WO2022089764A1 - Système et procédé de mesure de vitesse - Google Patents

Système et procédé de mesure de vitesse Download PDF

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Publication number
WO2022089764A1
WO2022089764A1 PCT/EP2020/080611 EP2020080611W WO2022089764A1 WO 2022089764 A1 WO2022089764 A1 WO 2022089764A1 EP 2020080611 W EP2020080611 W EP 2020080611W WO 2022089764 A1 WO2022089764 A1 WO 2022089764A1
Authority
WO
WIPO (PCT)
Prior art keywords
marker
circumference
circle
speed
wheel
Prior art date
Application number
PCT/EP2020/080611
Other languages
English (en)
Inventor
Mateusz Semegen
Maciej Rot
Kacper Ostrowski
Rafal Kasperowicz
Original Assignee
Heavy Kinematic Machines Sp. z o. o.
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 Heavy Kinematic Machines Sp. z o. o. filed Critical Heavy Kinematic Machines Sp. z o. o.
Publication of WO2022089764A1 publication Critical patent/WO2022089764A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/50—Devices characterised by the use of electric or magnetic means for measuring linear speed
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
    • G01P21/02—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/489—Digital circuits therefor

Definitions

  • the present invention relates to a system and method for measuring speed.
  • the present invention relates to determining a wheel dimension such as a radius or a diameter or circumference without prior knowledge thereof so that speed may be determined.
  • wheel circumference is given as a parameter of the system for determining speed.
  • Such systems are inaccurate as they do not take into account for example different tyre pressures resulting in different circumferences while riding.
  • GPS Global Positioning System
  • a treadmill movement may correspond to a rotation of a drive wheel or a drive shaft, access to which is difficult in a sense that its dimension such as a radius or a diameter or circumference cannot be easily obtained.
  • the aim of the development of the present invention is therefore such a system and method for measuring speed on legacy systems.
  • An object of the present invention is a method for measuring speed the method comprising the steps of: detecting a time of presence of a marker at a given location covered by a sensor in two consecutive detections Ti and T3 of the marker wherein a time between detections is measured as T2; wherein the marker has a width of Ym and a length extending on a radius of a wheel, speed of which is to be measured; calculating a circumference of a circle, on which the marker is detected, based on the T1, T2, T3 and Y m ; and calculating speed based on the total time of a complete rotation of the wheel (2) and the circumference.
  • a plurality of markers are positioned on the wheel.
  • each marker of the plurality of markers has the same width Ym.
  • the marker is a reflective marker.
  • an angular speed is calculated by: whereas:
  • Xm is a measure of a length of intersection between the marker and the circumference of a circle
  • Om Om is a measure of a circumference, on which the marker is positioned
  • Osi is a measure of a circumference of a circle having a diameter
  • Tm is T1 or Ts.
  • calculating the circumference of the circle Om assumes that a distance Sm ⁇ TT has been travelled in time Ti + T2 or T2 + Tswherein:
  • the diameter Sm of the circle is calculated as:
  • the method further comprises a step of repeating the steps of detecting (606) and calculating (607) for consecutive rotations (605) of the wheel and averaging the calculated circumference of a circle (Sm), on which the marker is detected.
  • Another object of the present invention is a computer program comprising program code means for performing all the steps of the computer-implemented method according to the present invention when said program is run on a computer.
  • Another object of the present invention is a computer readable medium storing computer-executable instructions performing all the steps of the computer- implemented method according to the present invention when executed on a computer.
  • a last object of the present invention is a system for measuring speed by employing the method according to the present invention.
  • Fig. 1 presents a simplified diagram of a treadmill
  • Fig. 2 shows an example of positioning of markers on a wheel
  • Fig. 3 depicts a time T m , in which the sensor detects a marker
  • Fig. 4 shows a reading form a sensor for a single marker where there are measured times of presence of a marker as well as times between detections of (a) marker(s);
  • Fig. 5 presents a diagram of the system according to the present invention.
  • Fig. 6 presents a diagram of the method according to the present invention.
  • a computer-readable (storage) medium typically may be non-transitory and/or comprise a non-transitory device.
  • a non- transitory storage medium may include a device that may be tangible, meaning that the device has a concrete physical form, although the device may change its physical state.
  • non-transitory refers to a device remaining tangible despite a change in state.
  • example means serving as a non-limiting example, instance, or illustration.
  • terms “for example” and “e.g.” introduce a list of one or more non-limiting examples, instances, or illustrations.
  • Fig. 1 presents a simplified diagram of a treadmill.
  • a treadmill typically comprises a driving shaft 1 having a diameter Si, a driving wheel 2 having a diameter S2, a motor 3, a transmission belt 4 and a working belt 5 on which a user may run.
  • Other devices, in which the present invention may be implemented include an Exercise Bike, a Stair Climber, an Exercise Rower or the like, which are typically based on a rotating shaft and a rotating driving wheel.
  • the present system is configured to determine a distance run as well as the runner’s current speed. Depending on an arrangement of a sensor 7 of a marker 6, direction of movement may also be detected. It is achieved by positioning on the driving wheel 2 at least one marker (as shown in Fig. 2) wherein Cm denotes a number of markers (for example reflective markers configured to reflect a given range of wavelengths such as infra-red light or a partial spectrum of visible light)).
  • a sensor 7 of a marker and preferably its direction of movement is positioned in the vicinity of the driving wheel 2.
  • Such a sensor is configured to detect signals (e.g. a given range of wavelengths) emited towards the at least one marker and reflected by the at least one marker.
  • the sensor may be further integrated with an emiter of such signals.
  • the markers count Cm positioned on the wheel 2 it may become known that the working belt 5 has moved by a measure of a circumference of a circle having a diameter Si (Osi), when the sensor has counted a number of markers to the Cm.
  • the present system also determines a current speed wherein a time Tm is measured, in which the sensor detects a marker as shown in Fig. 3.
  • Ym is a physical dimension (width) of a marker while the Xm results from measuring a length of intersection between the marker and the circumference of a circle.
  • Sm and Ym there may be calculated Xm (i.e its dimension along the circumference of a circle on which the marker is positioned.
  • a marker has a rectangular shape, while the circumference Om and the time Tm angular speed may be calculated for the driving wheel 2.
  • Xm is a section of a virtual circumference of a circle that crosses the marker.
  • marker As far as a mounting operation may be made easier by using a longer marker it does not mean that marker’s placement is an arbitrary one.
  • the markers Mo, Mi, M2 are preferably positioned such that the length of the marker corresponds to a radius of the driving wheel 2.
  • the markers are preferably rectangular because it gives certainty that a sensor determining a circumference will always detect the same arc irrespectively of a placement of the marker along said radius. Naturally, this condition is not met at the ends of the marker’s lengths where only corners may be detectable. Therefore the longer the marker the beter (even the whole radius of the driving wheel 2) so as to be certain the a chosen circumference of the driving wheel 2 will cross the full width of a marker.
  • a circle is not a preferred choice (however not excluded) for such a marker, because at different crossing points of the circle and the circumference, different arches will be defined.
  • the Sm must be determined. As explained this may be problematic in legacy systems where access to such a driving wheel or a driving shaft may be very difficult.
  • determination of the Sm requires precise positioning of markers and measuring of a distance between said markers on a circumference. Additionally, the sensor must be positioned very precisely because the circumference Sm is determined by relative positioning of the sensor and the markers.
  • Fig. 4 presents a reading form a sensor for a single marker where there are measured times of presence of a marker as well as times between detections of (a) marker(s).
  • a distance Sm ⁇ TT has been travelled in time T1 + T2 or T2 + T3
  • a distance X m (partial result), which is a length of an arc created by a part of a circle of the Sm circumference and a marker having the Ym width (or otherwise a dimension/distance travelled between a start of a reading and an end of the reading by the sensor).
  • An a angle is an angle of a base of an isosceles triangle defined by a chord Xm of the arc as a base and two arms equaling A current speed at the first detection of the marker was and at the second detection of the marker it was
  • the circumference Om may be calculated by multiplying the average speed (of the two measurements above) by the time T2 between the markers and by adding the width of the marker wherein:
  • the Sm diameter may be calculated by solving the following system of equations: for a expressed in radians
  • the average result will approach the real value.
  • ANM is a length of an arc on a circle of the circumference Sm from a marker N to a marker M.
  • a sum of all A shall equal Sm.
  • Fig. 5 presents a diagram of the system according to the present invention.
  • the system may be realized using dedicated components or custom made FPGA or ASIC circuits.
  • the system comprises a data bus 501 communicatively coupled to a memory 504. Additionally, other components of the system are communicatively coupled to the system bus 501 so that they may be managed by a controller circuit 505.
  • the memory 504 may store computer program or programs executed by the controller 505 in order to execute steps of the method according to the present invention.
  • the system is powered 503 by a battery but may be powered from mains.
  • a wireless communication module 502 is preferably configured to allow for sharing speed and distance data with other devices. Another use of the wireless communication module 502 is for example monitoring and configuring a state of the system.
  • a sensor 506 is configured to detect signals (e.g. a given range of wavelengths) emitted towards the at least one marker and reflected by the at least one marker.
  • the sensor may be further integrated with an emitter 507 of such signals (for example visible light subrange, infra-red or the like).
  • Fig. 6 presents a diagram of the method according to the present invention.
  • the method starts at step 601 from obtaining a marker Mo, Mi, M2 having a given width Ym. More than one markers may be obtained.
  • step 602 there is performed selecting a circumference of a given radius of a wheel on which the marker will be positioned.
  • a circumference may correspond to a center of such a marker wherein the markers length lies along a radius of the circumference and the markers width is perpendicular to the radius of the circumference.
  • step 603 there is performed mounting of said marker(s) on the selected circumference.
  • step 604 there is effected positioning of a sensor of said marker such that the sensor detects presence of said marker in a given location.
  • a field of view of the sensor will be limited to a section of the circumference.
  • the sensor shall detect the marker passing its field of view.
  • step 605 the wheel comprising the marker thereon (such as the driving wheel 2) is rotated so that the marker may be detected by the sensor.
  • the steps 601 to 605 may be considered setup steps, while the subsequent steps may be considered operational steps executed by a detecting and measuring system.
  • determining 606 a time of presence of the marker at a given location covered by the sensor in two consecutive detections of the marker as shown with respect to times T1 , T2, T3 in Fig. 4.
  • the location covered by the sensor may otherwise be referred to as a field of view of the sensor.
  • step 607 based on the time of presence and the width of the marker as well as a total rotation time of the wheel, there is executed calculating the circumference.
  • the circumference On the basis of the circumference and the total time of a complete rotation there may be calculated speed as explained with the respective equations above.
  • the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a “circuit”, “module” or “system”.
  • the present invention may take the form of a computer program product embodied in any tangible medium of expression having computer usable program code embodied in the medium.
  • the aforementioned method for measuring speed may be performed and/or controlled by one or more computer programs.
  • Such computer programs are typically executed by utilizing the computing resources in a computing device.
  • Applications are stored on a non- transitory medium.
  • An example of a non-transitory medium is a non-volatile memory, for example a flash memory while an example of a volatile memory is RAM.
  • the computer instructions are executed by a processor.
  • These memories are exemplary recording media for storing computer programs comprising computer-executable instructions performing all the steps of the computer-implemented method according the technical concept presented herein.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

Un procédé de mesure de vitesse comprend les étapes consistant : à détecter (606) un temps de présence d'un marqueur à un emplacement donné, couvert par un capteur lors de deux détections consécutives Τ1 et T3 du marqueur. Un temps entre la fin de la première et le début de la seconde détection se mesure sous la forme T2. Le marqueur a une largeur constante Ym (601) selon une direction perpendiculaire au rayon d'une roue à laquelle il est fixé et une longueur s'étendant le long du rayon de la roue (2) dont la vitesse est à mesurer. Le procédé consiste à calculer (607) la circonférence d'un cercle sur lequel se détecte le marqueur, sur la base de Τ1, de T2, T3 et de Ym. La longueur d'un arc du cercle recouvrant le marqueur se détermine sous la forme Xm, sur la base de la valeur connue Ym. Une vitesse circonférentielle moyenne se détermine sur la base de T1 et de T3 et de la valeur de Xm. La circonférence se détermine par addition de ladite vitesse moyenne multipliée par T2 avec l'arc Xm. Enfin, la vitesse circonférentielle sur le cercle défini par le capteur et le marqueur se calcule sur la base du temps total d'une rotation complète de la roue (2) et de la circonférence calculée dudit cercle. L'invention concerne également un système correspondant.
PCT/EP2020/080611 2020-10-30 2020-10-31 Système et procédé de mesure de vitesse WO2022089764A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP20461577 2020-10-30
EP20461577.7 2020-10-30

Publications (1)

Publication Number Publication Date
WO2022089764A1 true WO2022089764A1 (fr) 2022-05-05

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100181992A1 (en) * 2007-07-26 2010-07-22 Sumitomo Rubber Industries, Ltd. Device for measuring angular velocity of tire
EP3594695A2 (fr) * 2018-07-09 2020-01-15 Robert Bosch GmbH Procédé et dispositif pour la détermination de la grandeur de la roue

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100181992A1 (en) * 2007-07-26 2010-07-22 Sumitomo Rubber Industries, Ltd. Device for measuring angular velocity of tire
EP3594695A2 (fr) * 2018-07-09 2020-01-15 Robert Bosch GmbH Procédé et dispositif pour la détermination de la grandeur de la roue

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