KR101111284B1 - Dummy for estimating feeling of sitting in seat - Google Patents

Abstract

Dummy for evaluating seats that can finely control the front and back of the lumbar spine, compensate for posture measurement errors occurring at every spinal joint node, and convert the relative position of each measured joint into an absolute position coordinate system is disclosed. The dummy for evaluating the seat is a stack of a plurality of lumbar joints connected to each other, and the lumbar joint is connected to the joint housing, a rotating shaft rotatable through the left and right sides of the joint housing, and a rotating shaft installed at another adjacent lumbar joint to connect the joint housing. At least one elastic member interposed between the joint housing and the other joint housing adjacent to the other joint housing in the vertical direction, at least one elastic member interposed between the joint housing and the other joint housing to apply a load to the rotational movement of the joint housing, and a preload for regulating the pressure of the elastic member. It includes a control member. The dummy's sitting posture can be implemented more similarly to the human body posture, the accuracy and reliability of the measurement can be greatly improved, and the efficiency of the measurement is greatly improved by evaluating the dummy's sitting posture in terms of the absolute position of the vehicle.

Dummy, spine, lumbar spine

Description

Dummy for estimating feeling of sitting in seat}

The present invention relates to a dummy for evaluating a sheet, and more particularly, to a dummy for evaluating a sheet implemented similarly to the shape of a human joint for the purpose of various collision analysis.

As the early automotive industry focused on the development of driving performance, crash safety, and the like, the driving performance of cars and the safety against collisions are greatly improved today.

However, future cars will have good results in car marketability only when ergonomic design is considered as well as driving performance and crash safety. The purpose of ergonomic design for automobiles is to improve comfort, secure preventive safety, reduce fatigue, and the point is to design automobiles centered on human beings by connecting them with the structure, style, merchandise, and legal regulations of automobiles.

As such, as the ergonomic design becomes more important, not only the dummy having a function of collision analysis but also a dummy capable of measuring the position of a structure or an important part similar to the shape of a human joint are being developed. For example, a dummy called an H-point machine is used to verify the standard specification of a passenger car seat, and a dummy called Life Form, developed by Lear, is used for evaluating seat comfort with a skeleton similar to a human body and a soft skin. Used as

However, in order to reduce the error rate of the lumbar spine and set the initial reference point at the correct position, it is required to artificially position the lumbar spine in addition to autonomous movement. However, the above-described conventional dummy is impossible to adjust the fine angle in the front and rear direction could not perform such a function.

In addition, the conventional dummy was focused on the construction of geometric similarity model through the simulation of the human skeleton structure, but did not have a systematic posture monitoring system. For this reason, there is a problem that it is impossible to systematically monitor the relative position change of each joint inside the appearance of the behavior, and thereby the posture change throughout the human body.

In order to solve such a conventional problem, the present invention provides a dummy for evaluating the sheet capable of fine control in front and rear of the lumbar spine.

In addition, the present invention provides a dummy for evaluating the seat that can compensate for the posture measurement error generated in every spinal joint by providing an error reduction algorithm of the spine coordinates applying the error allocation theory.

In addition, the present invention provides a dummy for evaluating a sheet that can convert the relative position of each joint measured in the dummy to an absolute position coordinate system using a three-dimensional image triangulation method.

According to an embodiment of the present invention, the dummy for evaluating the seat is a plurality of lumbar joints connected to each other and stacked. The lumbar joint includes a joint housing, a rotating shaft rotatable through left and right sides of the joint housing, and another adjacent lumbar joint. At least one elastic member fastened to a rotating shaft installed at the joint connecting the joint housing to the other joint housing in an up and down direction, interposed between the joint housing and the other joint housing to apply a load to the rotational movement of the joint housing, And a preload control member for adjusting the pressure of the elastic member.

In this case, the elastic members are disposed at the rear and front of the joint connecting member, respectively, and the preload control member is connected to the elastic member disposed at the front.

In this case, the joint housing is formed to protrude forward than other joint housings adjacent to the lower portion, and the preload control member is disposed at the protruding portion of the joint housing.

In this case, the joint housing is formed to bend downward at the front side relative to the rear side, and the preload control member is fastened to the front of the inclined joint housing.

In addition, the preload control member may be fastened to the joint housing to be lifted and lowered, so that the pressure of the elastic member connected to one side of the preload control member may be adjusted according to the lift of the preload control member.

In this case, the elastic member is a compression spring that both sides support the adjacent joint housings, the preload control member is a bolt portion screwed to the joint housing, and disposed on one side of the bolt portion to press the compression spring by the lowering of the bolt portion It may include a plate member.

In this case, the joint housing is formed with support grooves for supporting the end portions of the compression springs at the front, rear, and front and rear sides of the upper end, respectively, and from the support groove located at the lower front of the joint housing to the upper end of the joint housing. A through hole for penetrating the preload control member may be formed.

In addition, the lumbar joint further includes a rotation angle sensor for detecting the rotation angle of the rotation axis with respect to the joint housing.

In this case, the dummy for evaluating the seat further includes a shoulder joint simulated in a human body shape on the upper part of the lumbar joint, a pelvic joint simulated in a human body shape on the lower part of the lumbar joint, and a guide bar connecting the shoulder joint and the pelvis joint in a straight line. can do.

In addition, the dummy for evaluating the sheet may further include a measuring unit for non-contact monitoring the position coordinates due to the movement of the dummy from the set reference point.

In this case, the measuring unit may include two cameras spaced apart from each other at a predetermined distance by capturing a set reference point disposed on the lumbar joint.

On the other hand, the measurement method using the dummy for evaluating the sheet according to an embodiment of the present invention to set the first path via the joints of the dummy from the set origin and the second path having at least one contact in the first path from the origin And allocating and correcting the error of the contact position calculated using the homogeneous transformation matrix of the first path and the second path to the positions of the joints of the dummy.

In this case, the origin is located at the center of the pelvic joint of the dummy, the first route is via the vertebrae with multiple lumbar joints from the origin, the second route is via the guide bar from the origin, and the contact between the spine and the guide bar. This dummy may be formed at the shoulder joint site.

In this case, the lumbar joints are each provided with a rotation angle sensor, it is possible to equally distribute the error of the contact position to the position of each rotation angle sensor.

On the other hand, the measurement method using the dummy for evaluating the seat according to another embodiment of the present invention is to evaluate the seating position of the dummy having a plurality of joints simulated in the shape of a human body, the reference position to a specific position of the structure in which the dummy is installed Setting and converting relative position coordinates of each of the joints with respect to the origin of the dummy into absolute position coordinates with respect to the reference point.

In this case, the position of the reference point is obtained by triangulation using a measurement unit installed in one of the joints, thereby converting the relative positions of the joints with respect to the origin of the dummy into the absolute position coordinate system of the structure.

In this case, the measurement unit is composed of two cameras to obtain a two-dimensional image by imaging the set reference point of the structure, it is possible to obtain a variable distance and angle from the reference point to the cameras.

In addition, the reference point is a steering wheel of the vehicle which is installed to be variable in distance to the dummy, the origin of the dummy may be located in the center of the pelvis joint of the dummy.

Therefore, the sitting posture of the dummy can be implemented more similar to the human posture.

In addition, it is possible to compensate for the posture measurement error generated every spinal joint node, thereby greatly improving the accuracy and reliability of the measurement.

In addition, by evaluating the seating posture of the dummy in terms of the absolute position of the vehicle, the efficiency of measurement and the like are greatly improved.

Hereinafter, the technical configuration of the sheet evaluation dummy according to the accompanying drawings in detail as follows.

1 is a side view showing a schematic configuration of a dummy according to an embodiment of the present invention, Figure 2 is a side view of the spine according to an embodiment of the present invention.

1 and 2, the dummy for evaluating the seat according to an embodiment of the present invention includes a shoulder joint 2, a pelvic joint 3, a guide bar 4, and a spine 5. It includes. In this case, the seat evaluation dummy may further include a head joint 7, a thigh joint 8, and an arm joint 9. The spine 5 comprises a plurality of lumbar joints 1, 1a, and a thoracic spine joint 6.

The shoulder joint 2 is simulated in the human body shape on the upper part of the lumbar joint 1, and the pelvic joint 3 is simulated in the human body shape on the lower part of the lumbar joint 1. The guide bar 4 connects the shoulder joint 2 and the pelvic joint 3 in a straight line. In addition, the head joint 7 is disposed above the shoulder joint 2, and the thigh joint 8 and the female joint 9 can be connected to the pelvic joint 3 and the shoulder joint 2, respectively.

Lumbar joints (1) (1a) are stacked vertically and connected to each other. Lumbar joints (1) (1a) may be made of a variety of structures, but similar to the lumbar structure of the human body is preferably provided with five.

3 is a perspective view of the lumbar joint according to an embodiment of the present invention, Figure 4 is an exploded perspective view of the lumbar joint according to an embodiment of the present invention, Figure 5 is a cross-sectional view along the line AA of Figure 3, Figure 6 Is a cross-sectional view along the line BB of FIG.

As shown in FIGS. 3 to 6, the lumbar joint 1 includes a joint housing 11, a rotation shaft 12, a joint connecting member 13, an elastic member 14, and a preload control member 15. ).

The joint housing 11 is to be a body of the lumbar joint 1, and a plurality of joint housings 11 and 11a are arranged up and down.

The rotary shaft 12 rotatably penetrates the left and right of the joint housing 11. The rotating shaft 12 has a fastening groove 121 for fastening the joint connecting member 13 to be described later in the vertical direction. A bearing 122 may be interposed between the rotation shaft 12 and the joint housing 11.

The joint connecting member 13 is fastened to the rotary shaft 12a provided in the adjacent other lumbar joint 1a, and serves to connect the joint housing 11 to the other adjacent joint housing 11a in the vertical direction.

In this case, it is preferable to provide the spacer 16 between the joint housing 11 and the adjacent joint housing 11a. The spacer 16 adjusts the play between the joint housing 11 and the adjacent lower joint housing 11a. The spacer 16 may be made of a flexible material such as metal, urethane, or a member such as a spring.

In addition, the joint connecting member 13 may be formed in a bolt shape, and a seating groove 111 for seating the spacer 16 is formed at an upper portion of the joint housing 11, and a joint at a lower portion of the seating groove 111. The fastening hole 112 for inserting the connection member 13 is extended.

When the joint connecting member 13 is formed in a bolt shape, a stepped portion for seating the head of the joint connecting member 13 is formed in the fastening hole 112 so that the joint connecting member 13 may be coupled to the joint housing 11. Can be.

In addition, the lower end of the joint connecting member 13 penetrates through the lower portion of the joint housing 11 and protrudes to the outside, and the protruding portion penetrates the space 16 and rotates around the other lumbar joint 1a. It is fastened to the fastening groove 121a formed in 12a. Therefore, the lumbar joint 1 can be rotated in the front-rear direction with respect to the other lumbar joint 1a adjacent to the lower part.

The elastic member 14 is interposed between the joint housing 11 and another joint housing 11a adjacent to the bottom. The elastic member 14 serves to apply a load to the rotational movement of the joint housing 11, at least one is provided. Preferably, the elastic member 14 is disposed on the front side and the rear side of the joint housing 11, respectively, to apply pressure to the joint housing 11 rotated in the front-rear direction.

The preload control member 15 functions to adjust the pressure of the elastic member 14.

As such, as the dummy for evaluating the sheet according to the embodiment of the present invention includes the preload control member 15, it is possible to adjust the preload with respect to the rotation of the lumbar joint 1, thereby enabling fine adjustment of the rotation angle. . As a result, the desired coordinates of each lumbar joint 1 can be easily set, and the dummy can be tested in various postures.

In addition, the elastic member 14 is disposed at the rear and front of the joint connecting member 13, respectively, the preload control member 15 is preferably connected to the elastic member 14 disposed in front. As described above, the elastic member 14 is preferably disposed one each at the front side and the rear side of the joint housing 11 around the joint connecting member 13. However, two or three elastic members 14 may be disposed at the front side and the rear side of the joint housing 11, respectively. Such an arrangement is appropriately designed in consideration of the elastic force of the elastic member 14.

In this case, the joint housing 11 is formed to protrude forward than the other joint housing 11a adjacent to the lower part, and the preload control member 15 is preferably disposed at the protruding portion of the joint housing 11. Through such a structure, the joint housing 11 has a compact structure and can secure a space for installing the preload control member 15.

That is, the joint housing 11 may be formed to bend forward inclined downward compared to the rear. Therefore, in a state in which the joint housings 11 are stacked side by side in the vertical direction, the joint housing 11 has a structure protruding forward than other joint housings 11a adjacent to the lower portion. The preload control member 15 is fastened to the front of the inclined joint housing 11.

In addition, the preload control member 15 may be fastened to the joint housing 11 to be elevated. That is, the preload control member 15 is movably connected to the joint housing 11 in the upward direction or the downward direction. Therefore, as the preload control member 15 moves up and down, the pressure of the elastic member 14 connected to one side of the preload control member 15 may be adjusted. However, if the preload control member 15 is capable of adjusting the pressure of the elastic member 14, it can be achieved through embodiments implemented in other structures.

In this case, the elastic member 14 is preferably composed of a compression spring that both sides support the adjacent joint housings (11, 11a). In addition, the preload control member 15 may include a bolt portion 151 and a plate member 152. Bolt portion 151 is screwed to the joint housing (11). The plate member 152 is disposed below the bolt portion 151 to press the compression spring by the lowering of the bolt portion 151.

Accordingly, the method of pressing the plate member 152 while the bolt portion 151 is lowered by the operation of rotating the bolt portion 151 or by relieving the pressing force of the plate member 152 while the bolt portion 151 is raised. The drive is made. As a result, the preload of the lumbar joint 1 can be adjusted through a simple operation.

In this case, a plurality of support grooves 113 may be formed in the joint housing 11. The support grooves 113 are formed at the top and bottom of the joint housing 11, respectively. Support grooves 113 formed on the upper end of the joint housing 11 are formed at the front and the rear with respect to the joint connecting member 13, respectively. In addition, the support groove 113 formed at the lower end of the joint housing 11 is also formed in the front and rear with respect to the joint connecting member 13, respectively.

The support groove 113 supports the end of the compression spring. That is, the support groove 113 formed at the bottom of the joint housing 11 supports one end of the compression spring, and the support groove 113a formed at the top of the other joint housing 11a adjacent to the bottom supports the other end of the compression spring. do.

The through hole 114 is formed in front of the upper end of the joint housing 11. The through hole 114 is formed in front of the support groove 113 formed in front of the upper end of the joint housing 11, and extends from the support groove 113 formed in front of the lower end of the joint housing 11 to the upper end of the joint housing. Is formed. The through hole 114 allows the bolt portion 151 of the preload control member 15 to pass therethrough, and a thread is formed on an inner circumferential surface thereof so as to be screwed to the bolt portion 151.

In addition, the lumbar joint 1 is further provided with a rotation angle sensor (17). The rotation angle sensor 17 detects a rotation angle of the rotation shaft 12 with respect to the joint housing 11. The rotation angle sensor 17 may be made of a potentiometer or the like. The rotation angle sensor 17 may be connected to one side of the rotation shaft 12. That is, the rotation angle sensor 17 is fixed to the support member 171, the front end of the support member 171 is fastened to the joint housing 11 with a bolt 175. In this case, the fixing bolt 173 through the washer 172 is fastened to the other side of the rotation shaft 12.

As described above, the dummy for evaluating the seat is provided with a rotation angle sensor 17, so that each of the lumbar joint 1, which is generated inside the dummy according to the apparent behavior of the dummy, is similar to the seating behavior of the human body. It is possible to observe the relative change in position and the change in posture of the entire dummy in real time. The related information will be described in detail in the method for measuring the dummy sheet for evaluation later.

In addition, the dummy for evaluating the sheet further includes a measurement unit. The measurement unit non-contactly monitors the position coordinates caused by the movement of the dummy from the set reference point.

In this case, the measuring unit may be composed of two cameras. Two cameras may be arranged on top of the lumbar joint 1, ie on the head joint 7. The two cameras installed as described above acquire an image by capturing the set reference point in the form of a two-dimensional image.

Hereinafter, a measuring method using a sheet evaluation dummy according to some embodiments of the present invention will be described with reference to the accompanying drawings.

According to an embodiment of the present invention, a measuring method using a dummy for evaluating a sheet may include: setting a first path through joints of the dummy from a set origin and a second path having at least one contact point from the origin to the first path; And assigning and correcting the error of the contact position calculated using the homogeneous transformation matrix of the first path and the second path to the positions of the joints of the dummy.

Six degrees of freedom must be specified to define the relative position between one body and the other. The error for each of these six degrees of freedom has a number of factors that affect its position. Taking into account all the factors that influence each other in a particular instrument, the number of errors that must be limited is high. Thus, the best method for assigning and limiting tolerances for these errors uses error assignment that imposes an error in the sensitive direction (the direction of rotation of the lumbar joint) and ignores the error in the non-sensitive direction.

These error assignments are formulated by the law of coupling, which defines the behavior of machine components and their interfaces, and the law of coupling, which tells how different types of errors are combined. The method of applying the error allocation formulated in this way is to express the kinematic model of the proposed system using homogeneous transformation matrix. Then, using the model represented by the homogeneous transformation matrix, symmetrical analysis of all types of errors that may occur in the system is made, and the influence of these on the positional accuracy error of the final end point is found.

In order to model the kinematic model in a homogeneous transformation matrix, the spatial relationship between the two elements must be defined so that the error of the elements affects the machining point or the specimen position. A 4x4 matrix is needed to indicate the position of the rigid body relative to a given coordinate system in three-dimensional space. In this process, the translation and rotation matrix are used at the intersection.

7 illustrates a coordinate system for describing a homogeneous transformation matrix according to an embodiment of the present invention.

As shown in FIG. 7, when the coordinates are set, the following homogeneous transformation matrix is used to convert the relative position (x ₂ , y ₂ , z ₂ ) in the T ₂ coordinate into an absolute position with respect to the origin coordinate system. Used.

The translational translation matrix from the origin coordinate (T ₀ ) to the coordinate T ₁ is given by Equation 1.

Between the T ₁ coordinates and the T ₂ coordinates, translation and rotation of the coordinate system by θ occur. Therefore, to convert the coordinate system from T ₁ coordinate to T ₂ coordinate, the translation matrix and the rotation matrix must be multiplied continuously as in Equation 2.

Therefore, in order to calculate the position of the relative position (x ₂ , y ₂ , z ₂ ) coordinate in the T ₂ coordinate system as the coordinate value in T ₀ , which is the absolute coordinate, an expression such as Equation 3 is required.

Through this homogeneous transformation matrix operation, the absolute positions of all parts located with respect to the origin can be calculated.

8 illustrates a schematic configuration diagram for error estimation according to an embodiment of the present invention.

Referring to FIG. 8, the path ① is connected by two points in a straight line, and the path ② is connected through elements in which the two points rotate. And, the path ① and ② are meeting each other. If the two paths are corrected by equally distributing the error of the contact position calculated using the homogeneous transformation matrix to all the elements, it is possible to prevent the accumulation of the position error of the sensors detecting each element.

After comparing the error at the contact point, the error value can be assigned for each position coordinate of the homogeneous transformation matrix by multiplying the equation 3 by the correction value equation 4.

As a result, even in the measurement method using the sheet evaluation dummy according to an embodiment of the present invention, the first path and the second path at the origin can be corrected by allocating an error by the equation (5).

In this case, the origin is located at the center of the pelvic joint 3 of the dummy. In addition, the first path passes through the vertebral portion 5 having a plurality of lumbar joints 1 from the origin, and the second path passes through the guide bar 4 from the origin. In addition, a contact point of the spine 5 and the guide bar 4 may be formed at the shoulder joint 2 portion of the dummy.

In addition, each lumbar joint (1) is provided with a rotation angle detection sensor 17, and evenly distributes the error of the contact position to the position of each rotation angle detection sensor 17.

On the other hand, the measuring method using a dummy for evaluating the seat according to another embodiment of the present invention is to evaluate the seating position of the dummy having a plurality of joints simulated in the shape of a human body, with a reference point to a specific position of the structure in which the dummy is installed Setting and converting relative position coordinates of each of the joints with respect to the origin of the dummy into absolute position coordinates with respect to the reference point.

In this case, the position of the reference point may be obtained by triangulation using a measurement unit installed in one of the joints. Therefore, the relative positions of the joints with respect to the origin of the dummy can be converted into the absolute position coordinate system of the structure.

For reference, another embodiment of the present invention will be described with reference to the drawings of the above-described embodiment.

9 illustrates triangulation according to another embodiment of the present invention.

As shown in FIG. 9, the measurement unit preferably includes two cameras C1 and C2 that capture a set reference point of the structure and obtain a two-dimensional image. Therefore, the variable distance and angle from the reference point to the cameras C1 and C2 can be obtained. Two cameras C1 and C2 are installed in the head joint 7 so as to be spaced apart from each other by a predetermined distance.

In addition, the reference point is a steering wheel of a vehicle which is installed to be variable in distance to the dummy, and the origin of the dummy is located at the center of the pelvic joint 3 of the dummy.

In other words, in order to match the coordinates of the dummy and the vehicle, a measurement method is required which defines the position of the central portion of the pelvic joint 3 which is a reference point of the part of the vehicle and the dummy. In the measuring method according to the present embodiment, a non-contact measuring method is used. In order to give freedom to all parts of the pile and to monitor free movement and position in the vehicle, it is not suitable because a part of the dummy is constrained if the contact measurement method is used.

As the non-contact measuring method, a method using an ultrasound and a method using a vision may be used, and a method using a vision is more preferable. Ultrasonic method is affected by temperature and external environment, while vision method is relatively less environmentally affected. In addition, the vision-based method may use a laser method and an image analysis method through an image. In this case, since the laser measuring equipment is expensive, it is preferable to use a camera such as a CCD or a CMOS.

In order to recognize a 3D object, a process of obtaining 3D information from a 2D image may use a monocular method, a compound eye method, or the like, but it is preferable to use a compound eye method. Monocular vision method extracts depth information from a single image, and compound vision method, also called stereo vision, extracts depth information from two or more images.

The change in angle can be expressed by Equation 6 using arcsine using the triangulation shown in FIG. 9.

Here, R value is calculated as the whole rotation angle. This angle can be calculated with one camera, but when two cameras are used to recognize one mark pattern by triangulation, the distance changed from the reference point from those cameras can be measured and the angle can be measured. .

10 illustrates coordinates of a moving object according to another embodiment of the present invention.

Referring to FIG. 10, when D ₂ is fixed to a zero distance as an initial setting and R ₁ and R ₂ are set, D ₁ , D ₂ , R ₁ , and R ₂ become given values. Then, as in the first experiment, if the change amount of angle r ₁ , r ₂ is obtained, the total D ₁ , D ₂ , R ₁ , R ₂ , r ₁ , r ₂ can be obtained.

By solving equations 7 and 8 above, we can find the distances of d ₂ and d ₃ . Using the lengths of d ₂ and d _3, the length of d ₁ can be obtained as shown in Equation 9 below.

In addition, the angle of R can also be obtained from Equation 10 below.

11 illustrates angles of two objects according to another embodiment of the present invention.

If such triangulation is possible, assuming two mark patterns as shown in FIG. 11, even if the angle of R is changed, the angle can be calculated by Equation 11 below.

In summary, according to the present invention, by using the homogeneous transformation matrix, the important joints and parts may be calculated and monitored using the XYZ coordinate system with the center of the pelvic joint as a reference point. In addition, by developing a GUI monitoring system on a PC by wireless data communication using Bluetooth for the change angle obtained from the measurement system, the dummy graphic monitoring system appears in the XYZ coordinate system due to the calculation of the homogeneous transformation matrix. In addition, in the design of the dummy, it is possible to set an accurate reference point in the occurrence of inevitable errors such as hysteresis loss.

In addition, by monitoring the movement of the dummy in the coordinate system of the vehicle to measure the dummy coordinates in terms of absolute coordinates, more efficient and accurate measurement can be performed.

Hereinafter, the effect of the present invention is verified through specific experimental data of the measuring method using the sheet evaluation dummy according to the present invention.

As in the above-described embodiment, the upper body of the dummy is installed. In this case, the dummy may be implemented by detachably designing other joints such as the lower body and the arm. The measurement system board and Bluetooth communication part are installed in the dummy installed as above, and the USB camera is installed in the head joint part. In addition, the upper body of the dummy is fixed to the surface plate and the steering wheel is installed in front of the dummy in consideration of the characteristics of the vision system using a pattern.

In addition, in order to measure the change in body angle in the field, a touch screen LCD monitor is installed at the chest of the dummy to implement a field monitoring system. This field measurement system can be used to perform field measurements and to calibrate the origin of each joint.

Absolute position calculation of each joint using homogeneous transformation matrix is performed by remotely installed PC and uses Bluetooth wireless communication system for remote communication. As the PC-based dummy posture monitoring system is built on the basis of tools such as Labview, the dummy posture monitoring system can measure the posture change of the dummy in real time.

12 is a photograph illustrating a posture monitoring system according to another exemplary embodiment of the present invention.

1 and 12, the first path passes through the guide bar 4 and the second path passes through the spine 5. The reference point of each sensor is set, the fixation is released, and the length and angle of the guide bar 4 constituting the first path in the state of changing posture are measured, and the error in the STNM position is compared. In this case, the length of the guide bar 4 was 447 mm and the angle value of the measured TOR was -6.7 degrees. The position of the TOR sensor is located at the coordinates (0, 0, 20) at the position of 20 mm in the upward direction from the zero point to the Z axis.

The displacements and angle values were substituted into the translation and rotation matrices to derive the results in Table 1 below.

position measured coordinates
route1 TOR 0.000 0.000 20.000 STNM -63.079 0.000 528.922


route2

L5S -129.000 0.000 98.500 L45 -134.900 0.000 131.510 L34 -149.700 0.000 168.890 L23 -165.500 0.000 206.750 L12 -176.400 0.000 242.630 T1L -184.900 0.000 278.420 STNM -64.750 0.000 539.280

According to the measurement results, it was confirmed that the position of the STNM calculated using the first path was about 1.7 mm in the x direction and about 10.4 mm in the z direction as in the case of using the second path. The cause of the error may be an error in the resolution and length measurement of the sensor, an error such as a resolution limit of the A / D conversion, a systematic error, an arbitrary error, and the like.

Divide the final error in half and assign them to each of the two routes, and correct them by substituting the correction values for the coordinates of error in the routes. In addition, the error can be divided into the correction of the angle and the correction of the length between each sensor. However, due to the influence of the Abbe error due to the angle amplified by the Abbe offset as the distance between the measuring axis and the function point increases, the correction value for the angular error changes significantly each time the posture of the dummy changes. Decreases the reliability of Therefore, error allocation is performed to the length based on the coordinate value.

In this way, the allocation amount of each coordinate axis and the correction results are summarized as shown in Table 2 below, instead of the values applied to the homogeneous transformations, so as to easily identify the correction results.

position measured coordinates error budgeting compensated coordinates
route1 TOR 0.000 0.000 20.000 0.000 0.000 0.000 0.000 0.000 20.000 STNM -63.079 0.000 528.922 -0.835 0.000 5.175 -63.914 0.000 534.097


route2


L5S -129.000 0.000 98.500 0.000 0.000 0.000 -129.000 0.000 98.500 L45 -134.900 0.000 131.510 0.139 0.000 -0.862 -134.761 0.000 130.648 L34 -149.700 0.000 168.890 0.278 0.000 -1.724 -149.422 0.000 167.166 L23 -165.500 0.000 206.750 0.417 0.000 -2.586 -165.083 0.000 204.164 L12 -176.400 0.000 242.630 0.556 0.000 -3.448 -175.844 0.000 239.182 T1L -184.900 0.000 278.420 0.695 0.000 -4.310 -184.205 0.000 534.108 STNM -64.750 0.000 539.280 0.834 0.000 -5.172 -63.916 0.000 534.108 error -1.670 0.000 10.350 -0.002 0.000 0.011

The error of the final STNM is (-1.670, 0.000, 10.350), and this value is divided equally into 7 coordinate points, and the error is allocated, and then the position calculation is performed. The result is calculated using the first path and the second path. The position of the STNM coincides within the 10 μm range, and this position accuracy is maintained at the same level even if the dummy posture changes. In addition, the same result is obtained as shown in Table 3 below when the two routes are executed based on L12 rather than STNM.

position measured coordinates error budgeting compensated coordinates
route1
TOR 0.000 0.000 20.000 0.000 0.000 0.000 0.000 0.000 20.000 STNM -63.541 0.000 528.922 -0.201 0.000 1.975 -63.742 0.000 530.897 T1L -183.750 0.000 278.420 -0.402 0.000 3.950 -184.152 0.000 282.370 L12 -175.420 0.000 231.110 -0.603 0.000 5.925 -176.023 0.000 237.035

route2

L5S -129.000 0.000 98.500 0.000 0.000 0.000 -129.000 0.000 98.500 L45 -134.900 0.000 137.180 0.150 0.000 1.481 -134.750 0.000 135.699 L34 -149.780 0.000 173.640 0.301 0.000 2.962 -149.479 0.000 170.678 L23 -165.610 0.000 216.440 0.452 0.000 4.443 -165.158 0.000 211.997 L12 -176.630 0.000 242.960 0.603 0.000 5.924 -176.027 0.000 237.036 error -1.210 0.000 11.850 -0.004 0.000 0.001

Therefore, it can be verified that the positional coordinate error allocation method using the two routes presented in the present invention can greatly improve the accuracy of posture monitoring of the humanoid dummy.

Teray, on the other hand, proposed an algorithm for estimating the position and orientation of a robot in two-dimensional space using mark patterns. Using this method, the algorithm receives the initial screen to set the standard, recognizes the mark pattern, and rotates it slightly to find the mark pattern.

In order to use triangulation, the amount of displacement of the mark pattern obtained by the maximum angle movement of ± 15 ° left and right using the rotary table at a reference distance of 1000 mm is grasped in pixels.

When the mark pattern was input at zero, the pixel coordinates at the center point of the mark pattern were 160 × 120 in the coordinate system of 320 × 240, 295 × 120 at + 15 °, and 25 × 120 at -15 °. As a result, the shift in pixels when moving 15 degrees is a shift of 135 pixels. Referring to FIG. 10, when the distance between D1 and D2 is 1000 mm and the angle is 15 °, the actual mark pattern is shifted to 270 mm since tan15 × 0.27. The actual distance is 270 mm and the corresponding pixel is 135 pixels, so 2 mm per pixel.

The triangulation as shown in FIG. 9 is an algorithm for measuring the actual distance per pixel, and using this, the above-described distance measuring algorithm can be verified. By using such triangulation it is possible to perform a correction operation on the measured value of the angle.

Install the reference point on the 500㎜ distance d ₁ in Figure 10 and corrected by 105˚ to minimize the R starting at each 75˚ going to rotate the rotary table a 1˚ spacing compared to the angular value obtained by counting the pixels change . After this calibration the resolution of the measurable angle was 0.1 ° and the error potential was measured from -0.2 ° to 0.3 °.

As such, when one mark pattern is recognized by triangulation using two cameras, the distance changed from the reference point from the cameras can be measured, and the dummy movement in the vehicle is mounted in real time by mounting the dummy in the vehicle seat evaluation dummy. Can be monitored.

In addition, distance correction can be performed in two ways. The first method is to fix the steering wheel and the dummy and move the dummy spine to correct the forward and backward distances. The second method is to fix the dummy spine and move the steering wheel forward and backward to compensate.

First, as shown in FIG. 10, R is fixed at an angle of 90 °, and d ₁ is corrected by comparing the measured value with the vernier caliper widening the distance at intervals of 10 mm from 420 mm to 540 mm. After this calibration the resolution of the measurable distance was 1 mm and the error range was measured from -7 mm to 6 mm. Also, as a result of applying the result corrected by the movement of the spine in the second method to the parallel movement of the steering wheel, the resolution was the same as 1 mm and the error range was -3 mm to 8 mm.

Dummy for evaluating the sheet according to the present invention has been described with reference to the embodiment shown in the drawings, but this is only illustrative, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible. Therefore, the true technical protection scope should be defined by the technical spirit of the appended claims.

1 is a side view showing a schematic configuration of a dummy according to an embodiment of the present invention,

Figure 2 is a side view of the spinal column according to an embodiment of the present invention,

3 is a perspective view of the lumbar joint in accordance with one embodiment of the present invention,

Figure 4 is an exploded perspective view of the lumbar joint in accordance with an embodiment of the present invention,

5 is a cross-sectional view taken along the line A-A of FIG.

6 is a cross-sectional view taken along the line B-B of FIG.

7 illustrates a coordinate system for explaining a homogeneous transformation matrix according to an embodiment of the present invention.

8 illustrates a schematic configuration diagram for error estimation according to an embodiment of the present invention.

9 illustrates a triangulation method according to another embodiment of the present invention,

10 illustrates coordinates of a moving object according to another embodiment of the present invention.

11 illustrates angles of two objects according to another embodiment of the present invention.

12 is a photograph showing a posture monitoring system according to another embodiment of the present invention.

<Description of the symbols for the main parts of the drawings>

1: lumbar joint 11: joint housing

12: shaft 13: joint connecting member

14 elastic member 15 preload control member

16 spacer 17 rotation angle sensor

Claims (18)

A joint connecting member coupled to the joint housing, a rotating shaft rotatable through the left and right sides of the joint housing, a rotating shaft installed at another adjacent lumbar joint, and connecting the joint housing to another adjacent joint housing in an up and down direction; And a plurality of lumbar joints interposed between the adjacent joint housings and including a plurality of lumbar joints including at least one elastic member for applying a load to the rotational movement of the joint housing and a preload control member for adjusting the pressure of the elastic members. In the dummy for evaluation, The elastic member is disposed in the rear and front of the joint connecting member, respectively, the preload control member is connected to the elastic member disposed in the front, the joint housing is formed to protrude forward than the other joint housing adjacent to the lower portion And the preload control member is disposed at a protruding portion of the joint housing. delete delete The method of claim 1, The joint housing is formed bent forward inclined downward compared to the rear, And the preload control member is fastened to the front of the inclined joint housing. The method of claim 1, The preload control member is fastened to the joint housing to be lifted, the dummy for evaluation of the sheet, characterized in that the pressure of the elastic member connected to one side of the preload control member in accordance with the lifting of the preload control member. The method of claim 5, The elastic member is a compression spring that both sides support the adjacent joint housings, The preload control member, And a bolt member screwed to the joint housing, and a plate member disposed below the bolt portion to press the compression spring by lowering the bolt portion. The method of claim 6, The joint housing has support grooves for supporting the end portions of the compression springs at front, rear, and front and rear sides of an upper end thereof, respectively, and from a support groove located at the front of the lower end of the joint housing. The dummy for evaluating the sheet, characterized in that a through hole for penetrating the preload control member to an upper end. The method of claim 1, The lumbar joint, And a rotation angle detecting sensor for detecting a rotation angle of the rotation shaft with respect to the joint housing. The method of claim 8, A shoulder joint simulated in a human body shape on the upper part of the lumbar joint; Pelvic joint simulated in the human body shape on the lower part of the lumbar joint; And And a guide bar for connecting the shoulder joint and the pelvis joint in a straight line. The method of claim 8, A dummy for sheet evaluation, characterized by further comprising a measuring unit for non-contact monitoring the position coordinates by the movement of the dummy from the set reference point. The method of claim 10, The measuring unit, And two cameras disposed on an upper portion of the lumbar joint and photographing the set reference point and spaced apart from each other by a predetermined distance. delete delete delete delete delete delete delete

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