JPWO2011067939A1 - 傾斜角演算装置および重心位置検出装置 - Google Patents
傾斜角演算装置および重心位置検出装置 Download PDFInfo
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Abstract
Description
前記演算ユニットは、前記揺動検知器の出力データを、前記単振子運動の周波数と振幅との間の相関を表すローリングデータに変換して、前記ローリングデータを基にして、前記走行体の所定の幅寸法に由来する前記単振子運動のピーク振幅に対応して前記単振子運動の周波数を取得し、
前記揺動検知器の出力データを、前記往復運動の周波数と振幅との間の相関を表すピッチングデータに変換して、前記ピッチングデータを基にして、前記往復運動の最大振幅に対応する前記往復運動の周波数を取得し、
前記走行体の所定の幅寸法、前記取得された単振子運動の周波数、および、前記取得された往復運動の周波数を用いて、前記単振子運動の中心角度を前記傾斜角として導いてもよい。
(実施形態)
図1は、本実施形態の傾斜角演算装置の構成例を示した概略図である。図1(a)は、この傾斜角演算装置を、コンテナ貨物車両の幅方向(側面)から見た図であり、図1(b)は、この傾斜角演算装置を、コンテナ貨物車両の後側から見た図である。
このようにして、「s0」、「α0」および「l0」は、「b」、「ν」および「ν’」の具体的な数値の入力によって演算できることがわかる。
(第1変形例)
本実施形態の傾斜角演算装置100では、コンテナ貨物車両の走行時の傾斜角「α」を演算する例を述べたが、本明細書に記載の傾斜角演算装置の適用範囲は、これに限定されない。
(第2変形例)
本実施形態の傾斜角演算装置100では、以下の式(14)を用いて、コンテナ貨物車両の走行時の傾斜角「α」を演算する例を述べたが、本明細書に記載の傾斜角演算装置の傾斜角「α」の定式化の手法は、この式(14)には限定されない。
(第3変形例)
本実施形態の傾斜角演算装置100では、コンテナ貨物車両の走行方向に垂直な断面において、コンテナ貨物車両の走行時の傾斜角「α」を演算する例を述べたが、本明細書に記載の傾斜角演算装置の適用範囲は、これに限定されない。
11 コンテナ
12 コンテナシャーシ
13 カプラ
14 揺動検知器
14a 角速度センサ
14b A/D変換器
15 演算ユニット
15a 演算部
15b 記憶部
15c 操作設定/表示部
50 トレーラトラック(コンテナ輸送車両)
100 傾斜角演算装置
201 垂直中心ライン
202 車軸位置ライン
204 路面
205 サスペンション
206 ローリング中心ライン
206C 仮想直線
300 重心位置直線
400 仮想曲線
500 車軸の中心
Claims (6)
- 走行体の互いに直交する2方向を含む断面において、前記走行体の走行時の前記2方向の揺れを検知する揺動検知器と、
前記2方向の一方の揺れの周波数、および、前記2方向の他方のローリング周波数を用いて、前記断面における前記走行体の走行時の傾斜角を演算する演算ユニットと、を備えた傾斜角演算装置。 - 前記断面が、前記走行体の走行方向に垂直な断面であり、前記2方向の一方が、前記走行体の自重方向であり、前記2方向の他方が、前記走行体の幅方向である請求項1に記載の傾斜角演算装置。
- 前記走行体が、牽引車両に牽引されるコンテナ貨物車両である請求項1または2に記載の傾斜角演算装置。
- 前記自重方向の揺れが、前記走行体の重心を質点とした上下方向の往復運動に対応し、前記幅方向の揺れが、前記走行体の幅方向の車軸の中心を支点とし、前記走行体の重心を質点とした左右方向の単振子運動に対応する場合、
前記演算ユニットは、前記揺動検知器の出力データを、前記単振子運動の周波数と振幅との間の相関を表すローリングデータに変換して、前記ローリングデータを基にして、前記走行体の所定の幅寸法に由来する前記単振子運動のピーク振幅に対応して前記単振子運動の周波数を取得し、
前記揺動検知器の出力データを、前記往復運動の周波数と振幅との間の相関を表すピッチングデータに変換して、前記ピッチングデータを基にして、前記往復運動の最大振幅に対応する前記往復運動の周波数を取得し、
前記走行体の所定の幅寸法、前記取得された単振子運動の周波数、および、前記取得された往復運動の周波数を用いて、前記単振子運動の中心角度を前記傾斜角として導いている請求項2に記載の傾斜角演算装置。 - 前記2方向の揺れは、前記走行体の路面上での走行時に、前記路面の凹凸に応じて前記走行体に与えられる外乱による運動である請求項1乃至4のいずれかに記載の傾斜角演算装置。
- 前記揺動検知器は、前記走行体に配置され、角速度の感度軸が前記2方向に調整された角速度センサを備える請求項1乃至4のいずれかに記載の傾斜角演算装置。
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DE19751935A1 (de) * | 1997-11-22 | 1999-05-27 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Ermittlung einer die Schwerpunktshöhe eines Fahrzeuges beschreibenden Größe |
DE19823093C2 (de) * | 1998-05-22 | 2000-06-08 | Daimler Chrysler Ag | Vorrichtung zur Bestimmung von fahrzeugspezifischen Größen eines Fahrzeuges während der Fahrt |
JP3818140B2 (ja) * | 2001-12-04 | 2006-09-06 | 株式会社デンソー | 乗員保護用の車両傾斜角検出装置 |
US7017701B2 (en) * | 2002-11-20 | 2006-03-28 | Dura Global Technologies, Inc. | Inclination-measuring device |
JP2007163205A (ja) | 2005-12-12 | 2007-06-28 | Matsushita Electric Ind Co Ltd | 移動体のセンサ補正装置、停止判定装置およびその方法 |
EP2090874B1 (en) | 2006-11-22 | 2018-02-28 | National University Corporation Tokyo University of Marine Science and Technology | Device for detecting gravity center, device for predicting critical speed for lateral overturn, and device for predicting cargo weight |
KR20090036325A (ko) * | 2007-10-09 | 2009-04-14 | 삼성전자주식회사 | 네비게이션 장치에서의 이동체의 이동 속도를 측정하는장치 및 방법 |
JP5172764B2 (ja) * | 2009-03-30 | 2013-03-27 | 本田技研工業株式会社 | 路面摩擦係数推定装置 |
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- 2010-12-03 JP JP2011544197A patent/JP5660634B2/ja active Active
- 2010-12-03 WO PCT/JP2010/007060 patent/WO2011067939A1/ja active Application Filing
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US20120310594A1 (en) | 2012-12-06 |
JP5660634B2 (ja) | 2015-01-28 |
EP2508404A4 (en) | 2015-10-14 |
WO2011067939A1 (ja) | 2011-06-09 |
US9651371B2 (en) | 2017-05-16 |
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