SE547366C2 - Compensating for gravity for determining an operational state of a door - Google Patents

Compensating for gravity for determining an operational state of a door

Info

Publication number
SE547366C2
SE547366C2 SE2351326A SE2351326A SE547366C2 SE 547366 C2 SE547366 C2 SE 547366C2 SE 2351326 A SE2351326 A SE 2351326A SE 2351326 A SE2351326 A SE 2351326A SE 547366 C2 SE547366 C2 SE 547366C2
Authority
SE
Sweden
Prior art keywords
gravity
acceleration
acceleration measurements
measurement
accelerometer
Prior art date
Application number
SE2351326A
Other languages
Swedish (sv)
Other versions
SE2351326A1 (en
Inventor
Annea Barkefors
Tomas Jonsson
Viacheslav Primenko
Original Assignee
Assa Abloy Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Assa Abloy Ab filed Critical Assa Abloy Ab
Priority to SE2351326A priority Critical patent/SE547366C2/en
Priority to PCT/EP2024/082000 priority patent/WO2025108772A1/en
Publication of SE2351326A1 publication Critical patent/SE2351326A1/en
Publication of SE547366C2 publication Critical patent/SE547366C2/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G01C21/185—Compensation of inertial measurements, e.g. for temperature effects for gravity
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B3/00—Window sashes, door leaves, or like elements for closing wall or like openings; Layout of fixed or moving closures, e.g. windows in wall or like openings; Features of rigidly-mounted outer frames relating to the mounting of wing frames
    • E06B3/32—Arrangements of wings characterised by the manner of movement; Arrangements of movable wings in openings; Features of wings or frames relating solely to the manner of movement of the wing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Operating, Guiding And Securing Of Roll- Type Closing Members (AREA)
  • Vibration Prevention Devices (AREA)
  • Power-Operated Mechanisms For Wings (AREA)

Abstract

It is provided a method for compensating for gravity affecting an accelerometer (18) used for determining an operational state of a door (15). The method is performed by a gravity compensator (1). The method comprises: obtaining (40) a plurality of acceleration measurements by the accelerometer for a measurement period; calculating (42) a gravity component in the acceleration measurement by averaging the acceleration measurements; obtaining (44) an operational acceleration measurement; compensating (46) the operational acceleration measurement based on the gravity component, yielding a gravity compensated acceleration measurement; and providing (48) the compensated acceleration measurement for determining the operational state of the door.

Claims (10)

1. A method for compensating for gravity affecting an accelerometer (18) used for determining an operational state of a door (15), the method being performed by a gravity compensator (1), the method comprising: obtaining (40) a plurality of acceleration measurements by the accelerometer for a measurement period; calculating (42) a gravity component in the acceleration measurement by averaging the acceleration measurements; repeating both the obtaining (40) the plurality of acceleration measurements and the calculating (42) the gravity component, to arrive at an updated gravity component; determining (54) that the updated gravity component has changed more than a threshold amount; sending (56) a signal to indicate that the accelerometer »sfigålëohas been realigned; obtaining (44) an operational acceleration measurement; compensating (46) the operational acceleration measurement based on the gravity component, yielding a gravity compensated acceleration measurement; and providing (48) the compensated acceleration measurement for determining the operational state of the wherein the obtaining (40) the plurality of acceleration measurements comprises obtaining the acceleration measurements for a continuous period in which high-pass filtered magnitudes of all acceleration measurements are less than a threshold value, wherein the threshold value is set to a value such that the high-pass filtered magnitudes of the acceleration measurements being lower than the threshold value indicate that the accelerometer (18) is still.
2. The method according to claim 1, wherein the obtaining (40) the plurality of acceleration measurements comprises obtaining the acceleration measurements for an equal integer number of opening operations and closing operations of the door (15).
3. The method according to claim 1 or 2, wherein the calculating (42) the gravity component comprises separately calculating an average for each dimension of the aCCClCTaÜOII IIIGEISUTCIIICIIÉS.
4. The method according to any one of the preceding claims, wherein the obtaining (44) the operational acceleration measurement, compensating (46) the operational acceleration measurement, and providing (48) the compensates acceleration measurement are repeated a plurality of times for the same gravity component.
5. A gravity compensator (1) for compensating for gravity affecting an accelerometer (18) used for determining an operational state of a door (15), the gravity compensator (1) comprising: processing circuitry (6o); and memory circuitry (64) storing instructions (67) that, when executed by the processing circuitry__§_í§_f:j_;_f:¿, cause the gravity compensator (1) to: obtain a plurality of acceleration measurements by the accelerometer a measurement period; calculate a gravity component in the acceleration measurement by averaging the acceleration measurements; repeat the instructions to obtain the plurality of acceleration measurements and to calculate the gravity component, to arrive at an updated gravity component; determine that the updated gravity component has changed more than a threshold amount; send a signal to indicate that the accelerometer been realigned; obtain an operational acceleration measurement; compensate the operational acceleration measurement based on the gravity component, yielding a gravity compensated acceleration measurement; and provide the compensated acceleration measurement for determining the operational state of the doorssfigsgjífg; wherein the instructions to obtain the plurality of acceleration measurements comprise instructions (67) that, when executed by the processing circuitry__;§_§§_f:j_;_fr¿, cause the gravity compensator (1) to obtain the acceleration measurements for a continuous period in which high-pass filtered magnitudes of all acceleration measurements are less than a threshold value, wherein the threshold value is set to a value such that the high- pass filtered magnitudes of the acceleration measurements being lower than the threshold value indicate that the accelerometer (18) is still.
6. The gravity compensator (1) according to claim 5, wherein the instructions to obtain the plurality of acceleration measurements comprise instructions (67) that, when executed by the processing circuitryflfššfglïš, cause the gravity compensator (1) to obtain the acceleration measurements for an equal integer number of opening operations and closing operations of the door (15).
7. The gravity compensator (1) according to claim 5 or 6, wherein the instructions to calculate the gravity component comprise instructions (67) that, when executed by the processing circuitrys§};“§s_<;;§, cause the gravity compensator (1) to separately calculate an average for each dimension of the acceleration measurements.
8. The gravity compensator (1) according to any one of claims 5 to 7, further comprising instructions (67) that, when executed by the processing circuitry,§§;;“§¿;<;§=,f§, cause the gravity compensator (1) to repeat the instructions to obtain the operational acceleration measurement, to compensate the operational acceleration measurement, and to provide the compensates acceleration measurement, a plurality of times for the same gravity component.
9. A computer program (67, 91) for compensating for gravity affecting an accelerometer (18) used for determining an operational state of a door (15), the computer program comprising computer program code which, when executed on a gravity compensator (1) causes the gravity compensator (1) to: obtain a plurality of acceleration measurements by the accelerometer íßggišnfor a measurement period; calculate a gravity component in the acceleration measurement by averaging the acceleration measurements; repeat the execution of the computer program code to obtain the plurality of acceleration measurements and to arrive at an updated gravity component; determine that the updated gravity component has changed more than a threshold amount; send a signal to indicate that the accelerometer been realigned; obtain an operational acceleration measurement; compensate the operational acceleration measurement based on the gravity component, yielding a gravity compensated acceleration measurement; andprovide the compensated acceleration measurement for determining the operational state of the door__§;;;¿*g¿}_; wherein the program code to obtain the plurality of acceleration measurements comprise computer program code which, when executed on a gravity compensator (1) causes the gravity compensator (1) to obtain the acceleration measurements for a continuous period in which high-pass f1ltered magnitudes of all acceleration measurements are less than a threshold value, wherein the threshold value is set to a value such that the high-pass f1ltered magnitudes of the acceleration measurements being lower than the threshold value indicate that the accelerometer (18) is still.
10. A computer program product (64, 90) comprising a computer program according to claim 9 and a computer readable means comprising non-transitory memory in which the computer program is stored.
SE2351326A 2023-11-20 2023-11-20 Compensating for gravity for determining an operational state of a door SE547366C2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SE2351326A SE547366C2 (en) 2023-11-20 2023-11-20 Compensating for gravity for determining an operational state of a door
PCT/EP2024/082000 WO2025108772A1 (en) 2023-11-20 2024-11-12 Compensating for gravity for determining an operational state of a door

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE2351326A SE547366C2 (en) 2023-11-20 2023-11-20 Compensating for gravity for determining an operational state of a door

Publications (2)

Publication Number Publication Date
SE2351326A1 SE2351326A1 (en) 2025-05-21
SE547366C2 true SE547366C2 (en) 2025-07-15

Family

ID=93521727

Family Applications (1)

Application Number Title Priority Date Filing Date
SE2351326A SE547366C2 (en) 2023-11-20 2023-11-20 Compensating for gravity for determining an operational state of a door

Country Status (2)

Country Link
SE (1) SE547366C2 (en)
WO (1) WO2025108772A1 (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050021270A1 (en) * 2003-07-22 2005-01-27 Samsung Electronics Co., Ltd. Method and apparatus for measuring speed of moving body using accelerometer
EP1708362A1 (en) * 2005-03-31 2006-10-04 STMicroelectronics S.r.l. Digital high-pass filter for a displacement detection device of a portable apparatus
US20070208544A1 (en) * 2006-03-03 2007-09-06 Garmin Ltd. Method and apparatus for estimating a motion parameter
US9043041B2 (en) * 2010-02-12 2015-05-26 Webtech Wireless Inc. Monitoring aggressive driving operation of a mobile asset
US20160187368A1 (en) * 2014-12-30 2016-06-30 Google Inc. Systems and methods of detecting failure of an opening sensor
US20220212896A1 (en) * 2021-01-05 2022-07-07 Kone Corporation Door sensor unit and a method for determining a type of a door

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BR112015012301A2 (en) * 2012-11-30 2020-04-22 Koninklijke Philips Nv method for estimating a user's fall risk, computer program product, device for estimating a fall risk for a user, device that is configured to be worn on a user's body and system
US20150338430A1 (en) * 2014-05-21 2015-11-26 Regents Of The University Of Minnesota Excessive vehicle acceleration detection using a mobile device
WO2016066422A1 (en) * 2014-10-28 2016-05-06 Koninklijke Philips N.V. Method and apparatus for reliable detection of opening and closing events

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050021270A1 (en) * 2003-07-22 2005-01-27 Samsung Electronics Co., Ltd. Method and apparatus for measuring speed of moving body using accelerometer
EP1708362A1 (en) * 2005-03-31 2006-10-04 STMicroelectronics S.r.l. Digital high-pass filter for a displacement detection device of a portable apparatus
US20070208544A1 (en) * 2006-03-03 2007-09-06 Garmin Ltd. Method and apparatus for estimating a motion parameter
US9043041B2 (en) * 2010-02-12 2015-05-26 Webtech Wireless Inc. Monitoring aggressive driving operation of a mobile asset
US20160187368A1 (en) * 2014-12-30 2016-06-30 Google Inc. Systems and methods of detecting failure of an opening sensor
US20220212896A1 (en) * 2021-01-05 2022-07-07 Kone Corporation Door sensor unit and a method for determining a type of a door

Also Published As

Publication number Publication date
WO2025108772A1 (en) 2025-05-30
SE2351326A1 (en) 2025-05-21

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