WO2024024731A1 - 検出装置、状態検出装置、および、検出方法 - Google Patents

検出装置、状態検出装置、および、検出方法 Download PDF

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Publication number
WO2024024731A1
WO2024024731A1 PCT/JP2023/027020 JP2023027020W WO2024024731A1 WO 2024024731 A1 WO2024024731 A1 WO 2024024731A1 JP 2023027020 W JP2023027020 W JP 2023027020W WO 2024024731 A1 WO2024024731 A1 WO 2024024731A1
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Prior art keywords
acceleration
axis
nut
detection
detected
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Ceased
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PCT/JP2023/027020
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English (en)
French (fr)
Japanese (ja)
Inventor
正則 小杉
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Tokai Rika Co Ltd
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Tokai Rika Co Ltd
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Application filed by Tokai Rika Co Ltd filed Critical Tokai Rika Co Ltd
Priority to US18/997,634 priority Critical patent/US20260002839A1/en
Priority to JP2024537711A priority patent/JPWO2024024731A1/ja
Priority to DE112023003242.4T priority patent/DE112023003242T5/de
Priority to CN202380053486.2A priority patent/CN119546936A/zh
Publication of WO2024024731A1 publication Critical patent/WO2024024731A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G01M17/013—Wheels

Definitions

  • the present disclosure relates to a detection device, a state detection device, and a detection method.
  • Patent Document 1 discloses a detection method that detects the mounting state of a tire (a nut for fastening a wheel) based on a detected value of a detector (G sensor) attached to the tire or wheel. An apparatus is disclosed.
  • the present disclosure has been made to solve such problems, and an object of the present disclosure is to provide a detection device and state detection device that can easily detect the attachment state of a fastening member that fastens a rotating body such as a wheel.
  • An object of the present invention is to provide an apparatus and a detection method.
  • a detection device rotates in conjunction with the rotation of a fastening member that fastens a fastened member to a rotating body, and detects acceleration along at least one detection axis that intersects with the rotational axis of the rotating body.
  • the present invention includes an acceleration detection section that detects the acceleration, and a state detection section that detects the fastening state of the fastening member based on the acceleration detected by the acceleration detection section.
  • the fastening state of the fastening member is detected based on the acceleration detected by the acceleration detection section.
  • the fastening state of the fastening member can be detected based on the acceleration of the fastening member.
  • the acceleration of the fastening member is determined based on the centrifugal acceleration of the rotating body and the rotation angle of the fastening member, but does not vary depending on the type, size, etc. of the rotating body. Therefore, the fastening state of the fastening member can be detected regardless of the type, size, etc. of the rotating body. Thereby, the fastened state of the fastening member can be easily detected.
  • a state detection device detects a fastening state of a fastening member based on an acceleration detected by an acceleration detection unit that rotates in conjunction with rotation of a fastening member that fastens a fastened member to a rotating body.
  • a state detection device for detecting including an acquisition unit that acquires information based on the acceleration along the detection axis intersecting the rotation axis of the rotating body, and a fastening member fastening unit based on the information acquired by the acquisition unit.
  • a fastening state detection section that detects a state is provided.
  • the fastening state of the fastening member is detected based on the acceleration detected by the acceleration detection section. Therefore, it is possible to provide a state detection device that can easily detect the fastened state of the fastening member.
  • a detection method is a detection method for a detection device including an acceleration detection unit that rotates in conjunction with rotation of a fastening member that fastens a fastened member to a rotating body, the The method includes the steps of: detecting acceleration along a detection axis that intersects with the acceleration detecting section; and detecting a fastening state of the fastening member based on the acceleration detected by the acceleration detecting section.
  • the fastening state of the fastening member is detected based on the acceleration detected by the acceleration detection section. Therefore, it is possible to provide a detection method that can easily detect the fastening state of the fastening member.
  • the fastening state of a fastening member that fastens a rotating body such as a wheel can be easily detected.
  • FIG. 2 is a diagram showing a vehicle equipped with sensor devices according to first to fifth embodiments.
  • FIG. 3 is a cross-sectional view of the nut according to the first embodiment.
  • FIG. 1 is a diagram showing the configuration of a sensor device according to a first embodiment.
  • FIG. 3 is a functional block diagram of a signal processing unit according to the first embodiment.
  • FIG. 2 is a front view showing the configuration of a vehicle tire (initial state). It is a figure showing the relationship between X-axis acceleration, Y-axis acceleration, and centrifugal acceleration. It is a figure showing the relationship between acceleration and wheel angle when centrifugal force is 0. It is a figure showing the relationship between acceleration and wheel angle when centrifugal force is 3G.
  • FIG. 3 is a flow diagram showing a control flow of the sensor device according to the first embodiment.
  • FIG. 3 is a diagram showing the configuration of a sensor device according to a second embodiment. 6 is a front view showing the configuration of the tire when the sensor device rotates from the state shown in FIG. 5.
  • FIG. FIG. 3 is a diagram showing a first example of waveforms of an X-axis normalized value, a Y-axis normalized value, and a centrifugal acceleration.
  • FIG. 7 is a flow diagram showing a processing flow of a sensor device according to a second embodiment.
  • FIG. 3 is a diagram for explaining that the direction of centrifugal acceleration is detected to be shifted due to the influence of gravitational acceleration.
  • FIG. 7 is a diagram showing the configuration of a sensor device according to a third embodiment. It is a figure which shows angle (theta)2 in a rectangular coordinate system.
  • FIG. 7 is a flow diagram showing a processing flow of a sensor device according to a third embodiment.
  • FIG. 7 is a diagram showing the configuration of a sensor device according to a fourth embodiment. It is a figure which shows the relationship between the acceleration and the rotation angle of a wheel when centrifugal force is 6G.
  • FIG. 3 is a diagram for explaining that the direction of centrifugal acceleration is detected to be shifted due to the influence of gravitational acceleration.
  • FIG. 7 is a diagram showing the configuration of a sensor device according to a third embodiment. It is a figure which shows
  • FIG. 3 is a diagram showing the relationship between acceleration and wheel angle when the nut is loosened and the centrifugal force is 6G. It is a figure which shows the relationship between the average value of acceleration and a sensor angle when centrifugal force is 6G. It is a figure which shows the relationship between the average value of acceleration and a sensor angle when centrifugal force is 10G.
  • FIG. 7 is a diagram showing a second example of waveforms of an X-axis normalized value, a Y-axis normalized value, and a centrifugal acceleration. It is a figure which shows the X-axis normalized value, the Y-axis normalized value, and the waveform of an arctangent function.
  • FIG. 7 is a diagram showing the configuration of a sensor device according to a fifth embodiment. It is a front view which shows the structure of the tire of the vehicle by 5th Embodiment.
  • FIG. 1 is a diagram showing the relationship between centrifugal acceleration and acceleration detected by an acceleration sensor.
  • FIG. 2 is a second diagram showing the relationship between centrifugal acceleration and acceleration detected by an acceleration sensor.
  • FIG. 12 is a diagram showing an example of functional blocks configured in a signal processing section according to a fifth embodiment. 12 is a flowchart illustrating an example of a process executed by a signal processing unit according to a fifth embodiment.
  • FIG. 12 is a flowchart illustrating processing of an initial value setting routine executed by a signal processing unit in modification example 1 of the fifth embodiment. 12 is a flowchart illustrating an example of a process executed by a signal processing unit in modification example 1 of the fifth embodiment.
  • FIG. 7 is a side view showing a state in which a wheel is fastened to a wheel hub in Modification 3.
  • FIG. 7 is a cross-sectional view of a fastening portion of a wheel according to a fourth modification. 35 is a diagram showing a modification of FIG. 34.
  • FIG. FIG. 7 is a cross-sectional view of a fastening portion using a loosening detection device in a comparative example.
  • FIG. 6 is a diagram showing a state in which a night cap is attached to a wheel nut in a comparative example. It is a figure explaining the individual difference in the axial length of a bolt.
  • FIG. 12 is a diagram showing the relationship between the average value of the difference between the X-axis acceleration and the Y-axis acceleration for each different centrifugal force and the sensor angle according to Modification 5 of the first embodiment.
  • FIG. 1 is a diagram showing a vehicle 200 on which a sensor device 100 (see FIG. 2) according to the first embodiment is mounted.
  • Vehicle 200 includes a plurality of wheels 210.
  • the vehicle 200 also includes a communication terminal 201 (multi-information display) that is capable of communicating with a communication section 3, which will be described later, and includes a display section (not shown).
  • the sensor device 100 is an example of a "detection device" of the present disclosure.
  • the wheel 210 includes a wheel 220 and a tire 230 attached to the wheel 220.
  • the wheel 220 is fastened to a wheel hub 250a (see FIG. 2) with a plurality of (five in FIG. 1) nuts 240.
  • the number of nuts 240 is not limited to the above example.
  • the wheel hub 250a is an example of a "fastened member” and a “vehicle body” of the present disclosure.
  • the wheel 220 and the nut 240 are examples of a "rotating body” and a "fastening member” of the present disclosure, respectively.
  • the nut 240 fastens the bolt 250 to the wheel 220.
  • the wheel 220 is provided with a plurality (five) of wheel holes 221 into which the bolts 250 are inserted (through).
  • the nut 240 fastens the bolt 250 inserted into the wheel hole 221 to the wheel 220.
  • the bolt 250 is fixed to the wheel hub 250a.
  • FIG. 2 shows an example of a double tire
  • the wheel 220 consists of an inner wheel 222 and an outer wheel 223.
  • the nut 240 is open on one side. Further, a nut cap 241 is attached to the nut 240.
  • the sensor device 100 is indirectly provided to the nut 240 by being attached to the nut cap 241 . Therefore, the sensor device 100 rotates in conjunction with the rotation of the nut 240 (nut cap 241).
  • the nut cap 241 includes a ceiling portion 241a and a side surface portion 241b.
  • the side surface portion 241b is provided so as to circumferentially surround the portion of the bolt 250 that passes through the wheel hole 221.
  • the ceiling portion 241a is provided to face the tip portion 251 of the bolt 250 (in the insertion direction of the bolt 250).
  • the ceiling portion 241a is provided continuously with the side surface portion 241b.
  • a washer 243 may be provided between the nut 240 and the wheel 220.
  • the sensor device 100 is attached (adhered) to the inner surface 241c of the ceiling portion 241a of the nut cap 241. Therefore, the sensor device 100 is arranged within the space S of the nut cap 241 in which the bolt 250 is accommodated.
  • the sensor device 100 is provided on some of the nuts 240 provided on each wheel 210. Note that the sensor device 100 may be provided on all of the plurality of nuts 240 provided on each wheel 210.
  • the sensor device 100 includes an acceleration sensor 1, a signal processing section 2, a communication section 3, and a power supply section 4.
  • the acceleration sensor 1 is an example of the "acceleration detection section” of the present disclosure.
  • the signal processing unit 2 is an example of a “state detection unit” and a “state detection device” of the present disclosure.
  • the acceleration sensor 1 is connected to an X-axis that is orthogonal to each other in a plane that is perpendicular to the rotation axis O of the wheel 220 (an axis extending in a direction perpendicular to the paper surface of FIG. 5/a rotation axis of the wheel hub 250a). and Y-axis acceleration.
  • the acceleration detected by the acceleration sensor 1 has a positive or negative magnitude (direction).
  • the arrows indicating each of the X-axis and Y-axis shown in FIG. 5 indicate the positive direction of the X-axis and Y-axis, respectively. Note that when looking at the page shown in FIG.
  • the positive direction of the Y axis is the direction rotated 90 degrees counterclockwise with respect to the X axis.
  • the X-axis and the Y-axis are examples of the "first axis" and "second axis" of the present disclosure, respectively.
  • the Z direction shown in FIG. 5 indicates the vertical direction (up and down direction).
  • the nut 240 (nut 240A) is fixed such that the positive direction of the X-axis of the acceleration sensor 1 faces upward (Z1 direction) in the initial state (state where the nut 240A is not loosened).
  • the positive direction of the X-axis of the acceleration sensor 1 may face in a direction other than the Z1 direction.
  • the nut 240 located closest to the Z1 side among the five nuts 240 is referred to as a nut 240A.
  • the angle (rotation angle) of the sensor device 100 is assumed to be 0 degrees, and the direction in which the sensor device 100 rotates clockwise is assumed to be positive.
  • the centrifugal acceleration applied to the nut 240A is divided into X-axis acceleration and Y-axis acceleration.
  • the vector sum of the X-axis acceleration and the Y-axis acceleration becomes the centrifugal acceleration.
  • the signal processing unit 2 detects the state (fastened state) of the nut 240 based on the detection signal of the acceleration sensor 1.
  • the signal processing section 2 includes a centrifugal acceleration calculation section 2a (see FIG. 4), a rotation angle calculation section 2b (see FIG. 4), a fastening state detection section 2c (see FIG. 4), and an acquisition section 2d (see FIG. 4). including.
  • each of the centrifugal acceleration calculation section 2a, rotation angle calculation section 2b, and fastening state detection section 2c shown in FIG. 4 represents software in which the functional characteristics of the signal processing section 2 are made into blocks.
  • the acquisition unit 2d may be, for example, a terminal that receives a signal including information on a detection value detected by the acceleration sensor 1. Details of each function will be described later.
  • the signal processing unit 2 acquires speed information of the vehicle 200 (rotational speed of the wheel 220) from a processing device (not shown) provided in the vehicle 200.
  • the communication unit 3 transmits the processing result of the signal processing unit 2 or information based on the processing result to the communication terminal 201 (see FIG. 1) of the vehicle 200 by wireless communication.
  • the power supply section 4 supplies power to each of the acceleration sensor 1, the signal processing section 2, and the communication section 3.
  • the acceleration sensor 1 detects the X-axis acceleration and the Y-axis acceleration every 100 to 200ms (for example, 150ms).
  • the power supply unit 4 is, for example, a lithium ion battery, and its storage capacity is limited. In order to reduce the power consumption of the signal processing unit 2, the detection of acceleration by the acceleration sensor 1 is not always performed, but is repeatedly performed at predetermined intervals.
  • the acceleration sensor 1 detects an X-axis acceleration (Xg), which is an X-axis acceleration (vector), and a Y-axis acceleration (Yg), which is a Y-axis acceleration (vector). Note that each of the X-axis acceleration and the Y-axis acceleration is represented by a G value (a value where gravitational acceleration is 1G).
  • FIG. 7 is a graph showing the relationship between the angle of the tire 230 (wheel 220) and each of the X-axis acceleration and Y-axis acceleration when the vehicle speed of the vehicle 200 is 0 (the centrifugal force acting on the nut 240 is 0). .
  • each of the X-axis acceleration and Y-axis acceleration varies sinusoidally within a range of ⁇ 1G. This is because each of the X-axis and Y-axis includes only an acceleration component based on the gravitational acceleration applied in the Z2 direction.
  • FIG. 7 is a diagram showing the results of the sensor device 100 provided in the nut 240A shown in FIG. Note that the rotation angle of the tire, which is the horizontal axis in FIGS. 7 and 8, is positive in the direction in which the tire 230 shown in FIG. 5 rotates clockwise.
  • FIG. 8 is a graph showing the relationship between the rotation angle of the tire 230 (wheel 220) and each of the X-axis acceleration and Y-axis acceleration when a centrifugal force with a centrifugal acceleration of 3G acts on the nut 240 due to a predetermined vehicle speed. .
  • the magnitude of centrifugal force may be indicated by the G value.
  • no centrifugal force component is applied to the Y-axis, so the Y-axis acceleration is unchanged from that in FIG. 7.
  • FIG. 8 is a diagram showing the results of the sensor device 100 provided in the nut 240A shown in FIG. 5.
  • FIG. 9A is a graph showing the average value of acceleration with respect to the angle (rotation angle) of the sensor device 100 when the centrifugal force is 3G.
  • FIG. 9B is a graph showing the average value of acceleration with respect to the angle (rotation angle) of the sensor device 100 when the centrifugal force is 10G.
  • the value of each waveform at the point where the sensor angle is 0 in FIG. 9A indicates the average value of each waveform shown in FIG. 8.
  • each average value in FIGS. 9A and 9B corresponds to one period in which the tire 230 rotates once.
  • the average value of the repeated results a number of times (for example, 50 times or more) approaches the average value for one cycle of one rotation of the tire 230.
  • the waveforms of the average values of the X-axis acceleration, the Y-axis acceleration, and the difference between the X-axis acceleration and the Y-axis acceleration have amplitudes corresponding to the centrifugal force (vertical The scales of the axes are different from each other), while they have the same shape. Therefore, information on the rotation angle of the nut 240 (sensor device 100) is obtained based on at least two of the X-axis acceleration, the Y-axis acceleration, and the difference between the X-axis acceleration and the Y-axis acceleration at a given timing. It is possible to do so. A specific example is shown below.
  • X-axis acceleration (average X-axis acceleration described later), Y-axis acceleration (average Y-axis acceleration described later), and X-axis acceleration and Y-axis acceleration (average X-axis acceleration and average Y-axis acceleration described later).
  • the differences are 0G, 3G, and -3G, respectively.
  • the signal processing unit 2 detects that the centrifugal force (centrifugal acceleration) applied to the sensor device 100 is 3G based on the acquired vehicle speed information.
  • the signal processing unit 2 detects that the angle (rotation angle) of the sensor device 100 is around 90 degrees based on the graph of FIG. 9A corresponding to the case where the centrifugal force is 3G.
  • each waveform in FIG. 9A indicates an average value of each acceleration.
  • each of the X-axis speeds and Y-axis accelerations may vary within a range of ⁇ 1 G from the average value.
  • the difference between the X-axis acceleration and the Y-axis acceleration may vary within a range of ⁇ 1.41G from the average value.
  • information on the rotation angle of the nut 240 is acquired based on at least two of the X-axis acceleration, the Y-axis acceleration, and the difference between the X-axis acceleration and the Y-axis acceleration at a given timing. Then, the range of fluctuation is included.
  • each of the X-axis acceleration and Y-axis acceleration is ⁇ 1G, and the difference between the X-axis acceleration and the Y-axis acceleration is ⁇ 1.41G
  • the angle (rotation angle) of the sensor device 100 can be accurately determined.
  • the signal processing unit 2 acquires information on the X-axis acceleration and the Y-axis acceleration every sensing period (for example, 150 ms as described above) corresponding to one rotation of the wheel 220.
  • the above period is a period in which information on the acceleration detected by the acceleration sensor 1 is acquired twice while the wheel 220 rotates once (in this case, it rotates once every 300 ms). In other words, acceleration information is acquired every time the wheel 220 rotates half a revolution.
  • the X-axis acceleration, the Y-axis acceleration, and the difference between the X-axis acceleration and the Y-axis acceleration were 0G, 3G, and -3G, respectively.
  • the acceleration information is acquired at arbitrary timing, the values can be 0 ⁇ 1G, 3 ⁇ 1G, and -3 ⁇ 1.41G, respectively, but if the acceleration information is acquired every time the wheel 220 makes a half rotation, , the variation becomes zero.
  • the angular difference between the two points is 180 degrees. That is, the acceleration at two points of 45 degrees and 225 degrees or the acceleration at two points of 60 degrees and 240 degrees may be acquired.
  • the example in FIG. 8 is the point where the sensor angle in FIG. 9A is 0 degrees (when the orientation of the sensor device 100 is in the state shown in FIG. 5). Therefore, with reference to FIG. 8, the case where the sensor angle is 0 degrees will be explained again.
  • the X-axis acceleration, the Y-axis acceleration, and the difference between the X-axis acceleration and the Y-axis acceleration can be 3 ⁇ 1G, 0 ⁇ 1G, and 3 ⁇ 1.41G, respectively. It's obvious.
  • the X-axis acceleration, Y-axis acceleration, and the difference between the X-axis acceleration and Y-axis acceleration are 3G, -1G, and 4G, respectively. be.
  • the X-axis acceleration, Y-axis acceleration, and the above difference are 3G, 1G, and 2G, respectively.
  • the X-axis acceleration, Y-axis acceleration, and the above difference are 3G, 0G, and 3G, respectively.
  • This value is equivalent to the result at the sensor angle of 0 degrees in FIG. 9A. That is, the average value for one period in FIG. 8 is equal to the average value for two times of acceleration detected by the acceleration sensor 1 every time the wheel 220 rotates half a revolution.
  • the interval at which the wheel 220 rotates half a revolution is an appropriate interval set to reduce power consumption of the signal processing section 2.
  • the above-mentioned interval is the detection timing by the acceleration sensor 1 that is least detected for determining the sensor angle. Using this detection timing, the sensor angle (rotation angle of nut 240) can be accurately determined.
  • waveform data as shown in FIGS. 9A and 9B may be stored in a storage device (not shown) for each different centrifugal force (for each vehicle speed).
  • the signal processing unit 2 detects that the centrifugal force (centrifugal acceleration) applied to the sensor device 100 is 3G based on the acquired vehicle speed information, and displays the graph corresponding to the case where the centrifugal force is 3G. (See FIG. 9A), the angle (rotation angle) of the sensor device 100 is determined.
  • the angle rotation angle
  • the X-axis acceleration sensor will be used.
  • the sensor angle is estimated to be 0 degrees from FIG. 9A.
  • the sensor angle is estimated to be around 70 degrees or around 290 degrees.
  • the possible centrifugal force centrifugal acceleration, which in this case is synonymous with vehicle speed
  • the calculated angle will be different and it will not be possible to determine whether the nut is loose. If the vehicle speed cannot be obtained, the sensor angle can be calculated without the vehicle speed information by using the ratio of acceleration information (including calculation results such as differences) of a plurality of axes, which will be described next.
  • FIG. 9A when the sensor angle is 20 degrees (near the intersection of the broken line and the dashed-dotted line among the three lines), the X-axis acceleration, the Y-axis acceleration, and the difference between the X-axis acceleration and the Y-axis acceleration are They are 2.6G, 1.3G, and 1.3G, respectively.
  • FIG. 9B when the sensor angle is around 20 degrees, the X-axis acceleration, the Y-axis acceleration, and the difference between the X-axis acceleration and the Y-axis acceleration are 8.6G, 4.3G, and 4.3G, respectively. becomes.
  • Each value in FIG. 9B is approximately 3.3 times the value in FIG.
  • the signal processing unit 2 detects the fastened state of the nut 240 based on the difference between the currently calculated rotation angle of the nut 240 and the previous rotation angle of the nut 240.
  • the signal processing unit 2 determines that the nut 240 is loose if the above-mentioned difference is outside a predetermined tolerance range.
  • the signal processing section 2 notifies the communication terminal 201 (see FIG. 1) through the communication section 3 (see FIG. 3) that the nut 240 is loosened.
  • a warning may be displayed on a display unit (not shown) of the communication terminal 201, or the communication terminal 201 may generate an alarm sound.
  • the signal processing section 2 determines that the nut 240 is fixed if the above-mentioned difference is within a predetermined tolerance range. In this case, the signal processing unit 2 does not notify the communication terminal 201. Further, the above-mentioned rotation angle up to the previous time may be the previous rotation angle, or may be the average value of the rotation angles of the past several times including the previous rotation angle.
  • the signal processing unit 2 determines that the current detected value and the previous detected value of the calculated average X-axis acceleration and average Y-axis acceleration, whichever has a larger absolute value, are ⁇ 1G. If it is within the range, it is determined that the rotation of the wheel 220 (tire 230) has stopped. Note that the detected value up to the previous time may be the previous detected value, or may be the average value of the past several detected values including the previous time. Furthermore, it may be determined whether the rotation of the wheel 220 (tire 230) has stopped based on either the X-axis acceleration or the Y-axis acceleration.
  • Nut 240 often loosens when vibration or external force is applied to wheel 220 and nut 240, and is expected to occur when wheel hub 250a (wheel 220) is rotating while vehicle 200 is running. When the vehicle 200 is stopped and the rotation of the wheel hub 250a (wheel 220) is stopped, it is extremely rare for the nut 240 to loosen. Therefore, when the signal processing unit 2 determines that the rotation of the wheel 220 (tire 230) has stopped, the signal processing unit 2 lengthens the sensing cycle (the above-mentioned predetermined time) by the sensor device 100 (for example, to a 30-minute cycle). Perform processing.
  • the signal processing unit 2 acquires information on the initial value of the rotation angle of the nut 240.
  • the signal processing unit 2 acquires the initial value based on, for example, pressing a predetermined button 201a (see FIG. 1) of the communication terminal 201.
  • the signal processing unit 2 sets as an initial value the rotation angle of the nut 240 when the vehicle 200 starts running after the button is pressed (or after a predetermined period of time has passed since the start of running).
  • the button 201a is preferably pressed down, for example, when the tire 230 (wheel 220) is attached to the wheel hub 250a and the nut 240 is fastened with a predetermined tightening torque.
  • the sensor device 100 may be provided with a button having the function of the button 201a described above. Furthermore, the communication unit 3 of the sensor device 100 may be capable of bidirectional communication with the ECU of the vehicle 200. In this case, the information on the initial value may be stored in the signal processing section 2.
  • the signal processing unit 2 detects the fastening state of the nut 240 based on the difference between the current rotation angle of the nut 240 and the above-mentioned initial value. Specifically, the signal processing unit 2 (fastening state detection unit 2c) determines that the nut 240 is loose (not fixed) when the above-mentioned difference is outside a predetermined tolerance range. In this case, the signal processing section 2 notifies the communication terminal 201 (see FIG. 1) that the nut 240 is loosened through the communication section 3 (see FIG. 3). As a result, a warning may be displayed on a display unit (not shown) of the communication terminal 201, or the communication terminal 201 may generate an alarm sound.
  • the signal processing unit 2 does not need to acquire the initial value based on pressing the predetermined button 201a.
  • the signal processing unit 2 detects that the rotation angle of the nut 240 (on at least one wheel 210) has changed before and after the stop. shall be.
  • the signal processing unit 2 sets the rotation angle of the nut 240 after the change (or the average value of the rotation angles detected in multiple sensings after the change) as the initial value. This is because a change in the rotation angle before and after the vehicle stops means that the tire 230 has been replaced or the nut 240 has been retightened.
  • the signal processing unit 2 (fastening state detection unit 2c) acquires information A indicating that the nut 240 has rotated in the tightening direction
  • the signal processing unit 2 (fastening state detection unit 2c) ignores (excludes) the information A and tightens the nut 240. Detect conditions.
  • the information A includes information indicating that the nut 240 has been rotated by a predetermined angle or more (for example, 30 degrees or more) in the tightening direction.
  • the signal processing section 2 (fastening state detection section 2c) ignores the above information A and detects the fastening state of the nut 240.
  • the fact that the nut 240 is not loose means that the difference between the calculated rotation angle and the previous rotation angle (or the initial value of the rotation angle) is within the predetermined tolerance range.
  • the signal processing unit 2 acquires information indicating that the nut 240 has been rotated by a predetermined angle or more in the tightening direction while the nut 240 is not loosened for a predetermined time or more as described above. If information B indicating that the nut 240 has been rotated in the loosening direction by a rotation angle equal to the rotation angle in the tightening direction is obtained immediately after the rotation, the fastening state of the nut 240 is detected while ignoring the information A.
  • the angle equal to the rotation angle in the tightening direction may be within a range of ⁇ X degrees (for example, 5 degrees) around the rotation angle in the tightening direction.
  • the signal processing unit 2 (fastening state detection unit 2c) acquires information indicating that the nut 240 has been rotated in the loosening direction by a rotation angle different from the rotation angle in the tightening direction (outside the above range)
  • the fastening state of the nut 240 is detected without ignoring the information A (in consideration of the information A). Thereby, it is possible to ignore changes in the detected value due to acceleration or vibration of the vehicle 200.
  • step S1 each of the X-axis acceleration and the Y-axis acceleration is detected by the acceleration sensor 1 at every predetermined period (for example, every 150 ms).
  • step S2 the signal processing unit 2 acquires information on the X-axis acceleration and Y-axis acceleration from the acceleration sensor 1. Specifically, the signal processing unit 2 acquires information on the X-axis acceleration and the Y-axis acceleration at each predetermined period in step S1.
  • step S3 the signal processing unit 2 calculates the average value every two times (average X-axis acceleration and average Y-axis acceleration) of each of the X-axis acceleration and Y-axis acceleration acquired at each predetermined period in step S2. .
  • step S4 the signal processing unit 2 (centrifugal acceleration calculation unit 2a) calculates the centrifugal acceleration (centrifugal force) of the wheel 220 from the rotational speed of the wheel 220 (speed of the vehicle 200). Note that the process in step S4 may be performed before or simultaneously with the process in step S2 (S3).
  • step S5 the signal processing unit 2 (rotation angle calculation unit 2b) determines whether the sensor device Calculate the sensor angle of 100 (nut 240).
  • step S6 the signal processing unit 2 determines whether the data acquired in step S5 should be excluded (ignored) based on the angle (rotation angle) of the sensor device 100 acquired in step S5. If it is determined that it should be excluded (ignored) (Yes in S6), the process returns to step S1. If it is determined that it should not be excluded (ignored) (No in S6), the process proceeds to step S7.
  • step S6 immediately after the information indicating that the nut 240 has been rotated by a predetermined angle or more in the tightening direction while the nut 240 is not loosened for a certain period of time or more is acquired, the rotation angle in the tightening direction is determined.
  • information B indicating that the nut 240 has been rotated in the loosening direction by a rotation angle equal to , it is determined that the above data should be excluded (ignored).
  • step S7 the signal processing unit 2 (fastened state detection unit 2c) detects the fastened state of the nut 240 based on the angle (rotation angle) of the sensor device 100 (nut 240) calculated in step S5. If it is detected that the nut 240 is loose (Yes in S7), the process proceeds to step S8. Further, if it is detected that the nut 240 is not loose (No in S7), the process returns to step S1. Note that in step S7, the signal processing unit 2 (fastening state detection unit 2c) detects the nut 240 based on the previously detected value of the angle of the sensor device 100 or the amount of change (difference) from the initial value. Determine whether there is any looseness.
  • step S8 the signal processing unit 2 notifies the communication terminal 201 through the communication unit 3 that the nut 240 is loose.
  • the rotation angle of the nut 240 is detected based on the X-axis acceleration, the Y-axis acceleration, and the rotational speed of the wheel 220 (speed of the vehicle 200).
  • the rotation angle of the nut 240 can be easily detected based on the magnitude of centrifugal force that can be calculated from the rotation speed of the wheel 220. be able to.
  • the fastened state of the nut 240 is detected based on the ratio between the X-axis acceleration and the Y-axis acceleration.
  • the same components as in the first embodiment will be designated by the same reference numerals and will not be repeatedly described.
  • FIG. 11 is a diagram showing the configuration of a sensor device 300 according to the second embodiment. Note that the sensor device 300 is an example of a "detection device" of the present disclosure.
  • the sensor device 300 includes an acceleration sensor 1, a signal processing section 12, a communication section 3, and a power supply section 4.
  • the signal processing unit 12 is an example of a “state detection unit” and a “state detection device” of the present disclosure.
  • the signal processing unit 12 detects the state (fastened state) of the nut 240 (see FIG. 12) based on the detection signal of the acceleration sensor 1.
  • the signal processing section 12 includes a ratio calculation section 12a, a fastening state detection section 12b, and an acquisition section 2d. Note that each of the ratio calculating section 12a and the fastening state detecting section 12b represents software in which the functional characteristics of the signal processing section 12 are made into blocks. Details of each function will be described later.
  • the signal processing unit 12 similarly to the signal processing unit 2 of the first embodiment, the signal processing unit 12 also determines the average value (average X-axis acceleration and average Y-axis acceleration).
  • the signal processing unit 12 calculates the calculated average X-axis acceleration (hereinafter sometimes simply referred to as X-axis acceleration) and average Y-axis acceleration (hereinafter sometimes simply referred to as Y-axis acceleration). ). That is, the signal processing unit 12 (ratio calculation unit 12a) calculates the ratio every time each value of the X-axis acceleration and Y-axis acceleration is acquired from the acceleration sensor 1 twice. Specifically, the signal processing unit 12 (ratio calculation unit 12a) calculates a value (
  • the above ratio may be a value obtained by dividing the absolute value of the Y-axis acceleration by the absolute value of the X-axis acceleration (
  • the above ratio may be a value obtained by dividing the X-axis acceleration (Y-axis acceleration) by the square root of the sum of the squares of the X-axis acceleration and the Y-axis acceleration.
  • the signal processing unit 12 detects the fastened state of the nut 240A based on the calculated ratio. Specifically, the signal processing unit 12 (fastening state detection unit 12b) detects the fastening state of the nut 240A based on the difference between the current ratio and the previous ratio. This will be explained in detail below.
  • ratio calculation section 12a calculates the above ratio to be approximately 0.4 (hereinafter abbreviated as 0.4).
  • the signal processing unit 12 calculates the ratio to be approximately 0.57 (hereinafter abbreviated as 0.57).
  • the signal processing unit 12 determines that the fastening state of the nut 240A has changed when (the absolute value of) the amount of change in the ratio is greater than or equal to a predetermined threshold. Assuming that the predetermined threshold value is 0.1, for example, when the ratio changes from 0.4 to 0.57, it is determined that the fastening state of the nut 240A has changed.
  • the centrifugal acceleration increases but the rotation angle of the nut 240A does not change, so that the X-axis acceleration and the Y-axis acceleration decrease.
  • the state changes to -8G and 20G, respectively.
  • the ratio is 0.4 and equal to each other before and after the change in centrifugal acceleration. Therefore, since the amount of change in the ratio becomes less than the predetermined threshold, the signal processing section 12 (fastening state detection section 12b) determines that the fastening state of the nut 240A has not changed.
  • ) The amount of change in is less than 0.1.
  • the X-axis acceleration and Y-axis acceleration change from 11G and 1G, respectively, to, for example, 1000G and 1G, respectively the amount of change in the above ratio will be 0.1 or more. Become. In this way, even if the amount of change in the rotation angle of the nut 240A in the two patterns described above is approximately equal, there may be a difference in the results of determining the fastening state of the nut 240A.
  • the signal processing unit 12 may change the magnitude of the predetermined threshold value based on the magnitude of the ratio. For example, if the ratio before the rotation angle of the nut 240A changes is 0.1 or less, the predetermined threshold value may be set to 1/2 of the ratio before the change, or the predetermined threshold value may be set to 1/2 of the ratio before the rotation angle changes. It may be set to a fixed value (for example, 0.05). Note that the above example of changing the predetermined threshold value is just an example, and is not limited to the above example.
  • the signal processing unit 12 calculates the ratio by replacing the Y-axis acceleration with a value that approximates 0 (for example, 0.01). Note that when the signal processing unit 12 (ratio calculation unit 12a) calculates the ratio by dividing the Y-axis acceleration by the X-axis acceleration, if the X-axis acceleration is 0, the X-axis acceleration is approximated to 0. Calculate the ratio by replacing it with the value.
  • ratio calculation unit 12a calculates the ratio by dividing the X-axis acceleration or the Y-axis acceleration by the square root of the sum of squares of the X-axis acceleration and the Y-axis acceleration, Since the sum square root never becomes 0, the above approximation process is unnecessary.
  • FIG. 13 shows the X-axis normalized value (the value obtained by dividing the X-axis acceleration by the above-mentioned square root of the sum of squares, solid line), the Y-axis normalized value (the value obtained by dividing the Y-axis acceleration by the above-mentioned square root of the sum of squares, a broken line), And, it is a graph showing a change in centrifugal acceleration (dotted chain line) over time.
  • Each of the X-axis normalized value and the Y-axis normalized value corresponds to the left vertical axis.
  • Centrifugal acceleration corresponds to the vertical axis on the right.
  • the signal processing unit 12 detects the fastening state of the nut 240, ignoring the X-axis acceleration and Y-axis acceleration obtained when the centrifugal acceleration of the wheel 220 suddenly changes (for example, around time t2).
  • the sudden change in centrifugal acceleration is often caused by sudden braking of the vehicle 200 or the like. Therefore, it is possible to ignore changes in centrifugal acceleration due to factors other than loosening of the nut 240.
  • the sudden change in centrifugal acceleration means that the absolute value of the rate of change in centrifugal acceleration is greater than or equal to a predetermined value (for example, 2 G/sec).
  • Steps S11 to S13 are respectively the same as steps S1 to S3 (see FIG. 10) of the first embodiment, so a repeated explanation will not be given.
  • step S14 the signal processing unit 12 (ratio calculation unit 12a) calculates the ratio (
  • step S15 the signal processing unit 12 (fastening state detection unit 12b) detects a change in the fastening state of the nut 240 based on the ratio calculated in step S14. If it is detected that the fastening state of the nut 240 has changed (Yes in S15), the process proceeds to step S16. Further, if it is detected that the fastening state of the nut 240 has not changed (No in S15), the process returns to step S11. Note that, in step S15, the signal processing unit 12 (fastening state detection unit 12b) determines the change of the nut 240 based on the ratio up to the previous time or the amount of change (difference) from the initial value. Detects changes in fastening status.
  • step S16 the signal processing unit 12 notifies the communication terminal 201 through the communication unit 3 that the nut 240 is loose.
  • the fastening state of the nut 240 is detected based on the ratio between the X-axis acceleration and the Y-axis acceleration. Thereby, the fastened state of the nut 240 can be detected without considering fluctuations in vehicle speed (centrifugal force).
  • Each of the X-axis acceleration and the Y-axis acceleration has a magnitude based on the centrifugal acceleration and the gravitational acceleration, so if the centrifugal acceleration is sufficiently larger than the gravitational acceleration, the influence of the gravitational acceleration becomes small.
  • each of the X-axis acceleration and the Y-axis acceleration will be 0.707G.
  • the angle ⁇ 1 between the direction of centrifugal acceleration with respect to the X-axis and the X-axis is 45 degrees.
  • the inverse trigonometric function to be used is arbitrary (details of the inverse trigonometric function will be described later), but to make the explanation easier to understand, assume that the value of the inverse trigonometric function calculated based on the ratio of the X-axis acceleration and the Y-axis acceleration is ⁇ 1. .
  • the X-axis acceleration and Y-axis acceleration detected by the acceleration sensor 1 of the sensor device 100 located at the 3 o'clock position are 1.414G and 0G, respectively.
  • the angle ⁇ 1 is 0 degrees, and there is a difference of 45 degrees from the angle ⁇ 1 (45 degrees) when gravity is ignored, resulting in an angular error.
  • the X-axis acceleration and Y-axis acceleration detected by the acceleration sensor 1 of the sensor device 100 located at the 9 o'clock position are 0G and 1.414G, respectively.
  • the angle ⁇ 1 is ⁇ 90 degrees, which results in a 45 degree difference from the angle ⁇ 1 ( ⁇ 45 degrees) when gravity is ignored, resulting in an angular error.
  • This embodiment is characterized in that the fastening state of the nut 240 is detected based on the difference between the inverse trigonometric function values calculated based on the ratio.
  • the angle formed between the direction of centrifugal acceleration with respect to the X-axis and the X-axis is the value of the inverse trigonometric function ( ⁇ 1) calculated based on the ratio of the X-axis acceleration and the Y-axis acceleration.
  • the above difference (angular difference) contributes to detecting the fastening state of the nut 240.
  • the influence of gravity was offset by averaging the angle ⁇ 1 calculated at each of the 3 o'clock position and the 9 o'clock position. Similar effects can be obtained by averaging the detected values of the acceleration sensor 1 at the 3 o'clock position and the 9 o'clock position, as in the first embodiment. This will be explained in more detail below.
  • the average value of the X-axis acceleration (average X-axis acceleration) and the average value of the Y-axis acceleration (average Y axial acceleration) are 0.707G and 0.707G, respectively. That is, each of the average X-axis acceleration and the average Y-axis acceleration has a value equal to the acceleration when there is no influence of gravity. That is, detection deviations at each position due to gravitational acceleration are canceled out. As a result, even if the difference between centrifugal acceleration and gravitational acceleration is not large, it is possible to accurately detect the rotation angle (fastened state) of nut 240 by obtaining the average value of two accelerations as described above. can. Note that the average value of the rotation angle of the nut 240 corresponding to the 3 o'clock position and the rotation angle of the nut 240 corresponding to the 9 o'clock position may be calculated.
  • One method is to calculate the angle using an inverse trigonometric function from the acceleration sensor values at two points that are symmetrical about the center (rotation axis O), such as the 3 o'clock position and the 9 o'clock position, and then take the average. There may be a difference between the method of calculating the angle using an inverse trigonometric function from the average value of the acceleration sensor values. If the centrifugal force (that is, vehicle speed) occurring when acquiring the values of the acceleration sensors at two points is the same, the results obtained by the above two methods will be the same.
  • the centrifugal force (vehicle speed) generated when acquiring the values of the acceleration sensors at two points is different, it is better to calculate the angle from each of the accelerations at the two points using an inverse trigonometric function and then take the average. Can reduce the effects of gravity.
  • the centrifugal force generated differs at the two points. Therefore, a problem arises when calculating the angle based on FIGS. 9A, 9B, and the like. In particular, when the vehicle speed difference is large, the angle calculation itself cannot be performed.
  • the method of calculating the angles and then averaging them as in this embodiment does not cause the above-mentioned problems.
  • the signal processing unit 2 performs a process of detecting the fastened state of the nut 240 when the centrifugal acceleration of the wheel 220 is equal to or higher than a predetermined value (for example, 1 G).
  • the acceleration sensor 1 detects the X-axis acceleration and the Y-axis acceleration every cycle based on the rotation speed (vehicle speed) of the wheel 220 according to the predetermined value (ie, the minimum value). Specifically, it is assumed that the wheel 220 rotates once in 300 ms when the centrifugal acceleration is the predetermined value. In this case, the acceleration sensor 1 detects the X-axis acceleration and the Y-axis acceleration at a cycle of 150 ms, which is 1/2 of 300 ms. Information regarding the period is stored in a memory (not shown) of the sensor device 100.
  • the above-mentioned period of 150 ms is determined in advance through experiments, simulations, etc. at the manufacturing stage. For example, it may be calculated based on the pitch circle diameter (PCD) of the bolt 250 for which the nut cap 241 is assumed to be used, the tire diameter, etc.
  • PCD pitch circle diameter
  • the period may be the difference between the time when the sensor device 100 passes through the 6 o'clock position and the time when the sensor device 100 passes through the 12 o'clock position.
  • the direction of gravity and the direction of centrifugal force are the same, so the above-mentioned angular error does not occur.
  • the signal processing unit 2 calculates the rotation period of the wheel 220 in real time based on the centrifugal acceleration (vehicle speed), etc., and calculates the rotation period of the wheel 220 according to the change in the rotation period (the period at which the acceleration sensor 1 detects the acceleration). You may also change the period in which the
  • the cycle for detecting acceleration is set based on the minimum value of centrifugal acceleration (rotational speed of wheel 220).
  • the signal processing unit 2 operates at two points: a position on the 3 o'clock side with respect to the rotation axis O of the wheel 220, and a position on the 9 o'clock side with respect to the rotation axis O (that is, a point symmetrical with respect to the rotation axis O).
  • FIG. 16 is a diagram showing the configuration of a sensor device 400 according to the third embodiment. Note that the sensor device 400 is an example of a "detection device" of the present disclosure.
  • the sensor device 400 includes an acceleration sensor 1, a signal processing section 22, a communication section 3, and a power supply section 4.
  • the signal processing unit 22 is an example of a “state detection unit” and a “state detection device” of the present disclosure.
  • the signal processing section 22 of the sensor device 400 includes a ratio calculation section 22a, an angle calculation section 22b, a fastening state detection section 22c, and an acquisition section 2d.
  • Each of the ratio calculating section 22a, the angle calculating section 22b, and the fastening state detecting section 22c represents software in which the functional characteristics of the signal processing section 22 are made into blocks.
  • the signal processing unit 22 calculates the ratio (X/Y) between the X-axis acceleration and the Y-axis acceleration. Note that the above ratio may be a value obtained by dividing the Y-axis acceleration by the X-axis acceleration (Y/X). Alternatively, the ratio may be a value obtained by dividing the X-axis acceleration (Y-axis acceleration) by the square root of the sum of squares.
  • the signal processing unit 22 calculates an inverse trigonometric function value (arctangent function value) (arctan(X/Y)) of the calculated ratio.
  • arctangent function value is an example of the "acceleration index" of the present disclosure.
  • the angle ⁇ 1 between the direction of centrifugal acceleration with respect to the X-axis and the X-axis was defined as the value of the inverse trigonometric function calculated based on the ratio of the X-axis acceleration and the Y-axis acceleration, can be calculated by using the arc tangent as described above.
  • the arctangent function value is a value expressed between -90 degrees and 90 degrees.
  • the rotation angle of the nut 240 is expressed as 0 to 360 degrees in the orthogonal coordinate system (see FIG. 17). Therefore, in the third embodiment, processing is performed to convert the arctangent function value into an angle in the orthogonal coordinate system.
  • the signal processing unit 22 calculates the angle ⁇ 2 (see FIG. 15) by adding a predetermined value (angle) to the arctangent function value.
  • the signal processing section 22 changes the predetermined value based on the sign of each of the X-axis acceleration (average X-axis acceleration) and the Y-axis acceleration (average Y-axis acceleration).
  • the signal processing unit 22 determines whether the combination of the X-axis acceleration and the Y-axis acceleration is positive and positive, positive and negative, negative and positive, or negative and negative. Accordingly, the above predetermined value is determined.
  • the signal processing unit 22 calculates the arctangent function value (arctan(4/10) ⁇ 21.8) (in other words, no value is added).
  • the angle ⁇ 2 is approximately 21.8 degrees.
  • the signal processing unit 22 calculates the arctangent function value (arctan(-4/ Add 360 to 10) ⁇ -21.8). In this case, the angle ⁇ 2 is approximately 338.2 degrees.
  • the signal processing unit 22 calculates the arctangent function value (arctan(-4 Add 180 to /-10) ⁇ 21.8). In this case, the angle ⁇ 2 is approximately 201.8 degrees.
  • the signal processing unit 22 calculates the arctangent function value (arctan(4/- Add 180 to 10) ⁇ -21.8). In this case, the angle ⁇ 2 is approximately 158.2 degrees.
  • the angle ⁇ is approximately 338.2 degrees as described above. Furthermore, when the X-axis acceleration and Y-axis acceleration become -4G and 7G, respectively, due to the rotation of the nut 240A, the angle ⁇ becomes approximately 330.3 degrees. Therefore, due to the rotation of the nut 240A, the angle ⁇ becomes smaller by about 7.9 degrees.
  • the angle ⁇ 2 is the angle between the Y-axis (positive) and the direction of centrifugal acceleration (see the broken line arrow in FIG. 12). Since the direction of centrifugal acceleration is constant in the radial direction (outer radial direction), the reason why the angle ⁇ 2 becomes smaller is that the Y-axis and the X-axis (i.e., the sensor device 300) are rotated clockwise by about 7.9 degrees. caused by. In this way, it is possible to detect the rotation direction and rotation angle of the sensor device 300 (nut 240A) based on the change in the angle ⁇ 2.
  • the fastening state of the nut 240A may be detected based on the previous value or initial value of the angle ⁇ 2.
  • the signal processing unit 22 when the signal processing unit 22 (fastening state detection unit 22c) acquires the information A indicating that the nut 240 has rotated in the tightening direction, the signal processing unit 22 (the fastening state detection unit 22c) ignores the information A. (by excluding) the fastening state of the nut 240 is detected.
  • Steps S21 and S22 are the same as steps S11 and S12 (see FIG. 14) in the second embodiment, so a repeated explanation will not be given.
  • step S23 the signal processing unit 22 (ratio calculation unit 22a) calculates the ratio (X/Y) between the X-axis acceleration (average X-axis acceleration) and the Y-axis acceleration (average Y-axis acceleration).
  • step S24 the signal processing unit 22 (angle calculation unit 22b) calculates the angle ⁇ 2 by adding 0, 180, or 360 to the arctangent function value of the ratio calculated in step S23. Specifically, the signal processing unit 22 (angle calculation unit 22b) calculates the value to be added (0, 180 or 360). Specifically, the signal processing unit 22 (angle calculation unit 22b) determines whether the combination of the X-axis acceleration and the Y-axis acceleration is positive/positive, positive/negative, negative/positive, or negative/negative. , change the value to be added (0, 180, or 360).
  • step S25 the average value of the angle ⁇ 2 acquired every predetermined period in step S24 is calculated every two times.
  • step S26 the signal processing unit 22 determines whether or not the data acquired in step S25 should be excluded (ignored) based on the angle ⁇ 2 acquired in step S25. If it is determined that it should be excluded (ignored) (Yes in S26), the process returns to step S21. If it is determined that it should not be excluded (ignored) (No in S26), the process proceeds to step S27.
  • step S26 immediately after the information indicating that the nut 240 has been rotated by a predetermined angle or more in the tightening direction while the nut 240 is not loosened for a certain period of time or more is acquired, the rotation angle in the tightening direction is determined.
  • information B indicating that the nut 240 has been rotated in the loosening direction by a rotation angle equal to , it is determined that the above data should be excluded (ignored).
  • step S26 similarly to the second embodiment, if the centrifugal acceleration of the wheel 220 is less than a predetermined value, and if the data is obtained when the centrifugal acceleration suddenly changes, the data is It may be determined that it should be excluded (ignored).
  • step S27 the signal processing unit 22 (fastened state detection unit 22c) detects the fastened state of the nut 240 based on the angle ⁇ 2 (average value) calculated in step S25. If it is detected that the nut 240 is loose (Yes in S27), the process proceeds to step S28. Furthermore, if it is detected that the nut 240 is not loose (No in S27), the process returns to step S21. In addition, in step S27, the signal processing unit 22 (fastening state detection unit 22c) determines that the nut 240 is loose, based on the previous value of the angle ⁇ 2 or the amount of change (difference) from the initial value. Determine whether or not. Note that step S28 is the same as step S16 of the second embodiment.
  • the fastening state of the nut 240 is detected based on the arctangent function value of the ratio of the X-axis acceleration to the Y-axis acceleration.
  • the rotation direction and rotation angle of the nut 240 is detected based on the arctangent function value of the ratio of the X-axis acceleration to the Y-axis acceleration.
  • the sensor device 500 includes an acceleration sensor 1, a signal processing section 32, a communication section 3, and a power supply section 4.
  • the signal processing unit 32 is an example of a “state detection unit” and a “state detection device” of the present disclosure.
  • the signal processing section 32 includes a sum-of-squares square root calculation section 32a, a normalization section 32b, a rotation angle calculation section 32c, a fastening state detection section 32d, and an acquisition section 2d. Note that each of the sum-of-squares square root calculating section 32a, the normalizing section 32b, the rotation angle calculating section 32c, and the fastening state detecting section 32d shown in FIG. It shows. Details of each function will be described later.
  • the nut 240 (nut 240A) is fixed such that the positive direction of the X-axis of the acceleration sensor 1 faces upward (Z1 direction) in the initial state (state where the nut 240A is not loosened). (See Figure 5). Note that in the initial state, the positive direction of the X-axis of the acceleration sensor 1 may face in a direction other than the Z1 direction.
  • the angle (rotation angle) of the sensor device 500 is assumed to be 0 degrees.
  • FIG. 20 is a graph showing the relationship between the rotation angle of the tire 230 (wheel 220) and each of the X-axis acceleration and Y-axis acceleration when a centrifugal force with a centrifugal acceleration of 6G acts on the nut 240 due to a predetermined vehicle speed. .
  • the Y-axis acceleration is unchanged from that in FIG. 7.
  • the X-axis acceleration becomes a value obtained by adding 6G to the X-axis acceleration in FIG.
  • FIG. 20 is a diagram showing the results of the sensor device 500 provided in the nut 240A shown in FIG.
  • FIG. 21 shows a case where a centrifugal force of 6 G is applied to the nut 240 in a state where the nut 240A is rotated 135 degrees clockwise from the state shown in FIG. , is a graph showing the relationship between the angle of the tire 230 (wheel 220) and each of the X-axis acceleration and the Y-axis acceleration.
  • the amplitudes of the waveforms of the X-axis acceleration and Y-axis acceleration are the same as in the case of FIG. 20, the average values of each of the X-axis acceleration and the Y-axis acceleration are different from the case of FIG.
  • the average value of each of the X-axis acceleration and the Y-axis acceleration reflects the rotation angle of the nut 240 (sensor device 500).
  • the waveforms of the root sum of squares of the X-axis acceleration and the Y-axis acceleration are the same as in FIG. 20 and do not change depending on the rotation angle of the nut 240 (sensor device 400).
  • FIG. 21 is a diagram showing the results of the sensor device 500 provided in the nut 240A shown in FIG. 20.
  • FIG. 22A is a graph showing the average value of acceleration with respect to the angle (rotation angle) of the sensor device 500 when the centrifugal force is 6G.
  • FIG. 22B is a graph showing the average value of acceleration versus angle (rotation angle) of sensor device 500 when the centrifugal force is 10G.
  • the waveforms of the average values of the X-axis acceleration and the Y-axis acceleration have amplitudes corresponding to centrifugal force (the scales of the vertical axes are different from each other), but have the same shape. have Further, in each of FIGS.
  • the square root of the sum of squares of the average values of the X-axis acceleration and the Y-axis acceleration is a constant value corresponding to the centrifugal force. Therefore, the value obtained by dividing the average value of each of the X-axis acceleration and the Y-axis acceleration by the square root of the sum of squares is equal regardless of the magnitude of the centrifugal force.
  • the signal processing unit 32 (sum-of-squares square root calculation unit 32a) of the fourth embodiment calculates the sum of the squares of the X-axis acceleration (Xg) (average X-axis acceleration) and the Y-axis acceleration (Yg) (average Y-axis acceleration). Calculate the square root. Further, the signal processing section 32 (normalization section 32b) calculates the X-axis normalized value by dividing the X-axis acceleration (average X-axis acceleration) by the square root of the sum of squares. Further, the signal processing unit 32 (normalization unit 32b) calculates a Y-axis normalized value by dividing the Y-axis acceleration (average Y-axis acceleration) by the square root of the sum of squares.
  • the X-axis normalized value and the Y-axis normalized value are examples of the "first axis normalized value” and “second axis normalized value” of the present disclosure, respectively. Further, each of the X-axis normalized value and the Y-axis normalized value is an example of an "acceleration index" of the present disclosure.
  • the signal processing unit 32 detects the rotation angle of the nut 240 (sensor device 500) based on both the X-axis normalized value and the Y-axis normalized value.
  • the values of the X-axis normalized value and the Y-axis normalized value are determined by the sensor angle regardless of the centrifugal force (vehicle speed). The value is based on Therefore, by using the X-axis normalized value and the Y-axis normalized value, it is possible to detect the rotation angle of the nut 240 regardless of the vehicle speed.
  • FIG. 23 is a graph showing temporal changes in the X-axis normalized value (solid line), the Y-axis normalized value (broken line), and the centrifugal acceleration (dotted chain line).
  • Each of the X-axis normalized value and the Y-axis normalized value corresponds to the left vertical axis.
  • Centrifugal acceleration corresponds to the vertical axis on the right. Note that FIG. 23 is a graph when the nut 240A is rotated 45 degrees counterclockwise from the state shown in FIG.
  • the centrifugal acceleration has increased to about 15 G as shown in FIG. 23.
  • the X-axis normalized value is about -1G
  • the Y-axis normalized value is about 0G.
  • the amount of variation (amplitude) of the X-axis normalized value, which is about -1G is smaller than the amount of variation (amplitude) of the Y-axis normalized value, which is about 0G.
  • the X-axis normalized value when the fastening state of the nut 240 is detected not by the rotation angle of the sensor device 500 but by directly comparing the X-axis normalized value or the Y-axis normalized value with a predetermined tolerance range, the X-axis normalized value Alternatively, the allowable range when the Y-axis normalized value is around 0G is made larger than the allowable range when the X-axis normalized value or the Y-axis normalized value is around -1G (or 1G). Thereby, even if the X-axis normalized value or the Y-axis normalized value is around 0G, it is possible to more accurately detect the fastened state of the nut 240. Note that this control may be applied in the second and third embodiments.
  • the fastening state of the nut 240 may be detected based on the arctangent function value of the X-axis normalized value and the Y-axis normalized value.
  • FIG. 24 shows the waveform of the inverse trigonometric function value instead of the centrifugal acceleration waveform of FIG. 20.
  • the allowable range can be narrower than in the case of FIG.
  • the arctangent function value can only be in the range of -90 degrees to 90 degrees, but it can be set to 180 degrees or By adding or subtracting 360 degrees, the arctangent function value may be set in the range of 0 degrees to 360 degrees.
  • Steps S31 to S33 are the same as S11 to S13 in the second embodiment.
  • step S34 the signal processing unit 32 (square root sum calculation unit 32a) calculates the square root of the sum of squares of the X-axis acceleration (average X-axis acceleration) and the Y-axis acceleration (average Y-axis acceleration).
  • step S35 the signal processing unit 32 (normalization unit 32b) calculates the X-axis normalized value and the Y-axis normalized value based on the square root of the sum of squares calculated in step S34.
  • step S36 the signal processing unit 32 (rotation angle calculation unit 32c) calculates the angle (rotation angle ) is calculated.
  • step S37 the signal processing unit 32 determines whether the data acquired in step S36 should be excluded (ignored) based on the angle (rotation angle) of the sensor device 500 acquired in step S36. If it is determined that it should be excluded (ignored) (Yes in S37), the process returns to step S31. If it is determined that it should not be excluded (ignored) (No in S37), the process proceeds to step S38.
  • the data (measured values) to be excluded (ignored) are not limited to the X-axis normalized value and the Y-axis normalized value, but may be the X-axis acceleration and the Y-axis acceleration.
  • step S37 immediately after acquiring information indicating that the nut 240 has been rotated by a predetermined angle or more in the tightening direction while the nut 240 is not loosened for a certain period of time or more, the tightening direction is changed.
  • information B indicating that the nut 240 has been rotated in the loosening direction by a rotation angle equal to the rotation angle to the rotation angle is obtained, it is determined that the above data should be excluded (ignored).
  • step S37 similarly to the second embodiment, when the centrifugal acceleration of the wheel 220 is less than a predetermined value, and when the above data is obtained when the centrifugal acceleration suddenly changes, the above data is It may be determined that it should be excluded (ignored).
  • step S38 the signal processing unit 32 (fastening state detection unit 32d) detects the fastening state of the nut 240 based on the angle (rotation angle) of the sensor device 500 (nut 240) calculated in step S36. do. If it is detected that the nut 240 is loose (Yes in S38), the process proceeds to step S39. Furthermore, if it is detected that the nut 240 is not loose (No in S38), the process returns to step S31. In addition, in step S38, the signal processing unit 32 (fastening state detection unit 32d) detects the nut 240 based on the previously detected value of the angle of the sensor device 500 or the amount of change (difference) from the initial value. Determine whether there is any looseness. Note that step S39 is similar to step S16 in the second embodiment.
  • the rotation angle of the nut 240 is detected based on each of the X-axis normalized value and the Y-axis normalized value. Thereby, the rotation angle of the nut 240 can be detected without considering fluctuations in vehicle speed (centrifugal force).
  • the fastened state of the nut 240 is detected based on whether the X-axis acceleration and the Y-axis acceleration are positive or negative.
  • the same components as in the first to fourth embodiments are given the same reference numerals as those in the first to fourth embodiments, and will not be repeatedly described.
  • the sensor device 600 includes an acceleration sensor 1a, a signal processing section 42, a communication section 3, and a power supply section 4.
  • the signal processing unit 42 is an example of a “state detection unit” and a “state detection device” of the present disclosure.
  • FIG. 27 is a side view showing a state in which the wheel 220 (wheel 210) is fastened to the wheel hub 250a.
  • the sensor device 600 is provided at the nut 240 located at the uppermost position.
  • the detection axis of the acceleration sensor 1a is the X-axis. Acceleration sensor 1a detects acceleration applied along this detection axis (X-axis).
  • the acceleration detected along this detection axis (X-axis) is also referred to as Gx.
  • the arrow on the X axis indicates the positive direction of Gx.
  • Gx When the acceleration applied to the acceleration sensor 1a has a component (vector) in the arrow direction of the X-axis (the direction of the two-dot chain arrow), Gx becomes a positive value (+Gx (positive acceleration)). Further, when the acceleration applied to the acceleration sensor 1a has a component in the opposite direction to the arrow on the X-axis, Gx becomes a negative value (-Gx (negative acceleration)).
  • the wheel 220 (wheel 210) is fastened to the wheel hub 250a with a nut 240 on a predetermined pitch circle (see the dashed line in FIG. 27).
  • the size of the pitch circle diameter (PCD) may be arbitrary, and may be, for example, 114.3 mm or 275 mm.
  • FIG. 27 shows a state in which the nut 240 is tightened with a predetermined tightening torque and the wheel 220 (wheel 210) is fastened to the wheel hub 250a.
  • the nut 240 has a right-hand thread, and is tightened by being rotated clockwise in FIG. 27.
  • FIGS. 28A and 28B are diagrams showing the relationship between centrifugal acceleration and acceleration Gx detected by acceleration sensor 1a.
  • FIG. 28A shows a state in which the nut 240 is tightened with a predetermined tightening torque (the state shown in FIG. 27).
  • FIG. 28B shows the nut 240 rotated in the loosening direction (counterclockwise). As shown in FIG. 27, gravitational acceleration is applied to the nut 240 (acceleration sensor 1a), but in the description using FIGS. 28A and 28B, a mode in which gravitational acceleration is ignored will be described.
  • the relationship between the centrifugal acceleration and the acceleration Gx detected by the acceleration sensor 1a will be explained assuming that the rotation axis O of the wheel hub 250a (wheel 220) is oriented in the vertical direction and the wheel 220 rotates on a horizontal plane. do. In this case, no gravitational acceleration is applied in the detection axis (X-axis) direction of the acceleration sensor 1a.
  • the dashed arrow represents the direction of centrifugal acceleration (centrifugal force) caused by rotation of the wheel hub 250a (wheel 220). Since centrifugal acceleration acts in a radial direction centered on the rotation axis O, the nut 240 (acceleration sensor 1a) acts in the directions shown in FIGS. 28A and 28B at any position on the pitch circle. Note that in FIGS. 28A and 28B, an arrow Gc indicates a vector of centrifugal acceleration, and the vector Gc always points in the radial direction about the rotation axis O.
  • FIG. 28A which shows a state in which the nut 240 is tightened with a predetermined tightening torque
  • the X-axis direction component (the detection axis direction component of the acceleration sensor 1a) of the vector Gc (centrifugal acceleration) is set to "+Gx (positive)" by the acceleration sensor 1a. acceleration).
  • the X-axis direction component of the vector Gc (centrifugal acceleration) component) is detected as "-Gx (negative acceleration)" by the acceleration sensor 1a.
  • the detection axis (X-axis) of the acceleration sensor 1a rotates across the axis (the axis indicated by the dashed line in FIGS. 28A and 28B) orthogonal to the centrifugal acceleration vector Gc. Then, the direction of the acceleration detected by the acceleration sensor 1a changes, and the acceleration Gx detected by the acceleration sensor 1a changes from positive acceleration (+Gx) to negative acceleration (-Gx), or from negative acceleration (-Gx) to negative acceleration (-Gx). -Gx) to positive acceleration (+Gx). That is, the sign of the acceleration detected by the acceleration sensor 1a is reversed.
  • the detection axis (X-axis) of the acceleration sensor 1a rotates, and the direction for detecting the positive direction of Gx (the arrow on the X-axis) changes from the area A shown in FIG. 28A.
  • the acceleration Gx changes from +Gx to -Gx.
  • the sign of the acceleration detected by the acceleration sensor 1a is reversed.
  • the detection axis (X-axis) of the acceleration sensor 1a rotates, and the direction for detecting the positive direction of Gx (arrow on the X-axis) changes from area B shown in FIG. 28B.
  • the acceleration Gx changes from -Gx to +Gx.
  • the sign of the acceleration detected by the acceleration sensor 1a is reversed.
  • the acceleration sensor 1a rotates in conjunction with the rotation of the nut 240. Therefore, when centrifugal acceleration due to the rotation of the wheel 220 is applied, the rotation of the nut 240 can be detected based on the fact that the sign of the acceleration Gx detected by the acceleration sensor 1a is reversed. Utilizing this fact, in the fifth embodiment, a change in the fastening state of the nut 240 is detected.
  • FIG. 29 is a diagram showing an example of functional blocks configured in the signal processing section 42.
  • the acceleration determination unit 42a determines whether the gravitational acceleration applied to the acceleration sensor 1a is greater than the centrifugal acceleration.
  • the rotation axis O of the wheel 220 (the rotation axis O of the wheel hub 250a) is a horizontal axis, and gravitational acceleration is applied to the acceleration sensor 1a in addition to centrifugal acceleration.
  • the acceleration Gx detected by the acceleration sensor 1a is a composite acceleration of centrifugal acceleration and gravitational acceleration.
  • the direction of the acceleration Gx (positive or negative) will depend on the position of the nut 240 on the pitch circle, even if the nut 240 is not rotating. ) may change.
  • the magnitude of gravitational acceleration is 1G
  • the magnitude of gravitational acceleration (gravitational acceleration acting in the X-axis direction) detected by the acceleration sensor 1a is 1G at maximum.
  • the absolute value of the acceleration Gx detected by the acceleration sensor 1a is larger than 2G, it means that centrifugal acceleration larger than gravitational acceleration is acting on the acceleration sensor 1a. Therefore, when the absolute value of the acceleration Gx detected by the acceleration sensor 1a is greater than 2G, the rotation of the nut 240 can be detected based on the acceleration Gx while eliminating the influence of gravitational acceleration. In other words, if the absolute value of the acceleration Gx detected by the acceleration sensor 1a is smaller than 2G, there is a possibility that it will be affected by gravitational acceleration.
  • the acceleration determination unit 42a determines that the centrifugal acceleration is greater than the gravitational acceleration when the absolute value of the acceleration Gx detected by the acceleration sensor 1a is 5G or more, and the acceleration determination unit 42a determines that the centrifugal acceleration is greater than the gravitational acceleration When , it is determined that the gravitational acceleration is greater than the centrifugal acceleration.
  • the stop determination unit 42b determines whether the vehicle 200 is stopped and the rotation of the wheel hub 250a (wheel 220) has stopped.
  • the stop determination unit 42b determines that the rotation of the wheel hub 250a (wheel 220) is stopped when the previous value and the current value of the acceleration Gx (average X-axis acceleration) detected at each predetermined period by the acceleration sensor 1a are the same. It is determined that the In the fifth embodiment, when the magnitude of the previous value of acceleration Gx is Gx(n-1) and the magnitude of the current value of acceleration Gx is Gx(n), "
  • ⁇ is a predetermined value, which takes into consideration the influence of noise and disturbance when detecting the acceleration Gx, and is set in advance through experiments or the like.
  • the state determination unit 42c determines that the nut 240 is loosely fastened when the sign of the acceleration Gx (average X-axis acceleration) detected by the acceleration sensor 1a is reversed (changed). When the sign of acceleration Gx is reversed, it means when acceleration Gx changes from positive acceleration (+Gx) to negative acceleration (-Gx), or from negative acceleration (-Gx) to positive acceleration (+Gx). This is when the situation changed.
  • the state determining section 42c is an example of a "fastening state detecting section" of the present disclosure.
  • the state determination unit 42c determines the sign of the previous value of the acceleration Gx (average X-axis acceleration) detected by the acceleration sensor 1a and the current value of the acceleration Gx (average X-axis acceleration) detected by the acceleration sensor 1a. If the signs of the values are different, it is determined that the sign of the acceleration Gx has been reversed, and that a change has occurred in the fastening state of the nut 240. Note that the state determination unit 42c of the fifth embodiment cannot detect the rotation direction of the nut 240. When the wheel hub 250a (wheel 220) is rotating, it is extremely rare for the nut 240 to rotate in the tightening direction (retightening direction). Therefore, when the direction (positive or negative) of the acceleration Gx detected by the acceleration sensor 1a that rotates in conjunction with the rotation of the nut 240 changes, it can be safely assumed that the nut 240 has rotated in the loosening direction.
  • the state determination unit 42c determines that the fastening state of the nut 240 has changed, it transmits the information to the communication terminal 201 of the vehicle 200 (see FIG. 1) via the communication unit 3.
  • the communication terminal 201 receives the transmitted information and issues a warning (display) that the nut 240 is loose, for example.
  • FIG. 30 is a flowchart illustrating an example of processing executed by the signal processing unit 42. This flowchart is repeatedly processed every predetermined period.
  • the initial predetermined period is, for example, 300 ms.
  • step S40 the signal processing unit 42 acquires the acceleration Gx detected by the acceleration sensor 1a.
  • the signal processing unit 42 acquires information on the acceleration Gx detected by the acceleration sensor 1a at predetermined intervals (for example, 150 ms). Note that when the acceleration sensor 1a receives an acceleration detection request from the signal processing section 42, it detects the acceleration detection Gx and transmits a detection signal to the signal processing section 42. Therefore, the signal processing unit 42 acquires information on the acceleration Gx from the acceleration sensor 1a at each predetermined period.
  • step S41 the signal processing unit 42 determines whether the absolute value
  • step S42 the signal processing unit 42 sets the processing interval (predetermined period) of this flowchart to, for example, 300 ms.
  • the process then proceeds to step S43.
  • the processing interval (predetermined period) is, for example, twice the cycle (150 ms in the above example) in which the acceleration Gx is detected by the acceleration sensor 1a. Note that if the predetermined period is already 300 ms in step S42, the predetermined period is maintained at 300 ms.
  • step S43 the signal processing unit 42 determines whether the absolute value
  • step S44 the signal processing unit 42 determines whether the direction of the acceleration Gx (average X-axis acceleration) has changed.
  • the signal processing unit 42 determines whether the direction of the acceleration Gx detected this time by the acceleration sensor 1a and the direction of the acceleration Gx in the previous processing (previous value Gx(n-1)) have changed in the process of step S40. .
  • the signal processing unit 42 changes the direction of the acceleration Gx when the sign of the acceleration Gx detected this time by the acceleration sensor 1a and the sign of the acceleration Gx at the previous processing (previous value Gx(n-1)) changes, and the acceleration It is determined that the sign of Gx has been reversed.
  • step S44 If it is determined in step S44 that the direction of the acceleration Gx (average X-axis acceleration) has changed (affirmative determination), the process proceeds to step S45. If it is determined in step S44 that the direction of the acceleration Gx (average X-axis acceleration) has not changed (negative determination), the process proceeds to step S46.
  • step S45 the signal processing unit 42 determines that a change has occurred in the fastening state of the nut 240, and transmits information on the loosening of the nut 240 to the communication terminal 201 via the communication unit 3.
  • step S46 the signal processing unit 42 stores the acceleration Gx (average X-axis acceleration) acquired in step S40 in the memory as the previous value Gx(n-1) of the acceleration Gx, and then ends the current routine.
  • Gx average X-axis acceleration
  • step S47 the signal processing unit 42 calculates the magnitude of the acceleration Gx during the previous processing (previous value Gx(n-1)) and the magnitude of the acceleration Gx acquired in step S40 during the current processing (current value Gx( It is determined whether the difference between n)) is smaller than a predetermined value ⁇ . "
  • step S48 the signal processing unit 42 increments the counter Ct, and then advances the process to step S49.
  • step S49 the signal processing unit 42 determines whether the counter Ct is 3 or more. In step S49, if the counter Ct is 3 or more (Ct ⁇ 3), an affirmative determination is made and the process proceeds to step S50, and if the counter Ct is less than 3 (Ct ⁇ 3), a negative determination is made and the process proceeds to step S52. move on.
  • step S50 the signal processing unit 42 sets the processing interval (predetermined period) of this flowchart to 30 minutes, and then completes the current routine through the process of step S46.
  • step S51 the counter Ct is set to 0.
  • step S52 the signal processing unit 42 sets the processing interval (predetermined period) of this flowchart to 300 ms, and then completes the current routine through the process of step S46.
  • the acceleration sensor 1a rotates in conjunction with the rotation of the nut 240, and rotates integrally with the rotation of the nut 240 in the tightening and loosening directions.
  • the acceleration sensor 1a detects acceleration Gx in a direction toward one of the detection axes (X-axis) orthogonal to the rotation axis O of the wheel hub 250a (axle) as a positive acceleration (+Gx), and The acceleration Gx in the direction toward the other side is detected as negative acceleration (-Gx).
  • the detection axis (X-axis) of the acceleration sensor 1a rotates across the axis perpendicular to the centrifugal acceleration vector Gc, the direction of the acceleration detected by the acceleration sensor 1a changes, and the acceleration Gx detected by the acceleration sensor 1a changes. changes from positive acceleration (+Gx) to negative acceleration (-Gx), or from negative acceleration (-Gx) to positive acceleration (+Gx), and the sign of acceleration Gx is reversed.
  • the state determining unit 42c of the signal processing unit 42 determines that a change has occurred in the fastening state of the nut 240 when the sign of the acceleration Gx detected by the acceleration sensor 1a is reversed.
  • the state determination unit 42c cannot detect the rotation direction of the nut 240.
  • the wheel hub 250a (wheel 220) is rotating, it is extremely rare for the nut 240 to rotate in the tightening direction (retightening direction). Therefore, when the direction (positive or negative) of the acceleration Gx detected by the acceleration sensor 1a that rotates integrally with the nut 240 changes, it can be estimated that the nut 240 has rotated in the loosening direction. Therefore, in the fifth embodiment, when the nut 240 is rotated in the loosening direction, it can be estimated that the nut 240 is loosely fastened, so it is possible to detect the loosening of the nut 240 even if the loosening is relatively slight. can.
  • a change in the fastening state of the nut 240 is detected based on the direction (positive or negative) of the acceleration Gx detected by the acceleration sensor 1a. Therefore, the acceleration sensor 1a only needs to be able to detect the direction (positive or negative) of the acceleration Gx, and a low-G acceleration type acceleration sensor with a relatively small acceleration detection range can be used.
  • an acceleration sensor capable of detecting acceleration of at least 5G may be used.
  • of the acceleration Gx detected by the acceleration sensor 1a is greater than 5G
  • centrifugal acceleration greater than gravitational acceleration is acting on the acceleration sensor 1a (S41).
  • exceeds a predetermined value greater than 2G
  • centrifugal acceleration greater than gravitational acceleration may be acting on the acceleration sensor 1a.
  • the rotational speed of the wheel hub 250a (wheel 220) can be calculated from the vehicle speed of the vehicle 200, etc.
  • the centrifugal acceleration calculated based on the rotational speed of the wheel hub 250a (wheel 220) and the PCD is larger than the gravitational acceleration.
  • a change in the direction (positive or negative) of the acceleration Gx may be detected.
  • the stop determination unit 42b determines whether the rotation of the wheel hub 250a (wheel 220) has stopped based on the acceleration Gx detected by the acceleration sensor 1a.
  • the vehicle speed information of the vehicle 200 may be acquired via the communication unit 3, and when the vehicle 200 is stopped, it may be determined that the rotation of the wheel hub 250a (wheel 220) is stopped.
  • Modification 1 In the fifth embodiment, the reversal of the sign of the acceleration Gx is detected based on the sign of the previous value and the sign of the current value of the acceleration Gx detected by the acceleration sensor 1a.
  • an initial value Gxs of the acceleration Gx (average X-axis acceleration) is set, and based on the sign of this initial value Gxs and the sign of the acceleration Gx (average X-axis acceleration) detected by the acceleration sensor 1a, Detects the reversal of the sign of the acceleration Gx.
  • FIG. 31 is a flowchart showing the processing of the initial value setting routine executed by the signal processing unit 42 in the first modification.
  • the signal processing unit 42 receives the press of the button 201a via the communication unit 3 and starts processing.
  • step S60 When the button 201a is pressed, the acceleration Gx is detected by the acceleration sensor 1a in step S60. In the following step S61, it is determined whether the absolute value
  • step S61 When the vehicle 200 starts traveling and the absolute value
  • step S62 the acceleration Gx detected by the acceleration sensor 1a is set to the initial value Gxs, and the current routine ends. Note that the initial value Gxs includes the direction (sign (+/-)) of the acceleration Gx detected by the acceleration sensor 1a.
  • FIG. 32 is a flowchart illustrating an example of processing executed in the signal processing unit 42 in Modification 1. Similar to the flowchart in FIG. 30, this flowchart is repeatedly processed every predetermined period, and the initial predetermined period is 300 ms. This flowchart eliminates the process of step S43 in the flowchart of FIG. 30, and executes the process of step S53 in place of step S43. Therefore, a description of the processes of S40 to S42 and S44 to S52 will be omitted.
  • step S53 the signal processing unit 42 determines whether the direction of the acceleration Gx (average X-axis acceleration) detected in the process of step S40 is different from the direction of the initial value Gxs. If the sign of the acceleration Gx and the sign of the initial value Gxs are different (YES in S53), it is determined that the sign of the acceleration Gx has been reversed, and the process proceeds to step S45. If the sign of the acceleration Gx and the sign of the initial value Gxs are the same, a negative determination is made and the process proceeds to step S46.
  • the initial value Gxs is the acceleration Gx that indicates the rotational position of the nut 240 when the tightening is completed, so it is possible to detect a change in the fastening state from when the nut 240 is fastened with a predetermined tightening torque. . As a result, the fastening state of the nut 240 can be detected more appropriately.
  • the initial value setting routine of FIG. 31 may be executed when the vehicle 200 returns from a stopped state to a running state. For example, after an affirmative determination is made in step S47, when an affirmative determination is made in step S41 or a negative determination is made in step S47, the initial value setting routine of FIG. 31 may be executed. Further, when it is determined from the vehicle speed information of the vehicle 200 that the vehicle 200 has returned from the stopped state to the running state, the initial value setting routine of FIG. 31 may be executed. Further, the nut 240 may be provided with the button 201a.
  • the detection axis of the acceleration sensor 1a is the X axis. If the detection axis of the acceleration sensor 1a is the X-axis, the direction (positive or negative) of the acceleration Gx may not change unless the nut 240 (acceleration sensor 1) is rotated by 180 degrees or more. Furthermore, depending on the rotational position of the nut 240 when the tightening is completed, the sign of the acceleration Gx may be reversed even if the nut 240 is slightly rotated. Therefore, in the second modification, the X-axis acceleration and the Y-axis acceleration may be detected by the acceleration sensor 1, as in the first to fourth embodiments.
  • the signal processing unit 42 executes the process of the flowchart in FIG. 30 based on the acceleration Gx detected by the X-axis of the acceleration sensor 1. Further, the signal processing unit 42 executes the process shown in the flowchart of FIG. 30 based on the acceleration Gy detected by the Y-axis of the acceleration sensor 1. Note that Gx can be read as Gy.
  • the fastening state of the nut 240 is changed. If the determination is made, a change in the fastening state of the nut 240 can be detected when the nut 240 is rotated by 90 degrees or more.
  • the acceleration sensor 1 of the second modification and the first to fourth embodiments has two orthogonal axes, an X-axis (first detection axis) and a Y-axis (second detection axis), as detection axes.
  • the two axes, the X-axis (first detection axis) and the Y-axis (second detection axis), do not have to be orthogonal.
  • the detection axes of the acceleration sensor may be three or more axes that intersect at any angle as long as the plane is orthogonal to the rotation axis of the wheel 220 (rotation axis O of the wheel hub 250a). In this case, it is preferable that the plurality of detection axes of the acceleration sensor intersect at equal angles (for example, 120° in the case of three axes).
  • the nut cap 241 is attached to the nut 240, but the present disclosure is not limited thereto.
  • the sensor device may be attached to a nut 340 that is a cap nut.
  • Nut 340 is an example of a "fastening member" of the present disclosure. Note that in FIG. 33, the sensor device 100 is illustrated as a representative sensor device.
  • Modification 4 Furthermore, in Modification 4 shown in FIG. 34, the nut 440 is open on one side and does not include a nut cap.
  • the sensor device may be provided on a side surface 441 of the nut 440 (a surface provided perpendicular to the wheel 220).
  • a sensor device 100 is illustrated as a representative sensor device. Note that each configuration of the fourth modification may be applied to the second to fifth embodiments. Further, the sensor device may be fitted into a recess 541a (see FIG. 35) provided in the side surface 541 of the nut 540. Note that each of the nut 440 and the nut 540 is an example of a "fastening member" of the present disclosure.
  • FIG. 36 is a cross-sectional view of a fastening portion using a loosening detection device in a comparative example.
  • each of the wheel hub 250a and bolts 250 are the same as in the above embodiment.
  • a single tire is fastened to the wheel hub 250a.
  • the nut 640 which is a through nut, is illustrated in a side view (not a cross-sectional view).
  • a leaf spring L, a coil spring C, and contacts S1 and S2 are provided in the space inside the nut cap NC.
  • One end of the leaf spring L is fixed to the ceiling surface of the nut cap NC.
  • One end of a coil spring C is attached to the other end of the leaf spring L.
  • a contact S1 is fixed to the other end of the coil spring C.
  • a contact S2 is provided on the ceiling surface of the nut cap NC facing the contact S1.
  • the nut cap NC is attached to the nut 640 as shown by the arrow.
  • the nut cap NC is fixed to the nut 640 by press-fitting the side surface of the nut 640 into the inner surface of the nut cap NC.
  • FIG. 37 is a diagram showing a state in which the nut cap NC is attached to the nut 640 (upper diagram) and a fastened state in which the nut 640 is loosened (lower diagram) in a comparative example.
  • the upper figure shows a state in which the nut 640 is fastened with a predetermined tightening torque.
  • the distance between the ceiling surface of the nut cap NC attached to the nut 640 and the top surface (tip portion) of the bolt 250 is short.
  • the leaf spring L and the coil spring C are compressed, and the contacts S1 and S2 are brought into contact with each other, and the contacts S1 and S2 are closed.
  • the loosening detection device of this comparative example it is possible to detect the loosening of the nut 640 by electrically detecting the opening and closing of the contacts S1 and S2. For example, when contacts S1 and S2 are closed, it is determined that the nut 640 is in a normal fastened state, and when contacts S1 and S2 are open, it is determined that the nut 640 is loose. Bye.
  • FIG. 38 is a diagram illustrating individual differences in the axial length of the bolts 250.
  • the axial length of the bolt 250 differs depending on the car model and car manufacturer (vehicle manufacturer).
  • the left diagram in FIG. 38 shows an example in which the axial length of the bolt 250 is short.
  • the right diagram in FIG. 38 shows an example in which the bolt 250 has a long shaft length. Due to the bolts 250 having different axial lengths, a difference ( ⁇ d) occurs in the distance from the fastening surface of the wheel 220 and the nut 640 to the upper surface of the bolt 250, as shown in FIG. For this reason, the loosening detection device of the comparative example using the nut cap NC may not be able to appropriately detect the loosening of the nut 640.
  • the fastening state of the fastening member is detected using the acceleration detected by the acceleration sensor 1 (1a), the difference in the axial length of the bolt 250 is not affected.
  • the fastened state can be detected without being affected.
  • the acceleration sensor 1 detects the acceleration of each of the X-axis and Y-axis, and calculates the acceleration of each of the X-axis and Y-axis and the difference between the X-axis acceleration and the Y-axis acceleration.
  • the present disclosure is not limited thereto.
  • the acceleration sensor may be configured to be able to detect only one of the X-axis and Y-axis accelerations.
  • the interval at which sensing is repeatedly performed is appropriately set in order to reduce power consumption of the signal processing unit 2, the present disclosure is not limited to this. Even if the interval is arbitrary, only a variation will occur.
  • the sensing interval is arbitrary, fluctuations will occur. Taking the X-axis as an example, the average value fluctuates by about ⁇ 1 G. The influence of the variation will be illustrated in the example of FIG. 9A. If there is no variation and the average value of acceleration is 3G, the sensor angle is 0 degrees. However, if the variation is -1G, the resulting average value of acceleration may be 2G. The sensor angle when the average value of acceleration is 2G is around 40 degrees. In this way, the difference between 0 degrees and 40 degrees becomes the sensor angle error. In other words, it is difficult to reliably determine whether the nut is loose until the sensor angle has exceeded a certain degree of 40 degrees. This will reduce the robustness of the system.
  • the acceleration sensor 1 detects only one of the X-axis and Y-axis, two candidates for the rotation angle of the nut 240 will be detected, so the rotation angle will not be specified, but the rotation angle between each sensing will be detected in two ways.
  • the amount of change is detectable. Thereby, it is possible to detect that the nut 240 is not loosened based on the fact that the amount of change is minute.
  • the rotation angle of the nut 240 is around 90 degrees or around 270 degrees, and in the next sensing, Assume that the rotation angle is detected to be around 90 degrees or around 270 degrees. In this case, since it can be determined that the amount of change in the rotation angle is 0 (slight), it is detected that the nut 240 is not loosened. Note that the loosening of the nut 240 may be detected based on the difference in rotation angles detected in a plurality of consecutive sensing operations.
  • the degree of loosening of the nut 240 may be detected based on the difference between the X-axis acceleration and the Y-axis acceleration.
  • FIG. 39 is a graph showing the average value of the difference between the X-axis acceleration and the Y-axis acceleration when the centrifugal force is 3G, 6G, and 10G. For example, if it is detected that the centrifugal force is 10G based on the speed of the vehicle 200 and the above-mentioned difference is 0G, the rotation angle of the nut 240 is detected to be around 50 degrees or around 225 degrees. Ru. Further, if the centrifugal force is 10G and the above-mentioned difference is detected to be -10G, the rotation angle of the nut 240 is detected to be around 90 degrees or around 175 degrees.
  • the fastening state of the nut 240 provided on the wheel 220 of the vehicle 200 is detected, but the present disclosure is not limited to this.
  • the fastening state of fastening members such as nuts attached to elevator pulleys, belt conveyor pulleys, coffee cups and merry-go-rounds installed in amusement parks, rotary play equipment installed in parks, etc. may be detected.
  • the centrifugal force is not affected by gravity, so the fastening state of fastening members can be detected even when the centrifugal acceleration is small. This can be done easily.
  • the fastening state (looseness) of the nut 240 is detected based on a change in the rotation angle of the nut 240, but the present disclosure is not limited to this.
  • the fastening state (looseness) of the nut 240 may be detected based on a comparison between the amount of change in the X-axis acceleration (average X-axis acceleration) and the Y-axis acceleration (average Y-axis acceleration) and a predetermined threshold value.
  • the fastened state of the nut 240 is detected while ignoring the information A when the information A is acquired while the nut 240 is not loosened for a certain period of time or more. Disclosure is not limited to this. Even if the above information A is acquired in a state where loosening of the nut 240 is detected within a certain period of time, the fastened state of the nut 240 may be detected while ignoring the above information A.
  • the process of detecting the fastening state of the nut 240 is performed when the centrifugal acceleration of the wheel 220 is equal to or higher than a predetermined value, but the present disclosure is not limited to this.
  • the process of detecting the fastening state of the nut 240 may be performed even if the centrifugal acceleration of the wheel 220 is less than a predetermined value.
  • the plane on which the X-axis and the Y-axis are provided is orthogonal to the rotation axis O of the wheel 220, but the present disclosure is not limited to this.
  • the plane may not be orthogonal to the rotation axis O but may intersect with it.
  • the fastening state of the nut 240 is detected using the arctangent function, but the present disclosure is not limited to this.
  • the fastening state of the nut 240 is detected using an arc sine function (arcsin), an arc cosine function (arccos), an arc cotangent function (arccot), an inverse cosecant function (arccsc), and an inverse secant function (arcsec). You can.
  • the number of sensor devices for one wheel 220 may be changed as appropriate as long as it is one or more.
  • the fastening state (looseness) of the nut 240 may be detected based on a comparison between the amount of change in at least one of the X-axis normalized value and the Y-axis normalized value and a predetermined threshold value.
  • the rotation angle of the nut 240 is detected based on both the X-axis normalized value and the Y-axis normalized value, but the present disclosure is not limited to this.
  • the fastening state (amount of change in rotation angle) of the nut 240 may be detected based on only one of the X-axis normalized value and the Y-axis normalized value.
  • the nut 240 is provided with a sensor device, but the present disclosure is not limited thereto.
  • the sensor device may also be provided on the bolt (separate bolt from the wheel hub).
  • the wheel is fastened to the wheel hub with a bolt.
  • the bolt in this case is an example of the "fastening member" of the present disclosure.
  • the fastening state of the nut 240 is detected by the signal processing section provided in the sensor device, but the present disclosure is not limited to this.
  • the detected value of the acceleration sensor 1 may be transmitted to an ECU (Electronic Control Unit) provided in the vehicle 200 through the communication unit 3, and the ECU may detect the fastening state of the nut 240 based on the detected value.
  • the ECU corresponds to one form of the "detection device" of the present disclosure.
  • the fastening state of the nut 240 is detected based on the average value of two accelerations obtained while the wheel 220 rotates once.
  • This disclosure is not limited thereto. Even if the fastened state of the nut 240 is detected based on the average value of the acceleration of an even number of times (4 times, 6 times, 8 times, etc.) other than 2 times obtained while the wheel 220 rotates once. good. Note that the smaller the number of times, the lower the possibility that the measurement position will shift due to rotation (the effect of the shift will be reduced), so the fastening state of the nut 240 can be detected more accurately.
  • the fastening state of the nut 240 may be detected based on the acceleration (one time) acquired in each sensing.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measuring Fluid Pressure (AREA)
  • Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
PCT/JP2023/027020 2022-07-27 2023-07-24 検出装置、状態検出装置、および、検出方法 Ceased WO2024024731A1 (ja)

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DE112023003242.4T DE112023003242T5 (de) 2022-07-27 2023-07-24 Erfassungsvorrichtung, zustandserfassungsvorrichtung und erfassungsverfahren
CN202380053486.2A CN119546936A (zh) 2022-07-27 2023-07-24 检测装置、状态检测装置和检测方法

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WO2025177677A1 (ja) * 2024-02-20 2025-08-28 住友ゴム工業株式会社 メンテナンス監視システム

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US20260002839A1 (en) 2026-01-01

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