WO2009095986A1 - Capteur de détection de retournement pour machine de compactage - Google Patents

Capteur de détection de retournement pour machine de compactage Download PDF

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Publication number
WO2009095986A1
WO2009095986A1 PCT/JP2008/051237 JP2008051237W WO2009095986A1 WO 2009095986 A1 WO2009095986 A1 WO 2009095986A1 JP 2008051237 W JP2008051237 W JP 2008051237W WO 2009095986 A1 WO2009095986 A1 WO 2009095986A1
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WO
WIPO (PCT)
Prior art keywords
compaction machine
acceleration
sensor
acceleration sensor
detection sensor
Prior art date
Application number
PCT/JP2008/051237
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English (en)
Japanese (ja)
Inventor
Kenichi Muramoto
Giichi Tanaka
Kenichi Nagasawa
Yoshinori Harashima
Hideo Saito
Original Assignee
Mikasa Sangyo Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mikasa Sangyo Co., Ltd. filed Critical Mikasa Sangyo Co., Ltd.
Priority to PCT/JP2008/051237 priority Critical patent/WO2009095986A1/fr
Publication of WO2009095986A1 publication Critical patent/WO2009095986A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/02—Details
    • G01C9/06—Electric or photoelectric indication or reading means
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
    • G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
    • G01P15/0891—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values with indication of predetermined acceleration values
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R2021/0065—Type of vehicles
    • B60R2021/0088—Cycles, e.g. motorcycles

Definitions

  • the present invention relates to a sensor for detecting that the compaction machine is in a tipping state so that the engine can be quickly stopped when the compaction machine equipped with the engine falls during operation.
  • the present invention relates to a fall detection sensor for a compaction machine that can be suitably applied to a machine that operates with a large vibration, such as a rammer or the like.
  • a pair of electrodes is disposed in a case in which mercury is enclosed, and when the case is in a normal posture, the electrodes are electrically connected via the mercury
  • a mercury switch or the like is known, which is configured to be connected to move the mercury when the case is inclined to a predetermined angle or more and to release the electrical connection between the electrodes.
  • an acceleration sensor is used as a fall detection sensor that detects a motorcycle when it falls.
  • the enclosed mercury may be violently scattered within the case due to vibration or impact of the rammer, or the inner surface of the case There is a possibility that the mercury will rotate and flow along. In these cases, the level of mercury drops, the electrical connection between the electrodes is released, and it is determined that the airframe has fallen despite normal operation, and the engine is against the designer's intention. May be inconvenient.
  • the value of the detected acceleration changes according to the angle of the detection axis of the acceleration sensor (for example, the detection axis is vertical)
  • the detection value of gravitational acceleration is 1 G, 0 G when the detection axis is horizontal, and about 0.7 G when the detection axis is inclined 45 °).
  • the two-wheeled motor vehicles which are equipped with an engine, such as a rammer etc., they try to overturn randomly in all directions, and try to grasp the inclination angle of the two-wheeled vehicle and the presence or absence of falling etc. It is difficult to have room for all fall detections because low frequency vibrations are applied for a long time. As a result, there is a problem that it takes time to detect a fall, or an erroneous determination causes a signal to stop the engine even though the engine is operating normally.
  • the present invention has been made to solve such problems in the prior art, and even when applied to a compaction machine operating with large vibration and impact, it is possible to properly fall over the body. That is, it aims at providing a fall detection sensor which can be determined with high accuracy.
  • the fall detection sensor for a compaction machine includes an acceleration sensor, a low pass filter, an integration circuit, and a comparator, and the acceleration sensor can detect a gravitational acceleration and has only one detection axis. And the acceleration sensor is mounted on the compaction machine in such a direction that the detection axis is within the range of approximately vertical (vertical ⁇ 15 °) or vertical ⁇ 30 ° when the compaction machine is in the basic posture
  • the signal output from the circuit is processed by a low pass filter and an integration circuit and then input to a comparator to determine whether the compaction machine has fallen or not.
  • a capacitance type sensor is used, and as an integration circuit, a unit time (0.01 to 5 seconds, more preferably 0.5 to 1) ending at a certain point T Preferably, it is arranged to integrate successive values of the input signal within .5 seconds and to output that value as the value of the signal at time T.
  • a cutoff frequency 1 Hz or more (more preferably, 50 to 150 Hz) be used.
  • the fall determination angle is preferably set in the range of 50 to 85 ° (more preferably, 60 to 80 °). Furthermore, the fall detection sensor for a compaction machine according to the present invention is preferably attached to an element of the compaction machine that is subjected to anti-vibration measures.
  • the fall detection sensor for a compaction machine can be suitably applied to a compaction machine that operates with large vibration and impact. More specifically, by processing the signal output from the acceleration sensor with a low pass filter and an integration circuit, the normal motion acceleration component generated during operation of the compaction machine is one of the components of the signal from the acceleration sensor. It is removed as much as possible, and as a result, it is possible to avoid an erroneous determination due to a large vibration, impact or the like during operation of the compaction machine, and to promptly and overturn that the compaction machine falls. It can be determined with high accuracy.
  • FIG. 1 is a block diagram of a fall detection sensor 1 for a compaction machine according to the present invention.
  • the fall detection sensor 1 for a compaction machine is constituted by an acceleration sensor 2, a low pass filter 3, an integration circuit 4, a comparator 5, and an output terminal 6. The components are arranged in series.
  • the fall detection sensor 1 for compaction machine grasps the posture (tilt angle) of the compaction machine based on the data of acceleration related to the compaction machine, and the compaction machine is inclined by a predetermined angle or more from the basic posture. If it is determined that "the compaction machine has fallen", the engine can be stopped immediately.
  • the acquisition of acceleration data for the compaction machine is performed by the acceleration sensor 2.
  • the acceleration sensor 2 operates by applying a power supply voltage, and is configured to output an electric signal (unit: V) of a level proportional to the magnitude of acceleration in the sensitivity direction. Therefore, the acceleration in the sensitivity direction can be grasped from the output level of the signal.
  • the acceleration sensor 2 a sensor of a type capable of detecting gravitational acceleration with only one detection axis is used. And, when the compacting machine (Lummer etc.) to be applied is in the basic posture (for example, in the case of a rammer in a self-standing state on a horizontal surface), the detection axis is substantially vertical (vertical ⁇ 15 °) It is mounted on the compacting machine in an inward orientation.
  • the value is "sum of motion acceleration component and gravity acceleration component".
  • the acceleration sensor capable of detecting the gravitational acceleration is held in a state in which the detection axis is vertical and is stopped, the value of the detected acceleration is 1 G.
  • the detection axis is held in a horizontal state and held stationary, neither the motion acceleration nor the gravity acceleration is detected, so the detection value is 0G.
  • the detection axis is stopped at a tilt of 80 °, the detected value is approximately 0.174 ( ⁇ cos 80 °) G.
  • the acceleration sensor 2 since the acceleration sensor 2 is attached in such a direction that the detection axis is substantially vertical when the compaction machine is in the basic posture, the compaction machine is at rest.
  • the detection axis of the acceleration sensor 2 When the value of the acceleration detected by the acceleration sensor 2 is 1 G, the detection axis of the acceleration sensor 2 is vertical, that is, "the compaction machine is in the basic posture". Further, if the detected value is 0 G, it means that it is in the state of being inclined by 90 °, and if it is 0.174 G, it is in the state of being inclined by 80 °.
  • the posture of the compaction machine is determined by comparison and determination.
  • the inclination angle can be grasped. For example, by comparing and determining whether the detected value of acceleration by the acceleration sensor 2 is 0 G or less, it is possible to grasp whether the compaction machine has fallen 90 ° or more, and the detected value is 0.174 G or less. It can be grasped whether or not the compaction machine is inclined by 80 ° or more by comparing and judging whether or not.
  • the comparator 5 makes a comparison between the output signal from the acceleration sensor 2 and the threshold value. More specifically, an output signal from the acceleration sensor 2 (an electrical signal having a level proportional to the magnitude of the detected acceleration) is finally input to the comparator 5, and the comparator 5 The input signal is compared with a preset threshold value, and when the value of the input signal falls below the threshold value, the comparator 5 determines that the compaction machine has fallen, and the engine Emits a signal to stop the Otherwise, if it is determined that the magnitude of the input signal is equal to or greater than the threshold value, no signal is output.
  • the signal When a signal is issued from the comparator 5, the signal is output from the output terminal 6 to the outside of the overturn detection sensor 1 for a compaction machine.
  • the output terminal 6 is connected to an engine stop switch (pulse short circuit) of the compaction machine.
  • the engine stop switch is connected to the ground (body of the device) and the ignition coil for ignition, and when the signal output from the comparator 5 is transmitted to the engine stop switch, the ground line is directed to the ignition coil The connected thyristor is rolled and the negative voltage disappears. For this reason, the spark plug of the compaction machine's engine does not spark and the engine shuts down.
  • the compaction machine when the compaction machine is inclined by 80 ° or more, it is determined that “falling over” (that is, the fall determination angle is set to 80 °), and “the detected acceleration is 0.
  • the value of the magnitude of the signal output from the acceleration sensor 2 in the case of 174 G (strictly, the value obtained by integrating this over the unit time T U ) is set as a threshold value to be given to the comparator 5 There is. That is, when it is determined that the value of the signal input to the comparator 5 is smaller than the threshold value, "the detected acceleration is smaller than 0.174 G", which means that the compaction machine It means that it is in the state of being inclined by 80 ° or more. In this case, a signal is issued from the comparator 5, and the engine is immediately stopped.
  • the compaction machine vibrates in a corresponding manner, and during operation (operation), it moves in the front-rear direction, left-right direction, or diagonal direction according to the operation of the operator.
  • the up and down motion with a large amplitude will be repeated as if the aircraft lifted up.
  • a motion acceleration component is added to the value of the acceleration detected by the acceleration sensor 2 unlike in the above-described stationary state.
  • the absolute value of the motion acceleration component is larger than 1 G, the value of the signal output from the acceleration sensor 2 is even when the compacting machine is not inclined, It may fall below the threshold value given to the comparator 5.
  • the value of the signal output from the acceleration sensor 2 is directly input to the comparator 5, for example, in the case of a rammer operating with a large amplitude up and down movement, the acceleration of the up and down movement is detected and it does not fall Nevertheless, it may be determined that the vehicle has fallen (incorrect determination), and in this case, a signal is output and the engine may be stopped against the operator's intention.
  • the signal output from the acceleration sensor 2 is processed by the low pass filter 3 and the integration circuit 4 so that the component of the signal from the acceleration sensor 2 is generated during operation of the compaction machine.
  • the normal motion acceleration component is removed as much as possible, and as a result, it is possible to avoid such erroneous determination as described above, and to quickly and accurately determine that the compaction machine has fallen. It is supposed to be.
  • the integration circuit 4 integrates the input signal and continuously outputs the integrated signal. More specifically, when the signal A as shown in FIG. 2 is input, the integration circuit 4 integrates continuous values of the signal within the unit time T U ending at a certain time point T 1 , and the value thereof Is output as the value of the signal at time T 1 . Further, (integrating successive values of the signal in the time from time T 2, to the point T 2 'predated by a unit time T U) Similarly integration was carried out also at the time T 2, the time T 2 the value Output as the value of the signal at
  • the integration circuit 4 outputs a signal of continuous analog waveform, not a signal of stepped digital waveform. For example, when the signal A of the waveform indicated by the solid line in FIG. 2 is input to the integration circuit 4, the signal B of the waveform indicated by the alternate long and short dash line is output.
  • the unit time T U is set to "1 second". Therefore, an acceleration component with a frequency of 1 Hz or more can be removed from the output signal of the acceleration sensor 2.
  • the normal motion acceleration component generated during operation of the compaction machine is almost 1 Hz or more, so by processing the output signal of the acceleration sensor 2 by this integration circuit 4, an acceleration consisting only of a pure gravity acceleration component It can be approached to the data of
  • Unit time T U can be arbitrarily set within the range of 5.0 seconds 0.01 seconds.
  • the unit time T U when shorter than 0.01 seconds, such as vibration of the motor, regularly, fast (e.g., 100 Hz or more) when the vibration occurs, there is a possibility that the erroneous determination occurs.
  • the unit time T U is, as the reaction is fast short, it is difficult to distinguish the fall and sway, becomes longer time until the detection if longer. For example, if you longer than the unit time T U 5 seconds, to lead to a situation that does not stop immediately even if the fall, there is a problem.
  • the unit time T U is in the range of 0.01 seconds to 5.0 seconds, accurate determination can be made without being affected by slow oscillations such as frequency, irregular frequency, and wind like wind. It is possible.
  • the low pass filter 3 passes only low frequency components (components below the predetermined frequency) and removes high frequency components (frequency components higher than the predetermined frequency), and the input signal has low frequency components. It is output only after being filtered.
  • a filter having a cutoff frequency of 100 Hz (a filter that passes only a signal with a frequency of 100 Hz or less and cuts a signal with a frequency above 100 Hz) is used. The signal output from the acceleration sensor 2 When passing through the low pass filter 3, high frequency components exceeding 100 Hz are removed.
  • the low pass filter 3 avoids misjudgment caused by sudden shock acting on the compaction machine (for example, when the rammer runs on a stone or asphalt surface during the pressing operation and jumps a lot). It is for. More specifically, when a sudden shock is received, the acceleration sensor 2 may output a signal having a waveform whose amplitude in the downward direction is extremely large with respect to the amplitude in the vicinity thereof. However, although such a waveform signal can not be processed well by the integration circuit 4 and an erroneous determination may occur, processing the signal using the low pass filter 3 having a cutoff frequency of 100 Hz Thus, such components can be suitably removed, and erroneous determination can be prevented.
  • the low-pass filter 3 is not limited to one having a cutoff frequency of 100 Hz.
  • the cutoff frequency is 1 Hz or more, only a component of pure gravity acceleration can be extracted.
  • a cutoff frequency of 50 Hz or less is used, the components of the special waveform as described above (waveform with extremely large amplitude in the downward direction) may not be removed properly in some cases.
  • the output signal from the acceleration sensor 2 is configured to be processed (filtered) by the low pass filter 3, so erroneous determination due to rapid shock, high frequency noise, etc. It can be effectively avoided.
  • the fall detection sensor 1 for a compaction machine of the present embodiment is a low-pass normal motion acceleration component generated during operation of the compaction machine.
  • the filter 3 and the integrating circuit 4 are to be removed, and as a result, it is possible to avoid such an erroneous determination as described above, and to determine quickly that the compaction machine has fallen, with high accuracy. ing.
  • a capacitance type sensor is used as the acceleration sensor 2.
  • a capacitive acceleration sensor is built in such a manner that a fixed electrode and a movable electrode supported by a beam function as a capacitor, and when an external force is applied to the sensor, an inertial force is generated.
  • the acceleration of a sensor or an object to which the sensor is attached is measured by estimating the displacement of the movable electrode caused by the change in the capacitance between the electrodes.
  • a piezoelectric type a piezoresistive type, a heat detection type, etc. are known as a measurement method of acceleration in the acceleration sensor, but as the acceleration sensor 2 to be adopted in the present invention,
  • the capacitance type is most suitable. Specifically describing this point, although the capacitive acceleration sensor can recognize the gravitational acceleration acting continuously on the object, the piezoelectric acceleration sensor is operated by applying pressure. Since "the amount of change in acceleration" is measured from the resulting potential difference, the gravitational acceleration can not be recognized.
  • the piezoresistive acceleration sensor is configured such that when the weight moves by displacement, the resistance value of the piezoresistor supporting the weight changes, and the direction and the amount of acceleration are determined from the amount of change, and it is continuous Although it is possible to recognize the gravitational acceleration acting on the sensor, there is a problem that the resistance value is changed due to the temperature change, and a large-scale correction circuit is required to correct this.
  • the heat detection type acceleration sensor measures the amount of movement of heated air, and there is a problem that the response is not good, and it is considered difficult to apply it to a machine that exercises violently like a rammer .
  • a capacitance type sensor which can be made simple and compact and can be realized at low cost and has good temperature characteristics is piezoresistive type. It is considered to be more suitable than heat and heat detection.
  • the capacitance type acceleration sensor has an advantage that it can be easily mounted at the time of mounting on a substrate because the sensor itself is present as an element.
  • the sensitivity direction has 3 axes (that is, has 3 detection axes), 2 axes, and only 1 axis etc.
  • the sensitivity direction has only one axis. The reason is as follows.
  • acceleration sensors used for fall sensors for motorcycles, airbag control systems for four-wheeled vehicles, and acceleration sensors used for vehicle stability control, etc. it is necessary to grasp in detail the fall direction, the attitude of the vehicle body, etc.
  • the sensitivity direction is necessarily required to have two or more axes, naturally, the composite vector must be calculated, and a complex arithmetic circuit is required.
  • the fall detection sensor 1 for a compaction machine of the present invention it is not necessary to grasp the fall direction etc. in detail, and it is sufficient if only gravity acceleration can be detected.
  • the acceleration component is preferably not detected. From this point of view, an acceleration sensor with only one detection axis is considered to be most suitable.
  • the acceleration sensor 2 is mounted on the compaction machine in such a direction that the detection axis is substantially vertical (within the range of ⁇ 15 ° in the vertical direction), This is very effective to try not to detect a normal motion acceleration component generated during operation of the compaction machine as much as possible by the acceleration sensor 2. For example, even when the compaction machine moves in the horizontal direction during operation, as long as the detection axis of the acceleration sensor 2 is vertical, the acceleration in the horizontal direction is not detected.
  • the orientation of the detection axis of the acceleration sensor 2 is basically preferably in the range of “vertical ⁇ 15 °”, but the compacting machine is used for the purpose of chewing pressure or self-propelled, Since the center of gravity of the airframe is often set in advance in an unbalanced state and most of them perform three-dimensional (three-axis direction) movement, depending on the type of compaction machine, some of the random movement may be performed. Therefore, even if the detection axis of the sensor is set within ⁇ 30 ° vertical, all components of the gravitational acceleration may be detected. If this point is taken into consideration, the direction of the detection axis of the acceleration sensor 2 is “vertical ⁇ 30 ° It is also conceivable that the setting should be made within the range of
  • the acceleration sensor 2 If the detection axis of the sensor is held horizontally, the acceleration in the horizontal direction may be detected by the centrifugal force acting on the movable electrode in the acceleration sensor 2. However, the detection axis of the acceleration sensor 2 may be detected. Is vertical, even if centrifugal force acts on the movable electrode, the direction in which the centrifugal force acts and the sensitivity direction deviate by 90 °, so that the acceleration in the horizontal direction is not detected. The presence or absence of can be determined with high accuracy.
  • the handle (portion gripped by the operator) of the compaction machine operating with large vibration is always provided with anti-vibration measures so as to reduce the burden on the operator.
  • the handle gripped by the worker is said to be the least vibrational part of the compaction machine components. Therefore, it is preferable that the overturn detection sensor 1 for a compaction machine according to the present invention be attached to a handle (an element on which anti-vibration measures are taken) that is least susceptible to vibration during operation of the compaction machine.
  • the compaction machine when attaching a base to a case, it is still more preferable to mold with resin and to take measures against vibration. Furthermore, it is very dangerous if the compaction machine is operated as it is when the overturn detection sensor 1 for the compaction machine is not functioning normally due to a problem such as disconnection, so that the warning means such as LED lamp It is preferable that the operator can easily check whether the solidifying machine fall detection sensor 1 is in a normal state or has an abnormality.
  • the fall determination angle is set to 80 °, but the fall determination angle is not necessarily limited to this angle, and can be set within the range of 50 to 85 °.
  • the fall determination angle when applied to a large-sized compaction machine, it is rare to use it in a state of being greatly inclined from the basic posture, but the risk of falling is also high, so it should be set at around 50 °
  • it when applied to a compact compacting machine, it may be considered to be set at about 85 °. However, practically, it is preferable to set in the range of about 60 to 80 °.
  • FIG. 6 is a view showing an example of the waveform of an input signal A to the integration circuit 4 and the waveform of an output signal B from the integration circuit 4;

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Abstract

L'invention porte sur un capteur de détection de retournement, qui peut estimer avec précision, à savoir de façon hautement précise, le retournement d'un corps de machine même si le capteur est appliqué à une machine de compactage dont le fonctionnement s'accompagne d'importants chocs et vibrations. Le capteur de détection de retournement comporte un capteur d'accélération (2), un filtre passe-bas (3), un circuit d'intégration (4) et un comparateur (5). Le capteur d'accélération (2) peut détecter une accélération de gravité, et est monté sur la machine de compactage de telle sorte qu'un axe de détection devient pratiquement vertical lorsqu'il n'existe qu'un seul axe de détection et que la machine de compactage est dans une position de base. Un signal émis en sortie du capteur d'accélération (2) est traité par le filtre passe-bas (3) et le circuit d'intégration (4), et est entré dans le comparateur (5). Il et possible d'estimer si la machine de compactage se retourne ou non.
PCT/JP2008/051237 2008-01-29 2008-01-29 Capteur de détection de retournement pour machine de compactage WO2009095986A1 (fr)

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Cited By (7)

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JP2011226319A (ja) * 2010-04-16 2011-11-10 Fuji Heavy Ind Ltd 汎用エンジンの転倒検出装置
WO2012075463A1 (fr) * 2010-12-03 2012-06-07 Qualcomm Incorporated Direction et positionnement assistés par un capteur inertiel pour navigation de véhicule à gnss (système de navigation mondial par satellite)
JP2014062485A (ja) * 2012-09-20 2014-04-10 Honda Motor Co Ltd ランマの転倒検出装置
DE102012019855A1 (de) * 2012-10-10 2014-04-10 Wacker Neuson Produktion GmbH & Co. KG Motorbetriebenes Arbeitsgerät mit Neigungssensor
JP2017133220A (ja) * 2016-01-27 2017-08-03 若築建設株式会社 締固め評価方法、及び締固め評価システム
JP6276491B1 (ja) * 2017-09-29 2018-02-07 三笠産業株式会社 ランマー用転倒検出センサー
WO2022184666A1 (fr) * 2021-03-01 2022-09-09 Black & Decker Inc. Outil électrique de compactage

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JPH0943269A (ja) * 1995-07-28 1997-02-14 Omron Corp 加速度トランスデューサ
JP2002521609A (ja) * 1998-07-30 2002-07-16 ワツカー ヴエルケ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング ウント コンパニー コマンデイトゲゼルシヤフト 内燃機関の回転数を制御する装置および方法
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Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011226319A (ja) * 2010-04-16 2011-11-10 Fuji Heavy Ind Ltd 汎用エンジンの転倒検出装置
US9803983B2 (en) 2010-12-03 2017-10-31 Qualcomm Incorporated Inertial sensor aided heading and positioning for GNSS vehicle navigation
WO2012075463A1 (fr) * 2010-12-03 2012-06-07 Qualcomm Incorporated Direction et positionnement assistés par un capteur inertiel pour navigation de véhicule à gnss (système de navigation mondial par satellite)
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EP2725144A1 (fr) * 2012-09-20 2014-04-30 Honda Motor Co., Ltd. Appareil pour détecter le basculement d'un fouloir
US9789579B2 (en) 2012-09-20 2017-10-17 Honda Motor Co., Ltd. Apparatus for detecting rammer tip-over
JP2014062485A (ja) * 2012-09-20 2014-04-10 Honda Motor Co Ltd ランマの転倒検出装置
DE102012019855A1 (de) * 2012-10-10 2014-04-10 Wacker Neuson Produktion GmbH & Co. KG Motorbetriebenes Arbeitsgerät mit Neigungssensor
DE102012019855B4 (de) 2012-10-10 2021-09-30 Wacker Neuson Produktion GmbH & Co. KG Motorbetriebenes Arbeitsgerät mit Neigungssensor
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WO2019064554A1 (fr) 2017-09-29 2019-04-04 三笠産業株式会社 Capteur de détection de chute pour pilon
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