System and method for measuring an object's center of gravity

A system and method are provided for measuring an object's center of gravity. The system includes a bed for supporting the object in an immovable position. The bed is tiltably attached to a frame that is supported near at least a first and a second edge by at least one force measuring device per edge. The bed is tiltable about one of the edges. A processor is connected to each force measuring devices and is configured to process force measurement data collected therefrom. The processor is configured to calculate the object's center of gravity along a z-axis based on a ratio of a cosine of the bed's angle of tilt multiplied by the center of gravity of the object along a y-axis in a flat configuration minus the center of gravity of the object along the y-axis in a tilted configuration to the sine of the angle of tilt.

BACKGROUND

The three-dimensional center of gravity (hereinafter referred to as “CG”) of an object can be calculated using a single static platform. However, in this case, the object must still rotate relative to the plane normal to the gravity vector. This method calculates two separate two-dimensional centers of gravity while the object is balanced on two unique planes. Two unique lines are created beginning from each 2D center of gravity and extending in the directions normal to the respective planes on which the object sits. The intersection of these two lines gives the three dimensional center of gravity. One major disadvantage of this method is that many objects do not have two unique planes that can hold the object at equilibrium. This introduces many measuring inaccuracies and will also create imprecise results. Another disadvantage is that two disparate sets of constraint equipment will be required to hold the object in the two positions.

Another prior method of measuring CG is the “hang from a string” method. The hang from a string method also requires two unique lines through an object to calculate the 3D CG. If an object is hung by a single string, the CG of the object will fall inline with the string supporting the object. Once the object has been hung from two separate locations on its body, the two unique lines will intersect at the three dimensional CG of the object. This method is inaccurate for many reasons. There is no straightforward way to measure the direction of the unique lines as they pass through the object, hence the intersection of the two lines will have great inaccuracies. Additionally, this method is not practical for objects weighing more than ten or fifteen pounds as it becomes very hard to lift and manipulate them correctly using a thin cable.

Based on volume and density characteristics, many Computer Aided Design (“CAD”) programs can accurately and precisely calculate the center of gravity of a single object or of an assembly of objects. This method is recommended for very well defined systems, where parts are accurately modeled, material properties are well defined, and all of the system's components are included in the CAD model. However, many real world objects are made of literally thousands of components that have unknown geometries and or material properties. In many cases, it is not feasible (or even impossible) to manually define the shapes and densities as required to create an accurate CG location. A final disadvantage of this system is that it cannot account for parts with variable densities.

SUMMARY OF SOME EMBODIMENTS

In some embodiments, the system includes a bed for supporting the object in an immovable position. The bed is attached to a frame that is supported near at least a first edge and a second edge by at least one force measuring device per edge. The bed is tiltable about one of the edges. The system also includes a processor for processing force measurement data collected from each force measuring device. The processor is configured to calculate the object's center of gravity along a z-axis based on a ratio of a cosine of the bed's angle of tilt multiplied by the center of gravity of the object along a y-axis in a flat configuration minus the center of gravity of the object along the y-axis in a tilted configuration to the sine of the angle of tilt.

An embodiment of a method for measuring an object's center of gravity includes the steps of placing the object on a flat bed that is tiltably attached to a frame (the frame is supported at extreme ends by a plurality of force measuring devices); collecting data from the force measuring devices to determine the object's center of gravity along an x-axis and the object's center of gravity along a y-axis; tilting the flat bed to a defined angle; collecting data from the force measuring devices to determine the object's center of gravity along a tilted-y-axis; and calculating the object's center of gravity along a z-axis based on a ratio of a cosine of the bed's angle of tilt of the bed multiplied by the center of gravity of the object in a y-axis in a flat configuration minus the center of gravity of the object in the y-axis in a tilted configuration to the sine of the angle of tilt.

DETAILED DESCRIPTION OF SOME EMBODIMENTS

With reference toFIGS. 1-3, the system2generally includes a bed4for supporting an object6in an immovable position. The bed4is attached to a frame8that is supported near at least a first edge10and a second edge12by at least one force measuring device14per edge. The bed4is tiltable about one of the edges. The system2also includes a processor16for processing force measurement data collected from each force measuring device14. The processor16is configured to calculate the object's center of gravity along a z-axis based on a ratio of a cosine of the bed's angle of tilt multiplied by the center of gravity of the object along a y-axis in a flat configuration minus the center of gravity of the object along the y-axis in a tilted configuration to the sine of the angle of tilt. Thus, the processor16implements the following equation:
CGz—Flat=[cos θ*CGy—Flat−CGy—Angled]/sin θ  (1)

The greater the angle θ, the more accurate the center of gravity calculation will be. As the calculation of the center of gravity depends on the angle θ of the bed4relative to the frame (and more particularly relative to a plane normal to the gravity vector), the bed4should be tiltable along only one axis. That way, the center of gravity and the x-axis will remain constant and only the center of gravity in the y-axis will be affected by the tilt. Also, it is beneficial to reduce the amount of freedom in any axis because the lower the degree of freedom in any axis—x, y or z, the lower the amount of measurement inaccuracy due to relative motion of the object and measuring device that will be detected by the force measuring devices14.

The bed4can be any shape or cross-section and density. Holes20can be drilled into the bed4to decrease the amount of weight of the bed4, thereby decreasing the effect of the bed4on the force measuring devices14. The holes can also be used to secure the object6to the bed4. In any event, the bed4should be rigid enough so that the position of the object6relative to the bed4is not disturbed when tilting the bed from a horizontal position to a tilted position. Any sag in the bed4could cause the calculation of the height of the center of gravity to be distorted.

To help maintain the object in a fixed position, a stop18is fixedly attached to the bed4for preventing slip of the object6between the flat and tilted configurations. A more rigid configuration is preferable as this will resist bending moments. The stop18should be secure to the bed4by pegs or screws (not shown) that interact with holes20. However, a person having ordinary skill in the art will understand that the stop18can be secured to the bed by any other securing means as long as the stop18does not shift when the bed4is repositioned from a flat configuration to a tilted configuration. Also, the stop18should be shaped so that it conforms to the shape of the object6. Thus, any moment on the stop18would be reduced as force from the object6is more evenly distributed along the length of the stop18. Also, a stop18being rigid and having a shape or profile conforming to the shape or profile of the object6being measured makes the measurement of the center of gravity of the object6repeatable.

The system2and the bed4should be parallel to a plane that is normal to the gravity vector. The system2is shown inFIG. 2with the bed4in a flat configuration. It is when the system2is in this configuration that the bed4should lie in a plane that is normal to the gravity vector. Offset to the gravity vector can negatively influence the calculations. However, such a negative influence can be corrected by mathematical calculation if necessary. Two level indicators can be placed on the frame, each in a direction of the x- and y-axes to indicate whether the plane of the bed is not perpendicular to the gravity vector. The level indicators can also be configured to provide an indication to the processor16of the angle that the bed is offset from the plane perpendicular to the gravity vector. A dynamometer would help compensate for the bed4not being perpendicular to the gravity vector; however, the location of where the gravity vector intersects the bed4must be determined to compensate for the offset.

The frame8is shown in the accompanying figures as rectangular with four force measuring devices14. However, a person having ordinary skill in the art will understand that any shaped frame can be used in system2. Also, less than four force measuring devices14are possible as long as an x and a y center of gravity can be determined. In the present system, however, a first, a second, a third and a fourth force measuring device14are used to determine the centers of gravity of an object6in the x and y directions using the following equations:
CGx—Left Axis=B*[FBR+FFR]/[FBR+FBL+FFR+FFL];  (2)
CGx—Right Axis=B−[B*[FBL+FFL]/[FBR+FBL+FFR+FFL]];  (3)
CGx=[CGx—Left Axis+CGx—Right Axis]/2;  (4)
CGy—Back Axis=L*[FFR+FFL]/[FBR+FBL+FFR+FFL];  (5)
CGy—Front Axis=L−[L*[FBR+FBL]/[FBR+FBL+FFR+FFL]]; and  (6)
CGy=[CGy—Back Axis+CGy—Front Axis]/2;  (7)

whereB=width of the bed along the x-axis;L=length of the bed along the y-axis;FFR=force data from front right force measuring device;FFL=force data from front left force measuring device;FBR=force data from back right measuring device; andFBL=force data from back left measuring device.

The force measuring device14is any device that can determine the weight of an object. It will be understood that as different objects are placed on the bed4, each force measuring device14will experience a different application of force. Thus, through the equations shown above, the center of gravity can be calculated. The placement of each device should be outside the outermost boundary of the object regardless of the shape of the frame8, i.e., triangular, pentagonal, etc., and of the number of force measuring devices14, i.e., less or more than four devices. It is thereby more likely that a proper center of gravity of an object6will be obtained.

The processor16uses equations (2)-(7), when determining the center of gravity of the object along an x-axis. Equation (2) (and similarly equation (3)) is the result of a ratio between the sum of the force data of the first and third force measuring devices14(for the first horizontal side or the second and fourth measuring devices14for the second horizontal side) and the sum of the first, second, third and fourth measuring devices14. Equation (4) is the result of the average between the center of gravities of the first horizontal side and the second horizontal side. Equation (5) (and similarly equation (6)) is the result of a ratio between the sum of the force data of the first and second force measuring devices14(for the first lateral side or the third and fourth lateral side for the second lateral side) and the sum of the first, second, third and fourth measuring devices. Equation (7) is the average between the center of gravities of the first and second lateral sides of the object6.

The frame8is shown in the figure as being propped up by two supports22. A person having ordinary skill in the art will understand that the system2is not limited to the use of two supports22; a greater or fewer number of supports22can be used. A person having ordinary skill in the art will also understand that the supports22do not have to be limited to those shown in the drawings; any other type of supports22can be used as long as the supports22allow the bed4to tilt upward from the frame8and the angle of tilt is measurable. As suggested above, the degree of freedom of the bed4in the tilted configuration should be kept minimal. Thus, if two supports22are used as shown in the figures, the final position of both supports22should be synchronized and stable, allowing processor16can to take an accurate measurement from force measuring devices14.

The center of gravity of the y-axis of the object6in the tilted configuration is calculated by the processor16by determining a difference between the location of the center of gravity of the object6along the y-axis in the flat configuration multiplied by the cosine of the angle of tilt and the center of gravity of the object6along an initial z-axis multiplied by the sine of the angle of tilt. This result is represented by the following equation:
CGy—Angled=cos θ*CGy—Flat−sin θ*CGz—Flat.  (8)

To determine the center of gravity of the object6in the z-axis in a flat configuration, this equation can be rearranged to obtain equation (1) above. Similarly, to obtain the center of gravity of an object6in the z-axis in a tilted configuration, the following equation is used:
CGz—Angled=sin θ*CGy—Flat+cos θ*CGz—Flat(9)

FIG. 4shows a method100for measuring an object's center of gravity. Method100may begin at step110, which involves placing the object6on the flat bed4. Step120then involves collecting data from the force measuring devices to determine the object's center of gravity along the x-axis and the object's center of gravity along a y-axis. Step130then involves tilting the flat bed4to a defined angle theta (A) as shown inFIG. 3. Step140then involves collecting data from the force measuring devices14, such as by processor16, to determine the object's center of gravity along a tilted-y-axis (determining the center of gravity along the x-axis in a tilted configuration is not necessary as the center of gravity in the x-axis will not change due to the tilt of the object6). Then, at step150, the object's center of gravity along a z-axis is calculated using equation (1) above. The greater the angle of tilt of the bed4, the more accurate the measurement will be.

Noise should be eliminated from the calculation of the object's center of gravity. One source of noise results from movement of the object6on the flat bed4. This is mitigated with proper use of stop18as previously described. A second source of noise results from subtracting out the influence of all non-object system hardware from the CG calculation. More uncertainty in the value of the system's CG (i.e., the system minus the object being measured), leads to more noise in the calculation of the object's CG. The center of gravity of the system should be known to an acceptable level of certainty prior to the final calculation. If the system's CG has been previously defined, the processor16can accept this parameter as a given. If the system's CG has not been defined, the processor can determine the system's CG using the techniques disclosed herein.

To get an accurate determination of the center of gravity of the object6, the centers of gravity of the frame8and the bed4can be subtracted by the processor16from the calculation of the center of gravity of the bed4and frame8combined with the object6. In a subject twenty-six inches wide by forty inches long, the accuracy is to within a tenth of an inch. Regarding scale, the size of the system should change as the scale of the object6changes.

Many modifications and variations of the System and Method for Measuring an Object's Center of Gravity are possible in light of the above description. Within the scope of the appended claims, the embodiments of the system and method described herein may be practiced otherwise than as specifically described. The scope of the claims is not limited to the implementations and the embodiments disclosed herein, but extends to other implementations and embodiments as may be contemplated by those having ordinary skill in the art.