JP2001183162A - Attitude angle detecting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a compact attitude angle detecting device. SOLUTION: The attitude angle detecting device to detect angles of rotation on three axes which intersect one another at right angles is constituted of three gyroscopes to detect the angular velocity of the three axes, an acceleration sensor to detect the acceleration of two axes, and a magnetic azimuth sensor to detect the geomagnetism of two axes. A horizontal substrate 2 is provided with one gyroscope, the acceleration sensor, magnetic azimuth sensor, and an inter-substrate connector, and a vertical substrate 3 is provided with two gyroscopes and an inter-substrate connector. The horizontal plate 2 and vertical substrate 3 are assembled in such a way that they intersect each other at right angels by the inter-substrate connectors and are housed in a case.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a posture angle detecting device for detecting a posture angle of a moving body, and more particularly, to a structure of a substrate and a case used therein.

[0002]

2. Description of the Related Art The present inventors have previously proposed a posture angle detecting device in Japanese Patent Laid-Open No. 11-212474. The attitude angle detecting device is used for controlling and detecting the attitude of a moving body,
A gyroscope, a two-axis acceleration sensor, and a two-axis magnetic azimuth sensor, a motion angle calculation device that detects a motion angle based on angular velocities output by the three gyroscopes, an acceleration sensor, A static angle calculating device that detects an attitude angle based on acceleration and geomagnetism output from a magnetic direction sensor, a determining device that determines whether the result of the static angle detection is correct or incorrect, and a motion angle calculating device that is based on the calculation result of the determining device And a posture angle calculation device for calculating a posture angle to be output using the result of the static angle calculation device.

FIG. 6 shows a state where components are mounted on a board used in a conventional attitude angle detecting device. As shown in FIG. 6, the conventional posture angle detecting device includes a horizontal substrate 12 arranged in a horizontal direction and a vertical substrate 13 arranged in a vertical direction. Gyroscopes 21 and 22 are provided on the horizontal substrate 12.
, An acceleration sensor 31 and a magnetic direction sensor 41 are mounted. The vertical board 13 has a gyroscope 2
3 has been implemented. The horizontal board 12 and the vertical board 13 are provided with inter-board connectors 51 and 52, respectively.

[0004] As shown in FIG.
The inter-board connectors 5 are arranged such that the vertical boards 13 are orthogonal to each other.
The conventional attitude angle detecting device 11 as shown in FIG. 8 has been obtained by assembling by fitting the first and the second 52, and storing them in a rectangular cylindrical case.

However, in the conventional attitude angle detecting device, there are restrictions such as that three gyroscopes must be arranged orthogonally, and that an acceleration sensor and a magnetic sensor must be arranged on a horizontal plane. For this reason, miniaturization was hindered.

[0006]

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems and to provide a small attitude angle detecting device.

[0007]

SUMMARY OF THE INVENTION The present invention relates to a posture angle detecting device for detecting rotation angles around three axes orthogonal to each other, comprising three gyroscopes for detecting angular velocities of three axes, An orientation angle detection device, comprising an acceleration sensor for detecting the acceleration of the object and a magnetic azimuth sensor for detecting the biaxial geomagnetism, wherein each of the sensors is mounted on two types of substrates and housed in a case, The one gyroscope, the acceleration sensor, the magnetic azimuth sensor, and the inter-board connector are provided on the board; the second gyroscope and the inter-board connector are provided on the second board;
And a second board is assembled so as to be orthogonal to each other by the inter-board connector.

Further, in the present invention, the substrate preferably has a shape in which a rectangular plate is cut out, and the first substrate has a center of one short side and an end portion extending from the short side to a long side. Wherein the second substrate has a step-shaped notch extending from one short side to the long side of the second substrate.

The present invention also provides the inter-board connector and the acceleration sensor on the front and back of the first board, respectively, and the inter-board connector and the gyroscope on the front and back of the second board. Are provided, respectively, in the above-described posture angle detecting device.

Further, according to the present invention, the case comprises a main body and a lid, and the main body is provided with a sloped portion in which one corner of a surface facing the storage opening of the substrate is cut off. A posture angle detection device as described above, which is a feature.

[0011]

Embodiments of the present invention will be described below.

FIG. 1 is a plan view showing the shape of a substrate used in the attitude angle detecting device of the present invention. FIG. 2 is an explanatory diagram showing a state in which each component is mounted on a horizontal board used in the attitude angle detecting device of the present invention. FIG. 3 is an explanatory view showing a state where each component is mounted on a vertical board used in the attitude angle detecting device of the present invention. FIG. 4 is a perspective view showing a method of assembling a substrate used in the attitude angle detecting device of the present invention. FIG. 5 is a perspective view showing an appearance of a posture angle detecting device according to another embodiment of the present invention. In these substrates, other components such as resistors, wiring, external connection terminals, and the like are omitted, and only main components are shown.

FIG. 1A shows an attitude angle detecting device according to the present invention.
A horizontal substrate 2 arranged in a horizontal direction as shown in FIG.
And a vertical substrate 3 arranged in a vertical direction as shown in FIG.

The horizontal substrate 2 has a size of about 23 mm × about 34 mm and a thickness of about 1 mm. In addition, two cutouts are provided on one short side, and the cutouts are about 7 mm × about 9 mm and about 6 mm × about 8 mm, respectively.

The vertical substrate 3 has a size of about 18 mm × about 34 mm and a thickness of about 1 mm. Further, a step-shaped notch is provided from one short side to the long side, and the cut-out portion has a size of about 6 mm × about 9 mm and about 5 mm × about 26 mm.

As shown in FIG. 2A, a gyroscope 21 is mounted on the surface (component surface) of the horizontal substrate 2 at an end of a short side without a notch. A board-to-board connector 51 for connecting to a vertical board is provided substantially at the center.

As shown in FIG. 2B, an acceleration sensor 31 for detecting biaxial acceleration is mounted on the rear surface (solder surface) of the horizontal substrate 2 from a slightly cut-out portion at the center. . A magnetic azimuth sensor 41 for detecting biaxial geomagnetism is mounted in a notch in the center of the end.

Further, as shown in FIG.
A board-to-board connector 52 for connection to the horizontal board is provided at the center of the step on the front surface (component side).

As shown in FIG. 3B, on the back surface (solder surface) of the vertical substrate 3, a gyroscope is provided at the center of a long side without a notch and at the end of a short side without a notch, respectively. 2
2 and 23 are mounted.

The gyroscopes 21, 22, and 23 have
A semiconductor type acceleration sensor was used for the piezoelectric vibrating gyroscope and the acceleration sensor 31, and an MR type geomagnetic sensor was used for the magnetic direction sensor 41.

As shown in FIG. 4, the horizontal board 2 and the vertical board 3 are assembled in an L-shape so as to be orthogonal to each other by fitting the connectors 51 and 52 between the boards to form a rectangular cylindrical case. Then, the attitude angle detecting device according to the embodiment of the present invention having the same shape as the conventional one as shown in FIG. 8 was obtained.

The conventional attitude angle detecting device is 35 mm × 3
In contrast to the size of 2 mm × 26.5 mm, the posture angle detecting device of the present invention has a size of 36 mm × 25 mm × 22.5.
mm, and the present invention was able to reduce the volume by about 30% as compared with the related art.

In order to further reduce the size, a case in which one corner of the upper surface is cut off to provide a slope is used.
Are housed in the case so as to correspond to the side on which the vertical substrate is located and the corner of the case on which the slope is not provided, as shown in FIG. The attitude angle detection device 1 was manufactured. As a result, 12
mm × 9.5mm × 36mm / 2
Further, the size was reduced by about 10%.

[0024]

As described above, according to the present invention,
A small attitude angle detection device could be provided.

Therefore, the attitude angle detecting device of the present invention can be incorporated in a small product such as a head tracker, a game pad, or a portable electronic device.

[Brief description of the drawings]

FIG. 1 is a plan view showing the shape of a substrate used in a posture angle detecting device according to the present invention. FIG. 1A is a plan view of a horizontal substrate. FIG. 1B is a plan view of a vertical substrate.

FIG. 2 is an explanatory view showing a state where components are mounted on a horizontal board used in the attitude angle detecting device of the present invention. FIG. 2 (a)
FIG. 3 is a plan view showing the front side. FIG. 2B is a bottom view showing the back side.

FIG. 3 is an explanatory diagram showing a state where components are mounted on a vertical board used in the attitude angle detecting device of the present invention. FIG. 3 (a)
FIG. 3 is a plan view showing the front side. FIG. 3B is a bottom view showing the back side.

FIG. 4 is a perspective view showing a method of assembling a substrate used in the attitude angle detecting device of the present invention.

FIG. 5 is a perspective view showing the appearance of a posture angle detection device according to another embodiment of the present invention.

FIG. 6 is a plan view showing a state where components are mounted on a board used in a conventional attitude angle detecting device. FIG. 6A is a plan view of a horizontal substrate. FIG. 6B is a plan view of a vertical substrate.

FIG. 7 is a perspective view showing a method of assembling a substrate used in a conventional attitude angle detecting device.

FIG. 8 is a perspective view showing the appearance of a conventional attitude angle detection device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1,11 Attitude angle detection apparatus 2,12 Horizontal board 3,13 Vertical board 21,22,23 Gyroscope 31 Acceleration sensor 41 Magnetic azimuth sensor 51,52 Board-to-board connector

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) G01P 15/00 G01P 15/00 A

Claims (4)

[Claims] 1. An attitude angle detecting device for detecting rotation angles about three axes orthogonal to each other, comprising: three gyroscopes for detecting three-axis angular velocities; and an acceleration sensor for detecting two-axis acceleration. A magnetic azimuth sensor for detecting biaxial geomagnetism, wherein each of the sensors is mounted on two types of substrates and housed in a case. A gyroscope, the acceleration sensor, the magnetic azimuth sensor, and a connector between boards are provided; a second board is provided with the two gyroscopes and a connector between boards; the first board, the second board, Are assembled so as to be orthogonal to each other by the inter-board connector. 2. The substrate according to claim 1, wherein each of the substrates has a rectangular plate notched, and the first substrate has a rectangular shape at a center of one of the short sides and an end extending from the short side to the long side. The attitude angle detecting device according to claim 1, wherein a notch is provided, and the second substrate is provided with a step-shaped notch from one short side to a long side. 3. The inter-board connector and the acceleration sensor are provided on a front surface and a back surface of the first substrate, respectively.
The attitude angle detecting device according to claim 1, wherein the inter-board connector and the gyroscope are provided on a front surface and a back surface of the second substrate, respectively. 4. The case according to claim 1, wherein the case includes a main body and a lid, and the main body is provided with a sloped portion in which one corner of a surface facing the storage opening of the substrate is cut off. Item 7. The posture angle detecting device according to any one of Items 1 to 3.