values are monitored in order to determine whether the result is a pattern which indicates that the snowmobile has fallen through ice. For this purpose, the determined measured values are assessed or monitored, in particular, using assessment criteria. In particular, scalar measured values and/or a temporal profile of the measured values is/are monitored for this purpose. Such a pattern can be understood as meaning, in particular, that specific measured values which are typical or characteristic of the snowmobile falling through ice are determined for the at least one movement variable. If these specific measured values are determined for the at least one movement variable, it can be inferred that the snowmobile has fallen through. In particular, the measured values of a specific combination of movement variables are monitored.
If such a pattern is detected, it may possibly not yet be inferred with absolute certainty that the snowmobile has fallen through. For example, the snowmobile may only have been abruptly stopped, the snowmobile may only have overturned, for example, or may have jumped over a hill or a ski jump. In order to be able to nevertheless determine with certainty whether the snowmobile has
3 fallen through ice if such a pattern is detected, a second evaluation is also carried out.
If the result is such a pattern which indicates that the snowmobile has fallen through ice, a current movement of the snowmobile is compared with a movement of the snowmobile predicted from a previous movement of the snowmobile. A previous movement should be understood as meaning, in particular, a movement which was carried out by the snowmobile in a defined interval of time before detecting the pattern, in particular in an interval of time of one second, five seconds or ten seconds, for example.
As the predicted movement, a movement, according to which the snowmobile is moved along with substantially identical or similar movement parameters or values of movement variables of the previous movement, is extrapolated, in particular. Alternatively Or additionally, a movement, according to which the snowmobile comes to a standstill or is moved along at a reduced, lower speed, is determined as the predicted movement, in particular.
If the current movement of the snowmobile does not differ from the predicted movement of the snowmobile or differs only marginally or only up to a certain degree, this means that the snowmobile has not fallen through the ice.
If the current movement differs from the predicted movement by more than a certain degree, this indicates
If the result is such a pattern which indicates that the snowmobile has fallen through ice, a current movement of the snowmobile is compared with a movement of the snowmobile predicted from a previous movement of the snowmobile. A previous movement should be understood as meaning, in particular, a movement which was carried out by the snowmobile in a defined interval of time before detecting the pattern, in particular in an interval of time of one second, five seconds or ten seconds, for example.
As the predicted movement, a movement, according to which the snowmobile is moved along with substantially identical or similar movement parameters or values of movement variables of the previous movement, is extrapolated, in particular. Alternatively Or additionally, a movement, according to which the snowmobile comes to a standstill or is moved along at a reduced, lower speed, is determined as the predicted movement, in particular.
If the current movement of the snowmobile does not differ from the predicted movement of the snowmobile or differs only marginally or only up to a certain degree, this means that the snowmobile has not fallen through the ice.
If the current movement differs from the predicted movement by more than a certain degree, this indicates
4 that the snowmobile has fallen through and a fall is detected.
The invention is an effective and low-cost possible way of reliably detecting when a snowmobile falls through in good time and of distinguishing said fall from other similar movement patterns, in particular. The safety for a driver can therefore be increased. The risk of a life-threatening situation for the driver can be detected as quickly as possible. Expedient measures can be carried out as quickly as possible in order to prevent sinking of the snowmobile and in order to ensure that the driver survives. The additional evaluation in order to determine whether the snowmobile has actually fallen through makes it possible to prevent it from being incorrectly detected that the snowmobile has fallen through.
The invention can be implemented in a simple manner in conventional snowmobiles. In particular, no additional components are usually needed to implement the invention.
Components implemented in a conventional snowmobile, for example conventional inertial sensors, can also be used to carry out the invention.
The method according to the invention can preferably be carried out by a control device of the snowmobile.
Snowmobiles can therefore be easily retrofitted.
Furthermore, a special computing unit can also be provided for the purpose of carrying out the method according to the invention. Such a computing unit is in
The invention is an effective and low-cost possible way of reliably detecting when a snowmobile falls through in good time and of distinguishing said fall from other similar movement patterns, in particular. The safety for a driver can therefore be increased. The risk of a life-threatening situation for the driver can be detected as quickly as possible. Expedient measures can be carried out as quickly as possible in order to prevent sinking of the snowmobile and in order to ensure that the driver survives. The additional evaluation in order to determine whether the snowmobile has actually fallen through makes it possible to prevent it from being incorrectly detected that the snowmobile has fallen through.
The invention can be implemented in a simple manner in conventional snowmobiles. In particular, no additional components are usually needed to implement the invention.
Components implemented in a conventional snowmobile, for example conventional inertial sensors, can also be used to carry out the invention.
The method according to the invention can preferably be carried out by a control device of the snowmobile.
Snowmobiles can therefore be easily retrofitted.
Furthermore, a special computing unit can also be provided for the purpose of carrying out the method according to the invention. Such a computing unit is in
5 the form of a microcontroller or an ASIC (application-specific integrated circuit), in particular.
The measured values of the movement variables are usually determined during ongoing operation of the snowmobile anyway and are usually present in control devices of the snowmobile. For this purpose, sensor values from sensors or microsystems (microelectromechanical system, MEMS), in particular, are recorded in the snowmobile and are transmitted to control devices of the snowmobile via a suitable communication system (for example a field bus system, in particular a CAN bus system).
It is noted at this juncture that the invention is equally suitable for other vehicles, in particular for vehicles which are operated on rough, unprepared terrain.
For example, the invention is similarly suitable for ATVs (all terrain vehicle) or quads.
A safety measure is advantageously carried out when it is detected that the snowmobile has fallen through ice. Such safety measures are automatically carried out. There is therefore no need for a driver of the snowmobile himself to have to manually initiate corresponding safety measures, which he may possibly not be able to do at all on account of stress or shock.
An inflatable float or an airbag, which prevents the snowmobile from sinking in the water, is preferably inflated as a safety measure. This float may be arranged, for example, under a seat or in a nose of the snowmobile
The measured values of the movement variables are usually determined during ongoing operation of the snowmobile anyway and are usually present in control devices of the snowmobile. For this purpose, sensor values from sensors or microsystems (microelectromechanical system, MEMS), in particular, are recorded in the snowmobile and are transmitted to control devices of the snowmobile via a suitable communication system (for example a field bus system, in particular a CAN bus system).
It is noted at this juncture that the invention is equally suitable for other vehicles, in particular for vehicles which are operated on rough, unprepared terrain.
For example, the invention is similarly suitable for ATVs (all terrain vehicle) or quads.
A safety measure is advantageously carried out when it is detected that the snowmobile has fallen through ice. Such safety measures are automatically carried out. There is therefore no need for a driver of the snowmobile himself to have to manually initiate corresponding safety measures, which he may possibly not be able to do at all on account of stress or shock.
An inflatable float or an airbag, which prevents the snowmobile from sinking in the water, is preferably inflated as a safety measure. This float may be arranged, for example, under a seat or in a nose of the snowmobile
6 or at another expedient location in the snowmobile. For example, a lifejacket and/or a lifebelt may also be inflated for the driver. Alternatively or additionally, an emergency signal may also be emitted as a safety measure. During this emergency signal, it is possible to transmit, in particular, coordinates at which the snowmobile has fallen through. These coordinates can be determined using a GPS system, for example.
Measured values of at least one movement-specific measurement variable are preferably determined as the measured values of the at least one movement variable.
Such movement-specific measurement variables describe a movement of the snowmobile or driving parameters of the snowmobile. In particular, such movement-specific measurement variables are a speed of the snowmobile, a drive torque provided by a drive of the snowmobile, a rotational speed of the drive (for example an internal combustion engine or an electric motor), a voltage applied to an electric motor or a drive current, a steering direction and/or a bend radius.
An acceleration, in particular a linear acceleration in one of the three spatial directions or along one of the three axes of extent of the snowmobile (longitudinal, transverse, vertical axis), is preferably determined as the measured value. In particular, measured values for a direction of movement or for the movement of the snowmobile can also be determined. In particular, this direction of movement or movement can describe how the snowmobile moves, for example along an incline or a
Measured values of at least one movement-specific measurement variable are preferably determined as the measured values of the at least one movement variable.
Such movement-specific measurement variables describe a movement of the snowmobile or driving parameters of the snowmobile. In particular, such movement-specific measurement variables are a speed of the snowmobile, a drive torque provided by a drive of the snowmobile, a rotational speed of the drive (for example an internal combustion engine or an electric motor), a voltage applied to an electric motor or a drive current, a steering direction and/or a bend radius.
An acceleration, in particular a linear acceleration in one of the three spatial directions or along one of the three axes of extent of the snowmobile (longitudinal, transverse, vertical axis), is preferably determined as the measured value. In particular, measured values for a direction of movement or for the movement of the snowmobile can also be determined. In particular, this direction of movement or movement can describe how the snowmobile moves, for example along an incline or a
7 slope, uphill, downhill, transversely with respect to a slope, along a plane, straight ahead, along a bend, etc.
Alternatively or additionally, measured values of at least one orientation-specific measurement variable are preferably determined as the measured values of the at least one movement variable. Such orientation-specific measurement variables describe, in particular, a spatial orientation of the snowmobile, also in particular how the snowmobile is oriented with respect to the substrate.
An inclination angle of the snowmobile with respect to a defined axis and/or a rotation rate, that is to say a roll, pitch and yaw rate, also in particular corresponding roll, pitch and yaw angles, is/are preferably determined as the measured value. An angular velocity of a rotational movement about one of the three spatial directions or about one of the three axes of extent of the snowmobile (longitudinal, transverse, vertical axis), in particular, is determined as the rotation rate.
When monitoring the determined measured values, a check is advantageously carried out in order to determine whether the determined measured values reach a threshold value. In particular, a threshold value specific to the respective movement variable is used for measured values of each different movement variable. These threshold values are values typical of a fall.
Alternatively or additionally, measured values of at least one orientation-specific measurement variable are preferably determined as the measured values of the at least one movement variable. Such orientation-specific measurement variables describe, in particular, a spatial orientation of the snowmobile, also in particular how the snowmobile is oriented with respect to the substrate.
An inclination angle of the snowmobile with respect to a defined axis and/or a rotation rate, that is to say a roll, pitch and yaw rate, also in particular corresponding roll, pitch and yaw angles, is/are preferably determined as the measured value. An angular velocity of a rotational movement about one of the three spatial directions or about one of the three axes of extent of the snowmobile (longitudinal, transverse, vertical axis), in particular, is determined as the rotation rate.
When monitoring the determined measured values, a check is advantageously carried out in order to determine whether the determined measured values reach a threshold value. In particular, a threshold value specific to the respective movement variable is used for measured values of each different movement variable. These threshold values are values typical of a fall.
8 A check is preferably carried out in order to determine whether an acceleration in the z direction, in particular an acceleration in the direction of the earth's center, exceeds a limit value. This indicates, in particular, that the snowmobile is sinking in the water.
Alternatively or additionally, a check is preferably carried out in order to determine whether a negative acceleration or deceleration in the x and/or y direction, that is to say within the plane in which the snowmobile moves during a regular movement, respectively exceeds a limit value. A check is therefore carried out in order to determine whether the snowmobile is decelerated sharply within this plane.
For example, a check can also be carried out in order to determine whether one of the rotation rates reaches a threshold value. A check is preferably carried out in order to determine whether the roll rate about the longitudinal axis of the snowmobile and/or the pitch rate about the transverse axis of the snowmobile respectively reach(es) a limit value.
Alternatively or additionally, a check is advantageously carried out in order to determine whether the determined measured values change within a defined interval of time by more than a permissible tolerance threshold, for example by more than a defined percentage, for example by more than 25%, more than 50% or more than 75%. For example, a check is carried out in order to determine whether the speed in the x and/or y direction changes
Alternatively or additionally, a check is preferably carried out in order to determine whether a negative acceleration or deceleration in the x and/or y direction, that is to say within the plane in which the snowmobile moves during a regular movement, respectively exceeds a limit value. A check is therefore carried out in order to determine whether the snowmobile is decelerated sharply within this plane.
For example, a check can also be carried out in order to determine whether one of the rotation rates reaches a threshold value. A check is preferably carried out in order to determine whether the roll rate about the longitudinal axis of the snowmobile and/or the pitch rate about the transverse axis of the snowmobile respectively reach(es) a limit value.
Alternatively or additionally, a check is advantageously carried out in order to determine whether the determined measured values change within a defined interval of time by more than a permissible tolerance threshold, for example by more than a defined percentage, for example by more than 25%, more than 50% or more than 75%. For example, a check is carried out in order to determine whether the speed in the x and/or y direction changes
9 comparatively greatly within a comparatively short interval of time (for example half a second or one second), which indicates unwanted, abrupt deceleration and not a desired braking process.
In order to compare the current movement with the predicted movement, current measured values of the at least one movement variable are advantageously compared with previous measured values of the at least one movement variable. It is possible to monitor the same movement variables as those which are also monitored for the pattern. However, other expedient movement variables can also be monitored in order to compare the movements.
It is detected that the snowmobile has fallen through ice when the current measured values differ from the previous measured values by more than a permissible tolerance threshold, for example a defined percentage, for example by more than 25%, by more than 50% or by more than 75%.
It is therefore assessed, in particular, whether the snowmobile, during the current movement, is moved along in a substantially identical or similar manner to the previous movement. If the current and previous measured values differ from one another by more than the permissible tolerance threshold, this indicates, in particular, that the movement or the direction of movement of the snowmobile has changed considerably. It is therefore verified or detected, in particular, that the snowmobile has fallen through ice.
In order to compare the current movement with the predicted movement, current measured values of the at least one movement variable are advantageously compared with previous measured values of the at least one movement variable. It is possible to monitor the same movement variables as those which are also monitored for the pattern. However, other expedient movement variables can also be monitored in order to compare the movements.
It is detected that the snowmobile has fallen through ice when the current measured values differ from the previous measured values by more than a permissible tolerance threshold, for example a defined percentage, for example by more than 25%, by more than 50% or by more than 75%.
It is therefore assessed, in particular, whether the snowmobile, during the current movement, is moved along in a substantially identical or similar manner to the previous movement. If the current and previous measured values differ from one another by more than the permissible tolerance threshold, this indicates, in particular, that the movement or the direction of movement of the snowmobile has changed considerably. It is therefore verified or detected, in particular, that the snowmobile has fallen through ice.
10 The previous measured values were preferably determined within a defined interval of time before detecting the pattern, in particular in an interval of time of one second, five seconds or ten seconds.
In order to compare the current movement with the predicted movement, current measured values of an acceleration in the z direction are advantageously compared with previous measured values of the acceleration in the z direction. A comparatively high acceleration in the z direction of the current movement, which differs from the corresponding acceleration of the previous movement by the defined percentage, indicates, in particular, that the snowmobile has fallen through and is sinking in the water.
According to one advantageous embodiment of the invention, during ongoing operation of the snowmobile, measured values of at least one terrain-specific measurement variable are determined in addition to the measured values of the at least one movement variable of the snowmobile.
Such terrain-specific measurement variables describe a terrain on which the snowmobile is operated. Such measurement variables are, in particular, a terrain slope and/or a nature of the substrate, for example whether the substrate of the snowmobile is snow or ice. In particular, this terrain-specific measurement variable indicates whether or not the terrain is frozen water.
In order to compare the current movement with the predicted movement, current measured values of an acceleration in the z direction are advantageously compared with previous measured values of the acceleration in the z direction. A comparatively high acceleration in the z direction of the current movement, which differs from the corresponding acceleration of the previous movement by the defined percentage, indicates, in particular, that the snowmobile has fallen through and is sinking in the water.
According to one advantageous embodiment of the invention, during ongoing operation of the snowmobile, measured values of at least one terrain-specific measurement variable are determined in addition to the measured values of the at least one movement variable of the snowmobile.
Such terrain-specific measurement variables describe a terrain on which the snowmobile is operated. Such measurement variables are, in particular, a terrain slope and/or a nature of the substrate, for example whether the substrate of the snowmobile is snow or ice. In particular, this terrain-specific measurement variable indicates whether or not the terrain is frozen water.
11 In order to determine measured values of such measurement variables, GPS information, in particular, can be evaluated. Furthermore, topographical map information or map data, in particular, can be evaluated using such GPS
information. Such map information or map data can be stored in a control device of the snowmobile, for example.
The measured values of the terrain-specific measurement variable and of the movement variable are monitored together in order to determine whether the result is a pattern which indicates that the snowmobile has fallen through ice. Monitoring the terrain-specific measurement variable also makes it possible to carry out a preliminary selection, in particular. For example, as soon as the measured values of the terrain-specific measurement variable indicate that the snowmobile is being moved on frozen water, the determined measured values of the at least one movement variable can be monitored in order to determine whether a corresponding pattern results.
Alternatively or additionally, measured values of at least one terrain-specific measurement variable are advantageously taken into account in order to compare the current movement of the snowmobile with the predicted movement of the snowmobile. In particular, it is possible to take into account or assess in this case whether the snowmobile, during the current movement, moves along on the terrain and, in particular, moves away from the frozen water. In particular, if the measured values of
information. Such map information or map data can be stored in a control device of the snowmobile, for example.
The measured values of the terrain-specific measurement variable and of the movement variable are monitored together in order to determine whether the result is a pattern which indicates that the snowmobile has fallen through ice. Monitoring the terrain-specific measurement variable also makes it possible to carry out a preliminary selection, in particular. For example, as soon as the measured values of the terrain-specific measurement variable indicate that the snowmobile is being moved on frozen water, the determined measured values of the at least one movement variable can be monitored in order to determine whether a corresponding pattern results.
Alternatively or additionally, measured values of at least one terrain-specific measurement variable are advantageously taken into account in order to compare the current movement of the snowmobile with the predicted movement of the snowmobile. In particular, it is possible to take into account or assess in this case whether the snowmobile, during the current movement, moves along on the terrain and, in particular, moves away from the frozen water. In particular, if the measured values of
12 the terrain-specific measurement variable and therefore the terrain no longer change, it can be concluded that the snowmobile no longer moves along and has fallen through ice.
A computing unit according to the invention, for example a control device of a snowmobile, is set up, in particular in terms of programming, to carry out a method according to the invention. A snowmobile according to the invention has such a computing unit.
The implementation of the method in the form of software is also advantageous since this gives rise to particularly low costs, in particular if an executing control device is also used for further tasks and is therefore present anyway. Suitable data storage media for providing the computer program are, in particular, floppy disks, hard disks, flash memories, EEPROMs, CD-ROMs, DVDs and so on. It is also possible to download a program via computer networks (Internet, intranet etc.).
Further advantages and configurations of the invention emerge from the description and the accompanying drawing.
It goes without saying that the features mentioned above and the features yet to be explained below can be used not only in the respectively stated combination but also in other combinations or alone without departing from the scope of the present invention.
A computing unit according to the invention, for example a control device of a snowmobile, is set up, in particular in terms of programming, to carry out a method according to the invention. A snowmobile according to the invention has such a computing unit.
The implementation of the method in the form of software is also advantageous since this gives rise to particularly low costs, in particular if an executing control device is also used for further tasks and is therefore present anyway. Suitable data storage media for providing the computer program are, in particular, floppy disks, hard disks, flash memories, EEPROMs, CD-ROMs, DVDs and so on. It is also possible to download a program via computer networks (Internet, intranet etc.).
Further advantages and configurations of the invention emerge from the description and the accompanying drawing.
It goes without saying that the features mentioned above and the features yet to be explained below can be used not only in the respectively stated combination but also in other combinations or alone without departing from the scope of the present invention.
13 The invention is schematically illustrated in the drawing using exemplary embodiments and is described below with reference to the drawing.
Brief description of the drawings Figure 1 schematically shows a preferred configuration of a snowmobile which is set up to carry out a preferred embodiment of a method according to the invention.
Figure 2 schematically shows a preferred embodiment of a method according to the invention in the form of a block diagram.
Embodiment(s) of the invention A preferred configuration of a snowmobile is schematically illustrated in figure 1 and is denoted by 100. In this case, figure la schematically illustrates the snowmobile 100 in a perspective view, and figure lb illustrates the snowmobile in a side view.
The snowmobile has two runners 101 and 103. Each of the runners 101 and 103 is connected to a frame or housing 106 of the snowmobile 100 via a respective suspension 102 and 104. The runners 101 and 103 can be oriented using a steering system 105 and a steering direction can therefore be predefined.
Brief description of the drawings Figure 1 schematically shows a preferred configuration of a snowmobile which is set up to carry out a preferred embodiment of a method according to the invention.
Figure 2 schematically shows a preferred embodiment of a method according to the invention in the form of a block diagram.
Embodiment(s) of the invention A preferred configuration of a snowmobile is schematically illustrated in figure 1 and is denoted by 100. In this case, figure la schematically illustrates the snowmobile 100 in a perspective view, and figure lb illustrates the snowmobile in a side view.
The snowmobile has two runners 101 and 103. Each of the runners 101 and 103 is connected to a frame or housing 106 of the snowmobile 100 via a respective suspension 102 and 104. The runners 101 and 103 can be oriented using a steering system 105 and a steering direction can therefore be predefined.
14 The snowmobile also has a drive 110. In this example, the drive is in the form of an internal combustion engine 110. The internal combustion engine 110 provides a drive torque which is transmitted to a track drive shaft via a transmission 111, for example a continuously variable transmission. The drive torque is therefore transmitted to a track 112 of the snowmobile 100.
The snowmobile 100 also has a control device 120. A
communication system, for example a CAN bus 121, is also implemented in the snowmobile 100. The control device 120 is connected to different sensors and actuators via this CAN bus 121.
In particular, inertial sensors in the form of an acceleration sensor 131 and a rotation rate sensor 132 are provided. The acceleration sensor 131 can be used to determine measured values for an acceleration of the snowmobile 100 along the three spatial directions or axes of extent 150 of the snowmobile 100 (longitudinal axis 151, transverse axis 152, vertical axis 153). The rotation rate sensor 132 can be used to determine measured values for a rotation rate or angular velocity of the snowmobile 100 about the three axes of extent 150.
A GPS sensor 133 is also present in the embodiment shown and is used to determine measured values for a terrain-specific measurement variable. These measured values describe, in particular, the terrain on which the snowmobile 100 is operated and indicate, in particular, whether the snowmobile 100 is being moved on (frozen) water. In particular, GPS information from the GPS sensor 133 is used to evaluate topographical map information or map data in order to determine these measured values.
Such map information or map data may be stored in the control device 120, for example.
A float 140 or an airbag is arranged in a seat 107. This float 140 is inflated if the snowmobile has fallen through ice and is in the water. The float 140 may also be arranged, for example, in a nose of the snowmobile or at another expedient location in the snowmobile or on the driver (for example vest).
In order to detect whether the snowmobile 100 has fallen through ice if it is moved over frozen water, for example, the snowmobile is set up to carry out a preferred embodiment of a method according to the invention. In particular, the control device 120 is set up to carry out this preferred embodiment of the method according to the invention which is schematically illustrated in figure 2 as a block diagram.
In a step 201, measured values for the terrain-specific measurement variable are determined by the GPS sensor 133. At the same time, in a step 202, measured values for the accelerations of the snowmobile 100 along the three axes of extent 150 are determined by the acceleration sensor 131. The rotation rate sensor 132 determines measured values for the rotation rates of the snowmobile 100 about the three axes of extent 150.
In a step 203, these determined measured values are monitored in order to determine whether the result is a pattern which indicates that the snowmobile 100 has fallen through ice.
During this monitoring 203, the determined measured values for the terrain-specific measurement variable are monitored in a step 204. In particular, it is monitored in this case whether the snowmobile 100 is being moved on (frozen) water.
At the same time, the measured values determined by the inertial sensors 131 and 132 are monitored in a step 205.
In this case, it is monitored whether the measured values of the deceleration (that is to say the negative acceleration) along the longitudinal and transverse axes 151 and 152 each exceed a limit value. It is also monitored whether the measured values for the acceleration along the vertical axis 153 in the direction of the earth's center exceed a limit value. It is also monitored whether a roll rate (that is to say the rotation rate about the longitudinal axis 151) and a pitch rate (the rotation rate about the transverse axis 152) respectively exceed a limit value.
As soon as the measured values of at least one of these movement variables exceed the respective limit value and if the measured values of the terrain-specific measurement variable reveal that the snowmobile 100 is being moved on water, a pattern which indicates that the snowmobile has fallen through ice is detected in step 206.
In this case, an evaluation is carried out in a step 207 in order to determine whether the snowmobile 100 has actually fallen through ice. For this purpose, a predicted movement of the snowmobile 100 is determined from a previous movement of the snowmobile 100 in a step 208.
For this purpose, previous measured values for the acceleration of the snowmobile 100 along the axes of extent 150 are read in from a memory area of the control device 120, which measured values were determined in an interval of time of one second, for example, before detecting the pattern according to step 206 (indicated by reference symbol 209). In addition, previous measured values for the orientation-specific measurement variable of the snowmobile 100 are read in (likewise indicated by reference symbol 209). The terrain on which the snowmobile 100 was moved within the interval of time of one second before detecting the pattern according to step 206 is therefore determined, in particular.
A movement which is still continued with these previous measured values for the acceleration of the snowmobile 100 along the axes of extent 150 on the determined terrain is determined as the predicted movement of the snowmobile 100.
In a step 210, the acceleration sensor 131 determines current measured values for the acceleration of the snowmobile 100 along the axes of extent 150 and the GPS
sensor 133 determines current measured values for the terrain-specific measurement variable.
In a step 211, the previous measured values and the current measured values are compared with one another.
For example, it is monitored whether the measured values of each of the three accelerations along the axes of extent 150 differ from one another at least by 25% as the permissible tolerance threshold. In this case, the current movement of the snowmobile 100 differs from the predicted movement of the snowmobile 100 to such an extent that it can be assumed that the snowmobile 100 has fallen through ice.
In particular, it is monitored whether the current acceleration along the longitudinal axis 151 and along the transverse axis 152 has decreased in comparison with the corresponding previous accelerations by at least 25%
in each case as the tolerance threshold, which indicates sharp deceleration of the snowmobile 100 within the plane in which the snowmobile 100 is moved during the regular movement.
It is also monitored whether the current acceleration along the vertical axis 153 has increased in comparison with the corresponding previous acceleration by at least 25% as the permissible tolerance threshold, for example, which signifies sharp acceleration of the snowmobile 100 in this direction. This indicates that the snowmobile 100 has fallen into water.
A check is also advantageously carried out in order to determine whether the current and previous measured values of the terrain-specific measurement variable differ and whether the snowmobile is therefore moved along in the terrain. If these measured values do not change or scarcely change, the snowmobile is not moved along, which indicates that the snowmobile 100 has fallen through ice.
If these comparisons according to step 211 reveal that the current and previous measured values of the individual accelerations differ from one another by more than the permissible tolerance threshold and that the measured values of the terrain-specific measurement variable do not change or scarcely change, the current movement of the snowmobile differs from the predicted movement of the snowmobile. It is therefore detected that the snowmobile 100 has fallen through ice in step 212.
In this case, the float 140 is inflated as a safety measure in step 213. Alternatively or additionally, a lifejacket and/or a lifebelt can also be inflated for the driver. Sinking of the snowmobile 100 is therefore prevented. Furthermore, the control device 120 emits an emergency signal via an expedient radio connection.
During this emergency signal, the current GPS coordinates of the snowmobile 100 which are determined by the GPS
sensor 133 are likewise transmitted.
The snowmobile 100 also has a control device 120. A
communication system, for example a CAN bus 121, is also implemented in the snowmobile 100. The control device 120 is connected to different sensors and actuators via this CAN bus 121.
In particular, inertial sensors in the form of an acceleration sensor 131 and a rotation rate sensor 132 are provided. The acceleration sensor 131 can be used to determine measured values for an acceleration of the snowmobile 100 along the three spatial directions or axes of extent 150 of the snowmobile 100 (longitudinal axis 151, transverse axis 152, vertical axis 153). The rotation rate sensor 132 can be used to determine measured values for a rotation rate or angular velocity of the snowmobile 100 about the three axes of extent 150.
A GPS sensor 133 is also present in the embodiment shown and is used to determine measured values for a terrain-specific measurement variable. These measured values describe, in particular, the terrain on which the snowmobile 100 is operated and indicate, in particular, whether the snowmobile 100 is being moved on (frozen) water. In particular, GPS information from the GPS sensor 133 is used to evaluate topographical map information or map data in order to determine these measured values.
Such map information or map data may be stored in the control device 120, for example.
A float 140 or an airbag is arranged in a seat 107. This float 140 is inflated if the snowmobile has fallen through ice and is in the water. The float 140 may also be arranged, for example, in a nose of the snowmobile or at another expedient location in the snowmobile or on the driver (for example vest).
In order to detect whether the snowmobile 100 has fallen through ice if it is moved over frozen water, for example, the snowmobile is set up to carry out a preferred embodiment of a method according to the invention. In particular, the control device 120 is set up to carry out this preferred embodiment of the method according to the invention which is schematically illustrated in figure 2 as a block diagram.
In a step 201, measured values for the terrain-specific measurement variable are determined by the GPS sensor 133. At the same time, in a step 202, measured values for the accelerations of the snowmobile 100 along the three axes of extent 150 are determined by the acceleration sensor 131. The rotation rate sensor 132 determines measured values for the rotation rates of the snowmobile 100 about the three axes of extent 150.
In a step 203, these determined measured values are monitored in order to determine whether the result is a pattern which indicates that the snowmobile 100 has fallen through ice.
During this monitoring 203, the determined measured values for the terrain-specific measurement variable are monitored in a step 204. In particular, it is monitored in this case whether the snowmobile 100 is being moved on (frozen) water.
At the same time, the measured values determined by the inertial sensors 131 and 132 are monitored in a step 205.
In this case, it is monitored whether the measured values of the deceleration (that is to say the negative acceleration) along the longitudinal and transverse axes 151 and 152 each exceed a limit value. It is also monitored whether the measured values for the acceleration along the vertical axis 153 in the direction of the earth's center exceed a limit value. It is also monitored whether a roll rate (that is to say the rotation rate about the longitudinal axis 151) and a pitch rate (the rotation rate about the transverse axis 152) respectively exceed a limit value.
As soon as the measured values of at least one of these movement variables exceed the respective limit value and if the measured values of the terrain-specific measurement variable reveal that the snowmobile 100 is being moved on water, a pattern which indicates that the snowmobile has fallen through ice is detected in step 206.
In this case, an evaluation is carried out in a step 207 in order to determine whether the snowmobile 100 has actually fallen through ice. For this purpose, a predicted movement of the snowmobile 100 is determined from a previous movement of the snowmobile 100 in a step 208.
For this purpose, previous measured values for the acceleration of the snowmobile 100 along the axes of extent 150 are read in from a memory area of the control device 120, which measured values were determined in an interval of time of one second, for example, before detecting the pattern according to step 206 (indicated by reference symbol 209). In addition, previous measured values for the orientation-specific measurement variable of the snowmobile 100 are read in (likewise indicated by reference symbol 209). The terrain on which the snowmobile 100 was moved within the interval of time of one second before detecting the pattern according to step 206 is therefore determined, in particular.
A movement which is still continued with these previous measured values for the acceleration of the snowmobile 100 along the axes of extent 150 on the determined terrain is determined as the predicted movement of the snowmobile 100.
In a step 210, the acceleration sensor 131 determines current measured values for the acceleration of the snowmobile 100 along the axes of extent 150 and the GPS
sensor 133 determines current measured values for the terrain-specific measurement variable.
In a step 211, the previous measured values and the current measured values are compared with one another.
For example, it is monitored whether the measured values of each of the three accelerations along the axes of extent 150 differ from one another at least by 25% as the permissible tolerance threshold. In this case, the current movement of the snowmobile 100 differs from the predicted movement of the snowmobile 100 to such an extent that it can be assumed that the snowmobile 100 has fallen through ice.
In particular, it is monitored whether the current acceleration along the longitudinal axis 151 and along the transverse axis 152 has decreased in comparison with the corresponding previous accelerations by at least 25%
in each case as the tolerance threshold, which indicates sharp deceleration of the snowmobile 100 within the plane in which the snowmobile 100 is moved during the regular movement.
It is also monitored whether the current acceleration along the vertical axis 153 has increased in comparison with the corresponding previous acceleration by at least 25% as the permissible tolerance threshold, for example, which signifies sharp acceleration of the snowmobile 100 in this direction. This indicates that the snowmobile 100 has fallen into water.
A check is also advantageously carried out in order to determine whether the current and previous measured values of the terrain-specific measurement variable differ and whether the snowmobile is therefore moved along in the terrain. If these measured values do not change or scarcely change, the snowmobile is not moved along, which indicates that the snowmobile 100 has fallen through ice.
If these comparisons according to step 211 reveal that the current and previous measured values of the individual accelerations differ from one another by more than the permissible tolerance threshold and that the measured values of the terrain-specific measurement variable do not change or scarcely change, the current movement of the snowmobile differs from the predicted movement of the snowmobile. It is therefore detected that the snowmobile 100 has fallen through ice in step 212.
In this case, the float 140 is inflated as a safety measure in step 213. Alternatively or additionally, a lifejacket and/or a lifebelt can also be inflated for the driver. Sinking of the snowmobile 100 is therefore prevented. Furthermore, the control device 120 emits an emergency signal via an expedient radio connection.
During this emergency signal, the current GPS coordinates of the snowmobile 100 which are determined by the GPS
sensor 133 are likewise transmitted.
Claims (16)
1. Method for detecting when a snowmobile falls through ice, wherein - during ongoing operation of the snowmobile, at least one inertial sensor determines measured values of at least one movement variable of the snowmobile, - the determined measured values are monitored in order to determine whether the result is a pattern which indicates that the snowmobile has fallen through ice, - if the result is a pattern which indicates that the snowmobile has fallen through ice, a current movement of the snowmobile is compared with a movement of the snowmobile predicted from a previous movement of the snowmobile, - and it is detected that the snowmobile has fallen through ice if the current movement of the snowmobile differs from the movement of the snowmobile predicted from the previous movement of the snowmobile.
2. Method according to Claim 1, wherein a safety measure is carried out when it is detected that the snowmobile has fallen through ice.
Date Recue/Date Received 2022-06-07
Date Recue/Date Received 2022-06-07
3. Method according to Claim 2, wherein a float is inflated and/or an emergency signal is emitted as the safety measure.
4. Method according to any one of Claims 1 to 3, wherein, when monitoring the determined measured values, a check is carried out in order to determine whether the determined measured values of the at least one movement variable of the snowmobile reach a threshold value and/or whether the determined measured values of the at least one movement variable of the snowmobile change by more than a permissible tolerance threshold during a defined interval of time.
5. Method according to any one of Claim 1 to 4, wherein measured values of at least one movement-specific measurement variable, which describes a movement of the snowmobile, are determined as measured values of the at least one movement variable, and/or wherein measured values of at least one orientation-specific measurement variable, which describes a spatial orientation of the snowmobile, are determined as measured values of the at least one movement variable.
6. Method according to Claim 5, wherein at least one linear acceleration in one of the three spatial directions, an inclination angle of the snowmobile Date Recue/Date Received 2022-06-07 with respect to a defined axis and/or at least one rotation rate about one of the three spatial directions is determined as the measured values of the at least one movement variable of the snowmobile.
7. Method according to Claim 6, wherein, when monitoring the determined measured values, a check is carried out in order to determine whether an acceleration in the z direction exceeds a limit value, whether a deceleration in the x and/or y direction respectively exceeds a limit value and/or whether a roll rate and/or a pitch rate respectively reaches a limit value.
8. Method according to any one of Claims 1 to 7, wherein - in order to compare the current movement with the predicted movement, current measured values of the at least one movement variable are compared with previous measured values of the at least one movement variable, - and wherein it is detected that the snowmobile has fallen through ice when the current measured values of the at least one movement variable differ from the previous measured values of the at least one movement variable by more than a permissible tolerance threshold.
9. Method according to Claim 8, wherein the previous measured values were determined within a defined Date Recue/Date Received 2022-06-07 interval of time before detecting the pattern which indicates that the snowmobile has fallen through ice.
10. Method according to Claim 8 or 9, wherein, in order to compare the current movement with the predicted movement, current measured values of an acceleration in the z direction are compared with previous measured values of the acceleration in the z direction.
11. Method according to any one of Claims 1 to 10, wherein, during ongoing operation of the snowmobile, measured values of at least one terrain-specific measurement variable, which describe a terrain on which the snowmobile is operated, are determined in addition to the measured values of the at least one movement variable of the snowmobile and are monitored together with the determined measured values of the at least one movement variable in order to determine whether the result is a pattern which indicates that the snowmobile has fallen through ice.
12. Method according to any one of Claims 1 to 11, wherein, in order to compare the current movement of the snowmobile with the predicted movement of the snowmobile, measured values of at least one terrain-specific measurement variable, which describe a terrain on which the snowmobile is operated, are taken into account.
Date Recue/Date Received 2022-06-07
Date Recue/Date Received 2022-06-07
13. Computing unit which is set up to carry out a method according to any one of Claims 1 to 12.
14. Snowmobile having a computing unit according to Claim 13.
15. Computer program which causes a computing unit to carry out a method according to any one of Claims 1 to 12 when it is executed on the computing unit.
16. Machine-readable storage medium with a computer program according to Claim 15 stored thereon.
Date Recue/Date Received 2022-06-07
Date Recue/Date Received 2022-06-07
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102015200005.2A DE102015200005A1 (en) | 2015-01-02 | 2015-01-02 | Method of detecting a snowmobile breaking in on ice |
| DE102015200005.2 | 2015-01-02 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2916488A1 CA2916488A1 (en) | 2016-07-02 |
| CA2916488C true CA2916488C (en) | 2023-08-22 |
Family
ID=56133466
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2916488A Active CA2916488C (en) | 2015-01-02 | 2015-12-30 | Method for detecting when a snowmobile falls through ice |
Country Status (2)
| Country | Link |
|---|---|
| CA (1) | CA2916488C (en) |
| DE (1) | DE102015200005A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11628903B2 (en) * | 2020-04-20 | 2023-04-18 | Brp Megatech Industries Inc. | Enhanced driving control system for snowmobiles |
-
2015
- 2015-01-02 DE DE102015200005.2A patent/DE102015200005A1/en not_active Ceased
- 2015-12-30 CA CA2916488A patent/CA2916488C/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| DE102015200005A1 (en) | 2016-07-07 |
| CA2916488A1 (en) | 2016-07-02 |
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