• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a three-dimensional dummy object (1), in particular for functional testing of driver assistance systems in motor vehicles, with a head (8), a skeleton (2), movable arms and movable legs. The skeleton (2) has a voided skeletal skeleton (3) to which the arms and legs are articulated, the legs each having a thigh (6a) and a lower leg (12) articulated therewith, wherein in the torso skeleton ( 3) a drive unit (18, 18 ') and a receiver / control unit (22) are installed, which receive as input variable with the relative speed (V «0) of the moving dummy object (1) correlating signals, so that the movement patterns of the upper and lower legs (6a, 12) are variable in dependence on the relative speed (V, ct) of the dummy object (1) by means of a built-in movement mechanism.
    公开号:AT511217A4
    申请号:T705/2011
    申请日:2011-05-18
    公开日:2012-10-15
    发明作者:
    申请人:4A Engineering Gmbh；
    IPC主号:
    专利说明:

    May 18th, 2011 11:11 AM 00431503510520 DIPL INO EDITH VINA22ER # 2686 P. 004/022 • *·····························································································································································
    4 «engineering GmbH 5 Dummy object, in particular for functional testing of
    The invention relates to a three-dimensional dummy object, in particular for
    Functional handling of driver assistance systems in motor vehicles, with a head, a skeleton, moving nipples and moving legs.
    It is known to install driver assistance systems in motor vehicles, which include a sensor system which is provided for reversing the motor vehicle. such
    Driver assistance systems are designed to detect critical congestion situations and warn the factory driver, so that accidents can be avoided. In addition, driver assistance systems can avoid or bluff accidental accidents by activating certain components of the vehicle, such as the brake, the steering or the 20 airbags, according to the situation.
    A system for functional testing of a factory assistance system is known, for example, from DE 10 2007 03S 474 B4. The vehicle to which the driver assistance system to be tested is assigned is movable and maintained on a test track and 23 processes information about the vehicle surroundings. The system further comprises at least one rigid dummy object which can be moved on the test track to simulate a real traffic situation in such a way that it is at least temporarily located in the surrounding area detectable by the driver assistance system. The dummy object which is separate from the vehicle and independent of the vehicle Movement 30 de »Vehicle is movable, is arranged on a rail device, so that 18/05/2011 09:55
    No .: R539 P.004 / 022 18.Mdi.2011 11:11 00431503510520 DIPL in the EDITH VINA22ER # 2666 Ρ.005 / 022 • ♦ M t »» »« »* · • · ♦ ·« · * ♦ · · «· · · · · ··························································································································································································································
    From US 2005 / 015S441 Al du system for simulating collisions of a 5 dummy object with a motor vehicle is known. The suspended on the rail system on ropes and movable in a movement transverse to the direction of the approaching motor vehicle dummy object imitates a human body and has a head, a neck, a trunk and arms and legs. Inside is a skeleton of wood, io
    DE 10 2008 025 539 A1 discloses a test device for a scooter protection system in a motor vehicle, which moves lfings a guideway. A dummy object is provided, which simulates a pedestrian and can be moved transversely to the travel path of the motor vehicle. The dummy object is embodied substantially in two dimensions and has a fuselage, two legs and at least one arm. At least one of the two legs and / or at least one of the arms is or are relative to the hull by an actuator via ropes and / or linkage movable. The legs and at least one provided arm are movably mounted on the trunk in the manner of a jumping jack, so that the arms and the legs can be variably set in front and behind in pivoting movement. The hull, the arms and the legs are made of plastic plates, which have a thickness of about 3 mm, prepared and coated on the vehicle-facing side with foam.
    However, the movement behavior of pedestrians in traffic is much more complex. There are basically three movement graphs observable, namely walking, running and running. Walking is the mode of transport that is most common in road traffic. One foot always touches the ground, the other foot sits in front of the body, the limbs are nearly stretched, and the upper body remains essentially straight. While walking, both feet are briefly without contact with the ground and 30 the step size is greater than when walking. The one foot usually sits directly under the body on the upper body remains largely straight or is in slight submission. The 18/05/2011 09:55
    No .: R539 P.005 / 022 • 9 ssat • 9999 9 • 9 • 9 9 9 9 9 9 9 9 9 9 9 9 999 · 18 May 2011 11:12 00431503510520 DIPL INS EDITH VINAZ2ER # 2686 P.006 / 022 3
    Speed can be constant for a longer period of time. Very often children running in traffic are found, who are initially covered by an object, for example a parked vehicle. In the third mode of transport, the race, the speed can only be maintained for a relatively short period of time. The feet lose contact with the ground and settle under the body with the ball of the foot. The step size is very large, the upper body shifts significantly forward,
    In active driver assistance systems, which warn the vehicle occupants either before 10 dangerous situations or automatically engage in the Fahrgcscheben, it is necessary to check their Funktionissicheiheit with appropriate methods using dummy objects. These are test methods and dummy objects that reproduce as closely as possible the corresponding situations that may occur. In the case of foot pedestals, the detection process is usually carried out in 15 two steps. At initial detection it is important that as much as possible
    Pedestrians in the relevant surrounding area. It is accepted that objects are also erroneously detected as possible pedestrians. In the second step, the classification, the detected objects are classified as pedestrians or non-pedestrians. For classification, time-dependent features of the 20 detected objects, such as leg movements, are used for the assignment.
    Now, if two-dimensional test objects, as they are known for example from DE 10 2008 025 539 Al, used as dummy objects, in the adjustment of einfeeben pedestrian crossing her Anslchtswinkcl may change as a result of approaching the vehicle by up to 601 °. In this case, a two-dimensional object would change from a silhouette describing only the silhouette into a line contour. This would lead to incorrect data in the development and review of driver assistance systems.
    It is therefore essential to make dummy objects three-dimensional and as human-like as possible and to move them as realistically as possible. Here is where the invention begins, whose task is to create a dummy object, which in particular as a pedestrian 18/05/2011 09:56
    No .: R539 P.006 / 022 10.M4i.2O11 11:12 00431503510520 # 2666 P. 007/022 DIPL INO EDITH VINAZZER ·· • »et • 999 • • • • e • 99 9 • • • • e 9 99 • • • • • • 9 9 • • • • • • • • • • 9 • · 9 9 4 cyclists can be used to test the function of driver assistance systems in power tools, with which a movement characteristic that is as close as possible to the fore, especially in the Movement types walking, running and race can be adjusted, which as a three-dimensional object from all angles of view allows a 5 as realistic as possible visual representation and radar reflection and both the outer movement behavior and the internal movement characteristics of at least the Beinbeweguagen can reflect.
    According to the invention, this object is achieved in that the skeleton comprises a trunk skeleton with arms and legs articulated to each other, the legs each having a thigh and a lower leg articulated thereto, a drive unit in the torso skeleton and a drive unit Invalid / Steucrcinbclt are installed, which receives as an input variable with the relative speed of the moving dummy object 15 correlating signals, so that the movement pattern of the upper and lower legs in dependence on the relative speed of the dummy object by means of a built Bcwegungsmechanismus be changed.
    A dummy object according to the invention is therefore designed in such a way that a very close internal movement characteristic of at least leg movements is possible, matching those of oceans, running and running and very light design and the installation of the drive unit and the control unit and, felis required, of the receiver. 25
    In a preferred embodiment of the invention, the rump crest has a central column supporting the head, two parts of the scabbard and two pelvic parts, and is integral with one another. Slides allow a stable and at the same time easy lifting of the fuselage skeletons. 18/05/2011 09:56
    No .: R539 P.007 / 022 18.May.2011 11:12 00431503510520 # 2656 Ρ.00Β / 022 DIPL ING EDITH VINA2ZER • ft • ft aat * mm «ft» • ft • · • · * * • ft • ····································································································································································································································= The fifth column of the trunk and the knee angle between the upper and the lower leg.
    In a preferred embodiment of the dummy object according to the invention, the arms each have an upper arm and a lower arm articulated therewith, the upper arm and lower arm being movable according to a movement pattern which can be changed by a built-in movement mechanism in dependence on the relative speed of the dummy object , Therefore, in such a dummy object, the movements of the arms can also be readjusted to a large extent true to reality, in particular if the movement patterns of the arms comprise changes in the angle of attack between the upper arm and the central column of the torso skeleton and the elbow boundary angle between the upper arm and the forearm. For an optimal readjustment of the arm and leg movements, it is advantageous if the dummy object has further skeletal parts, in each case in each upper arm a respective upper arm joint 20 and in each upper leg one upper leg element each.
    In the hollow-listed components of the fuselage skeleton can be next to the drive unit and the control unit hzw. the receiver unit also position a battery pack with rechargeable batteries hzw. to install, 25
    The externally visible parts of the body of the dummy object are intended to simulate realistic human reproductions of the corresponding human body parts. This is possible in particular if, according to a preferred embodiment of the dummy object, the head, the arms and / or the legs and / or at least part of the trunk are molded parts made of EPP or EPE. In doing so, the legs and / or the legs and / or at least part of the trunk can also be left as inflatable plastic hollow body 18/05/2011 09:57
    No .: R539 P.008 / 022 16.M »i.2011 11:13 00431503510520 DIPL ING SDITH VINAZZER # 26B6 P.009 / 022 ** ft *» * * · · m * i * • · aa «* a · * »a ··· * · ·« 6. The Skdetttrile should consist of a radar-visible »stable and yet lightweight material. It is therefore particularly advantageous if the skeleton parts are made of CFRP. s Inventive dummy objects can be coupled to different motion systems. The motion system is part of the overall system and allows a controlled and reproducible movement of the dummy object. In particular, motion systems in which the dummy object is moved from above but a rail system or the like are known. It is advantageous if corresponding connection or coupling elements are already provided on the dummy object itself. Thus, for example, the central column can be fixedly connected to a rod projecting beyond the head, which forms a connection element to a movement system, in particular one which has a rail system. With this type of connection, the dummy object can be pulled out of the collision area very quickly.
    Furthermore, ropes, in particular made of aramid fiber, PP fibers or PE fibers, 20 may be provided, which are connected to the central pillar of the skeleton or the rod and form further attachment elements to the movement system.
    The movement mechanism in the dummy object consists of a plurality of in / dompoouters that are moved or driven in accordance with the desired movement sequences. Particularly variable is a movement mechanism, the components of which move the body parts are servo drives arranged in the joints. Also possible are Ausftlhrangsvarianten, in which a coupling of the movement of the 30 forearms with the upper arms or the lower leg with the thighs above mechanically working Wlrkverbmchmgen or mechanisms takes place 18/05/2011 09:57
    No .: R539 P.009 / 022 18.May.2011 11:13 00431503510520 DIPL ING EDITH VINAZZBR * 2686 P.010 / 022 ** · · »** · · * · *
    7
    In a preferred embodiment variant of such a coupling mechanism for forced coupling to movement of the lower legs or forearms, there is provided in each case a kissing part fixedly connected to the trunk and crest, which has a joint axis rigidly connected to the EU bow joint or the knee joint
    Connecting element between the joint and KuUssenteil and an elastic connecting element between the articulated arm and the fuselage skeleton or with this firmly connected skeleton part has on 10 The rigid connecting element has a sliding part connected to the Gleitclement, which can run on two different shaped slide tracks of the guide member. By a corresponding design of the course of the slide tracks can be in such a manner with a movement of the thighs or upper arms, the corresponding movement of the lower leg or lower arms realistically mhfbhren or adapt. 15
    In a weathered embodiment of the invention, the movement mechanism incorporated in the dummy object has a drive unit with a motor with an asynchronous drive, which drives two shafts which cause the shoulder joints and the hip joints to rotate via angular transmissions. 20
    The dummy object according to the invention can be moved or moved with different movement systems. Thus, the rod connected to the central column can form the connection to a rail system located above the dummy object, by means of which the Dumray object can be set in motion via a linear belt drive or the like
    The central pillar may be firmly connected in the middle region with a laterally projecting rod which forms the connection to a rail system located laterally of the dummy object, by means of which the dummy object can be set in motion via a linear belt drive or the like 18/05 / 2011 09:57
    No .: R539 P.010 / 022 18.Hai.2011 11:14 00431503510520 DIPL INO EDITH VINAZZER * 2686 P.011 / 022 ·· ·· ♦♦ ·· * ** ·· m 8
    In a movement system which uses a suspension cable and a traction cable essentially analogously to a cable car, the central column can be suspended in a rolling manner on a carrying cable, so that the dummy object can be set in motion by a traction cable or a timing belt linear belt. 5
    In a further variant, the central column is fixedly connected at its lower region to a rod which forms the connection to a movement system arranged below the dummy object, a driving platform or the like, by means of which the dummy object can be set in motion. 10
    Further features, advantages and details of the invention will now be described with reference to the schematic drawing illustrating exemplary embodiments. FIG. 1 shows a front view of a dummy object implemented according to the invention, FIG.
    2 shows the dummy object in an oblique view in a movement phase,
    FIGS. 3 to 6 show the dummy object when standing, walking, running and running, 20
    7 shows the dummy object in a side view in a movement phase,
    FIGS. 8,9 and 10 are diagrams of the movement characteristics of the legs of the dummy object, FIGS. 11 and 12 a to 12 c are illustrations of the basic principle of an embodiment variant of a movement mechanism, FIGS.
    Figs. 13a to 13f show successive stages of movement of the leg movements of the mechanism shown in Fig. 11, 18/05/2011 09:58
    No .: R539 P.011 / 022 18.May.2011 11: 1 «DIPL ING EDITH VINAZZER # 2686 P.012 / 022 • · • · E • * * • * * • • • * • • • * * • • • • • «e • ee * • • • • • • e •« • 9
    14 is a view of the skeleton of the dummy object with a further view of a movement mechanism for arms and legs;
    Fig. 15 is a view of the principle of a principle of a motion system s for the dummy object and Figs
    16, 16a and 17 are views of basic principles of further embodiments of moving systems for the dummy object according to the invention. 10 The figures show an example of a dummy object simulating a pedestrian
    Dummy object 1 has a three-dimensional body and, in the illustrated embodiment, simulates an adult of average height. Inventive dummy objects 1 are manufactured in different sizes or dummy classes to represent, for example, children aged 3 and 6, 15 adults and seniors. The dummy object 1 has a skeleton 2
    The hull skeleton 3 is preferably made in one piece and consists of a vertical central column 3a, which corresponds essentially to the human spine, two under a particular projecting at right angles from this 20 shoulder parts 3b and two also at a particular right angle away from this Basin parts 3c, together, which are made shorter than the shoulder parts 3b. The central pillar 3a has a short neck portion 3'a projecting the shoulder parts 3b, which carries a head 8. The components of the torso skeleton 3, the upper arm tone 4 and the thigh elements 6 are in particular radar-visible, watertight, high-strength and manufactured shock-resistant material, preferably made of CFRP (Kohlenstofftser reinforced plastic). 1, a drive unit 18 with at least one motor, a receiver / control unit 22 and a power supply, in particular a rechargeable battery pack 30 21 with rechargeable accumulators, in the cavities of the fuselage skeleton 3, in particular in the interior of the central column 3a, accommodated. Externally accessible, lockable 18/05/2011 09:58
    No .: R539 P.012 / 022 lB.Mdi.2011 11: 1 * 00 * 31503510520 DIPL INO EDITH VINAZZER # 2686 P.013 / 022 «· # · · # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # Openings in the fuselage skeleton 3 allow you to install, replace and maintain them. English: components.
    The Oberannclemcnte 4 and the Oberschenkelelemcnte 6 are each connected to a 5 shoulder joint 5 and a hip joint 7, each with a shoulder portion 3b and a pelvic portion 3c of the Rurapfskclettes 3.
    The head 8 is a die made of EPP (expanded polypropylene) or EPE (expanded polyethylene), or form-flared, which is fixedly connected to the rump & crest 3. Electrically heated mats (abutment heating mats) may be attached to the head surface be to make the head 8 via Inftarotkamerasysteme representable. The head and leg is coated, for example, with skin-colored natural rubber or silicone. On the upper elements 4 elbows 9 9 forearms 11, attached to the 15 Oberschenkelelemcnten 6 via knee joints 10 lower leg 12, wherein the lower arms 11 and the lower leg 12 include no skeletal parts. A torso 13 largely covering the shoulder parts 3b and the central wing 3a is a part modeled on the human thorax, which is either a milled or machined EPP, EPE or PU (polyurethane) Schaura cross-rib construction, or an inflatable PVC made of PVC Component or a
    Molded foam part is. The hull 13 protects the rump & crutch 3 from being damaged in the event of any unintentional collision of the dummy object 1 with a vehicle. The upper arms 4 a are enveloped by upper arms 4 a, the upper leg members 6 are surrounded by upper soheukles 6 a. The upper arms 4 a, the lower arms 11, the thighs 6 a 25 and the lower legs 12 are slightly conically shaped components simulated to the corresponding human body parts, which are either inflatable, in particular PVC existing hollow body or made of EPP or EPE, Durah pinch or cutting are brought into appropriate shape parts. At the free end portions of the lower arms 11 can be electrically bebeizbare mats 30 (Widerstaodsheizmatten) be mounted to allow a representation of the "hands" by means of inftmotkamerasystemen. The lower legs 12 are rigid with foot parts 14 18/05/2011 09:59
    No .: R539 P.013 / 022 DIPL ING EDITH VINAZZER # 2606 P.014 / 022 • · · # · # ······················································ • Connected, which are in particular components of the lower leg 12 , The joints 5, 7, 9 and 10 are, in particular, low-maintenance, shock-resistant sliding radial bearings made of plastic, for example of polyamide (PA) or of polyoxymetbylene (POM). 5 The head 8 may be interspersed with a bar 15 made of, for example, laminated glass fibers or aramide-reinforced plastic bonded to the drum 3 tost. The bar 15 is made of ropes 16, in particular of amide-fiber, PP Fibers or PE fibers, which together with the rod 15 form the attachment element of the dummy object 1 on a movement system, as will be described further below. Not shown is an enclosure of the dummy object 1 with textile, waterproof clothing with preferably low weight The clothing can be made in several parts, in particular pants and shell, or in one piece, analogous to a jumpsuit, and be provided with shoe replicas. 15 The movements that the dummy object 1 can perform are at least the
    Leg movements, preferably also the Annbewegungen, a human trailing movements. The leg and arm movements are controlled in response to the relative velocity Vm controlled by the speed at which the dummy object 1 moves in a dummy object direction (see FIG. 7) relative to a fixed point. The determination or determination of the cruising speed V "j takes place within the overall system (movement system) into which the dummy object 1 is introduced, for example with a Tianspondersystem, an ultrasonic or Infiarotmesssyetem, a Lasertriangulationsmesssystem, a Diffcrcnz-GPS, a light barrier system , Castors or Drehzttümegsung and the like. At the beginning 25 of a movement sequence is the dummy object 1 with parallel legs, as shown in Fig. 3, the relative speed is 0 m / s. As soon as the relative speed increases, the movement of the dummy object 1 begins
    Moving the right or left leg, gegengteich to the legs is preferably carried out a movement of the arms. The input quantity 30 which is decisive for the movement sequence is preferably exclusively the reference variable speed V 1, which depending on the dummy
    Class (child, adult, senior) is varied. Fig. 4 shows the dummy object 1 at 18/05/2011 09:59
    No .: R539 P.014 / 022 18.May-2011 11:15 00431503510520 DIPL ING EDITH VINAZZER # 2686 P.01S / 022 • «t · Mt« * ·· e • e · eee · * · • a • • * »•« · • * • · em # 12
    Going, Fig. 5 while running and Fig. 6 at very fast run or during the race, wherein in Figures 3 to 6, the individual components of the dummy object 1 are not designated. 5 For the most realistic possible movement of movement patterns, the dummy classification is also taken into account, namely whether the respective dummy object 1 represents, for example, a child of 3 or 6 years, an adult or a senior Each dummy object class has different movement sequences in the Movement Pattern Corresponding programs steoem according to the 10 movement sequences the Aniriebseinheit and the components of the movement mechanisms.
    7 shows a side view of the dummy object 1 with the angles a * a't, a, a ', 15 ßgp ß'g, ß and ß *, which vary in size depending on the movement pattern (walking, running, running). The angles indicated by "a" are angle angles between the femoral member 4 and the vertical (the central column 3a) - the angles denoted by "β" are knee angle angles between the femoral member 4 and a central line through the lower leg 12 Angles ctg, a'g, ßg, and ß'g are the respective critical angles which are present at the respective reversal point of the leg movements. In FIG. 7, the dummy object 1 is located, for example, in a movement stage with limiting angles. As the relative velocity V * »increases or decreases, the leg angle of incidence ctg, a'g, as well as the knee limit angle ßg, ß'B, the step frequency and the step widths, which are dependent on these angles, change analogously to the movement of a human body. Analogous considerations apply to the angles of incidence γ * y and the 25 elbow limit angles Sg, f1fc which are plotted in FIG. The angles γρ y * g are determined between the upper arm elements 4 and the vertical (the central pillar 3a), the angles 8g, 8 * t between the upper arm elements 4 and a central line through the lower arms 11 The angles γ, γ 6 and 8 'are the angles changing during the movement. 18/05/2011 09:59
    No .: R539 P.015 / 022 1β.May.2011 11:16 00431503510520 DIPL ING EDITH VINAZZER # 2606 P.016 / 022 # ··· ♦♦ ··· ···· · • # »· ♦ t · • # 6 · # # # # # # # # # # # # # # # # # # # # # #
    Figures 8 and 9 are graphs showing the motion characteristic of a dummy object 1. welcfaee as lrlaMiflajgrt iat pig Fig. 8 shows the angles of attack Og and Fig. 9 showing the knee limits β and β'g, respectively, depending on the clipping velocity V ^. The sequence of movements is controlled in such a way that a distance of at most 5 is maintained between the foot and the ground which occur and no relative movement takes place
    The diagram in FIG. 10 shows, by way of example, the change of the angle a, a 'and the knee angle .beta., .Beta.' During a step sequence of three steps of a dummy object classified as "adult" 10 when giving. The Bcinwinkcl a. During each step, between the two bending angle angles ctg and a'8, a distance is changed. The distance angles β, β 'change twice during a step, in each case between a limit value of approximately 180 ° to two different degrees of knee angle β'. g, where the first knee limit ß'g at about 160 ° in the stance phase and the second at about 15 135 ° in the swing phase of the gift is present.
    There are a variety of ways to perform a Bewegungsmechanismm for moving the arms and legs of the dummy object 1. In one possible variant, each oil 5,7,9 and 10 is moved separately by its own servo drive -20 servomotors with servocontrol - the leg angles "a" and the knee angles "ß " and the angle "y" and "6" are in each case electrically controllable from each other. The servo drives used as well as the components working with them should have the lowest possible weight. Are like # another, not shown embodiment of the invention on the dummy object 1 separate Handteiie 25 and foot parts available, which are also connected by means of joints with the Annen or legs, so these upper separate servo drives and moved independently of the other servo drives become. This embodiment is therefore very flexible with regard to the choice or programming of the movement sequences. In a further embodiment variant of the movement mechanism, the shoulder joints 5 and the hip joints 7 are moved by means of separate servo drives or 18/05/2011 10:00
    No .: R539 P.016 / 022 18.May.2011 11:16 00431503510520 DIPL INS EDITH VINAZZER # 2686 P.017 / 022 ·· I «M« t I ···· · · «· I · · · • The movements of the forearms 11 and / or the lower leg 12 are effected remotely by means of mechanisms which, depending on the respective bans or bones which occur during the movement, are remote Aimwinkel are. It can also be provided to control the knee joints 10 or the elbow joints 9 by servo drives. FIGS. 11, 12a to 12c and FIGS. 13a to 13f show diagrammatically the mode of action and the execution of a mechanism which controls the knee angles β, β * as a function of the leg angles a, a '. Central components of each mechanism are two slide parts 17, which on two support sclera 3d. which are firmly connected, for example, with the central column 3a, are fixed and non-rotatably arranged. Per slide member 17 is 10, for example, an aluminum or Kunststoffträsteil and has two slide tracks 17a, 17b, which are shown only schematically in the figures. The link parts 17 are interchangeably attached to the body skeleton 3, as for each of the intended Bewegungsarteil (walking, running, race) and each dummy class (child with 3 years, child with 6 years, adult, senior) a backdrop 17 with specially designed slide tracks 17a, 17b 13 is to be used. An articulated arm 28, which is for example an aluminum or plastic part and extends in particular in the viewing direction of the dummy object 1, is attached to the knee joint 10. One end of the pivoting arm 28 is fixedly connected to one end of a rigid, inextensible connecting member 29, which is for example a cable, a Bowden cable or a rod made of metal or plastic. The other end of the oelerikarmes 28 mH a second, elastically flexible connecting element 30, for example, a plastic or rubber cord or a spring connected. The second end of the elastic Verbindungselerocntes 30 is fixed in the embodiment shown on the pelvic part 3 c, the second end of the Vabindungselementea 29 is in operative connection with the guide member 17. For this purpose, a Gleitelemcnt 31, which is a metal or Kunststoffiett is arranged at the end of the connecting element 29, which on the KuUssenbahnen 17a and 17b, as will be described, leaves. The connecting element 29 is furthermore arranged in such a way that, independently of the leg movement, it is constantly aligned parallel to the thigh element 6. Starting point for a movement of the in FIG. 11 as well as in FIGS. 13a to 30f is only to dead hip element element 6 a
    Rotation of the hip joint 7. The two slide tracks 17a, 17b allow a run 18/05/2011 10:00
    No .: R539 P.017 / 022 lB.M4i.2011 ll! 17 00 * 31503610520 DIPL ING EDITH VINAZZER # 2686 P.01B / 022 · «···· a ··· · e • ♦ · • · • · • • • • • • • • • • • • • em • · · 15
    Glcitelement 31 moves along the Kulissenbalm 17a in the arrow direction (Fig. 12a to Fig. 12e), when the thigh 6a in Gchrichtung moves forward. The slide track 17b is then traversed by GleitcJement 31 when the S thigh 6a moves against the Gchrichtung The KuHssenbahnen 17a and 17b are designed according to the respective dimensions and the desired Winkeiandeningen, the slide track 17a overall has a greater curvature than the slide track 17b. In FIGS. 13a to 13f, temporally successive positions of the "quivering" leg during one step are shown. By the linkage element 29 forcibly controlled via the slide tracks 17a and 17b, the Getenkarm 28 and thus the knee joint 10 are moved in such a way that the knee angle .beta., .Beta. 'Changes according to the real movements of a leg during a step. FIG. 13a shows the rearmost 15 position of the Leg before lifting, Figs. 13b and 13c show positions wihiend of
    Lifting, Fig. 13d shows a position immediately before the "occurrence". While the slider 31 leads along the slide track 17a. Fig. 13e corresponds to the leg position in the foremost position - at the "occurrence". God-at-Law 31 is at its "turning point". In Fig. 13f, the leg again moves backwards, the sliding element 31 has just started to travel along the slide track 17b. In Fig. 12a to 12c, a possibility is indicated to guide the Gleitelanent 31 by means of a pivotally mounted and spring-loaded flap 34 of the slide track 17a on the KuUssenbahn 17c. 25
    A further variant of a movement mechanism is shown schematically in FIG. 14. In the central pillar 3a of the trunk body 3 there is a drive unit 18 'ciwgfthqut which has an asynchronous drive motor for arm and leg movements, which shafts 19, 20', in particular, made of rubber -Kunststoft drives, which causes 30 via angular gear 32.33 corresponding rotational movements of the Schultergelenkc 5 and the hip joints 7 For Spennungsversorguug the drive unit 18 'is in the 18/05/2011 10:01
    No .: R539 P.018 / 022 16.May.2011 11:17 00431503510520 DIPL IMG EDITH VINA2ZER # 2686 P.019 / 022 · * • * ·· »· · * ·« • • • • ♦ ♦ ·· • A battery pack 21 is arranged on the central pillar 3a of the fuselage skeleton 3, for example. The receiver / controller unit 22 can receive the relative speed V "i or a signal correlating with it via radio, processes this and makes the control variables ls' available to the drive unit. 5
    The connection of the dummy object 1 to a movement system can take place via the rod 15 fixedly connected to the skeleton 2 and the additional ropes 16 made of aramid fibers, PP fibers or PE fibers. The dummy object 1 can be connected to a rail system positioned on a frame, to a floor mounted vehicle door or a trolley or a side of the direction of travel of the vehicle arranged rail or cable system. The connection with rods and / or ropes and other elements should visually inconspicuous, therefore, with a small cross-section, and a radar-invisible material is ». Due to the additional ropes 16, which clamp the dummy object 1 to the movement system, vibrations of the is dummy object 1 to the attachment points by external influences, such as wind, can be largely avoided. The motion system is part of the overall system and allows a controlled and reproducible movement of the dummy object. FIG. 15 shows a schematic rail system by means of which a dummy object 1 is moved from above. The attachment elements of the dummy object 1, the rod 15 and the ropes 16, are fixedly connected to a trolley 23, which is coupled for example via a toothed belt to a drive motor, so that a defined movement of the dummy object 1 and a defined drive speed and thus 2J Relativgeachwindigkcit V ".j can be adjusted. The respective drive speed is transmitted by the drive motor by radio to the receiver / control unit 22 in the dummy object 1.
    In a Ausfüthnmgsfonn not shown separately, the central column is firmly connected in the middle 30 area with a laterally projecting rod, which is the connection to 18/05/2011 10:01
    No .: R539 P.019 / 022 16.Mal.2011 11i17 00431503510S20 DIPL ING EDITH VINAZZER * 2686 P.020 / 022 • * ···· «« ··· • • ♦ • ♦ • «• · • · • · Forms a rail system, by means of which the dummy object can be set in motion by means of a linear belt drive or the like
    In the variant of a movement system shown schematically in FIGS. 16 and 16 a, a cable system with a carrying cable 24 and a traction cable 25 is provided. The hull 13 of the
    Dummy objects 1 is on the carrying cable 24 by means of rollers 24a anfangfingt rollers, the traction cable 25 is attached to the hull 13 and over two rollers 26 deflected and guided. In one of the rollers 26, a drive for the pull cable 25 is provided. The relative speed V ^ i can be determined directly by means of a slipper 24b on the carrying cable 24 in the fuselage 13, or it is possible for the drive speed to be transmitted by the drive motor to the empffinger / stewardess 22 by radio.
    In a further variant of the movement system shown in FIG. 17, a carriage 27, a driving robot or a driving platform are provided. For this purpose, the mitral SSule 15 3a may be provided at its lower portion with a rod which is a connection to the
    Carriage, Fahipodest and the like allowed Dar 27 may be remotely controlled, or be connected to a cable or belt drive. Above the drive rollers of the carriage 27, the relative speed directly, also wired, to the
    Movement mechanism of the dummy objects 1 for the leg and arm movements 20 are transmitted, with no receiver is necessary. Alternatively, it is possible that the carriage 27 has its own drive.
    In order to be able to use a dummy object 1 according to the invention as flexibly as possible in already existing motion systems, a transmission state for data is provided, 25 which are transmitted to the dummy object 1. Thus, for example, the speed of the drive system can be used dato, corresponding data by radio or W-Laa, which are proportional to the relative speed V ^ i to transmit. Furthermore, a rangefinder disposed in the body 13 of the dummy object, for example based on ultrasound, laser, infra-red light or radar, may be used to determine the distance of the dummy object 1 to a more distant object. From this measurement, the relative velocity Vm can be calculated, 18/05/2011 10:02
    No .: R539 P.020 / 022 11:16 00431503S10520
    DIPL INS EDITH VINAZZER # 2686 P.021 / 022 P * ·> · · · 18 which in turn controls the internal movements of the dummy object 1 It is further
    to transmit the speed to the dummy object 1 by radio or Wi-Fi.
    Erfindungsgeroaß ausgeftthrt dummy objects can also be used as Radfabr dummiesiL To the gemfiß the invention according to movable dummy is firmly connected to a bicycle frame. Hereby, a drive motor arranged on the bicycle frame can move the legs above the pedals, the arms, the trunk and the head are not moved 18/05/2011 10:02
    No.: R539 P, 021/022 18.Μ & 1.20Π 11:16 00431503510520 DIPL ING EDITH VINAZZER # 2666 P.022 / 022 * · ♦ · ♦ ··· · *** · · · · * t * · * * * * 1 .................... dummy object 2 .................... skeleton 3 ... ................. Hull skeleton 3a ........................ central column 3'a ..... ............... necklaces 15 3b ..................... shoulder straps] 3c ........ ............. pelvis 3d ..................... Stutaelemeut 4 ............ ........ Obemmdement 4a ..................... Upper arm 20 5 ................ .... Shoulder Joint 6 .................... Thigh Element 6a ..................... Thighs 7 .................... hip joint 8 .................... head 25 9 .... ................ Elbow joint 10 .................. Knee joint 11 ............ ...... lower arms 12 .................. lower leg 13 .................. hull 30 14. , ................ Footer IS .................. rod 18/05/2011 10:02
    No .: R539 P.022 / 022 18.May.2011 11:45 00431503510520 DIPL INO EDITH VINAZZER # 2687 P.002 / 021 20
    16 .................. Rope 17 .................. Sliding section 17a ......... .......... Sliding platform 17b ................... Kulisseribahn 5 IS ................ .. Drive unit IS '.................... Drive unit 19 .................. Shaft 20 ... ............... wave 21 .................. battery pack ίο 2Γ ............ ........ battery pack 22 .................. EtopfÄnger / Steucreinheit 23 .................. Trolley 24 .................. carrying rope 24a ................... roll 15 24b ...... ............. Scbleprolle 25 .................. Traction cable 26 ............... ... reel 27 .................. trolley 28 .................. articulated arm 20 29 .... .............. Connecting element 30 .................. Connecting element 31 .............. .... Sliding element 32 .................. Angular gear 33 .................. Winkdgctriebe 25 34 ... ...............Flap
    Og ...................... Grenzwinkel a'g .................... Grenzwinkel a. ...................... leg angle a '...................... leg angle 30 ßg ...................... Grenzwinkel ß'e .................... Grenzwinkel 18/05 / 2011 10:29
    No .: R541 P.002 / 021 18.May.2011 11:45 00431503510520 DIPL ING EDITH VINAZZER • · »* # 2667 P.003 / 021» ## t · • * • · «21 ß ..... .................. Knicwmkd ß '...................... Knee angle y ..... .................. Arm angle y * ...................... Aimwinkel 5 δ .... ................... Ellbogcnwinkel δ * ...................... Ellbogcnwinkel V «i .. ................. Retetive speed 18/05/2011 10:29
    No .: R541 P.003 / 021
    权利要求:
    Claims (28)
    [1]
    18.May.2011 11:46 00431503510520 DIPL ING EDITH VINAZZER # 2687 P.004 / 021 I ··· ·

    Claims 1. A three-dimensional dummy object (1), in particular for functional checking of driver assistance systems in motor vehicles, having a head (8), a skeleton (2), movable arms and movable legs, characterized in that the skeleton (2) engages Hollow skeleton having torso skeleton (3), with which the Anno and legs are articulated, wherein the legs each have a thigh (6a) and an articulated lower leg (12), wherein in the torso skeleton (3) a drive unit (18 , 18 ') and a KnaufSngcr / Steuereinhcit (22) are installed, which receives as input with the relative velocity (V ^) of the moving dummy-20 object (1) correlating signals, so that the movement pattern of the upper and lower legs (6a, 12) depending on the relative velocity (V ^) of the dummy object (1) by means of a built-in movement mechanism can be changed.
    [2]
    2. Dummy object (1) according to claim 1, characterized in that the fuselage skeleton (3) has a head (8) carrying the central column (3a), two shoulder parts (3b) and two basin parts (3c) AufWeist
    [3]
    3. Dummy object (1) according to claim 1 or 2, characterized in that the 30 movement patterns of the legs changes the leg angle (α, a ') between 18/05/2011 10:30 No .: R541 P.004 / 021
    [4]
    10.HAi.2011 11:46 00431503510520 DIPL ING EDITH VINAZZER # 2607 P.00S / 021 • · k * lf «» * * · ♦ · * · »· t I * · V # • · · · · · · * Thigh (6a) and the central pillar (3a) of the torso skeleton (3) and the Knicwinlcel (ß, ß ') between the upper and Unterscfaenkel (6a, 12th ).
    [5]
    4. dummy object (1) according to claim 1, characterized in that the arms 5 each have an upper arm (4a) and an articulated with this connected lower arm (11), wherein upper arm (4a) and lower arm (II) movable according to Bewegungsmustem which are variable as a function of the relative velocity (V * 0 of the dummy object (1) by means of a built-in movement mechanism io
    [6]
    5. dummy object (1) according to claim 2 or 4, characterized in that the movement pattern of the arms changes the angle of attack (γ, γ *) between the upper arm (4a) and the central SAule (3a) of the torso skeleton (3) and the elbow angle (δ, δ ') between the upper arm (4a) and the lower arm (11) 15 include.
    [7]
    6. dummy object (1) according to one of the speech 1 to S, characterized in that the arms are opposite to the legs movable.
    [8]
    7, dummy object (1) according to one of claims 1 to 6, characterized in that each upper arm (4a) has a wide skeleton part depending on an upper arm element (4).
    [9]
    8. Dummy object (1) according to one of claims 1 to 6, characterized in that each thigh (6a) has a further thigh element (6) as a further skeleton part
    [10]
    9. dummy object (1) according to one of claims 1 to 6, characterized in that in the central column (3a) a battery pack (21,21 ') is installed 18/05/2011 10:30 No .: R541 P .005 / 021 30 * 2687 P.006 / 021 * · 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1. .2011 11 46 11 46 12 46 4 ·4 4 · D · D · ♦ · · ** ** ** ** ** ** ** ** 24 · · 24 24 24 24 24 24 24 24 24 24 24 24
    [11]
    10. dummy object (1) according to one of claims 1 to 9, characterized in that; in that the head (8), the arms and / or the legs and / or at least part of the trunk (13) are molded parts made of EPP or EPE.
    [12]
    11. Dummy object (1) according to any one of Speech 1 to 9, characterized in that the Anne and / or the legs and / or at least part of the fuselage nose (13) are inflated plastic hollow body.
    [13]
    12. Dummy object (1) according to one of the addresses 1 to 11, characterized in that the trunk skeleton (3) is embodied in one piece
    [14]
    13. Dummy object (1) according to one of claims 1 to 12, characterized in that the skeleton parts consist of CFRP.
    [15]
    14. dummy object (1) according to claim 2, characterized in that the central column (3a) with a head (S) projecting rod (15), which forms a connection element to a movement system, is firmly connected
    [16]
    15. dummy object (1) according to claim 14, characterized in that the central 20 pillar (3a) with ropes (16), in particular aramid Faseni, PP Faaem or PE fibera, which form further Verbindungaelerocnte to a movement system , is firmly connected
    [17]
    16. Dummy object (1) according to one of claims 1 to 4, characterized in that the movement mechanism comprises at least in some joints (5, 7, 9, 10) arranged servo drives.
    [18]
    17. Dummy object (1) according to one of claims 1 to 4 or 16, characterized in that the lower arms (11) with the upper arms (4a) are mechanically bewcgungsgekoppelt. 18/05/2011 10:30 No .: R541 P.006 / 021 lB.Hfti.2011 11:47 00431S03510520 DIPL INO EDITH VINAZZER # 2687 P.007 / 021 ·· ·· > · · · 25
    [19]
    18. dummy object (1) according to one of claims 1 to 4 or 16, characterized in that the lower legs (12) with the thighs (6a) are mechanically coupled movement.
    [20]
    19. Dummy object (1) according to claim 17 or 18, characterized in that the coupling mechanism one with the torso skeleton (3) fixedly connected Kuliseenteil (17), one with the Elbogengetenk (9) and the knee joint (10) firmly connected Gelenkaim (28), a rigid connecting element (29) between the articulated arm (28) and the link part (17) and an elastic connecting element (30) 10 between the Gclenkarm (28) and the fuselage skeleton (3) aufcist
    [21]
    20. dummy object (1) according to claim 19, characterized in that the rigid connecting element (29) has a with the guide member (17) wiricverbundcnes sliding member (31). 15
    [22]
    21. Dummy object (1) according to claim 19 or 20, characterized in that the slide part (17) has at least one slide track (17a, 17b) for the sliding element (31).
    [23]
    22. dummy object (1) according to claim 21, characterized in that the link part (17) has two differently shaped slide tracks (17a, 17b), which merge into one another.
    [24]
    23. dummy object according to one of claims 1 to 4, characterized in that the movement mechanism comprises a drive unit (18 ') with a motor with asynchronous drive, which drives two shafts (19, 20) which are connected via angular gears (32, 33) ) causing the shoulder joints (5) and the hip joints (7) to rotate,
    [25]
    24. Dummy object according to one of claims 1 to 23, characterized in that the rod (15) connected to the central scroll (3a) has the connection to a bar. 18/05/2011 10:31 Nr.: R541 P.007 / 021 18 .Mal.2011 11: 4 00431503510520 DIPL ING EDITH VINAZZER # 2687 P.008 / 021 18.Mal.2011 11: 4 00431503510520 DIPL ING EDITH VINAZZER # 2687 P.008 / 021 ···················································································································································································································································· Form above the dummy object rail system forms »means of which the dummy object But a Zahnriemenlineanrntrieb or the like is set in motion.
    [26]
    25. dummy object according to one of claims 1 to 23, characterized in that the central column (3a) is firmly connected in the central region with a laterally projecting rod which forms the connection au a rail system, by means of which the dummy object via a Zahnhcmenlinearantrieb or the like is set in motion. 10
    [27]
    26. Dummy object according to one of the addresses 1 to 23, characterized in that the central pillar (3a) on a support cable (24) is roll-suspended, so that the dummy object Ober a pull rope (25) or a Zahnriemenltoearantrieb set in motion is 15
    [28]
    27. dummy object according to one of claims 1 to 23, characterized in that the central column (3a) is fixedly connected at its lower portion with a rod which the connection to a arranged below the dummy object movement system, a driving platform or forms the same by means of which the dummy object can be put into motion 18/05/2011 10:31 No .: R541 P.008 / 021
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    同族专利:
    公开号 | 公开日
    US20140102224A1|2014-04-17|
    JP2014515115A|2014-06-26|
    EP2709739A1|2014-03-26|
    JP5925299B2|2016-05-25|
    EP2709739B1|2018-07-04|
    AT511217B1|2012-10-15|
    WO2012156484A1|2012-11-22|
    US9355576B2|2016-05-31|
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    法律状态:
    2013-11-15| HA| Change or addition of new inventor|Inventor name: FRITZ MARTIN DIPL.ING., AT Effective date: 20130918 Inventor name: REINHARD HAFELLNER DIPL.ING., AT Effective date: 20130918 |
    2016-07-15| PC| Change of the owner|Owner name: 4ACTIVESYSTEMS GMBH, AT Effective date: 20160601 |
    优先权:
    申请号 | 申请日 | 专利标题
    ATA705/2011A|AT511217B1|2011-05-18|2011-05-18|DUMMY OBJECT, ESPECIALLY FOR FUNCTIONAL REVIEW OF DRIVER ASSISTANCE SYSTEMS IN MOTOR VEHICLES|ATA705/2011A| AT511217B1|2011-05-18|2011-05-18|DUMMY OBJECT, ESPECIALLY FOR FUNCTIONAL REVIEW OF DRIVER ASSISTANCE SYSTEMS IN MOTOR VEHICLES|
    US14/118,321| US9355576B2|2011-05-18|2012-05-16|Dummy object, in particular for functionally testing driver assistance systems in motor vehicles|
    EP12722354.3A| EP2709739B1|2011-05-18|2012-05-16|Dummy object, in particular for functionally testing driver assistance systems in motor vehicles|
    JP2014510812A| JP5925299B2|2011-05-18|2012-05-16|Dummy objects for functional testing of driver assistance systems in motor vehicles|
    PCT/EP2012/059203| WO2012156484A1|2011-05-18|2012-05-16|Dummy object, in particular for functionally testing driver assistance systems in motor vehicles|
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