• 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:
    System and method of determination of fall in two-wheeled vehicles. A system is described in this document that allows to determine falls in a two-wheeled vehicle and to notify said falls as an emergency signal or similar. Likewise, object of the present invention described herein is a method of determining falls in a two-wheeled vehicle that makes use of various data obtainable from sensors such as accelerometers, gyroscopes or geographic positioning devices such as GPS establish events that they allow to determine said fall so that one can act with respect to said fall; in order to carry out said determination, a series of calculations and parameterisations are used which, once carried out, allow the given event to be accurately determined. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2684386A1
    申请号:ES201730579
    申请日:2017-03-31
    公开日:2018-10-02
    发明作者:Luis Javier ALEMÁN CASAS；David GARCÍA GARCÍA
    申请人:Planetus S L；Planetus SL；
    IPC主号:
    专利说明:

    OBJECT OF THE INVENTION
    The object of the invention is directed to the technical field of two-wheeled vehicles.
    More specifically, this document details an auxiliary system to determine an event of sudden braking or fall by obtaining a series of data captured by a device equipped and configured for this purpose.
    BACKGROUND OF THE INVENTION
    Users of vehicles with mechanical traction, such as cars or motorcycles, while those users of vehicles without motor use different types of signaling to indicate the different drivers or pedestrians of those events related to the circulation of vehicle.
    Said signaling is usually visual and / or acoustic in such a way that when signaling it is made known to those present in the vicinity of the vehicle of some event related to the circulation of the vehicle. With this, it is possible, for example, to notify of an event that requires the attention of third parties by means of an acoustic signaling or to inform other users of the route of the state in which the circulation is taking place.
    In this sense, the signaling means that use different types of lamps to signal events such as changes of direction, emergency situations or decreases in speed of movement or braking are known. These systems are based on the selective activation of the different types of lamp after actuation of a mechanism related to the event in question, brake treading in the case of brake signaling, or after pressing a button, emergencies in the case of the button of signaling an emergency situation by simultaneously switching on the

    corresponding four lamps intermittently.
    All the mentioned elements collaborate when signaling an event such as a braking or there are even systems that allow signaling or an emergency call when a collision occurs. In four-wheelers, the incorporation of systems that determine a collision and make a call to the emergency service begins to become common, these systems are usually linked to the shock detectors that activate the active safety systems such as airbags or sensors proximity or shock.
    However, there are no systems that allow a fall or collision of a two-wheeled vehicle to be determined and, in turn, to generate a command that establishes, for example, a contact with the emergency service. These concepts are closely linked because contact with emergency services cannot be established if a fall has not been determined or detected.
    DESCRIPTION OF THE INVENTION
    In a first aspect of the invention there is a system intended to be mounted in a fixed position in two-wheeled vehicles, which allows a fall to be determined. The method described here is based on calculations carried out by means of a sensor or a series of sensors capable of detecting and quantifying changes in accelerations and therefore the position of the vehicle; These changes in accelerations together with mathematical operations allow to determine decreases or variations in the angle that forms a certain axis of the vehicle with respect to the horizontal or other reference system that is well used.
    In a second aspect of the invention there is a method that allows to determine and identify a fall that may imply a sudden deceleration that goes beyond the deceleration that would correspond to a normal braking and can identify when the deceleration corresponds to a fall that implies, among others things, a change in the verticality of the two-wheeled vehicle.
    For this purpose, a device is used that includes a sensor such as an accelerometer and / or gyroscope that allows to detect changes in the acceleration of the vehicle and its corresponding vector, so it is possible to determine braking or falls from the corresponding measures taken by the accelerometer and / or gyroscope in such a way that speed reductions, braking, and / or decreases in the angle of inclination of the vehicle with respect to the ground (the horizontal) on which the vehicle is located generate the necessary events so that it Produce a light signaling that goes beyond the light signals used in normal operating conditions, understanding as normal all operation that does not represent a fall or sudden braking. In possible alternative embodiments in which use is made of speed-related data, said data can be obtained from a geographical location device such as a GPS that registers geographical positions and their changes thereby obtaining data referred to speed.
    The object of the invention allows to establish a static mode in which the vehicle is not running in such a way that all the parameters that determine a fall vary with respect to the dynamic mode in which the vehicle is in motion.
    The method of the invention is intended to detect the condition of fall in such a way that, on the one hand, it allows detecting a fall that is serious with the highest possible success rate reducing possible false negatives, and on the other hand it allows the detection of falls serious when these really have not occurred, avoiding false positives.
    In summary, we have that in a two-wheeled vehicle, such as a bicycle or similar, there is an inclination configuration corresponding to an action that is generated when an inclination is detected that is configured according to parameters in the accelerometer configuration ; This action is performed in test intervals of approximately 64 ms.
    The tilt in dynamic mode detailed below:
    • Filter bandwidth: (16 Hz)
    • Threshold: (0.5 g.) (Corresponds to 30 ° inclination

    with respect to the vertical)
    • Duration: 105
    If using the accelerometer while in dynamic mode it is determined that the inclination threshold is exceeded, which is measured on the axis parallel to the direction in which the two-wheeled vehicle moves (forward and backward), a loss of vertical is considered the threshold of 500mg being during lOs. In dynamic mode a fall can occur, for this a decrease in speed must occur and during the 10 seconds following the braking, there must be an interruption by rapid acceleration in the axis and said acceleration being for example: Acceleration in the Y axis> 0.500g
    Then, four seconds after the interruption occurs, it is checked that there is still an acceleration in the Y axis greater than 0.500g. The angle of fall is calculated as the projection of g on the Y axis (axis parallel to the axis of rotation of the wheels of the vehicle) when 0.500g or more is detected (0.500g corresponds to an inclination angle of 30 °) during a period of l The interruption is activated to start checking for a possible fall.
    DESCRIPTION OF THE DRAWINGS
    To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, according to a preferred example of practical implementation thereof, a set of drawings is attached as an integral part of said description. where, for illustrative and non-limiting purposes, the following has been represented:
    Figure 1 shows a diagram showing a side view of a preferred embodiment of the implementation of the system object of the invention mounted on a two-wheeled vehicle.
    Figure 2.- Shows a diagram showing the different components of the system object of the invention.
    Figure 3.- Shows a diagram showing a rear view of a preferred embodiment of the implementation of the system object of the invention mounted on a two-wheeled vehicle, seen in which the angle of inclination e of the vehicle is detailed with respect to the horizontal.
    Figures 4a and 4b.-a) It shows a perspective image of the accelerometer and gyroscope comprising in the same device the process unit, b) It shows an image of a possible embodiment in which the accelerometer, the process unit and the means of light signaling are located in the same device.
    Figure 5.-Shows a graph showing the different angles used and reference systems by the accelerometer.
    PREFERRED EMBODIMENT OF THE INVENTION
    In an example of a preferred embodiment of the invention, there is an aspect of the same a system (1) for determining or detecting a fall on two-wheeled vehicles (4), which, as seen in Figure 2, comprises connected to a process unit (6) a sensor (5), comprising an accelerometer and / or a gyroscope, as seen in Figure 4a, intended to determine acceleration values and / or inclination angle values 9 of the vehicle (4) with respect to a horizontal (3) on which the vehicle (4) is located as detailed below and in view of Figure 3. The system described herein may be equipped in possible embodiments thereof with light signaling means (2) intended to generate at least one signaling that can be acoustic and / or light or an alarm signal that is sent to a third party such as an emergency management center, when the sensor (5) detect a change in at least u no of acceleration values
    or tilt angle 9. The light signaling means (2) being provided that they are equipped with lamps (21) and light intensity control means
    (22) connected to said lamps and to the process unit (6), in this case the signaling means being connected to the process unit (6) through said light intensity control means (22).
    In a preferred embodiment of the first aspect of the invention referred to the system object of the invention, shown in Figures 1 and 3, the auxiliary system (1) in vehicles (4) of the invention is mounted on a vehicle (4) of two wheels, the light signaling means (2) being located on at least one of the two wheels. Also, as shown in Figure 4a, the process unit (6) and the sensor (5) can be found located in the same device such that the light signaling means (2) are connected in a manner wireless to the device that houses the process unit (6) and the sensor (5), while in other possible embodiments such as that shown in Figure 4b the process unit (6), the light signaling means (2) and the Accelerometer (5) can be found located in the same device.
    In other possible alternative embodiments, a geographical positioning device (7) connected to the process unit (6) is additionally available. In other possible more alternative embodiments, a gyroscope can be arranged to determine or help determine the angle of inclination 9 and connected to the process unit (7); while in other possible even more alternative embodiments, both gyro devices and geographical positioning device (7) both connected to the process unit (6) can be included.
    In both possible embodiments, at least one of the connections that respectively connect the process unit (6) to the light signaling means (2) and the sensor (5), are made by wireless connections.
    In a possible alternative embodiment the process unit (6) to the light signaling means (2) and the sensor (5) are arranged on the same card.
    In any of the possible embodiments of the system, there is another method of the invention that allows to determine falls in both two-wheeled vehicles by using the accelerometer and gyroscope as sensors (5), by means of which one proceeds to determine at least one of the aforementioned values, acceleration and inclination angle 8 of the vehicle (4) with respect to a horizontal (3); said determination can be made in an instant of time or during a predetermined period of time. In either case, both values or only one can be measured, having the possibility in the first scenario to carry out sequential simultaneous determinations as deemed convenient.
    In a possible embodiment of the aspect of the invention directed to the above-mentioned method, at least one of the following data is captured by the sensor (5) located in a known position in the vehicle (4):
    • An instantaneous acceleration value on the X axis of the vehicle (4).
    • An instantaneous acceleration value on the Y axis of the vehicle (4).
    • An instantaneous acceleration value on the Z axis of the vehicle (4).
    Having the axes of measurement of acceleration perpendicular to each other, and in a first possible embodiment of the object of the invention it is considered that a fall has occurred when the consecutive detection of a first event corresponding to a strong acceleration occurs, whether this is positive or negative, in any of the axes, and a second event corresponding to a loss of verticality of the vehicle (4) that is estimated at more than 60 °, which considering the plane of gravity as a reference, assumes an angle of 30 ° or less with respect to this reference.
    In this possible embodiment, the first event must precede the second event; and it is taken into account that the verticality of the two-wheeled vehicle is established on the basis that the position of the sensor (5) in the two-wheeled vehicle (4) is known and fixed in time.
    As indicated above, the method begins with at least data referring to acceleration values in at least one of the three perpendicular axles of the two-wheel vehicle (4), which we will call X, Y, Z; It is also possible to have a speed value that can be provided by the geographical positioning device (7) such as a GPS or can be obtained in another way suitable for it, and a sensitivity value established by the user.
    Based on these data, a series of data are calculated, including:
    • High frequency accelerations in any of the axes and their magnitude. They indicate a possible fall or collision.
    • Kinetic energy values at the moment of the possible collision. This data is proportional to the severity of the fall should it have occurred.
    • Loss of verticality Taking into account that the speed at that moment is 0, it indicates that the bicycle is on the ground and that it is stopped.
    As can be seen in the block diagram of Figure 4, it is determined from these data whether a fall has occurred or not, this will be based on the following elements that are constantly calculated based on the data we have mentioned. For this, a high frequency acceleration detection is carried out in any of the axes and their magnitude which indicates a possible fall or collision, to then calculate the kinetic energy at the moment of the possible collision being this proportional to the severity of the fall if it occurred. The loss of verticality is determined, taking into account that the speed at that moment is 0, which is an indication that the vehicle (4) is on the ground and that it is stopped. After a fall or collision, the vehicle (4) will naturally tend to lose the vertical, therefore it is very important to detect said condition with the greatest possible reliability. The vertical will stop from the measurement of the angle formed by the gravitational acceleration vector with respect to the position of the sensor (5) in the vehicle (4); to carry out this measurement it may be necessary for the sensor (5) to remain at rest, avoiding accelerations other than that of gravity itself. The vertical of the vehicle (4) will be established by an analysis of the accelerations in low frequency (below 1Hz) and considering that the normal direction of movement of the vehicle (4) will be aligned with the X axis of the accelerometer acting as a sensor (5) . These calculations will only be made when the speed value is ° or less than a certain threshold.
    As stated above, in a possible preferred embodiment of the method object of the invention, the value of kinetic energy is used, which determines that the greater the speed of a body and the greater its mass, the greater its kinetic energy, and the greater this is the possibility of damage in case of fall is increased
    or collision However, in possible alternative embodiments, other variables such as mass of the vehicle (4) can be used, such as the weight of a two-wheeled vehicle, and of the user or cyclist, or an approximation with the average weight of a vehicle. vehicle (4) standard bicycle type and of an average adult.
    The existence of strong accelerations in any of the axes in high frequency indicates excessively rapid blows or stops; high frequencies are considered to be close to the maximum detectable frequency, with respect to the established sampling period. When only high frequencies are treated, the gravity component will naturally disappear, leaving only the accelerations due to possible blows and sudden maneuvers.
    The sampling frequency of these data and parameters can be set in a range between 10 to 100 Hz for the acceleration value and if deemed necessary or useful from 0.1 to 2Hz for the speed value; while sensitivity can be established with a scale of 0-10 without any specific unit, although the possibility of establishing different types of routes such as: city, road, mountain, descent, tria! will be analyzed.
    This sensitivity parameter has an influential role in the rest of the parameters since it is set by the user on a scale such that the higher said value, the greater the sensitivity when considering high frequency accelerations as Preludes to a fall, as well as less will be the kinetic energy necessary to consider that a fall has occurred.
    Depending on the input data, and may not make use in the first instance of that referred to verticality, we proceed to determine if there are the necessary conditions to consider a possible hit or collision event, which are established according to the following equation :
    Ee * wEe + lA ~ I * wa 2 ': Kl + ws
    where Ee represents the kinetic energy, l --t I is the module of the acceleration of
    high frequency, K is a constant that sets the minimum threshold for
    consider that a blow or collision has occurred, ws is the sensitivity
    set by the user of O a10, 10 being the highest sensitivity. Being
    wEe, weights established through experimentation, as well as constant
    K.
    As you can see, the higher the kinetic energy, the lower the acceleration of the blow necessary to consider that there is a possible hit or collision, this is due to
    5 that the higher the speed, the lower the energy needed to destabilize the two-wheeled vehicle (4) and cause a serious accident. Similarly, if the kinetic energy is 0, the acceleration necessary to cause an accident is much greater, such as in the case of being hit by a motor vehicle.
    10 Whenever, depending on the above, there is a possible candidate for a crash or collision, the arrest of the two-wheeled vehicle (4) and the eventual loss of the vertical thereof is detected. There is a time limit for such detection, which begins at the moment in which it is determined that the necessary conditions exist to consider a possible hitting or collision event; that is to say a time limit is established
    15 to detect that we have stopped and are on the ground, after that time, it will not be considered that there has been a fall. On the contrary, if the condition of the detention is met and it is determined that there is a loss of the vertical, the fall is determined and it can be notified by, for example, sending a distress signal by Media Also if
    20 determines that nothing serious has occurred that requires the intervention of third parties, once a fall has been detected, a time of prudence is initiated until the distress signal is sent or launched by means of communication means.
    After a fall is detected, you can proceed to verify if the two-wheeled vehicle (4)
    25 has been set in motion again, that is, that it has kinetic energy again; This would indicate that after the fall the user has not suffered significant damage and has resumed the march. This notification can be used to cancel a notification or send a distress signal that is in progress or before it occurs; This task has a time limit for detection after being started by the detection of a fall.
    权利要求:
    Claims (15)
    [1]
    one. System (1) of fall detection in vehicles (4) of two wheels, intended to be mounted on a vehicle (4), the system (1) being characterized in that it comprises connected to a process unit (6) at least one sensor (5) configured to determine at least one of:
    high frequency acceleration value in any of the axesperpendicular X. Y, Z of the vehicle (4) and magnitude thereof,kinetic energy values at a given moment, andloss of verticality of the vehicle (4).
    [2]
    2. Signaling system (1) in two-wheeled vehicles (4) according to claim 1, characterized in that it additionally comprises light signaling means (2) intended to generate at least one light signaling when the accelerometer (5) determines a change in at least one of the acceleration values or inclination angle 8.
    [3]
    3. Signaling system (1) in two-wheeled vehicles (4) according to claim 1 or 2, characterized in that it additionally comprises a geographical positioning device (7) connected to the process unit (6).
    [4]
    Four. Signaling system (1) in two-wheeled vehicles (4) according to claim 2 characterized in that the light signaling means (2) comprise:
    lamps (2 1), and
    light intensity control means (22) connected to said lamps (21) and to the process unit (6), the signaling means being connected to the process unit (6) through said light intensity control means (22).
    [5]
    5. Signaling system (1) in two-wheeled vehicles (4) according to claim 4 characterized in that the light intensity control means
    (22) are adapted to modify the intensity of the lamps (21) when emitting the light signaling when the accelerometer (5) determines a decrease in the acceleration values for a predetermined time.
    [6]
    6. Signaling system (1) in two-wheeled vehicles (4) according to any of the preceding claims characterized in that it additionally comprises a gyroscope connected to the process unit (6)
    [7]
    7. Signaling system (1) in two-wheeled vehicles (4) according to any one of claims 1 or 2 characterized in that the connection between the process unit (6) and at least one of: the light signaling means, a buzzer acoustic (2) and accelerometer (5); It is a wireless connection.
    [8]
    8.-Signaling system (1) in two-wheeled vehicles (4) according to any one of claims 2 to 7 characterized in that the process unit (6), the light signaling means (2) and the accelerometer ( 5) are located in the same device.
    [9]
    9.-Method of determining the fall in two-wheeled vehicles (4), characterized in that it comprises a sensor (5) located in a known position in the vehicle (4) and connected to a process unit (6):
    capture at least one of the sensor (5) with: an instantaneous acceleration value on the X axis of the vehicle (4), an instantaneous acceleration value on the Y axis of the vehicle (4), and an instantaneous acceleration value on the Z axis of the vehicle (4), to determine from said value: determine by means of the process unit (6) high frequency accelerations in any of the axes X, Y, Z, being high frequency that close to the maximum detectable frequency with respect to a period of time, and determine by means of the process unit (6) loss of verticality of the vehicle (4) from a measure of the angle formed by a gravitational acceleration vector with respect to the position of the sensor (5) in the vehicle (4) establishing as loss of verticality any angle with respect to the plane of gravity whose value is greater than 60 °,
    stopping that there is a fall when you have a high frequency in
    any of the axles and a loss of verticality of the vehicle (4).
    [10]
    10. Method according to claim 9 wherein the vertical of the vehicle (4) is established by an analysis of accelerations at frequencies below 1 Hz and considering the normal direction of movement of the bicycle aligned with the X axis of the sensor (5).
    [11]
    11. Method of determining the fall in two-wheeled vehicles (4) according to claim 9, wherein the fall determination additionally comprises determining to capture data related to vehicle speed (4) and to apply:
    Ee * wEc + lA --f 1 * wa 2: Kl + ws
    where Ee represents the kinetic energy, IA-41 the acceleration module of
    high frequency, K a constant that sets the minimum threshold for
    consider that a hit or collision has occurred, ws is a parameter of
    sensitivity set by the user and with a maximum value equal to 10, and
    wEe, wa preset weights.
    [12]
    12. Method of determining the fall in two-wheeled vehicles (4) according to claim 9 wherein the determination of loss of verticality of the vehicle (4) is carried out in an instant not exceeding 10 seconds from the determination of the presence of accelerations in high frequency on any of the XYZ axes
    [13]
    13. Method of determining the fall in two-wheeled vehicles (4) according to claim 9 further comprising determining the presence of kinetic energy or speed in the vehicle (4) to evaluate the fall in such a way that it is established that it is not a fall serious when there is kinetic energy or speed in the vehicle (4) understanding that it continues its march.
    [14]
    14. Method of determining the fall in two-wheeled vehicles (4) according to claim 13, wherein the determination of the presence of kinetic energy or speed in the vehicle (4) is carried out in an instant not exceeding 10 seconds from the determination. of fall
    [15]
    15.-Method of determining fall in vehicles (4) of two wheels according to a
    any of claims 9 to 14 further comprising generating and sending a distress signal by means of communication when a fall is determined.
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    同族专利:
    公开号 | 公开日
    ES2684386B1|2019-07-18|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20080133277A1|2006-12-04|2008-06-05|Electronics And Telecommunications Research Institute|Fall detecting apparatus and method, and emergency aid system and method using the same|
    WO2010096554A2|2009-02-23|2010-08-26|Wellcore Corporation|Identifying a type of motion of an object|
    WO2010150260A1|2009-06-24|2010-12-29|The Medical Research, Infrastructure, And Health Services Fund Of The Tel Aviv Medical Center|Automated near-fall detector|
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    US20140365164A1|2010-10-04|2014-12-11|Numera, Inc.|Fall detection system using a combination of accelerometer, audio input and magnetometer|
    US20150061863A1|2013-09-03|2015-03-05|Hti Ip, L.L.C.|Adaptive classification of fall detection for personal emergency response systems|
    法律状态:
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    ES201730579A|ES2684386B1|2017-03-31|2017-03-31|SYSTEM AND METHOD OF DETERMINATION OF FALL IN TWO-WHEELED VEHICLES|ES201730579A| ES2684386B1|2017-03-31|2017-03-31|SYSTEM AND METHOD OF DETERMINATION OF FALL IN TWO-WHEELED VEHICLES|
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