Center-of-gravity detecting system

摘要

A center-of-gravity detecting system includes a motion detector for detecting a vertical motion of a travelling object and a horizontal motion of the travelling object, and an arithmetic unit that calculates a center-of-gravity location of the travelling object using the frequency of a vertical motion of the travelling object, a frequency of the horizontal motion of the travelling object, a central angle of the horizontal motion of the travelling object, and the width of the traveling object. The arithmetic unit calculates a center-of-gravity location, using the frequency of the vertical motion, a frequency of the horizontal motion, the center-of-gravity location, and the length of the travelling object in the travel direction.

主权项

1. A center-of-gravity detecting system comprising:
a motion detector for detecting a vertical motion of a travelling object in a self-weight direction of the travelling object during travel, and a horizontal motion of the travelling object in a widthwise direction of the travelling object during travel; and an arithmetic unit; wherein the motion detector includes an angular velocity sensor mounted on the travelling object, the angular velocity sensor comprising an angular velocity sensitive axis that is adjustable in the widthwise direction of the travelling object; wherein the arithmetic unit obtains a frequency of the vertical motion in the self-weight direction and a frequency of the horizontal motion in the widthwise direction corresponding to a width of the traveling object, by using the motion detector; the arithmetic unit calculates a center-of-gravity location of the travelling object in the self-weight direction in a cross-section perpendicular to the travel direction and a center-of-gravity location of the travelling object in the widthwise direction in the cross-section perpendicular to the travel direction, using the frequency of the vertical motion in the self-weight direction, the frequency of the horizontal motion in the widthwise direction, a central angle of the horizontal motion in the widthwise direction, and the width of the traveling object; the arithmetic unit derives coefficients in a formula in which a relation between the width of the travelling object and the frequency of the horizontal motion in the widthwise direction is formulated, using the center-of-gravity location in the self-weight direction, the center-of-gravity in the widthwise direction, the frequency of the vertical motion in the self-weight direction, and the central angle of the horizontal motion in the widthwise direction; the arithmetic unit calculates a frequency of the horizontal motion in the travel direction, using the coefficients in the formula, in a case where the width of the travelling object is a length of the travelling object in the travel direction, in the formula; and
the arithmetic unit calculates a center-of-gravity location of the travelling object in the travel direction, using the frequency of the vertical motion in the self-weight direction, a frequency of the horizontal motion in the travel direction, the center-of-gravity location in the self-weight direction, and the length of the travelling object in the travel direction.