MOTION DETECTION DEVICES AND SYSTEMS

• US 20160033366A1
• Filed: 07/29/2014
• Published: 02/04/2016
• Est. Priority Date: 07/29/2014
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Liu, Haiyang, Baker, Jeffrey, Cunningham, Charles Joseph IV, Caldwell, William Stephen
• Granted Patent: US 9,423,318 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01M 17/007 Wheeled or endless-tracked vehicles G01M17/08 takes precedence
• CPC Class Codes: G01P 13/00 Indicating or recording presence, absence, or direction, of movement electric switches H01H; counting moving objects G06M7/00
• CPC Class Codes: G01P 3/50 for measuring linear speed G01P3/56 takes precedence
• CPC Class Codes: G07C 5/02 Registering or indicating driving, working, idle, or waiting time only apparatus forming part of taximeters G07B13/00

Abstract

Motion detection devices and systems are described herein. One motion detection device includes an inertial measurement unit (IMU) configured to measure velocity, orientation, and gravitational forces of the motion detection device and a computing component. The computing component can be configured to determine spectrum parameters of a mobile vehicle associated with the motion detection device using measurements from the IMU, determine IMU orientation parameters using measurements from the IMU, and estimate motion of the mobile vehicle using the spectrum parameters, the IMU orientation parameters, measurements from the IMU, and a motion estimation function.

Claims

7. A non-transitory computer-readable medium storing instructions executable by a processing resource to:

determine spectrum parameters and time domain filter parameters of a mobile vehicle associated with a motion detection device using measurements from an inertial measurement unit (IMU);

determine window parameters using measurements from the IMU measured when the mobile vehicle is in motion and a sliding window motion estimation function;

determine IMU orientation parameters using measurements from the IMU;

filter IMU measurements using at least one time domain filter parameter; and

estimate motion of the mobile vehicle using the filtered IMU measurements, spectrum parameters, the IMU orientation parameters, the window parameters, and the sliding window motion estimation function.

8. The medium of claim 7, wherein the window parameters include a window size, a shift size, and a motion estimation threshold.

9. The medium of claim 7, wherein the instructions are executable to characterize system performance including at least one of response delays, false positives rates, and false negative rates.

10. The medium of claim 7, wherein the instructions to determine the window parameters include instructions executable to determine the window parameters based on movement of the mobile vehicle in a variety of patterns.

11. The medium of claim 7, wherein the instructions to determine the IMU orientation parameters include instructions executable to:

determine a gravity vector; and

determine an acceleration peak.

12. The medium of claim 7, wherein the instructions to estimate motion include instructions executable to estimate energy of vibrations below a threshold frequency.

13. The medium of claim 12, wherein the instructions to estimate the energy of vibrations below the threshold frequency include instructions executable to select a maximum amplitude in a selected frequency band.

14. The medium of claim 12, wherein the instructions to estimate the energy of vibrations below the threshold frequency include instructions executable to integrate amplitude over a selected frequency band.

15. A motion detection system:

an inertial measurement unit (IMU) configured to measure velocity, orientation, and gravitational forces of the motion detection system;

a computing component configured to;

determine spectrum parameters and time domain filter parameters of a mobile vehicle associated with the motion detection system using measurements from the IMU measured when the mobile vehicle is idle and in motion;

determine window parameters using measurements from the IMU measured when the mobile vehicle is in motion and a sliding window motion estimation function;

determine IMU orientation parameters using measurements from the IMU;

filter IMU measurements using at least one time domain filter parameter;

estimate a forward vector using the IMU orientation parameters; and

estimate motion of the mobile vehicle using the filtered IMU measurements, spectrum parameters, window parameters, and the sliding window motion estimation function; and

a user interface configured to provide a blank display on a screen in response to a determination that the mobile vehicle is in motion.

1. A motion detection device including:

an inertial measurement unit (IMU) configured to measure velocity, orientation, and gravitational forces of the motion detection device; and

a computing component configured to;

determine spectrum parameters of a mobile vehicle associated with the motion detection device using measurements from the IMU;

determine IMU orientation parameters using measurements from the IMU; and

estimate motion of the mobile vehicle using the spectrum parameters, the IMU orientation parameters, measurements from the IMU, and a motion estimation function.

2. The device of claim 1, wherein the motion estimation function includes a sliding window Discrete Fourier Transformation function (DFT).

3. The device of claim 1, wherein spectrum parameters include a cutoff frequency range of the idle mobile vehicle and a maximum frequency of the mobile vehicle when moving along a forward direction.

4. The device of claim 1, including a user interface to provide a display on a screen in response to a determination that the mobile vehicle is not in motion.

5. The device of claim 1, wherein the IMU orientation parameters include IMU accelerometer readings along X, Y, and Z axes.

6. The device of claim 1, wherein the computing component configured to estimate motion includes the computing component configured to detect whether the mobile vehicle is in motion using a motion estimation threshold.

16. The system of claim 15, wherein the user interface is configured to provide a display on the screen in response to determining the mobile vehicle is idle.

19. (canceled)

17. The system of claim 15, wherein the computing component configured to determine the IMU orientation parameters includes determining a gravity vector to determine a vertical tilting angle.

18. The system of claim 15, wherein the computing component configured to filter the IMU measurements includes performing:

gravity correction to distill linear accelerations; and

offset correction to remove systematic sensor reading drifts using a zero resetting parameter.

20. The system of claim 15, wherein the computing component is configured to estimate speed of the mobile vehicle based on a past speed estimate and current IMU measurements.

19-1. The system of claim 15, wherein the computing component is configured to perform an exponentially weighted moving average (EWMA) filter process in response to resampling to 100 hertz.