System for detecting or estimating center-of-gravity, lateral rollover limit or cargo weight

• US 8,483,942 B2
• Filed: 11/22/2007
• Issued: 07/09/2013
• Est. Priority Date: 11/22/2006
• Status: Active Grant

• Current Assignee: Tokyo University of Marine Science and Technology
• Original Assignee: National University Corporation Tokyo University of Agriculture and Technology
• Inventors: Watanabe, Yutaka
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US12/516,111
• Publication Number:
  US 20100198492A1
• Time in Patent Office: 2,056 Days
• Field of Search: 701/124, 141/72, 141/140, 141/343, 141/480, 141/498, 141/501, 141/522, 141/537, 410/9, 410/13, 410/16, 410/26, 410/103, 410/130, 296/26.09, 296/37.6, 296/37.16, 105/4.1, 105/26.05, 105/355, 105/404, 105/463.1, 14/695, 14/711, 224/542, 188/3.H, 188/3.R, 188/34, 188/108, 188/112.R, 303/3, 303/7, 303/15
• US Class Current: 701/124
• CPC Class Codes: B60W 40/12 related to parameters of the vehicle itself , e.g. tyre models
• CPC Class Codes: G01G 19/086 wherein the vehicle mass is dynamically estimated
• CPC Class Codes: G01G 23/3728 with wireless means
• CPC Class Codes: G01M 1/122 Determining position of centre of gravity

Abstract

A center-of-gravity detection system includes a vehicle capable of carrying cargo and adapted to be towed by a towing vehicle, a shake detector configured to detect shakes in the directions of the self-weight and width of the towed vehicle during travel of the towed vehicle, and an arithmetic unit. The arithmetic unit is configured to derive, based upon physical quantities that correlate with the shakes, the location of the center of gravity, in three-dimensional space, of the towed vehicle.

Claims

1. A center-of-gravity detection system comprising:

a container cargo vehicle comprising a container capable of carrying cargo and a container chassis upon which the container is placed, the container cargo vehicle adapted to be towed by a towing vehicle;

a shake detector configured to detect shakes in the directions of the self-weight and width of said towed container cargo vehicle during travel of said towed container cargo vehicle; and

an arithmetic unit;

wherein

when the shake in the self-weight direction corresponds to a vertical reciprocation motion in which a center of gravity of said container cargo vehicle is a mass point and the shake in a width direction corresponds to a horizontal simple pendulum motion in which an axle center of said container cargo vehicle is a support point and a center of gravity of said container cargo vehicle is a mass point;

said arithmetic unit is configured to derive, based upon the frequency of the simple pendulum motion, the location of the center of gravity of said container cargo vehicle with respect to the travel direction of said container, and to further derive, based upon the frequency of the reciprocation motion, the frequency of the simple pendulum motion, and the central angle of the simple pendulum motion, the location of the center of gravity of said container cargo vehicle with respect to a cross-section surface perpendicular to the travel direction of said container.

2. The center-of-gravity detection system according to claim 1, further comprising:

a disc-shaped coupling member configured to connect, at between the proximity of a front section of said container chassis relative to the travel direction thereof and said towing vehicle, the both together in a widthwisely swing-movable manner;

wherein said container chassis includes a cross beam which extends in the width direction of said container and supports the proximity of a rear section of said container relative to the travel direction thereof;

wherein said arithmetic unit is configured to convert output data of said shake detector into rolling data representative of a correlation between the frequency and the amplitude of the simple pendulum motion and to obtain, based upon the rolling data, a first frequency of the simple pendulum motion corresponding to the peak amplitude of the simple pendulum motion originated from said cross beam, a second frequency of the simple pendulum motion corresponding to the peak amplitude of the simple pendulum motion originated from said coupling member, and a third frequency of the simple pendulum motion corresponding to the peak amplitude of the simple pendulum motion originated from the center of gravity of said container cargo vehicle; and

wherein, based upon the first, second, and third frequencies of the simple pendulum motion, said arithmetic unit is configured to derive the location of the center of gravity of said container cargo vehicle relative to the travel direction of said container.

3. The center-of-gravity detection system according to claim 1,

wherein said arithmetic unit is configured to convert output data of said shake detector into rolling data representative of a correlation between the frequency and the amplitude of the simple pendulum motion and to obtain, based upon the rolling data, the frequency of the simple pendulum motion corresponding to the peak amplitude of the simple pendulum motion originated from the center of gravity of said container cargo vehicle;

wherein said arithmetic unit is configured to convert output data of said shake detector into pitching data representative of a correlation between the frequency and the amplitude of the reciprocation motion and to obtain, based upon the pitching data, the frequency of the reciprocation motion corresponding to the maximum amplitude of the reciprocation motion;

wherein said arithmetic unit is configured to sample temporal data of the amplitude of the simple pendulum motion from output data of said shake detector and to obtain the average value of the temporal data as the central angle of the simple pendulum motion; and

wherein, based upon the frequency of the simple pendulum motion, the frequency of the reciprocation motion, and the central angle of the simple pendulum motion, said arithmetic unit is configured to derive the location of the center of gravity of said container cargo vehicle relative to the cross-section surface perpendicular to the travel direction of said container.

4. The center-of-gravity detection system according to claim 1, wherein the shakes in the self-weight and width directions of said container cargo vehicle are motions resulting from external disturbances imparted, during straight travel of said container cargo vehicle on a road surface, to said container cargo vehicle in response to irregularities of the road surface.

5. The center-of-gravity detection system according to claim 1, wherein said shake detector includes an angular velocity sensor which is mounted in said towing vehicle and whose angular velocity sensitive axes are aligned in the self-weight and width directions of said container cargo vehicle.

6. A lateral rollover limit velocity estimation system comprising:

the center-of-gravity detection system of claim 1;

and further comprising;

wherein the arithmetic unit is configured to obtain the location of the center of gravity, in three-dimensional space, of said towed container cargo vehicle derived based upon physical quantities that correlate with the shakes and the curvature radius of a curved road section along which said towed container cargo vehicle travels and to derive a lateral rollover limit velocity for the curved road section in response to the obtained curvature radius with the use of the obtained location of the center of gravity.

7. The lateral rollover limit velocity estimation system according to claim 6, further comprising:

a receiver configured to receive and provide radio intelligence about the curvature radius to said arithmetic unit.

8. A lateral rollover limit velocity estimation system, comprising:

a vehicle capable of carrying cargo and adapted to be towed by a towing vehicle; and

an arithmetic unit;

wherein the arithmetic unit is configured to obtain the location of the center of gravity, in three-dimensional space, of said towed vehicle and the curvature radius of a curved road section along which said towed vehicle travels and to derive a lateral rollover limit velocity for the curved road section in response to the obtained curvature radius with the use of the obtained location of the center of gravity; and

wherein said arithmetic unit is configured to derive the lateral rollover limit velocity on the basis of;

a first expression which represents, by means of the center-of-gravity location of said towed vehicle relative to the cross-section surface perpendicular to the travel direction of said towed vehicle, a relationship between the velocity of said towed vehicle and the curvature radius in the event that said towed vehicle is brought into rotation centered on a turning outer wheel of said towed vehicle; and

a second expression which represents, by means of the center-of-gravity location of said towed vehicle relative to the travel direction of said towed vehicle, a relationship between the velocity of said towed vehicle and the curvature radius in the event that said towed vehicle is brought into rotation centered on a point of connection between said towing vehicle and said towed vehicle.

9. The lateral rollover limit velocity estimation system according to claim 8, wherein said towed vehicle is a container cargo vehicle comprising a container capable of carrying the cargo and a container chassis on which to place said container.

10. The lateral rollover limit velocity estimation system according to claim 8, further comprising:

a shake detector configured to detect shakes in the directions of the self-weight and width of said towed vehicle during travel of said towed vehicle; and

wherein, based upon physical quantities that correlate with the shakes, said arithmetic unit is configured to derive the location of the center of gravity.

11. A cargo weight estimation system comprising:

a vehicle capable of carrying cargo and adapted to be towed by a towing vehicle; and

an arithmetic unit;

wherein said arithmetic unit is configured to obtain the location of the center of gravity, in three-dimensional space, of said towed vehicle loaded with the cargo and the location of center of gravity, in three-dimensional space, of said towed vehicle without the cargo and to derive the weight of the cargo with the use of the obtained two center-of-gravity locations.

12. The cargo weight estimation system according to claim 11, wherein said towed vehicle is a container cargo vehicle comprising a container capable of carrying the cargo and a container chassis on which said container is placed.

13. The cargo weight estimation system according to claim 12,

wherein, based upon the two center-of-gravity locations, the length, in the travel direction of said container cargo vehicle, of said container, and the weight of said container cargo vehicle without the cargo, the arithmetic unit is configured to derive the apparent weight of the cargo with consideration given only to the travel direction;

wherein, based upon the two center-of-gravity locations, the length, in the width direction of said container cargo vehicle, of said container, and the weight of said container cargo vehicle without the cargo, the arithmetic unit is configured to derive the apparent weight of the cargo with consideration given only to the width direction;

wherein, based upon the two center-of-gravity locations, the length, in the self-weight direction of said container cargo vehicle, of said container, and the weight of said container cargo vehicle without the cargo, the arithmetic unit is configured to derive the apparent weight of the cargo with consideration given only to the self-weight direction; and

wherein, based upon the three directional apparent weights of the cargo, said arithmetic unit is configured to derive the net weight of the cargo.

14. The cargo weight estimation system according to claim 11, further comprising:

a shake detector configured to detect shakes in the directions of the self-weight and width of said towed vehicle during travel of said towed vehicle;

wherein, based upon physical quantities that correlate with the shakes of said towed vehicle loaded with the cargo, the arithmetic unit is configured to derive the location of the center of gravity, in three-dimensional space, of said towed vehicle loaded with the cargo; and

wherein, based upon physical quantities that correlate with the shakes of said towed vehicle without the cargo, the arithmetic unit is configured to derive the location of the center of gravity, in three-dimensional space, of said towed vehicle without the cargo.

15. A computer-readable storage medium storing a program for causing a computer to execute a method comprising steps of:

receiving information on shake in the self-weight direction of a container cargo vehicle during travel of the container cargo vehicle from a shake detector, the container cargo vehicle comprising a container capable of carrying the cargo and a container chassis on which said container is placed and being adapted to be towed by a towing vehicle, and the shake in the self-weight direction corresponding to a vertical reciprocation motion in which the center of gravity of said container cargo vehicle is a mass point;

receiving information on shake in the width direction of said towed container cargo vehicle during travel of said towed container cargo vehicle from the shake detector, the shake of the width direction corresponding to a horizontal simple pendulum motion in which the axle center of said container cargo vehicle is a support point and the center of gravity of said container cargo vehicle is a mass point;

deriving, based upon the frequency of the simple pendulum motion, the location of the center of gravity of said container cargo vehicle with respect to the travel direction of said container; and

deriving, based upon the frequency of the reciprocation motion, the frequency of the simple pendulum motion, and the central angle of the simple pendulum motion, the location of the center of gravity of said container cargo vehicle with respect to a cross-section surface perpendicular to the travel direction of said container.