DE102010032797A1 - Device for determining movement process with static and dynamic acceleration components, has resilient supports arranged on base plate, where deflections of supports is detected and computationally processed - Google Patents

Abstract

The device has four sensors (1-4) arranged on a base plate (7) and provided with mass elements (5, 6). Resilient supports are arranged on the base plate. Planes are movably arranged parallel or perpendicular to the base plate by acceleration forces. The supports form different reaction characteristic for static and dynamic acceleration. The supports exhibits data points (10). The supports and the data points provide equivalent physical sizes, where deflections of the supports is detected and computationally processed. An independent claim is also included for a method for determining a movement process with static and dynamic acceleration components.

Description

The invention relates to a device and a method for determining a movement process with static and dynamic acceleration components.

Dynamic recorders are increasingly being used, whether as a tachograph, for navigation, for controlling machines, for detecting movements in sports or for controlling computer games.

However, the range of application is beyond the fact that most of the movements to be detected are dynamic special cases, because conventional acceleration sensors are not able to separate so-called static acceleration from dynamic acceleration.

In the general case of a dynamic process, however, both types of acceleration occur in overlays. The change of the position of the object to be detected relative to the horizontal plane determines in the same way the dynamic process, as its movement.

All conventional sensors can therefore be used only with restrictions, such as when an acceleration form is negligibly small, an acceleration course is known or when its time behavior is so different that electronic filtering becomes possible, for example when detecting higher-frequency vibrations.

The common principle of all conventional acceleration sensors is the measurement of the force generated by the action of an acceleration on a spring or elastically mounted mass element. On the market different embodiments in adaptation to different applications in terms of resolution, measurement range, size, price, etc. are offered. Thus, there are sensors in which, for example, the force acting on the mass element force directly - such as a piezoceramic element - and others, in which this is detected capacitively, inductively or opto-electronically indirectly via the induced by the force deflections of the elastic mass carrier. Accordingly, there are numerous variants in the realization of the carrier of the mass element. State of the art are also different realization possibilities of a high directional characteristic and orthogonal positioning of sensors for detecting the spatial components of acceleration forces from arbitrary directions.

The principle underlying all embodiments, however, like o. a distinction between static and dynamic acceleration not. It can not be said whether a force acting on the mass element is caused by acceleration or gravitation.

As a result, even simple dynamic processes, such as the slippage of an object on an inclined plane or a hand movement can not be detected.

The only way to separate the two types of acceleration is to use a gyroscope system, as the gyroscopic plane is independent of the gyro's support plane and accelerations.

Due to the extremely complex mechanics required to realize the rotating system, gyro systems are only suitable for a limited number of applications. It is also not possible to detect the angle of the sensor with respect to the horizontal plane via gyrators since these only detect short-term angular changes, but not absolute values.

The realization of a sensor system for the separation of static and dynamic acceleration with exclusively stationary elements is currently not considered possible.

To circumvent gyro technology, methods based on a pulsed optical fiber path are currently being investigated. However, the required length of the light guide is between 200 m and 2 km. These studies demonstrate the great interest in alternative solutions to gyroscope technology without having come up with practical solutions.

The object of the invention is to propose an apparatus and a method which allow a determination of a movement process with static and dynamic acceleration components of the most general kind without neglecting individual acceleration components.

This object is achieved with the device claim 1. Measuring method describe the claims and Advantageous embodiments are the subject of the dependent claims.

The inventive device for determining a movement process with static and dynamic acceleration components consists of at least two sensors with mass elements, which are arranged on a base plate each with an elastic support and in one or parallel planes perpendicular to the base plate (sensor plane) are deflected by acceleration forces , where the Supports for one of the acceleration forms (dynamic or static) have the same and for the other form of acceleration a different reaction characteristic and the deflections of the supports or equivalent physical quantities can be detected at measuring points and computationally processed.

Static acceleration components in the sense used here are gravitational accelerations.

Dynamic acceleration components as used herein are horizontal and vertical accelerations.

The plane or planes in which the deflection takes place or in which the mass elements oscillate are referred to below as the sensor plane. Quadrant is a section of the sensor plane.

Measured equivalent physical quantities for displacement, e.g. B. capacitive, optical, opto-electronically or inductively, can also be directly measured forces (eg., Piezoelectric detected forces) or deformations.

For measurements in one quadrant and with negligible vertical acceleration, two sensors whose supports are the same for one of the acceleration modes (dynamic or static) and different in response to the other form of acceleration are arranged on the baseplate.

For general acceleration measurements in two quadrants, four sensors with mass elements are arranged on supports in one or parallel planes (sensor planes), whereby two sensors form a pair, whose supports are identical for one of the acceleration forms (dynamic or static) and one for the other acceleration form have different reaction characteristics, and the pairs are arranged mirror-symmetrically to each other.

The sensors for the measurement in one and / or more quadrants are preferably arranged in sensor blocks.

The device according to the invention is described below in a mechanical model design and a micromechanical embodiment in silicon, wherein z. B. statements on interaction and optimization are not limited to the respective execution in the interest of the simplest possible computational evaluation.

Show it:

1 a sensor block of 4 sensors in a sensor plane,

2 the characteristics for the accelerations and

3 the results of difference formation.

1 shows the device for determining a movement process with static and dynamic acceleration components on one to the horizontal 11 around the angle (α) inclined base plate 7 in a mechanical version with four sensors 1 - 4 ,

• – der Winkel (α) als Neigung des Sensorblocks, oder genauer, der Grundplatte 7 gegenüber der Horizontalen 11 als Resultat der Gravitationskraft
• – die parallele Beschleunigung (PB) zur Grundplatte 7, auch als Längsbeschleunigung bezeichenbar und
• – die vertikale Beschleunigung (VB) zur Grundplatte 7.

The means of the sensor block with the sensors 1 - 4 can be determined acceleration variables

• - The angle (α) as the inclination of the sensor block, or more precisely, the base plate 7 opposite the horizontal 11 as a result of gravitational force
• - the parallel acceleration (PB) to the base plate 7 , also denoted as longitudinal acceleration and
• - The vertical acceleration (VB) to the base plate 7 ,

Each of the four sensors 1 - 4 has a mass elements 5 or 6 on that on the base plate 7 each with an elastic support 8th . 9 are arranged and in a perpendicular to the base plate 7 located plane, the sensor plane, are deflected by acceleration forces, the supports 8th . 9 have the same dynamic response for the acceleration and a different reaction characteristic for the static acceleration, wherein two supports are arranged the same but mirror-symmetrical.

A key position for the universal operation of the proposed device comes the supports 8th . 9 the mass elements 5 . 6 to. These supports 8th . 9 each forming a pair of sensors 1 . 2 and 3 . 4 must satisfy the condition of having one or the same dynamically or statically the same for one of the acceleration forms and a different response characteristic for the other acceleration form.

This is achieved in the sensor pairs in that the support 8th a staff 8.1 or a strip 8.1 is, taking a strip 8.1 this is elastically deformable in the strip plane and the support 9 formed by an angled or curved rod or strip with the sections 9.1 . 9.2 ,

Since the measurement method based on the difference between the measured at the same time Measured values for the deflection or another equivalent physical size of the measuring points 10 due to the effect of acceleration, it is appropriate, where possible, to provide structural conformity and optimized training.

In this sense, it is provided in advantageous embodiments that the section 9.1 the rod or strip of support 9 in the starting area of the base plate 7 seen in the form and the deformability in each case the rod or strip 8.1 equivalent.

This also includes that the angled section 9.2 to the section 9.1 an angle of 90 °. Furthermore, it is advantageous if both sections 9.1 . 9.2 have the same length.

Likewise, it is advantageous if the angle (β), the support 8th and the section 9.1 the support 9 each with the base plate 7 preferably β = 45 °.

The evaluation of the measurement results is also facilitated by the mass elements 5 . 6 preferably the same size.

The inventive method is based on 2 and 3 be explained.

2 shows a half sensor block with the characteristics of the reaction characteristics of the sensors 1 and 2 , where the characteristics of the sensors 3 and 4 mirrored fail, so that was dispensed with a separate presentation. Above are the sensors 1 and 2 below and the respective characteristic curves with respect to the output signal (AW), the per sensor 1 - 4 however, as a sum reading at the measuring point 10 is measured.

The supports 8th . 9 each forming a pair of sensors 1 . 2 and 3 . 4 must satisfy the condition of having one or the same dynamically or statically the same for one of the acceleration forms and a different response characteristic for the other acceleration form.

This is achieved in the sensor pairs in that the support 8th a staff 8.1 and the support 9 formed by an angled rod is with the sections 9.1 . 9.2 ,

The sensors have the following characteristic curves:
With dynamic acceleration in the longitudinal and vertical direction relative to the sensor block, there is linearity between the sensor output signals and the acceleration values for both sensor types 1 . 2 respectively. 3 . 4 ,

It should be emphasized that with longitudinal accelerations the characteristic curves are also quantitative for both sensor types 1 . 2 respectively. 3 . 4 is the same in this structure.

The characteristic curve for static acceleration, ie at different position angles of the sensor block with respect to the horizontal plane, is at sensor 1 respectively. 4 given by the change of the gravitational force perpendicular to the rod plane, whereby the in 2 in the lower line shown left characteristic curve results. With the angled sensor 2 respectively. 3 is the characteristic curve of sensor 1 respectively. 4 superimposed on another portion, which is characterized by acting as a lever angled section 9.2 results. This is shown in the bottom line of the 2 characteristic curve shown on the right.

• – Die dynamische Beschleunigungskomponente, die parallel zur Grundplatte 7 gerichtet ist, wird kompensiert, indem eine Differenzbildung der gemessenen Auslenkungswerte oder der äquivalenten physikalische Größen der Sensoren 1 und 2 als einem Paar und der spiegelgleich angeordneten Sensoren 3 und 4 als weiterem Paar erfolgt. Dies wird anschaulich in der ersten Zeile der dargestellten Kennlinien (AW-PB). Bei einer paarweisen Differenzbildung heben sich die Kennlinien der parallelen dynamischen Beschleunigung (PB) zur Grundplatte gegenseitig auf. Dies gilt sowohl für das Sensorpaar 1, 2 als auch für das Sensorpaar 3, 4. Übrig bleibt eine Zwischenkennlinie mit den Meßsignalanteilen von vertikaler und Gravitationsbeschleunigung. Dieser Verlauf wird in 3 in den oberen beiden Kennlinien gezeigt. Die obere Kennlinie entspricht dabei der Differenzbildung zwischen den Sensoren 1 und 2 und die mittlere Kennlinie der Differenzbildung von den Sensoren 3, 4.
• – Die vertikal zur Grundplatte 7 wirkende dynamische Beschleunigungskomponente wird kompensiert durch eine Differenzbildung zwischen den um die dynamische, parallel zur Grundplatte 7 gerichtete Beschleunigungskomponente bereinigten Werte der Sensorpaare 1, 2 und 3, 4.

The method for determining a movement process with static and dynamic acceleration components with four sensors 1 - 4 with mass elements 5 . 6 on a base plate 7 each with an elastic support 8th . 9 are arranged and in one or parallel each perpendicular to the base plate 7 planes are deflectable by acceleration forces, with the supports 8th . 9 for one of the acceleration forms have the same dynamic or static and for the other form of acceleration a different reaction characteristic, each two supports are arranged the same but mirror-symmetrical and the deflections of the supports or equivalent physical quantities at measuring points 10 detectable and computationally processable, provides that
the deflection or other physical quantity of at least one measuring point 10 the respective sensors 1 - 4 under acceleration conditions is measured at the same time and the measured values are subtracted, which comprises at least:

• - The dynamic acceleration component, parallel to the base plate 7 is compensated by subtracting the measured deflection values or the equivalent physical quantities of the sensors 1 and 2 as a pair and the mirror-like arranged sensors 3 and 4 as a further pair. This is clearly shown in the first line of the characteristic curves (AW-PB). In a pairwise differentiation, the characteristics of the parallel dynamic acceleration (PB) to the base plate cancel each other out. This applies to both the sensor pair 1 . 2 as well as for the sensor pair 3 . 4 , What remains is an intermediate characteristic with the measured signal components of vertical and gravitational acceleration. This course will be in 3 shown in the upper two curves. The upper characteristic corresponds to the difference between the sensors 1 and 2 and the mean characteristic of the difference formation from the sensors 3 . 4 ,
• - The vertical to the base plate 7 acting dynamic acceleration component is compensated by a difference between the around the dynamic, parallel to the base plate 7 directed acceleration component adjusted values of the sensor pairs 1 . 2 and 3 . 4 ,

At a difference between the pairs 1 . 2 and 3 . 4 the vertical dynamic acceleration characteristics rise to the base plate 7 represented in 2 in line 2 , each other.

In the aforementioned differences are part of the measured values of the individual sensors 1 - 4 also contain the proportions of static acceleration as previously unknown size. After the aforementioned eliminations, this value remains as the difference value to which a certain angle (α) is to be assigned. In 3 the complete characteristic curve of the difference values is shown.

The thus determined angle (α) of the base plate 7 opposite the horizontal 11 is used to determine the parallel acceleration (PB) to the base plate 7 and the vertical acceleration (VB) to the base plate 7 used.

If the determination of a movement process with static and dynamic acceleration components is provided, where the vertical acceleration is negligible and where only one quadrant is of interest, two sensors can be used 1 - 2 be worked, with the sensors 1 . 2 arranged as described above and the supports 8th . 9 have dynamically or statically the same for one of the acceleration forms and a different reaction characteristic for the other acceleration form.

The deflection or other physical quantity of at least one measuring point 10 the sensors 1 . 2 is measured at the same time under acceleration conditions where the vertical acceleration is negligible, and the measured values are subtracted, which comprises at least:
The dynamic acceleration component, parallel to the base plate 7 is compensated by subtracting the measured deflection values or the equivalent physical quantities of the sensors 1 and 2 he follows.

The subtraction to eliminate the vertical acceleration is eliminated.

Again, the aforementioned difference formation is part of the measured values of the individual sensors 1 - 2 the proportion of static acceleration as previously unknown size included. After the aforementioned eliminations, this value remains as the difference value to which a certain angle (α) is to be assigned. The thus determined angle (α) of the base plate 7 opposite the horizontal 11 is used to determine the parallel acceleration (PB) to the base plate 7 used, which is done computationally.

In a further advantageous embodiment of the method and also with regard to the least possible adaptation calculations, it is provided that at least one measuring point 10 on the supports 8th . 9 is determined, with an assumed mass = 0 for the mass elements 5 . 6 the same coordinates based on the respective attachment point on the base plate 7 having. Preferably, the at least one measuring point has 10 the coordinates of the mass element 5 ,

LIST OF REFERENCE NUMBERS

1

sensor

2

sensor

3

sensor

4

sensor

5

mass element

6

mass element

7

baseplate

8th

support

8.1

Staff support

9

support

9.1

Section of the support 9

9.2

Section of the support 9

10

measuring point

11

horizontal

PB

acceleration directed parallel to the base plate

VB

vertical acceleration towards the base plate

Claims (14)

Device for determining a movement process with static and dynamic acceleration components with at least two sensors ( 1 . 2 ) with mass elements ( 5 . 6 ), which are mounted on a base plate ( 7 ) each with an elastic support ( 8th . 9 ) are arranged and in one or parallel to each perpendicular to the base plate ( 7 ) planes are deflectable by acceleration forces, the supports ( 8th . 9 ) for one of the acceleration forms dynamically or statically have the same and for the other form of acceleration a different reaction characteristic and the deflections of the supports or equivalent physical quantities at measuring points ( 10 ) are detectable and computationally processable. Apparatus according to claim 1, characterized in that for measurements in one quadrant and negligible vertical acceleration two sensors ( 1 . 2 ) on the base plate ( 7 ) are arranged. Apparatus according to claim 1, characterized in that for general acceleration measurements in two quadrants in one or parallel planes four sensors ( 1 - 4 ) with mass elements ( 5 . 6 ) on supports ( 8th . 9 ) are arranged, with two supports are arranged the same but mirror symmetry. Device according to one of claims 1 to 3, characterized in that the mass elements ( 5 . 6 ) preferably have the same size. Device according to one of claims 1 to 4, characterized in that the support ( 8th ) in mechanical execution a rod ( 8.1 ) or a strip ( 8.1 ), whereby in the case of a strip ( 8.1 ) is elastically deformable in the strip plane and the support ( 9 ) is formed by an angled or bent rod or strip with the sections ( 9.1 . 9.2 ). Device according to claim 5, characterized in that the section ( 9.1 ) of the bar or stripe of the support ( 9 ) in the initial area of the base plate ( 7 ) seen in the form and the deformability in each case the rod or strip ( 8.1 ) corresponds. Apparatus according to claim 5 or 6, characterized in that the angled portion ( 9.2 ) to the section ( 9.1 ) includes an angle of 90 °. Device according to one of claims 5 to 7, characterized in that both sections ( 9.1 . 9.2 ) which have the same length. Device according to one of claims 5 to 8, characterized in that the support ( 8th ) and the section ( 9.1 ) of support ( 9 ) with the base plate ( 7 ) include an angle (β), preferably an angle β = 45 °. Device according to one of claims 1 to 9, characterized in that the sensors ( 1 . 2 ) or the sensors ( 1 - 4 ) for measurement in one and / or more quadrants in sensor blocks ( 11 ) are arranged. Method for determining a movement process with static and dynamic acceleration components with four sensors ( 1 - 4 ) with mass elements ( 5 . 6 ), which are mounted on a base plate ( 7 ) each with an elastic support ( 8th . 9 ) are arranged and in one or parallel to each perpendicular to the base plate ( 7 ) planes are deflectable by acceleration forces, the supports ( 8th . 9 ) for one of the acceleration forms dynamically or statically have the same and for the other form of acceleration a different reaction characteristic, each two supports are arranged equal but mirror-symmetrical and the deflections of the supports or equivalent physical quantities at measuring points ( 10 ) are detectable and computationally processable, with the following process steps: Method for determining a movement process with static and dynamic acceleration components with two sensors ( 1 - 2 ) with mass elements ( 5 . 6 ), which are mounted on a base plate ( 7 ) each with an elastic support ( 8th . 9 ) are arranged and in one or parallel to each perpendicular to the base plate ( 7 ) planes are deflectable by acceleration forces, the supports ( 8th . 9 ) for one of the acceleration forms dynamically or statically have the same and for the other form of acceleration a different reaction characteristic, with the following method steps: the deflection or another physical quantity of at least one measuring point ( 10 ) of the sensors ( 1 . 2 ) is simultaneously measured under acceleration conditions in which the vertical acceleration is negligible, and the measured values are subjected to a subtraction which comprises at least - the dynamic acceleration component which is parallel to the base plate ( 7 ) is compensated by taking a subtraction of the measured deflection values or the equivalent physical quantities of the sensors ( 1 ) and ( 2 ), and the thus determined angle (α) of the base plate ( 7 ) in relation to the horizontal ( 11 ) is used to determine the parallel acceleration (PB) to the base plate ( 7 ) used. Method according to claim 11 or 12, characterized in that at least one measuring point ( 10 ) on the supports ( 8th . 9 ) which, given an assumed mass = 0 for the mass elements ( 5 . 6 ) the same coordinates relative to the respective attachment point on the base plate ( 7 ) having. Method according to claim 13, characterized in that the at least one measuring point ( 10 ) the coordinates of the mass element ( 5 ) having.

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