A multi-axis signal collision load position super-resolution identification method

Abstract

The present application belongs to the technical field of automobile safety test equipment, and particularly relates to a multi-axis signal collision load position super-resolution identification method. First, a force barrier is constructed using multiple force sensor units according to a preset collision condition. Then, forces F x , y , z , moments M y , and M z acting on the surface of the impact surface generated by the force sensor units under the preset collision condition are collected, and the collision force height of each force sensor unit is calculated according to a preset collision force height calculation formula. Finally, the average height of the collision force on the force barrier is calculated according to the calculated collision force height. The present application can solve the problem of inaccurate results in measuring the average height of the collision force in the prior art.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automobile safety test equipment, and particularly relates to a multi-axis signal collision load position super-resolution identification method. BACKGROUND

[0002] The compatibility problem in the process of vehicle-to-vehicle collision is one of the important reasons for the high casualty rate in traffic accidents. The reason is mainly that the differences in mass, stiffness and geometric shape of the two collision parties lead to insufficient protection of the passengers of the weaker party in related collision accidents and poor collision compatibility. Therefore, the vehicle collision compatibility technology should be constrained at the specification level.

[0003] In recent years, with the increasing types of automobile products, the related problems have become increasingly prominent. The compatibility evaluation of the barrier is mainly evaluated from three aspects: barrier deformation uniformity standard deviation (Standard Deviation), occupant load criterion (OLC) and bottom out. The influencing factors of collision compatibility are mass, stiffness and geometric shape. Through various tests, it is shown that the mass difference makes the speed change of the small mass vehicle in the collision process larger, so that the impact acceleration is larger, and the occupant injury risk is increased. The stiffness difference will make the internal deformation of the vehicle with smaller stiffness larger, resulting in serious intrusion deformation of the passenger compartment. The difference in geometry (difference in vehicle height) will cause the energy-absorbing components and safety components to fail in the collision process and cannot normally play the crashworthiness performance.

[0004] Therefore, a new evaluation index is needed to evaluate the barrier compatibility. The average height of force (AHOF) can effectively predict the occupant injury probability between vehicle collisions in previous studies, but it is found in the current study that the traditional measurement unit cannot provide sufficient accuracy, so a new measurement method is needed to improve the accuracy of AHOF. SUMMARY

[0005] The technical problem solved by the application is to provide a multi-axis signal collision load position super-resolution identification method to solve the problem of inaccurate results in measuring the average height of collision force in the prior art.

[0006] The basic scheme provided by the application is a multi-axis signal collision load position super-resolution identification method, which comprises:

[0007] S1: according to the pre-set collision working condition, a force barrier is constructed using a plurality of force sensor units;

[0008] S2: Collect the force F generated by the force sensor unit in the preset collision working condition on the surface of the impact surface x , F y , F z And two moments M y And M z , according to the preset collision force height calculation formula, the collision force height of each force sensor unit is calculated;

[0009] S3: According to the calculated collision force height, the average height of the collision force on the force barrier is calculated.

[0010] Further, the force sensor unit in S1 includes a load measuring sensor, a mounting surface and an impact surface, the load measuring sensor is fixed with the mounting surface, the mounting surface is fixed with the impact surface, and the load measuring sensor, the mounting surface and the impact surface are all square.

[0011] Further, S2 includes:

[0012] S2-1: Plane simulation is performed on the impact surface of the force sensor unit, and based on the obtained force F x , F y , F z And two moments M y And M z , the collision force in the X-axis direction is calculated;

[0013] S2-2: Construct a force point test, based on the collision force in the X-axis direction and the corresponding collision point theoretical coordinate system, verify the actual coordinate system of the collision point on the impact surface of the force sensor unit, and obtain the collision resultant force on the impact surface of the force sensor unit according to the verification result.

[0014] S2-3: Obtain the collision height on the impact surface of the force sensor unit, and calculate the collision force height index HOF according to the obtained collision resultant force.

[0015] Further, S2-1 specifically is:

[0016] S2-1-1: Plane simulation is performed on the impact surface of the force sensor unit, the direction of the impact surface is set as the X-axis, the surface of the impact surface is the Y-axis and the Z-axis respectively, and the force F of the concentrated force point of the force sensor unit when colliding is obtained x And two moments M y And M z , wherein:

[0017] F x =-F

[0018] M y =F*a

[0019] M z =F*b

[0020] wherein F represents the load at the time of collision, a represents the distance of the Y-axis of the concentrated force point and the surface center point of the force sensor unit, and b represents the distance of the Z-axis of the concentrated force point and the surface center point of the force sensor unit;

[0021] S2-1-2: split into four force sensor unit areas of equal area, and divide the load F generated by the collision into a group of four equivalent forces F A , F B , F C , F D , the equivalent load in the X-axis direction is represented as:

[0022]

[0023] Set the width of the force sensor unit as W, and place the force at the center of the force sensor unit in the four divided force sensor unit areas respectively, the corresponding moments of the four equivalent forces are respectively:

[0024]

[0025] The expression of the corresponding four equivalent forces is:

[0026]

[0027] wherein W is the width dimension of the force sensor unit, and F is the load;

[0028] Since the collision compatibility index AHOF is related to the height of the force, F A +F B or F C +F D offsets the influence of M z , specifically:

[0029]

[0030] S2-1-3: based on the linear estimation of force distribution, the distribution of the concentrated force on the load measuring sensor at the time of collision is fitted, and the fitting process is:

[0031] The equivalent axial force load of the equivalent force F A is brought in, and the moment generated by the equivalent axial force load is calculated by the integral equation:

[0032]

[0033] wherein Δz represents the differential amount of height, F2 is the X-direction axial force equivalent to the resultant moment, and the resultant moment of the impact surface of the force sensor unit is calculated again:

[0034]

[0035] Similarly, the force acting on the center of the force sensor unit is linearly decomposed according to the unit height W to become a unit height force, which is represented as:

[0036]

[0037] The linear approximation equation of the unit height force is represented as:

[0038] p linear (z)=F1+F3

[0039] where F1 represents the actual force acting on the force sensor unit, z represents the collision height of the force sensor unit, and F3 represents the equivalent axial force corresponding to the collision height z of the force sensor unit generated by the resultant moment, which is represented as:

[0040]

[0041] The linear approximation equation of the force at the collision height point of the force sensor unit is represented as:

[0042]

[0043] The linear force expression generated by the force sensor unit in any height direction is:

[0044]

[0045] where z1 represents the starting collision height and z2 represents the terminal collision height.

[0046] Further, the S2-2 includes:

[0047] S2-2-1: Obtain the actual coordinate system (X2, Y2, Z2) of the force action point of the force sensor unit under the preset collision working condition and the theoretical coordinate system (X1, Y1, Z1) of the center point output by the force sensor unit, and the distance between the force action point on the actual coordinate system and the force action point on the theoretical coordinate system is D, then the actual coordinate system (X2, Y2, Z2) under the collision side view angle includes the forces FX2, FY2, FZ2 and the moments MY2, MZ2 in the three-axis directions, and the theoretical coordinate system (X1, Y1, Z1) under the collision side view angle includes the forces FX1, FY1, FZ1 and the moments MY1, MZ1 in the three-axis directions;

[0048] S2-2-2: According to the equivalent principle of the force divided by S2-1-1 and S2-1-2, then:

[0049] FX2=FX1;FY2=FY1;FZ2=FZ1;

[0050] According to S2-2-1, the moment MY1, MZ1 is output through the force sensor unit, and the Y-Z plane and the X-Z plane of the force sensor unit are constructed, and MY2 and MZ2 in the actual coordinate system are calculated according to a preset moment calculation formula, and the calculation formula is:

[0051] MY2 = MY1 + FZ1 x D / 1000;

[0052] MZ2 = MZ1 - FY1 x D / 1000;

[0053] S2-2-3: According to the obtained moments MY2 and MZ2, the Y2 and Z2 coordinate points of the force point in the actual coordinate system are calculated, and the calculation formula is:

[0054] Y2 = -MZ2 / FX2 x 1000

[0055] Z2 = MY2 / FX2 x 1000

[0056] Verify that the error of the coordinate points in the actual coordinate system and the theoretical coordinate system is within the preset error threshold, and the actual coordinate system is equivalent to the theoretical coordinate system;

[0057] S2-2-4: According to the force sensor unit, the collision force F x in the X-axis direction, the collision force F z in the Y-axis direction and the collision force F i in the Z-axis direction are obtained, and the collision resultant force in the theoretical coordinate system is generated according to the resultant force calculation formula;

[0058] Based on the principle of S2-2, the collision resultant force in the actual coordinate system is equivalent to the collision resultant force in the theoretical coordinate system.

[0059] Further, the collision height on the impact surface of the force sensor unit obtained in S2-3 is specifically:

[0060] According to the Z-axis coordinate of the actual coordinate system on the force sensor unit obtained in S2-2-3, the height H i of the force sensor unit to the ground where the force barrier is located is calculated, and the calculation formula is:

[0061] H i = Z + H

[0062] Wherein, Z represents the height of the collision point on the force sensor unit to the bottom of the force sensor in the Z-axis, if the collision point is positive in the Z-axis, then If the collision point is negative in the Z-axis, then H represents the height of the bottom of the force sensor unit to the ground.

[0063] A multi-axis signal collision load position super-resolution identification system applied to the multi-axis signal collision load position super-resolution identification method, comprising a force barrier module, a collision force height calculation module and a collision force average height calculation module, the force barrier module is constructed by a plurality of force sensor units according to the preset collision condition, the collision force height calculation module is used to calculate the collision force height of each force sensor unit according to the force F x 、F y 、F z and two moments M y and M z , according to the preset collision force height calculation formula; the collision force average height calculation module is used to calculate the collision force average height on the force barrier according to the calculated collision force height.

[0064] An electronic device comprising a processor and a memory, the memory storing programs or instructions, the processor executing a multi-axis signal collision load position super-resolution identification method as described above by calling the programs or instructions stored in the memory.

[0065] A computer readable storage medium storing programs or instructions, which make the computer execute a multi-axis signal collision load position super-resolution identification method as described above.

[0066] The principle and advantage of the present application are that: in the prior art, the compatibility evaluation of vehicle and barrier collision mainly evaluates from three aspects of barrier deformation uniformity standard deviation, occupant load criterion and penetration, and on the basis of the evaluation, each has defects, for this, the prior art proposes another new evaluation index of collision force average height, but the accuracy of the proposed scheme for the collision force average height index is not high, for this, the present application proposes a new measurement scheme to improve the accuracy of the index, specifically, first, aiming at the defect that the existing force sensor unit cannot obtain the torque parameter, a load measuring sensor is used as a force sensor unit to obtain the force and torque parameters when the vehicle collides with the barrier, and in the process of obtaining the force and torque parameters, because the collision force point of the vehicle and the barrier on the force sensor unit is not located at the center of the force sensor unit, but is distributed on each position of the force sensor unit, if the prior art equivalent collision force point is equivalent to the center, it will bring low accuracy of the index and low resolution of the collision effect, for this, the present application focuses on adopting the equivalent force four division mode of the surface of the force sensor unit, and obtaining the force and two torques acting on the force sensor unit during collision, which can effectively double the resolution of the equivalent load point load in two dimensions, thereby producing more collision details, then because the force measuring barrier constructed by the force sensor unit is provided with an impact surface in structure, the actual collision force point is not consistent with the force point of the force and torque output by the force sensor unit, for this, the present application constructs a coordinate plane and a new action mechanism, and calculates that the coordinates of the actual collision force point and the coordinates of the theoretical collision force point meet the requirements, so that the collision resultant force calculated by the force and torque output by the force sensor unit can be directly equivalent to the collision resultant force on the actual collision point, so that the accuracy of the collision resultant force parameter involved in the calculation of the collision force average height index is improved, and the accuracy of the collision force average height index is improved. BRIEF DESCRIPTION OF DRAWINGS

[0067] Figure 1 The flowchart of the embodiment of the present application is shown in the figure;

[0068] Figure 2 The point load simulation diagram of the force sensor unit in the embodiment of the present application is shown in the figure;

[0069] Figure 3 The point load equivalent diagram in the prior art explained in the embodiment of the present application is shown in the figure;

[0070] Figure 4 The impact surface equivalent diagram of the force sensor unit in the embodiment of the present application is shown in the figure;

[0071] Figure 5 The force division diagram of each unit force sensor unit height in the embodiment of the present application is shown in the figure;

[0072] Figure 6 Coordinate axis diagram of impact surface of force sensor unit in embodiment of the present application;

[0073] Figure 7 Force division diagram of unit height of force sensor unit in embodiment of the present application;

[0074] Figure 8 Force division diagram of unit moment equivalent height of force sensor unit in embodiment of the present application;

[0075] Figure 9 Force division diagram of height of force sensor unit in embodiment of the present application;

[0076] Figure 10 Diagram of force sensor unit in embodiment of the present application compared with traditional single-axis force sensor unit

[0077] Figure 11 Resolution diagram before processing of prior art in embodiment of the present application;

[0078] Figure 12 Resolution diagram after processing in embodiment of the present application;

[0079] Figure 13 Diagram of force action test structure in embodiment of the present application;

[0080] Figure 14 Force decomposition diagram of force sensor unit in force action test in embodiment of the present application;

[0081] Figure 15 Diagram of force action point calculation result when FX center is loaded in embodiment of the present application;

[0082] Figure 16 Diagram of force action point calculation result when FX eccentricity generates MY in embodiment of the present application;

[0083] Figure 17 Diagram of force action point calculation result when FX eccentricity generates MZ in embodiment of the present application;

[0084] Figure 18 Structure diagram of electronic device in embodiment of the present application;

[0085] Figure 19 Diagram of trolley barrier installation adopted in other embodiments of the present application. DETAILED DESCRIPTION

[0086] The following is further described in detail through specific embodiments:

[0087] The reference numerals in the accompanying drawings include: electronic device 400, processor 401, memory 402, input device 403, and output device 404.

[0088] Currently, a large number of crash tests are used in the field of passive safety to verify the ability of vehicles to protect occupants in collisions with other vehicles. These tests help to understand the performance of vehicles in specific situations, but they cannot solve the intrusiveness and vulnerability of vehicles when they collide with other types of vehicles. At the same time, the force sensors used in existing tests usually acquire indicators in a single dimension, such as acceleration indicators, which have low detail in the collision and result in low resolution of point loads.

[0089] In response to this problem, the existing technology has been improved by the following: NHTSA uses load sensors to perform collision simulations. Specifically, by periodically conducting collision tests on rigid load sensor barriers, the load distribution on the load sensors during the collision test provides information about the force transmission path of the structure. In this process, based on this information, it is found that the average impact force height (AHOF) can be an important indicator for effectively constraining occupant loads.

[0090] In response, the inventors of this application, through further research, discovered that traditional barrier load sensors use a square panel on a rigid barrier wall to measure the applied load. An inherent drawback of this method is that it requires the assumption that the load is applied through the center of the load sensor unit during analysis. This does not effectively improve the resolution of load collision location identification, nor does it effectively improve the accuracy of the AHOF (Aspect-Oriented Heading) index. Therefore, the load can actually be distributed arbitrarily on its surface. Consequently, the load distribution on the load sensor surface may be almost uniform, or it may be concentrated on one edge of the load sensor unit, leading to an error between the actual and assumed positions. The technical solution provided in this application is as follows:

[0091] The basic implementation examples are as follows: Figure 1 As shown: A super-resolution identification method for collision load position based on multi-axis signals, comprising:

[0092] S1: Based on the preset collision conditions, a force-measuring barrier is constructed using multiple force sensor units;

[0093] In this embodiment, the force sensor unit consists of a load measurement sensor, a mounting surface, and an impact surface. The load measurement sensor is fixed to the mounting surface, and the mounting surface is fixed to the impact surface. To better optimize the calculation of collision process indicators, the load measurement sensor, the mounting surface, and the impact surface are set as squares with a width of W.

[0094] And for the preset collision conditions, the full-width frontal collision is adopted in the embodiment of the application, which is installed on the ground. The frontal collision is 100% frontal collision, and the vehicle collision speed is 50 km / h full-width rigid barrier test. In other embodiments of the application, it can also be other different conditions, for example, as shown in the trolley Figure 19 The force barrier of the application is installed on the trolley to realize the vehicle-vehicle collision condition. The force barrier formed by the force sensor units has different shapes and different numbers of force sensor units under different conditions, for example, as shown in Figure 19 The force barrier composed of a 5×8 array of force sensor units.

[0095] In addition, the indicators and parameters of the force sensor units provided in the application are as follows:

[0096] 1. The impact surface size of the force sensor unit is 125 mm×125 mm; the load measuring sensor can measure the axial force along the X axis and the torque about the Y axis and the Z axis, and when the vehicle front end includes a high local hard structure, such as a towing hook, the load measuring sensor can measure the peak load applied by any point on its surface;

[0097] 2. The peak force of the load measuring sensor is 300 kN, the peak overload force is 500 kN, and the torque peak is 20 kN·m; the torque accuracy error is less than 3% (3% is the zero bias error of the applied load, and the rated load applied at any position on the impact surface of the load measuring sensor can be measured), the load position error is less than 2% (2% is the sensitivity error of the rated load applied at any position on the impact surface of the load measuring sensor), the non-linear error is less than 1% (1% is the non-linear error of the rated load applied at any position on the impact surface of the load measuring sensor), the hysteresis error is less than 1% (1% is the hysteresis error of the rated load applied at any position on the impact surface of the load measuring sensor), the off-axis sensitivity / crosstalk error is less than 2%, and the stiffness is greater than 2000000 Kn / m. At the same time, for the load near the rated load, the error of the output sum of the load measuring sensor is controlled within 2% of the applied load;

[0098] 3. The output of the load measuring sensor should be as follows: the output of the central load measuring sensor is 40%-60%, and the output of each external load measuring sensor is 20%-30%;

[0099] 4. The multiple full-frontal NCAP collision tests suitable for light vehicles with a vehicle gross weight rating (GVWR) of up to 3856 kg must obtain data according to the specifications of SAE J211 / 1CFC60 data channels;

[0100] 5. The load measuring sensor is not equipped with a vehicle data acquisition system (DAS) module; the load measuring sensor does not require any amplifier and does not require AC coupling;

[0101] 6. The operating temperature range of the load measurement sensor is -4 to 52 degrees Celsius, and the electrical output range is 0.1 to 4 mV (the electrical output should be voltage, which is proportional to the force input of the impact element);

[0102] 7. The load measurement sensor needs to be matched with the main connector, but does not need the connector connected to the data acquisition system;

[0103] 8. Each output channel should be a "full bridge" (4 conductors per channel), and the 4 conductors (per channel) should be: positive excitation (2.5 to 10V), negative excitation (2.5 to 10V), positive signal (up to 10V), and negative signal (up to 10V).

[0104] S2: Collect the force F acting on the impact surface of the force sensor unit under the preset impact working condition x y z and two moments M y and M z , calculate the impact force height of each force sensor unit according to the preset impact force height calculation formula; wherein, S2 includes:

[0105] S2-1: Plane simulation is performed on the impact surface of the force sensor unit, and the impact force F x y z and two moments M y and M z in the X-axis direction are calculated based on the obtained force F

[0106] S2-2: Construct a force point test, verify the actual coordinate system of the impact point on the impact surface of the force sensor unit based on the impact force in the X-axis direction and the corresponding impact point theoretical coordinate system, and obtain the impact resultant force on the impact surface of the force sensor unit according to the verification result;

[0107] S2-3: Obtain the impact height on the impact surface of the force sensor unit, and calculate the impact force height index HOF according to the obtained impact resultant force; wherein, the impact force height calculation formula is:

[0108]

[0109] wherein, F i (t) represents the impact resultant force of the i-th force sensor unit at time t, H i represents the height of the impact point of the force sensor unit to the ground of the force barrier.

[0110] ​​​​In the embodiment, for the general collision condition, the force acting on the load measuring sensor is not located at the center of the sensor, which can be at any position on the surface of the load measuring sensor, and when the load acts on the non-central position of the load measuring sensor, the moments on the Y axis and the Z axis are generated, and for how to define the X axis, the Y axis and the Z axis on the load measuring sensor, the impact surface of the force sensor unit is simulated as a plane in the embodiment, the direction acting on the impact surface is set as the X axis, and the impact surface is the Y axis and the Z axis respectively.

[0111] As shown in Figure 2 , it is a simulation schematic diagram of the impact surface of the force sensor unit of the application, in the current collision visualization and calculation process, the distributed load on the surface of the load measuring sensor is usually characterized by the point load with equivalent value acting on the center of the load measuring sensor, that is, the concentrated force point, as shown in Figure 3 , the concentrated force point is located at the center of the impact surface, which represents the force F and the two moments M y and M z , but the defect of the prior art in this type of processing is that, as described above, the point load acting on the impact surface of the load measuring sensor is not necessarily in the center, as shown in Figure 2 , which can exist in any region, and the defect brought by this is that the resolution of the collision condition on the load measuring sensor is low, which further affects the accuracy of the corresponding index;

[0112] Therefore, the force sensor unit of the application is characterized by a more intuitive and visual way to represent the force and the two moments, and the specific steps are as follows:

[0113] S2-1-1: plane simulation is performed on the impact surface of the force sensor unit, the direction acting on the impact surface is set as the X axis, and the impact surface is the Y axis and the Z axis respectively, and the force F x and the two moments M y and M z of the concentrated force point when the force sensor unit collides are obtained, wherein:

[0114] F x =-F

[0115] M y =F*a

[0116] M z =F*b

[0117] , wherein F represents the load when colliding, a represents the distance between the concentrated force point and the Y axis of the center point of the surface of the force sensor unit, and b represents the distance between the concentrated force point and the Z axis of the center point of the surface of the force sensor unit.

[0118] S2-1-2: split into four force sensor unit area of equal area, and the load F generated by the collision into a group of four equivalent forces F A B C D As shown in Figure 4 and Figure 6 , the equivalent load in the X-axis direction is represented as:

[0119]

[0120] Set the force sensor unit width W, and place the force at the center of the force sensor unit in the four divided force sensor unit areas respectively, the four equivalent forces generate corresponding moments respectively:

[0121]

[0122] The expression of the corresponding four equivalent forces is:

[0123]

[0124] Where W is the width of the force sensor unit, and F is the load.

[0125] S2-1-3: based on the linear estimation of force distribution, fitting the distribution of concentrated force on the load measuring sensor when colliding;

[0126] As shown in Figure 5 On the basis of the force sensor unit being divided into four equivalent force areas, the resultant moment M Ay of one of the areas is calculated in advance, and since the collision direction in this embodiment is defined as perpendicular to the surface of the force sensor unit, the resultant moment is 4×M Ay The detailed analysis process is as follows:

[0127] The equivalent axial force load of the equivalent force F A is brought in, and the moment generated by the equivalent axial force load is calculated by the integral equation:

[0128]

[0129] Where Δz represents the differential amount of height, and F2 is the X-direction axial force equivalent to the resultant moment, and the resultant moment of the impact surface of the force sensor unit is calculated again:

[0130]

[0131] Similarly, the force acting on the center of the force sensor unit is linearly decomposed according to the unit height W, so that it becomes a unit height force, as shown in Figure 7 , which is represented as: ​​​

[0132]

[0133] The linear approximation equation of the unit height force is:

[0134] p linear (z)=F1+F3

[0135] Wherein, F1 represents the actual force acting on the force sensor unit, z represents the collision height of the force sensor unit, and F3 represents the equivalent axial force corresponding to the collision height z of the force sensor unit generated by the resultant moment, as shown in Figure 8 and Figure 9 , which is expressed as:

[0136]

[0137] The linear approximation equation of the force of the force sensor unit at a collision height point is:

[0138]

[0139] The linear force expression generated by the force sensor unit in any height direction is:

[0140]

[0141] Wherein, z1 represents the starting collision height, and z2 represents the terminal collision height.

[0142] As can be seen from the above steps S2-1-1 to S2-1-3, compared with the traditional single-axis sensor, the force sensor unit of the present application can consider the influence of the three physical quantities of moment, force direction and different action points on the force output of the sensor, thereby improving the accuracy of the result.

[0143] As shown in Figure 10 , the traditional single-axis sensor can only measure the force perpendicular to the surface of the sensor, and at the same time, the physical quantity measured by the traditional single-axis sensor is only force, and the action point of the impact force is assumed to be at the center position of the force sensor (i.e. the position of the strain gauge in the sensor). However, in actual collision situations, the direction of the force is not always perpendicular to the surface of the sensor, and the action point is not always acting on the center position of the sensor, so the force measured by the traditional single-axis sensor is inaccurate; in view of this, the present application equivalently loads a group of four point loads on the impact surface of a load measuring sensor, and generates the same force and moment, thereby greatly improving the resolution of the point load on the load measuring sensor, as shown in Figure 11 and Figure 12 , it can be seen that Figure 11 is before processing, Figure 12 is after processing, and the resolution of Figure 12 is obviously higherFigure 11 The resolution is high.

[0144] The F(z) calculated by the above steps S2-1-1 to S2-1-3 belongs to the collision force of the theoretical force sensor unit in the X-axis direction, and then according to the constructed simulation plane of the force sensor unit, the error of the actual coordinate system and the theoretical coordinate system of the force action point is called according to the force action mechanism, and within the preset error threshold, the theoretical collision resultant force is equivalent to the actual collision resultant force, that is, as shown in Figure 13 The force sensor unit is installed on the loading tool, and the loading tool is provided with a loading point, and the coordinate position of the loading point is known; by loading force on different loading points, the force sensor unit outputs FX, FY, FZ, MY, MZ data, the force action point is calculated, and the calculated force action point coordinate and the theoretical action point coordinate are compared to evaluate the performance of the force sensor unit, and the coordinate error of the force action point is required to be less than 1mm; specifically:

[0145] Step one: as shown in Figure 14 , the actual coordinate system (X2, Y2, Z2) of the force action point of the force sensor unit under the preset collision working condition and the theoretical coordinate system (X1, Y1, Z1) of the center point output by the force sensor unit are obtained, and the distance between the force action point on the actual coordinate system and the force action point on the theoretical coordinate system is D, then the actual coordinate system (X2, Y2, Z2) includes the forces FX2, FY2, FZ2 and the moments MY2, MZ2 in the three-axis directions under the collision side view angle, and the theoretical coordinate system (X1, Y1, Z1) includes the forces FX1, FY1, FZ1 and the moments MY1, MZ1 in the three-axis directions under the collision side view angle;

[0146] Step two: according to the equivalent principle of force divided by S2-1-1 and S2-1-2, then

[0147] FX2=FX1; FY2=FY1; FZ2=FZ1;

[0148] According to S2-2-1, the moments MY1 and MZ1 are output by the force sensor unit, and the Y-Z plane and the X-Z plane of the force sensor unit are constructed, and the MY2 and MZ2 in the actual coordinate system are calculated according to the preset moment calculation formula, and the calculation formula is:

[0149] MY2=MY1+FZ1×D / 1000;

[0150] MZ2=MZ1-FY1×D / 1000;

[0151] Step three: calculate the Y2 and Z2 coordinate points of the force action point in the actual coordinate system according to the moments MY2 and MZ2, and the calculation formula is:

[0152] Y2 = -MZ2 / FX2 x 1000

[0153] Z2 = MY2 / FX2 x 1000

[0154] verify that the error of the coordinate points on the actual coordinate system and the theoretical coordinate system is within the preset error threshold, and equivalent the actual coordinate system to the theoretical coordinate system;

[0155] Step four: according to the output of the force sensor unit, the collision force F x in the X-axis direction, the collision force F z in the Y-axis direction and the collision force F i in the Z-axis direction are obtained, and the collision resultant force in the theoretical coordinate system is generated according to the resultant force calculation formula;

[0156] Based on the principle of the above steps, the collision resultant force in the actual coordinate system is equivalent to the collision resultant force in the theoretical coordinate system. In this embodiment, the resultant force calculation formula is:

[0157]

[0158] According to the above force and moment calculation formula and the force point calculation formula, the present application respectively tests the case when FX is centrally loaded and the case when FX is eccentrically loaded. When FX is centrally loaded, the force point calculation result is as shown in Figure 15 . Figure 10 The left side is the data curve of FX, and the right side is the force point (Y, Z) coordinates. The theoretical force point coordinates are (0, 0). It can be seen that the actual force point coordinates on the right side are within ±0.3mm, which meets the requirement that the error is within 1mm.

[0159] When FX is eccentrically loaded, FX and MY are generated at the same time. At this time, as shown in Figure 16 , the left side, and the right side is the force point (Y, Z) coordinates. The theoretical force point coordinates are (0, -50). The actual force point coordinates on the right side are within ±1mm, which meets the requirement that the error is within 1mm.

[0160] When FX is eccentrically loaded, FX and MZ are generated at the same time. At this time, as shown in Figure 17 , the left side, and the right side is the force point (Y, Z) coordinates. The theoretical force point coordinates are (0, -50). The actual force point coordinates on the right side are within ±1mm, which meets the requirement that the error is within 1mm.

[0161] Therefore, according to the test results above, the error comparison results of the coordinate points on the actual coordinate system and the theoretical coordinate system are within the error threshold of 1mm. Therefore, the actual coordinate system can be equivalent to the theoretical coordinate system, and the collision force F i of the force sensor unit can be obtained by equivalent the collision resultant force in the actual coordinate system to the collision resultant force in the theoretical coordinate system.

[0162] Then the collision height of the force sensor unit is calculated according to the height H of the ground where the force barrier is located i , and the calculation formula is:

[0163] H i = Z + H

[0164] wherein Z represents the height of the collision point on the force sensor unit to the bottom of the force sensor in the Z axis, if the collision point is positive in the Z axis, then if the collision point is negative in the Z axis, then H represents the height of the bottom of the force sensor unit to the ground.

[0165] Therefore, through the above steps and calculation process, the accurate values of the parameters collision force F i and height H i for calculating the collision force height HOF can be obtained, so as to improve the accuracy of the collision force height HOF.

[0166] S3: calculating the average height of the collision force on the force barrier according to the calculated collision force height, and the calculation formula of the average height of the collision force is:

[0167]

[0168] wherein t represents the collision time, and F(t) represents the total force.

[0169] In the embodiment, AHOF(t) is calculated by the average weighting function of HOF(t) to the total force F(t), and HOF(t) is set to be recognized only when the force is greater than 50kN when calculating AHOF(t), and because AHOF(t) is the weighting function of HOF(t), through the above calculation process, the accuracy of the parameters F i (t) and H i in HOF(t) is improved, the precision of HOF(t) is improved, so the precision of AHOF(t) is also improved; in other embodiments of the embodiment, the average height of the collision force also has equivalent alternative formula, that is, F(d) is used for calculation, wherein d represents the displacement of the vehicle, and the calculation formula is:

[0170]

[0171] In another embodiment of the present embodiment, a multi-axis signal collision load position super-resolution identification system is also included, which is applied to the multi-axis signal collision load position super-resolution identification method described above, and includes a force barrier module, a collision force height calculation module, and a collision force average height calculation module. The force barrier module is constructed by a plurality of force sensor units according to a preset collision condition. The collision force height calculation module is used to calculate the collision force height of each force sensor unit according to the force F x , F y , F z and two moments M y and M z , according to a preset collision force height calculation formula. The collision force average height calculation module is used to calculate the collision force average height on the force barrier according to the calculated collision force height.

[0172] An electronic device is also included, as shown in FIG. 4, the electronic device 400 includes one or more processors 401 and a memory 402. Figure 18

[0173] The processor 401 can be a central processing unit (CPU) or other form of processing unit having data processing and / or instruction execution capabilities, and can control other components in the electronic device 400 to perform desired functions.

[0174] The memory 402 can include one or more computer program products, which can include various forms of computer readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM), cache memory, and / or the like. The non-volatile memory may, for example, include read-only memory (ROM), hard disk, flash memory, and / or the like. One or more computer program instructions can be stored on the computer readable storage medium, and the processor 401 can run the program instructions to implement the multi-axis signal collision load position super-resolution identification method of any embodiment of the present application described above and / or other desired functions. Various contents such as initial extrinsic parameters, threshold values, and the like can also be stored in the computer readable storage medium.

[0175] ​In one example, the electronic device 400 can further include an input device 403 and an output device 404, which are interconnected to each other through a bus system and / or other forms of connection mechanisms (not shown). The input device 403 can include, for example, a keyboard, a mouse, and the like. The output device 404 can output various information, including pre-warning prompt information, braking force, and the like, to the outside. The output device 404 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0176] Of course, in order to simplify, Figure 18 Only some of the components in the electronic device 400 related to the present application are shown in the middle, and components such as buses, input / output interfaces, and the like are omitted. In addition, the electronic device 400 can further include any other appropriate components according to specific application cases.

[0177] In addition to the above-mentioned method and device, an embodiment of the present application can also be a computer program product, which includes computer program instructions, which, when executed by a processor, cause the processor to perform the steps of a multi-axis signal collision load position super-resolution identification method provided by any embodiment of the present application.

[0178] The computer program product can be written in any combination of one or more programming languages, including object-oriented programming languages, such as Java, C++, and the like, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on a user computing device, partially on a user device, as an independent software package, partially on a user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0179] In addition, an embodiment of the present application can also be a computer readable storage medium, which stores computer program instructions, which, when executed by a processor, cause the processor to perform the steps of a multi-axis signal collision load position super-resolution identification method provided by any embodiment of the present application.

[0180] The computer readable storage medium can be any combination of one or more computer readable medium(s). The computer readable medium can be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include the following: an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0181] The above is only an embodiment of the present application, and the common knowledge of the specific structure and characteristics in the scheme is not described in detail, and the ordinary skilled person in the art knows all the ordinary technical knowledge in the field of the present application before the application date or the priority date, can know all the prior art in the field, and has the ability to apply the conventional experimental means before the date, and the ordinary skilled person in the art can improve and implement the present scheme under the guidance of the present application, and some typical known structures or known methods should not be an obstacle for the ordinary skilled person in the art to implement the present application. It should be pointed out that for those skilled in the art, without departing from the structure of the present application, a number of modifications and improvements can be made, which should be regarded as the protection scope of the present application, and these will not affect the effect and practicality of the present application. The protection scope of the present application should be subject to the content of its claims, and the specific embodiments in the specification can be used to explain the content of the claims.

Claims

1. A method for super-resolution identification of impact load location based on multi-axis signal, characterized in that: The method comprises the following steps: S1: constructing a force barrier using a plurality of force sensor units according to a preset collision condition; S2: collecting the force F generated by the force sensor unit on the surface of the impact surface in the preset collision working condition x , F y , F z and two moments M y and M z , according to the preset collision force height calculation formula to calculate the collision force height of each force sensor unit; S3: calculating the average height of the collision force on the force barrier according to the calculated collision force height.

2. The method according to claim 1, wherein: The force sensor unit in S1 comprises a load measuring sensor, a mounting surface and an impact surface, the load measuring sensor is fixed with the mounting surface, the mounting surface is fixed with the impact surface, and the load measuring sensor, the mounting surface and the impact surface are all square.

3. The method of claim 2, wherein: S2 comprises: S2-1: plane simulation of the impact surface of the force sensor unit, based on the acquired force F x , F y , F z and two moments M y and M z calculate the impact force in the X-axis direction; S2-2: constructing a force point test, verifying the actual coordinate system of the collision point on the impact surface of the force sensor unit based on the collision force in the X-axis direction and the corresponding collision point theoretical coordinate system, and obtaining the collision resultant force on the impact surface of the force sensor unit according to the verification result; S2-3: obtaining the collision height on the impact surface of the force sensor unit, and calculating the collision force height index HOF according to the obtained collision resultant force.

4. The method of claim 3, wherein: S2-1 specifically comprises: S2-1-1: plane simulation is performed on the impact surface of the force sensor unit, the direction acting on the impact surface is set as the X axis, the impact surface is the Y axis and the Z axis respectively, and the force F of the concentrated force point when the force sensor unit collides is obtained x and two moments M y and M z wherein: F x = -F M y = F * a M z = F * b Wherein, F represents the load when colliding, a represents the distance of the concentrated force point to the Y-axis center point of the force sensor unit surface, and b represents the distance of the concentrated force point to the Z-axis center point of the force sensor unit surface; S2-1-2: split into four force sensor unit areas of equal area, and divide the load F generated by the collision into a set of four equivalent forces F A , F B , F C , F D The equivalent load in the X-axis direction is represented as: Set the width of the force sensor unit as W, and place the force at the center of the force sensor unit in the four divided force sensor unit regions respectively, the four equivalent forces generate corresponding moments respectively as: The expression of the corresponding four equivalent forces is: Wherein, W is the width size of the force sensor unit, and F is the load; Since the impact compatibility indicator AHOF is highly correlated with the force F A +F B or F C +F D counteracts the influence of M z , in particular: S2-1-3: based on the linear estimation of force distribution, fitting the distribution of the concentrated force on the load measuring sensor when colliding, and the fitting process is: The equivalent axial force load F a is brought in, and the moment generated by the equivalent axial force load is calculated by integral equation: Wherein, Δz represents the differential of the height, F2 is the X-direction axial force equivalent to the resultant moment, and the resultant moment of the impact surface of the force sensor unit is calculated again: Similarly, the force acting on the center of the force sensor unit is linearly decomposed according to the unit height W, so that it becomes a unit height force, which is represented as: Then the linear approximation equation of the unit height force is represented as: p linear (z) = F1 + F3 Wherein, F1 represents the actual force acting on the force sensor unit, z represents the collision height of the force sensor unit, F3 represents the equivalent axial force of the resultant moment on the collision height z of the force sensor unit, and is represented as: Then the linear approximation equation of the force at the collision height point of the force sensor unit is represented as: Then the linear force expression generated by the force sensor unit in any height direction is: Wherein, z1 represents the starting collision height, and z2 represents the terminal collision height.

5. The method of claim 4, wherein: S2-2 comprises: S2-2-1: obtaining the actual coordinate system (X2, Y2, Z2) of the force point of the force sensor unit under the preset collision condition and the theoretical coordinate system (X1, Y1, Z1) of the center point output by the force sensor unit, the distance between the force point on the actual coordinate system and the force point on the theoretical coordinate system is D, then the actual coordinate system (X2, Y2, Z2) under the collision side view angle comprises three-axis direction forces FX2, FY2 and FZ2 and moments MY2 and MZ2, and the theoretical coordinate system (X1, Y1, Z1) under the collision side view angle comprises three-axis direction forces FX1, FY1 and FZ1 and moments MY1 and MZ1; S2-2-2: According to the equivalent principle of force divided by S2-1-1 and S2-1-2, then have: FX2 = FX1; FY2 = FY1; FZ2 = FZ1; And according to S2-2-1, the moment MY1, MZ1 is output through the force sensor unit, at the same time, the Y-Z plane and the X-Z plane of the force sensor unit are constructed, and MY2 and MZ2 in the actual coordinate system are calculated according to the preset moment calculation formula, the calculation formula is: MY2 = MY1 + FZ1 x D / 1000; MZ2 = MZ1 - FY1 x D / 1000; S2-2-3: According to the obtained moment MY2, MZ2, the Y2, Z2 coordinate points of the force action point in the actual coordinate system are calculated, the calculation formula is: Y2 = -MZ2 / FX2 x 1000 Z2 = MY2 / FX2 x 1000 Verify that the error of the coordinate points in the actual coordinate system and the theoretical coordinate system is within the preset error threshold, and the actual coordinate system is equivalent to the theoretical coordinate system; S2-2-4: The collision force F in the X-axis direction is obtained according to the force sensor unit output x , the collision force F in the Y-axis direction and the collision force F in the Z-axis direction z , and the collision resultant force in the theoretical coordinate system is generated according to the resultant force calculation formula again; Based on the principle of S2-2 steps, the collision resultant force in the actual coordinate system is equivalent to the collision resultant force in the theoretical coordinate system.

6. The method of claim 5, wherein: The collision height on the impact surface of the force sensor unit obtained in S2-3 is specifically: According to the Z-axis coordinate of the actual coordinate system on the force sensor unit obtained from S2-2-3, the height H of the force sensor unit to the ground where the force barrier is located is calculated i , and the calculation formula is: H i = Z + H wherein Z represents the height of the collision point on the Z-axis on the force sensor unit to the bottom of the force sensor, if the collision point is a positive value on the Z-axis, then if the collision point is a negative value on the Z-axis, then H represents the height of the bottom of the force sensor unit from the ground.

7. A multi-axis signal based crash load location super-resolution identification system, applied to a multi-axis signal based crash load location super-resolution identification method according to any one of claims 1-6, characterized in that: The force barrier module, the collision force height calculation module and the collision force average height calculation module, the force barrier module is constructed by a plurality of force sensor units according to the preset collision condition, the collision force height calculation module is used for calculating the collision force height of each force sensor unit according to the force F x 、F y 、F z And two moments M y And M z , according to the preset collision force height calculation formula, the collision force average height calculation module is used for calculating the collision force average height on the force barrier according to the calculated collision force height.

8. An electronic device, comprising: The processor and the memory, the memory stores programs or instructions, the processor calls the programs or instructions stored in the memory, and executes the multi-axis signal collision load position super-resolution identification method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: The computer readable storage medium stores programs or instructions, and the programs or instructions make the computer execute the multi-axis signal collision load position super-resolution identification method according to any one of claims 1-6.

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