DESC:TITLE OF THE INVENTION: AN APPARATUS FOR MARSHALLING STABILITY MECHANISMS OF SAUNTERING MEMBERS
FIELD OF THE INVENTION
The present disclosure is generally related to sauntering members. The present disclosure is particularly related to marshalling of sauntering members. The present disclosure is more particularly related to an apparatus, for: marshalling stability mechanisms of sauntering members.
BACKGROUND OF THE INVENTION
The norm followed worldwide is to configure stability mechanisms, for worst conditions and maximum loads. While this may be acceptable, in respect of sauntering members that are driven, by (or through) internal combustion engines, this may have adverse consequences, in relation to electric sauntering members, where mass has a considerable effect, on efficiency, range, and/or the like.
Currently, there is no comprehensive solution available, in relation to marshalling stability mechanisms of sauntering members.
There is, therefore, a need in the art, for: an apparatus, for marshalling stability mechanisms of sauntering members, which overcomes the aforementioned drawbacks and shortcomings.
SUMMARY OF THE INVENTION
An apparatus, for marshalling stability mechanisms of sauntering members, is disclosed. Said apparatus broadly comprises: a plurality of first stability mechanisms; a plurality of second stability mechanisms; a first marshalling member; a second marshalling member; a plurality of sensing members; and a plurality of yoyoing members. said plurality of first stability mechanisms and the plurality of second stability mechanisms absorb and dampen shocks.
Said plurality of sensing members senses mechanical strain applied on the plurality of first stability mechanisms and the plurality of second stability mechanisms in real-time and generates corresponding output voltage signals proportional to the applied mechanical strain. Each sensing member, among said plurality of sensing members, is associated with a coil of a respective yoyoing member, among the plurality of yoyoing members.
Said first marshalling member receives the output voltage signals from the plurality of sensing members and subsequently determines a current payload. From the payload, a range is estimated by said first marshalling member. Said first marshalling member is communicatively associated with a second marshalling member.
In an embodiment, said each sensing member, among the plurality of sensing members, is communicatively associated with a respective signal amplification circuit for amplification of the output voltage signals. The respective signal amplification circuit, in turn, is communicatively associated with a respective analog-to-digital converter for converting analog output voltage signals to digital signals. The digital signals are subsequently transmitted to the first marshalling member.
In an embodiment, the apparatus is configured, monitored, and controlled remotely, by an at least a user, through an application on a computing device. The at least one user interacts, with the apparatus, through a user interface (or display) of the computing device, which functions as an interface.
The disclosed apparatus offers at least the following advantages: is simple in construction; is cost-effective; may be configured to be retrofitted (onto existing sauntering members); leads to dynamic range prediction, in real-time; and/or results in a smooth, comfortable driving experience.
BRIEF DESCRIPTION OF THE DRAWINGS
Figure 1 and Figure 2 respectively illustrate top view and side view of a sauntering member, with an apparatus, for marshalling stability mechanisms of sauntering members, in accordance with an embodiment of the present disclosure;
Figure 3 illustrates configuration of a plurality of sensing members, in accordance with an embodiment of the present disclosure;
Figure 4 illustrates operation of a plurality of sensing members, in accordance with an embodiment of the present disclosure;
Figure 5 illustrates force displacement characteristics of a plurality of the sensing members, in accordance with an embodiment of the present disclosure;
Figure 6 illustrates a flow chart describing processing of output voltage signals from a plurality of sensing members, in accordance with an embodiment of the present disclosure;
Figure 7 illustrates workflow involved, during operation of an apparatus, for marshalling stability mechanisms of sauntering members, in accordance with an embodiment of the present disclosure; and
Figure 8 illustrates a graph representing correlation between range and weight distribution, in accordance with an embodiment of the present disclosure.
DETAILED DESCRIPTION OF THE INVENTION
Throughout this specification, the use of the words “comprise” and “include”, and variations, such as “comprises”, “comprising”, “includes”, and “including”, may imply the inclusion of an element (or elements) not specifically recited. Further, the disclosed embodiments may be embodied, in various other forms, as well.
Throughout this specification, the use of the word “apparatus” is to be construed as: “a set of technical components (also referred to as “members”) that are communicatively and/or operably associated with each other, and function together, as part of a mechanism, to achieve a desired technical result”.
Throughout this specification, the use of the words “communication”, “couple”, and their variations (such as communicatively), is to be construed as being inclusive of: one-way communication (or coupling); and two-way communication (or coupling), as the case may be, irrespective of the directions of arrows, in the drawings.
Throughout this specification, where applicable, the use of the phrase “at least” is to be construed in association with the suffix “one” i.e. it is to be read along with the suffix “one”, as “at least one”, which is used in the meaning of “one or more”. A person skilled in the art will appreciate the fact that the phrase “at least one” is a standard term that is used, in Patent Specifications, to denote any component of a disclosure, which may be present (or disposed) in a single quantity, or more than a single quantity.
Throughout this specification, where applicable, the use of the phrase “at least one” is to be construed in association with a succeeding component name.
Throughout this specification, the use of the word “plurality” is to be construed as being inclusive of: “at least one”.
Throughout this specification, the use of the phrase “application on a computing device”, and its variations, is to be construed as being inclusive of: application installable on a computing device; website hosted on a computing device; web application installed on a computing device; website accessible from a computing device; web application accessible from a computing device; and/or the like.
Throughout this specification, the use of the phrase “computing device”, and its variations, is to be construed as being inclusive of: the cloud; remote servers; desktop computers; laptop computers; mobile phones; smart phones; tablets; phablets; smart watches; and/or the like.
Throughout this specification, the words “the” and “said” are used interchangeably.
Throughout this specification, the word “sensor” and the phrase “sensing member” are used interchangeably.
Throughout this specification, the use of the word “marshalling”, and its variations, is to be construed as being inclusive of: “automatic monitoring of a sauntering member’s stability mechanisms, for example, for range estimation, tuning the sauntering member’s dynamics, and/or the like”.
Throughout this specification, the use of the phrase “yoyoing member”, and its variations, is to be construed as: “a member that is configured to move forward and backward; a member that is configured to move outward and inward; a member that is configured to expand and compress; and/or the like”.
Throughout this specification, the use of the word “sauntering”, and its variations, is to be construed as: “navigating; moving; locomoting; driving; manoeuvring; and/or the like”.
Throughout this specification, the use of the phrase “sauntering member”, and its variations, is to be construed as being inclusive of: “battery-powered electric vehicles (for example, a four-wheeled electric vehicle; a three-wheeled electric vehicle; and/or the like); autonomous vehicles; and/or the like”. Alternatively, or in addition, the sauntering members may be of any other suitable type known in the art.
Throughout this specification, the use of the phrase “stability mechanisms”, and its variations, is to be construed as: “suspension; suspension systems; and/or the like”.
Throughout the specification, the words “center” and “centre” are used interchangeably.
Throughout this specification, the word “vehicle” and the phrase “sauntering member” are used interchangeably.
Throughout this specification, the phrases “at least a”, “at least an”, and “at least one” are used interchangeably.
Throughout this specification, the disclosure of a range is to be construed as being inclusive of: the lower limit of the range; and the upper limit of the range.
Also, it is to be noted that embodiments may be described as a method. Although the operations, in a method, are described as a sequential process, many of the operations may be performed in parallel, concurrently, or simultaneously. In addition, the order of the operations may be re-arranged. A method may be terminated, when its operations are completed, but may also have additional steps.
An apparatus, for marshalling stability mechanisms of sauntering members (also referred to as “apparatus”), is disclosed. In an embodiment of the present disclosure, as illustrated in Figure 1, Figure 2, and Figure 3, the apparatus broadly comprises: a plurality of first stability mechanisms (1); a plurality of second stability mechanisms (2); a first marshalling member (3; for example, a System Control Unit); a second marshalling member (4; for example, a Vehicle Control Unit, VCU, microcontroller, and/or the like); a plurality of sensing members (5; for example, strain gauges); and a plurality of yoyoing members (6; for example, coil springs).
A person skilled in the art will appreciate the fact that system control units and vehicle control units are known in the art.
Said plurality of first stability mechanisms (1) and the plurality of second stability mechanisms (2) are, for example, symmetrically (or identically) distributed across the sauntering member’s chassis.
In another embodiment of the present disclosure said plurality of first stability mechanisms (1) and the plurality of second stability mechanisms (2) absorb and dampen shocks, while maintaining the sauntering member’s stability under various loads.
For example, the apparatus comprises two first stability mechanisms, two second stability mechanisms, and four sensing members. One sensing member, among the four sensing members, is communicatively associated with one first stability mechanism, among the two first stability mechanisms, while another sensing member, among the four sensing members, is communicatively associated with another first stability mechanism, among the two first stability mechanisms.
Likewise, yet another sensing member, among the four sensing members, is communicatively associated with one second stability mechanism, among the two second stability mechanisms, while a fourth sensing member, among the four sensing members, is communicatively associated with another second stability mechanism, among the two second stability mechanisms.
As illustrated in Figure 3, each sensing member, among said plurality of sensing members (5), is mounted on (or is disposed on, or is disposed at, or is associated with) a coil (may also be referred to as “suspension coil”) of a respective yoyoing member, among said plurality of yoyoing members (6).
Said plurality of sensing members (5) senses any mechanical strain (for example, tension; compression; and/or lateral forces) applied on the plurality of first stability mechanisms (1) and/or the plurality of second stability mechanisms (2) in real-time and generates corresponding output voltage signals proportional to the applied mechanical strain.
As illustrated in Figure 6, a person skilled in the art will appreciate the fact that the said each sensing member, among the plurality of sensing members (5), is communicatively associated with a respective signal amplification circuit for amplification of output voltage signals. The respective signal amplification circuit, in turn, is communicatively associated with a respective analog-to-digital converter for converting analog output voltage signals to digital signals. The digital signals are subsequently transmitted to the first marshalling member (3).
Figure 4 illustrates electrical resistance variations in the plurality of sensing members (5) under various mechanical strains.
The plurality of sensing members (5) requires an initial calibration procedure to establish a correlation between the output voltage signals from said plurality of sensing members (5) and physical parameters (for example: displacement measurements (mm); corresponding output voltage signal (mV); and applied load values (N)) when the mechanical strain is applied and/or removed. The calibration is performed using a controlled setup where displacement can be regulated.
As illustrated in Figure 5, force-displacement relationship in the plurality of sensing members (5) follows a linear pattern characterised by a spring stiffness constant k. This relationship is systematically mapped against the output voltage signals from the plurality sensing members (5) at multiple displacement points.
As illustrated in Figure 7, when the sauntering member starts to move, the apparatus activates the plurality of sensing members (5). At time, T = t0, (when the sauntering member is in a parked position or in a neutral position), said plurality of sensing members (5) senses baseline measurements, which serve as reference values for static condition of the stability mechanism.
At time, T = t0 + t1, the plurality of sensing members (5) continuously senses changes in the mechanical strain, indicating variations in payload or load distribution on the sauntering member.
When a change in mechanical strain is sensed, the first marshalling member (3) collects raw output voltage signals from the plurality of sensing members (5), compares the same with an at least a predefined threshold value (or an at least a threshold range, or an at least a threshold condition), and, for example, calculates a current payload. Output of the first marshalling member (3) is further transmitted to the second marshalling member (4).
In yet another embodiment of the present disclosure, said first marshalling member (3) and the second marshalling member (4) are centrally positioned in the sauntering member to minimise communication latency and ensure efficient data processing.
In yet another embodiment of the present disclosure, the apparatus is configured, monitored, and controlled remotely, by an at least a user, through an application on a computing device. The at least one user interacts, with the apparatus, through a user interface (or display) of the computing device, which functions as an interface. Results of the analyses (or comparisons) performed, by the first marshalling member (3), are displayed, on the user interface of the computing device.
Decisions taken, by the second marshalling member (4), are also displayed, on the user interface of the computing device.
Communicative association with the application on a computing device may occur, (for example, through the second marshalling member (4)) through wired or wireless technologies, such as: intranet; internet; mobile data; Bluetooth Low Energy; LoRa; ZigBee; and/or the like.
A person skilled in the art will appreciate the fact that the apparatus may be powered, by an at least a power source. The at least one power source may be of any suitable type known in the art. For example, the at least one power source is a rechargeable battery.
The disclosed apparatus was tested as follows.
Parameters for calculating dynamic range are provided in the below mentioned table.
Parameter Value
Kerb Vehicle Weight (KVW) 850 kg
Front Right Wheel Weight 285 kg
Front Left Wheel Weight 285 kg
Rear Wheel Weight 285 kg
Front Suspension Stiffness 35 N/mm
Rear Suspension Stiffness 25 N/mm
Max displacement 21 m

Data Acquisition
The plurality of sensing members (5) senses the linear displacement caused by the load applied to the stability mechanisms (1 and 2). As the stability mechanisms (1 and 2) compress or decompress, the plurality of sensing members (5) generates a proportional analog voltage.
Linear relationship between the output voltage signal (V) and displacement x is represented by the following equation:
V = S · x
where:
S - Sensitivity of the plurality of sensing members (5) (V/mm),
x - Displacement (mm)
The displacement x is derived from the following equation as per Hooke’s Law:

where:
F – Applied load
k - Spring stiffness constant
m – Mass
g - Acceleration due to gravity
Calibration
Calibration of the output voltage signals from the plurality of sensing members (5) by the first marshalling member (3) involved following steps.
Controlled Testing: Known weights were applied to the stability mechanisms (1 and 2) and the corresponding output voltage (V) signals were recorded.
Mapping Table: A calibration table was created correlating weight (kg), displacement (mm), and output voltage signals.
For example, with a maximum displacement of about 21 mm and a voltage range of about 0 V to about 5 V, the sensitivity was calculated by the following equation.

Linear Mapping: From the calibrated data, a relationship was derived to convert real-time output voltage signals into displacement and corresponding payload weight, as explained below.
Voltage to Displacement Conversion: The output voltage (V) signals from the plurality of sensing members (5) were converted into displacement (x) using the value of sensitivity S as given below.

For example, if V = about 3.57 V and S = about 0.238 V/mm:

The results of conversion of output voltage signals to displacement are provided in the table given below.
Output Voltage Signals (V) Displacement (mm)
0.00 0
0.714 3
1.428 6
2.142 9
2.856 12
3.57 15
4.284 18
4.998 21
Displacement to Force Conversion: The force F acting on the stability mechanisms (1 and 2) was calculated by the following equation.
F = k · x
where:
k = Spring stiffness (N/mm),
x = Displacement (mm)
Force to Weight Conversion: The force was then converted into weight by the following equation.

Alternatively, conversion of displacement to weight can be done by the following equation.

For example, if x = about 15 mm and k = about 35 N/mm,

Results of conversion, in relation to the plurality of first stability mechanisms (1), are provided in the table given below.
Displacement (mm) Mass (kg)
0 0.0
3 10.71
6 21.428
9 32.143
12 42.857
15 53.571
18 64.286
21 75

Results of conversion, in relation to the plurality of second stability mechanisms (2), are provided in the table given below.
Displacement (mm) Mass (kg)
0 0.0
3 7.653
6 15.306
9 22.959
12 30.612
15 38.265
18 45.918
21 53.571

Dynamic Payload Estimation: By summing up the calculated weights for both the plurality of first stability mechanisms (1) and the plurality of second stability mechanisms (2), the apparatus calculates the total payload dynamically by the following equation
Total Payload = mFR + mFL + mR
For example, if x = about 15 mm:
Then, Total Payload = 53.571 + 53.571 + 38.265 = 145.407 kg
Vehicle Weight: The Gross Vehicle Weight (GVW) is updated dynamically by adding the calculated payload to the Kerb Vehicle Weight (KVW):
GV W = KV W + Payload
For example, if payload = about 145.407 kg,
GV W = 850 + 145.407 = 995.407 kg
Dynamic Range Estimation
The updated GVW value is relayed to the second marshalling member (4), and the apparatus recalculates the sauntering member’s range. The range (R) is inversely proportional to the payload mass (M) as per the following equation.

As illustrated in Figure 8, relationship between the sauntering member’s range and payload mass followed a non-linear declining curve, where: maximum range of about 1,500 units is achieved at minimum weight (about 500 units); the range decreases more rapidly after about 700 weight units; and the range approaches minimum values as the weight approaches about 800 units.
The apparatus also enables real-time range calculations through continuous marshalling of payload mass by the following equation. In the
Experimental data confirmed the inverse relationship between the sauntering member’s range and payload mass, with said range reduction becoming more pronounced at higher payload weights.
In yet another embodiment of the present disclosure, an extensive (or full-fledged knowledge base) is stored, on the cloud, with a refined version of the knowledge base (or a fine-tuned version of the knowledge base, or a minimalistic version of the knowledge base, or a compressed version of the knowledge base, or a pruned version of the knowledge base) being stored, on the first marshalling member (3).
The knowledge base, on the cloud, syncs at regular, periodic intervals, with the at least first marshalling member (3), and is configured to learn and improve itself, based on the data received continuously, from the first marshalling member (3).
The disclosed apparatus offers at least the following advantages: is simple in construction; is cost-effective; may be configured to be retrofitted (onto existing sauntering members); leads to dynamic range prediction, in real-time; and/or results in a smooth, comfortable driving experience.
A person skilled in the art will appreciate the fact that the apparatus, and its various components, may be made of any suitable materials known in the art. Likewise, a person skilled in the art will also appreciate the fact that the configurations of the apparatus, and its various components, may be varied, based on requirements.
Implementation of the disclosure can involve performing or completing selected tasks manually, automatically, or a combination thereof. Further, according to actual instrumentation of the disclosure, several selected tasks could be implemented, by hardware, by software, by firmware, or by a combination thereof, using an operating system. For example, as software, selected tasks according to the disclosure could be implemented, as a plurality of software instructions being executed, by a computing device, using any suitable operating system.
In yet another embodiment of the disclosure, one or more tasks, according to embodiments of the disclosure, is (or are) performed, by a data processor, such as a computing platform, for executing a plurality of instructions. Further, the data processor includes a processor, and/or non-transitory computer-readable medium, for storing instructions and/or data, and/or a non-volatile storage, for storing instructions and/or data. A network connection, a display, and/or a user input device, such as a keyboard (or mouse), are also provided.
It will be apparent to a person skilled in the art that the above description is for illustrative purposes only and should not be considered as limiting. Various modifications, additions, alterations, and improvements, without deviating from the spirit and the scope of the disclosure, may be made, by a person skilled in the art. Such modifications, additions, alterations, and improvements should be construed as being within the scope of this disclosure.

LIST OF REFERANCE NUMERALS
1- Plurality of First Stabilising Mechanisms
2- Plurality of Second Stabilising Mechanisms
3- First Marshalling Member
4- Second Marshalling Member
5- Plurality of Sensing Members
6- Plurality of Yoyoing Members
,CLAIMS:1. An apparatus, for marshalling stability mechanisms of sauntering members, comprising:
a plurality of sensing members (5) that senses mechanical strain applied on a plurality of first stability mechanisms (1) and a plurality of second stability mechanisms (2) in real-time and generates corresponding output voltage signals proportional to the applied mechanical strain, with each sensing member, among said plurality of sensing members (5), being associated with a coil of a respective yoyoing member, among a plurality of yoyoing members (6); and
a first marshalling member (3) that receives the output voltage signals from the plurality of sensing members (5) and subsequently determines a current payload, from which, a range is estimated, with said first marshalling member (3) being communicatively associated with a second marshalling member (4).
2. The apparatus, for marshalling stability mechanisms of sauntering members, as claimed in claim 1, wherein: said apparatus comprises two first stability mechanisms, two second stability mechanisms, and four sensing members.

3. The apparatus, for marshalling stability mechanisms of sauntering members, as claimed in claim 1, wherein: each sensing member, among the plurality of sensing members (5), is communicatively associated with a respective signal amplification circuit.

4. The apparatus, for marshalling stability mechanisms of sauntering members, as claimed in claim 3, wherein: the respective signal amplification circuit is communicatively associated with a respective analog-to-digital converter that is communicatively associated with the first marshalling member (3).

5. The apparatus, for marshalling stability mechanisms of sauntering members, as claimed in claim 4, wherein: said apparatus is configured, monitored, and controlled remotely, through an application on a computing device.