JP2001153658A - Setting angle adjusting device for gyro sensor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize a setting angle adjusting device for a gyro sensor for detecting an azimuth capable of automatically adjusting the setting angle of the gyro sensor without confirming the installation angel of a vehicle navigation device body to various vehicles to manually adjust the setting angle to a horizontal angle. SOLUTION: In this setting angle adjusting device for gyro sensor 50 having a gyro sensor 1 for detecting an azimuth on a prescribed surface of a casing to set the detecting surface of the gyro sensor 1 to a horizontal reference, this device comprises a horizontal angle detecting means for detecting the angle difference between the detecting surface of the gyro sensor 1 and the horizontal reference A and a setting angle adjusting means for changing the setting angle of the gyro sensor 1 to the prescribed surface of the casing according to the angle detected by the horizontal angle detecting means.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gyro sensor mounting angle adjusting device for detecting an azimuth angle, and more particularly to a device in which a gyro sensor is mounted on a vehicle navigation apparatus main body.

[0002]

2. Description of the Related Art A vehicular navigation device is used to assist a driver of a vehicle and notify a route to a destination. GPS navigation or autonomous navigation (current mainstream is A hybrid type in which both are combined) is used. 2. Description of the Related Art In a vehicular navigation device using autonomous navigation, a gyro sensor for detecting an azimuth angle that detects an angular velocity is used. The gyro sensor for azimuth angle detection has a characteristic that the output decreases as the mounting angle of the detection surface (a surface parallel to the mounting surface) of the gyro sensor is greatly inclined with respect to the horizontal plane. This output value is obtained by the equation [Svθ = Svo × COSθ; θ is the mounting inclination angle of the detection surface of the gyro sensor with respect to the horizontal surface, Svθ
Indicates the sensitivity when the mounting tilt angle is θ, and Svo indicates the sensitivity when the mounting tilt angle is 0 °], and is influenced by the value of COS θ by the mounting tilt angle θ of the detection surface of the gyro sensor with respect to the horizontal plane.

Therefore, in order to make the horizontal plane and the angular velocity detecting surface of the gyro sensor for detecting an azimuth angle as coincident as possible, and to improve the location accuracy of the vehicular navigation device, the conventional technology is installed at an arbitrary angle in the vehicle. A method of manually adjusting the mounting angle of the mounting surface of the gyro sensor with respect to the predetermined surface of the navigation device main body so that the mounting surface of the gyro sensor mounted on the predetermined surface of the navigation device main body is a horizontal surface on the ground has been devised. ing.

[0004]

In such a vehicular navigation device, the mounting angle of the main body of the navigation device to the vehicle is different when the vehicle is mounted on various vehicles.
Each time, after confirming the mounting angle to the vehicle, it is necessary to manually adjust the mounting angle of the gyro sensor with respect to the predetermined surface of the vehicle navigation device main body so that the mounting surface of the gyro sensor is on the ground horizontal plane. In some cases, the operation was extremely troublesome for the user, and had a problem in reliability.

The present invention solves such a problem, and an azimuth sensor for detecting an azimuth angle is mounted on a vehicle navigation apparatus main body so that the mounting surface of the gyro sensor is on a horizontal plane on the ground.
An object of the present invention is to realize a vehicular navigation device that can automatically adjust a mounting angle of a gyro sensor to a vehicular navigation device body.

[0006]

In order to achieve the above object, according to the present invention, a gyro sensor for detecting an azimuth is mounted on a predetermined surface of a housing, and a detection surface of the gyro sensor is set on a horizontal basis. A gyro sensor mounting angle adjusting device for adjusting a mounting angle, a horizontal angle detecting means for detecting an angle difference between a detection surface of the gyro sensor and the horizontal reference, and an angle difference detected by the horizontal angle detecting means. And mounting angle adjusting means for changing the mounting angle of the gyro sensor with respect to a predetermined surface of the housing according to the above.

The horizontal angle detecting means is attached to a predetermined surface of the housing, and the horizontal angle detecting means detects an inclination angle between a horizontal reference and a predetermined surface of the housing. The mounting angle adjusting means changes the mounting angle of the gyro sensor with respect to a predetermined surface of the housing in accordance with the inclination angle detected by the horizontal angle detecting means. .

The gyro sensor is mounted in parallel with the gyro sensor. The gyro sensor further includes mounting angle detecting means for detecting an angle difference between a detection surface of the gyro sensor and a horizontal reference. After the mounting angle with respect to the predetermined surface of the housing is changed, the mounting angle adjusting means further corresponds to the angle difference between the inclination angle and the mounting angle detected by the mounting angle detecting means,
The angle of attachment of the gyro sensor to a predetermined surface of the housing is changed again.

Further, the horizontal angle detecting means is attached in parallel with the gyro sensor, and is a mounting angle detecting means for detecting an angle difference between a detection surface of the gyro sensor and a horizontal reference. It is.

[0010] The housing in which the gyro sensor is mounted is a body of a navigation device.

[0011]

Embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a diagram showing the operation of the gyro sensor mounting angle adjusting device according to the first embodiment of the present invention. FIG. 1 (a) is a state diagram when the device is mounted on a vehicle.
FIG. 2B is a diagram illustrating an operation state before and after adjustment, and FIG. 2 is a diagram illustrating a structural appearance of a mounting angle adjustment device for a gyro sensor according to the first embodiment of the present invention. 6 is a diagram showing an operation flowchart of the gyro sensor mounting angle adjusting device according to the first embodiment. In FIGS. 1 and 2, for convenience of explanation, the gantry 2 and the horizontal angle detection sensor 3 are in a state of floating above the bottom surface of the housing.

A gyro sensor mounting angle adjusting device 50 according to the first embodiment is, as shown in FIGS.
A gyro sensor 1 for detecting the azimuth of the vehicle, which is installed in the vehicle navigation apparatus main body 21, an attachment base 4 for installing the gyro sensor 1 for detecting the azimuth, and an attachment base A horizontal angle rotation mechanism 15 for horizontally rotating and adjusting the position of the frame 4, and a gantry 2 provided on the bottom surface of the housing of the vehicle navigation apparatus main body 21.
, A horizontal angle detection sensor 3 provided on the bottom surface of the housing of the vehicle navigation device main body 21, and a control device 12 for controlling the rotation of the mounting base 4 horizontally. The mounting arrangement of each component of the gyro sensor mounting angle adjusting device 50 when the vehicle navigation device main body 21 is mounted on the vehicle is stopped on a horizontal plane as shown in FIGS. 1 and 2. Each vehicle has the following arrangement relationship.

The vehicle navigation apparatus main body 21 is mounted on the vehicle in a state in which the mounting reference plane B (in this case, the bottom surface of the housing) of the main body 21 is inclined at the mounting angle S1 with respect to the ground horizontal reference plane A which is a flat ground. is set up. The gantry 2 provided on the bottom surface of the housing of the vehicle navigation device main body 21 is mounted with the gantry mounting surface C parallel to the mounting reference surface B of the housing 21. The mounting base 4 has the mounting surface D of the mounting base 4 mounted parallel to the gantry mounting surface C before adjustment, and the mounting surface D of the mounting base 4 parallel to the ground horizontal reference plane A after adjustment. Thus, the rotation of the mounting base 4 is corrected by the mounting angle S1 (corresponding to the inclination angle S1 of the vehicle navigation apparatus main body 21 with respect to the ground horizontal reference plane A).

By this rotation correction, the mounting surface E of the azimuth detecting gyro sensor 1 mounted parallel to the mounting surface D of the mounting base 4 becomes parallel to the ground horizontal reference plane A. Since the angular velocity detecting surface G of the azimuth detecting gyro sensor 1 is parallel to the mounting surface E of the azimuth detecting gyro sensor 1, the angular velocity detecting surface G is held parallel to the ground horizontal reference plane A. Become. The horizontal angle detection sensor 3 is mounted on the bottom surface of the housing of the vehicle navigation device main body 21 such that the mounting surface F of the horizontal angle detection sensor 3 is parallel to the mounting reference surface B of the vehicle navigation device main body 21. It is mounted, and an angle detection surface H of the horizontal angle detection sensor 3 is provided in parallel with the mounting surface F, whereby the inclination angle S1 of the mounting surface F with respect to the ground horizontal reference plane A can be detected.

Next, main components of the gyro sensor mounting angle adjusting device 50 will be described.

The gyro sensor 1 for detecting an azimuth angle has a box shape, has an angular velocity detecting surface G in the horizontal direction, and detects the azimuth angle of the vehicle from the angular velocity caused by the turning of the vehicle.
The mounting surface E (which is parallel to the angular velocity detecting surface G) is a bottom surface of the azimuth detecting gyro sensor 1 such that the mounting surface D of the mounting base 4 is parallel to the angular velocity detecting surface G of the azimuth detecting gyro sensor 1. (Mounting surface) is in contact with the upper surface of the mounting base 4 (formed so as to be parallel to the mounting surface D).

Before the adjustment, the angular velocity detecting surface G and the reference mounting surface B of the vehicle navigation device body 21 are adjusted.
Are parallel to each other, the deviation of the vehicle navigation apparatus main body 21 from the ground horizontal reference plane A becomes equal to the deviation of the angular velocity detection plane G of the azimuth angle detecting gyro sensor 1 from the ground horizontal reference plane A. Then, the angular velocity detection surface G of the gyro sensor 1 for detecting the azimuth angle is set to
When the vehicle turns in a state parallel to the above, the angular velocity of the vehicle can be detected most accurately.

The mounting base 4 has an upper surface (a mounting surface D).
A predetermined mounting surface E of the gyro sensor 1 for detecting an azimuth angle is installed in contact with the gyro sensor 1 and is formed in a flat plate shape with a metal material or the like. This mounting base 4
The rotation arm 5 of the horizontal angle rotation mechanism 15 is installed on the lower surface, which is the mounting surface D, and the mount 2 provided on the bottom of the housing of the vehicle navigation device body 21 via the horizontal angle rotation mechanism 15. Are linked.

The horizontal angle rotation mechanism section 15 includes the mounting base 4
Is mounted and connected to the gantry 2. Before adjustment, the mounting base 4 is fixed in advance so that the mounting surface D of the mounting base 4 is parallel to the gantry mounting surface C. This has a function of rotating the mounting base 4 from the gantry 2 so as to be parallel to the ground horizontal reference plane A. The horizontal angle rotation mechanism 15 includes an angle adjustment motor 6, a rotating shaft 10 formed of a metal material or the like in a columnar shape, bearings 7, 11a, 11b,
Spur gears 8 and 9 formed of a metal material or the like in a plate shape, and a rotating arm 5 formed of a plate-shaped metal material or the like provided with bosses having holes at both ends where a rotating shaft 10 is fitted and fixed. .

The angle adjusting motor 6 is mounted on the mounting base 4 so that the mounting base 4 is parallel to the ground horizontal reference plane A.
Is driven to rotate. This angle adjusting motor 6
In a state in which the shaft 6a of the motor 6 for angle adjustment is inserted into a bearing 7 for bearing fitted and crimped to one side wall of the gantry 2 having a U-shaped cross section having both side walls, It is attached to one side wall of the gantry 2. The shaft 6a of the angle adjusting motor 6 has a spur gear 8
Is attached and fixed.

The rotating shaft 10 has a rotating arm 5 at its center.
And a shaft for rotating the rotary arm 5. The shaft is made of a metal material or the like in a cylindrical shape. One end 10a of the rotating shaft 10 is fitted into a bearing 11a fitted and caulked on one side wall of the gantry 2, and then the spur gear 9 is attached and fixed, and the other end 10b of the gantry 2 is fixed. It is inserted and fitted into a bearing 11b fitted and crimped to the other side wall.

A spur gear 9 fixed to one end 10a is meshed with a spur gear 8 fixed to a shaft 6a of the angle adjusting motor 6, and the rotation of the angle adjusting motor 6 is controlled by the spur gear 8. Rotating shaft 1 through a spur gear 9 meshed with
0, the rotating arm 5 fixed to the rotating shaft 10 is driven to rotate. By this rotation drive, the mounting base 4 mounted on the upper surface of the rotary arm 5 rotates in conjunction therewith.

The rotary arm 5 is formed of a metal material or the like with a flat upper surface provided with bosses 5a and 5b having holes 5c fitted and fixed to the rotary shaft 10 at both ends. A mounting base 4 is provided on the upper surface of the rotating arm 5.
Abuts its mounting surface D and is fixedly mounted.
With the rotation of the rotating shaft 10 with the fixed, the mounting base 4 is driven to rotate integrally with the rotating arm 5.

The gantry 2 is formed of a metal material or the like having a U-shaped cross section having both side walls, and the lower surface of the mounting surface C of the gantry 2 The mounting base 4 on which the gyro sensor 1 for azimuth detection is mounted is fixedly mounted so as to be parallel to the mounting reference plane B of the navigation device main body 21 for horizontal rotation.
5 and connected.

Bearings 7 for bearings are fitted to one of the side walls of the gantry 2 and caulked. When the shaft 6a of the motor 6 for angle adjustment is inserted and fitted into the bearings 7, the motor 6 for angle adjustment is Installed inside the side wall,
A spur gear 8 is attached and fixed to the shaft 6a. A bearing 11a for bearing is similarly fitted on the side wall and caulked, and the one end 10a of the rotating shaft 10 is fitted and held on the bearing 11a in a protruding state. A spur gear 9 is attached and fixed to 10a. A bearing 11b is similarly fitted and caulked to the other side wall, and the other end 10b of the rotating shaft 10 is fitted and held in the bearing 11b.

The horizontal angle detecting sensor 3 is attached and fixed to the bottom surface of the casing of the vehicle navigation apparatus main body 21. This horizontal angle detecting sensor 3 is provided with a ground horizontal reference plane A
Has a reference axis held perpendicular to the axis and an angle detection surface H for detecting the inclination with respect to the ground horizontal reference plane A. The inclination of the horizontal angle detection sensor 3 with respect to the ground horizontal reference plane A is defined by A function of detecting from an angle with the detection surface H (for example, detecting a tilt of a vertical gyro mounting surface with a rotation axis held perpendicular to a ground horizontal reference surface A as a reference axis, as seen in a vertical gyro or the like). Function).

The inclination angle S1 of the mounting reference plane B of the vehicle navigation apparatus main body 21 with respect to the ground horizontal reference plane A when the vehicle navigation apparatus main body 21 is mounted on various vehicles is determined by the horizontal angle detection sensor 3. The mounting surface F of the angle detection sensor 3 (a surface parallel to the angle detection surface H) is detected as the inclination angle S1 with respect to the ground horizontal reference plane A, and the output signal is transmitted to the control device 12.

The control device 12 has storage means and calculation means (not shown), and outputs a horizontal angle rotation control signal to the angle adjusting motor 6 based on the tilt angle S1 detected by the horizontal angle detection sensor 3. Is calculated and controlled, and is output, and is mounted and fixed in the housing of the vehicle navigation device main body 21.

The horizontal angle rotation control signal for keeping the mounting base 4 horizontally rotated by the controller 12 is calculated as follows.

That is, the vehicle navigation device body 21
Angle S of mounting reference plane B with respect to ground horizontal reference plane A
1 is a ground horizontal reference plane A by a horizontal angle detection sensor 3
Is detected as the inclination angle S1 of the mounting surface F of the horizontal angle detection sensor 3 with respect to the horizontal axis, and a detection signal from the horizontal angle detection sensor 3 is transmitted to the control device 12. Tilt angle S1
The control device 12 receives the angle adjustment motor 6 by the following calculation formula so as to rotate the mounting base 4 with respect to the mounting surface C of the gantry 2 by the inclination angle S1 as shown in FIG.
Calculate the number of step pulses N0 to be transmitted to the step.

That is, the step pulse number N0 is calculated by the following equation (N
0 = S1 / K × G).

N0 is the number of step pulses, S1 is the inclination angle, K is the rotation angle of the angle adjusting motor 6 which moves in one step (one pulse), and G is the gear ratio.

Next, the operation of the gyro sensor mounting angle adjusting device 50 according to this embodiment will be described with reference to FIG.

First, the vehicle navigation device body 21
The present process is started by the ON operation of the reset switch described in the above, and the output value of the horizontal angle detection sensor 3, that is, the inclination angle S1 detected by the horizontal angle detection sensor 3 is read (step 31). Based on the inclination angle S1, an angle of the azimuth angle detecting gyro sensor 1 with respect to the ground horizontal reference plane A (in the present embodiment, the inclination angle S1 becomes equal to the value) is calculated (step 32), and further calculated. It is determined whether or not it is necessary to adjust the angle of the gyro sensor 1 for detecting the azimuth based on the determined angle (step 33). If it is determined in this determination that the angle adjustment is necessary (YES) [S1 ≠ 0], the angle calculated in step 32 (that is, the tilt angle S
Based on 1), a predetermined step pulse signal to be rotated is calculated in accordance with the above-described calculation formula, and is transmitted to the angle adjusting motor 6, so that the mounting base 4, that is, the azimuth angle installed on the mounting base 4 is calculated. The process proceeds to the step of adjusting the angle so that the detection gyro sensor 1 is parallel to the ground horizontal reference plane A (step 34). The angle adjusting motor 6 to which the step pulse signal is given rotates stepwise by the number of pulses, so that the spur gear 9 meshed with the spur gear 8 fitted and fixed to the shaft of the angle adjusting motor 6 is rotated. The shaft 10 rotates and the shaft 10 fitted and fixed to the spur gear 9 rotates in conjunction therewith.

Thus, the initial reset operation when the vehicle navigation apparatus body 21 is mounted on the vehicle, that is, the angle adjustment is completed (step 35). Also, in the case where it is determined that the angle adjustment is not necessary (NO) in the determination in step 33 [S1
= 0], the process ends without any angle adjustment (step 35).

In this embodiment, the inclination angle S1 is
The operation in the case of S1> 0 (that is, the case where the vehicle navigation device main body 21 is tilted counterclockwise relative to the ground horizontal reference plane A) is mainly described, but the case of S1 <0 (that is, in the case of S1 <0). Even when the vehicle navigation device main body 21 is tilted clockwise with respect to the ground horizontal reference plane A), a function of driving the rotation direction in the reverse direction is provided. That is, since the angle adjusting motor 6 is driven by the given pulse width and stopped, when the inclination angle S1 is S1> 0, a positive pulse is applied to the angle adjusting motor 6, that is, the mounting base. 4 is rotated clockwise, and when S1 <0, a negative pulse is given to rotate the angle adjustment motor 6, that is, the mounting base 4, counterclockwise. Since the operation is only the difference in the rotation direction, the description is omitted. or,
In the gyro sensor mounting angle adjusting device according to the present embodiment, a step type is used for the motor, and a spur gear or the like is used for the horizontal angle rotating mechanism, but the linear motor, the cam mechanism, or the gear screw is not limited to this. You may use a mechanism part etc.

Thus, in the gyro sensor mounting angle adjusting device, the difference in the mounting angle when the navigation device is mounted on various vehicles is checked each time, and the gyro sensor mounting angle is manually adjusted to the horizontal angle. There is no need to make adjustments, and the mounting angle of the azimuth detection gyro sensor can be automatically adjusted and set horizontally by the horizontal angle detection sensor and the horizontal angle rotation mechanism, and the reliability can be improved.

Next, a description will be given of a gyro sensor mounting angle adjusting device according to a second embodiment. FIG. 3 is a diagram illustrating an operation of the gyro sensor mounting angle adjusting device according to the second embodiment of the present invention, and FIG. 7 is a gyro sensor mounting angle adjusting device according to the second embodiment of the present invention. FIG. 4 is a diagram showing an operation flowchart of the embodiment. In FIG. 3, for convenience of explanation, the gantry 2 and the horizontal angle detecting sensor 3 are shown.
Is floating above the bottom of the housing. In the second embodiment, the description of the same components as those in the first embodiment will be omitted.

The gyro sensor mounting angle adjusting device 50 according to the second embodiment is different from the first embodiment in that:
Further, after the mounting base 4 is corrected and rotated by the inclination angle S1 with respect to the ground horizontal reference plane A, the shift angle α of the mounting base 4 with respect to the ground horizontal reference plane A (when the corrected rotated angle is equal to the tilt angle S1) The displacement angle α becomes zero)
Is provided with a mounting angle detecting sensor 13 for detecting the angle.

That is, the vehicle navigation device body 21
Is attached to the vehicle at an inclination angle S1 with respect to the ground horizontal reference plane A (for example, when it is inclined counterclockwise by the angle S1), the mounting base 4 is once rotated clockwise by an amount equivalent to the inclination angle S1. As a result of this correction rotation, the mounting angle detection sensor 13 detects whether or not the mounting base 4 is parallel to the ground horizontal reference plane A after being corrected by the tilt angle S1 as expected. It can be determined based on the deviation angle α.

The deviation angle α is fed back to the control device 16 so that the deviation angle α is zero (that is, the mounting base 4 is turned to the opposite angle equal to the inclination angle S1 of the navigation device main body 21 with respect to the ground horizontal reference plane A). Dynamic compensation,
The mounting base 4 has been corrected so as to be parallel to the ground horizontal reference plane A). FIG. 3 is an operation explanatory diagram of the device, and FIG. 7 is an operation flowchart of the device. .

As shown in FIG. 3, the gyro sensor mounting angle adjusting device 50 according to the second embodiment is installed in the vehicle navigation device main body 21 and detects the azimuth angle of the vehicle. Gyro sensor 1 for detecting azimuth angle
A mounting base 4 for installing the gyro sensor 1 for detecting an azimuth angle, a horizontal angle rotating mechanism 15 for horizontally rotating and adjusting the mounting base 4, and provided on a bottom surface of a housing of the vehicle navigation device main body 21. Frame 2, a horizontal angle detection sensor 3 provided on the bottom of the housing of the vehicle navigation device main body 21, and a horizontal angle detection sensor mounted on the mounting base 4 in parallel with the azimuth angle detection sensor 1. It is composed of a mounting angle detecting sensor 13 having the same function as the sensor 3 (a function of detecting an inclination angle with respect to the ground horizontal reference plane), and a control device 12 for controlling the mounting base 4 to rotate horizontally.

Next, main components of the gyro sensor mounting angle adjusting device 50 will be described.

The gyro sensor 1 for detecting the azimuth used in the second embodiment and the horizontal angle rotating mechanism 15
, The gantry 2 and the horizontal angle detecting sensor 3 are the same components as those in the first embodiment, and therefore the description thereof is omitted.

The mounting base 4 is mounted such that the mounting surface E of the gyro sensor 1 for azimuth detection is in contact with the upper surface thereof (formed so as to be parallel to the mounting surface D). The mounting surface E of the mounting angle detecting sensor 13 is installed in contact with the gyro sensor 1 in parallel with the gyro sensor 1, and is formed of a metal material or the like into a flat plate shape. On the lower surface, which is the mounting surface D of the mounting base 4, the rotation arm 5 of the horizontal angle rotation mechanism 15 is installed, and provided on the bottom surface of the housing of the vehicle navigation device body 21 via the horizontal angle rotation mechanism 15. The gantry 2 is connected.

The mounting angle detecting sensor 13 has the same function as the horizontal angle detecting sensor 3 (the function of detecting the inclination angle with respect to the ground horizontal reference plane A). An angle detection surface J for detecting an inclination with respect to the ground horizontal reference plane A is provided, and the mounting surface E of the mounting angle detection sensor 13 (a surface parallel to the angle detection surface J) is inclined with respect to the ground horizontal reference plane A. This is for detecting the angle α.

The mounting angle detecting sensor 13 is mounted and fixed on the upper surface of the mounting base 4 (formed so as to be parallel to the mounting surface D) in parallel with the azimuth angle detecting gyro sensor 1. The detection sensor 13 and the azimuth detection gyro sensor 1 are installed at the same mounting angle with respect to the ground horizontal reference plane A.

Thus, the deviation angle α becomes equal to the inclination angle of the angular velocity detecting surface G of the gyro sensor 1 for detecting the azimuth angle with respect to the ground horizontal reference plane A. The displacement angle α detected by the attachment angle detection sensor 13 is transmitted to the control device 12.

The control device 12 includes a sensor 3 for detecting a horizontal angle.
Angle adjusting motor 6 based on the tilt angle S1 detected by
In addition to calculating and controlling the horizontal angle rotation control signal, the correction control processing is performed in a closed loop so that the deviation angle α detected by the attachment angle detection sensor 13 described above becomes zero.

Next, the operation of the gyro sensor mounting angle adjusting device 50 according to the present embodiment will be described with reference to FIG.

First, the vehicle navigation device body 21
The present process is started by turning on the reset switch in step (1), and the output value of the horizontal angle detection sensor 3, that is, the inclination angle S1 detected by the horizontal angle detection sensor 3 is read (step 41). Based on the tilt angle S1, an angle of the azimuth angle detecting gyro sensor 1 with respect to the ground horizontal reference plane A (in the present embodiment, the tilt angle S1 and its value become equal) is calculated (step 42). Based on the calculated angle, it is determined whether or not it is necessary to adjust the angle of the azimuth sensor 1 (step 43). If it is determined that the angle needs to be adjusted (YES) [S1 ≠
0], a predetermined horizontal angle rotation control signal to be rotated is transmitted to the angle adjustment motor 6 based on the angle calculated in step 42 (ie, the tilt angle S1), and the mounting base 4, ie, The process proceeds to a step of adjusting the angle so that the azimuth sensor 1 for azimuth detection installed on the mounting base 4 is parallel to the ground horizontal reference plane A (step 44). The angle adjusting motor 6 to which the horizontal angle rotation control signal has been given rotates by an angle corresponding to the control signal, and thereby the flat gear 8 meshed with the spur gear 8 fitted and fixed to the shaft of the angle adjusting motor 6. The gear 9 rotates, and the shaft 10 fitted and fixed to the spur gear 9 rotates in conjunction therewith. Step 4
When the angle adjustment is not necessary (NO) in the judgment of [3] [S1 =
0], the process ends without any angle adjustment (step 49).

Then, at step 44, the mounting base 4 is moved by an amount corresponding to the inclination angle S1 so as to be parallel to the ground horizontal reference plane A, and then the upper surface of the mounting base 4 (to be parallel to the mounting plane D). The output value of the attachment angle detecting sensor 13 installed at the formed position, that is, the deviation angle α is read (step 45), and the angle difference between the output value and the ground horizontal angle (that is, the deviation in the present embodiment). Is calculated (step 46), and the necessity of correction is determined based on the deviation angle α (step 47).

In this determination, there is a need for correction (YES).
In the case of [α ≠ 0], a predetermined horizontal angle rotation control signal (eg, α> 0, that is, the mounting base 4) to be rotated based on the deviation angle α is set so that the deviation angle α becomes zero. Is tilted counterclockwise from the ground horizontal reference plane A, a positive pulse signal for rotating the mounting base 4 clockwise, α <0, as shown in the state after the initial adjustment in FIG. When the mounting base 4 is tilted clockwise from the ground horizontal reference plane A, a negative pulse signal for rotating the mounting base 4 counterclockwise is transmitted to the angle adjusting motor 6.
After the step (step 48) of adjusting the angle so that the mounting base 4, that is, the azimuth sensor 1 for azimuth detection installed on the mounting base 4 is parallel to the ground horizontal reference plane A (step 48), the process returns to the preprocessing of step 45. .

In this way, the deviation angle α becomes [α =
0]. If the deviation angle α becomes zero in the process by this repetition and the necessity of the correction is eliminated in step 47, the initial reset operation, that is, the angle adjustment ends (step 49).

Thus, the angular velocity detecting surface G parallel to the mounting surface E of the azimuth angle detecting gyro sensor 1 is held in parallel with the ground horizontal reference plane A with higher accuracy.

In the gyro sensor mounting angle adjusting apparatus according to the present embodiment, the mounting angle detecting sensor 13 is provided with an angle detecting surface J for detecting the inclination with respect to the ground horizontal reference plane A in the horizontal direction. However, without being limited to this, a mounting angle detecting sensor or the like that is installed on the rotating shaft 10 or the like of the horizontal angle rotating mechanism unit 15 and detects the rotation angle of the mounting base 4 accompanying the rotation of the rotating shaft 10 is used. May be used.

As described above, in the gyro sensor mounting angle adjusting apparatus, the mounting angle of the azimuth angle detecting gyro sensor with respect to the mount is actually detected by the mounting angle detecting sensor, so that the mounting angle can be adjusted to a predetermined level. Since the adjustment can be set closer to the angle, the accuracy of the horizontal angle is improved, and the reliability is improved.

Next, a gyro sensor mounting angle adjusting device according to a third embodiment will be described. FIG. 4 is a view showing the operation of the gyro sensor mounting angle adjusting device according to the third embodiment of the present invention. FIG. 8 is a diagram showing the gyro sensor mounting angle adjusting device according to the third embodiment of the present invention. It is a figure which shows an operation flowchart. In FIG. 4, for convenience of explanation, the gantry 2 and the horizontal angle detecting sensor 3 are in a state of being floated from the bottom surface of the housing.

The gyro sensor mounting angle adjusting apparatus according to the third embodiment always adjusts the inclination angle of the azimuth detecting gyro sensor 1 with respect to the ground horizontal reference plane depending on the state of the traveling road encountered while the vehicle is traveling. Automatic control means for correcting and correcting the azimuth angle of the gyro sensor 1 in parallel with the ground horizontal reference plane in real time. Although the functions are partially different, the hardware configuration is the same, so the description of the components will be omitted.

An operation state in which the gyro sensor 1 for detecting the azimuth is rotated and held parallel to the ground horizontal reference plane while the vehicle is running will be described with reference to FIG.
For convenience of explanation, the ground horizontal reference plane A where the vehicle is a flat ground
When the vehicle is stopped, the vehicle navigation device main body 21 is installed so that its mounting reference plane B is parallel to the ground horizontal reference plane A.

A change in the inclination angle of the vehicle navigation apparatus body 21 with respect to the ground horizontal reference plane A depending on the state of the traveling road encountered while the vehicle is traveling (for example, Y1,
Or Y3, Y1; an inclination angle indicating an example of an up road, Y
3: an inclination angle indicating an example of a down road) is detected in real time by the horizontal angle detection sensor 3,
The detected inclination angle is transmitted to the control device 12.
The control device 12 transmits the horizontal angle rotation control signal calculated based on the tilt angle to the angle adjusting motor 6. The angle adjusting motor 6 moves the mounting base 4 on which the gyro sensor 1 for azimuth angle detection is attached to the gantry 2 by the horizontal angle rotation mechanism 15 in accordance with the given horizontal angle rotation control signal. In the embodiment,
(Equivalent to Y1 or Y3), and the rotation is corrected so that the mounting base 4 is parallel to the ground horizontal reference plane A.

An angle difference (an angle corresponding to the deviation angle α described in the second embodiment) as to whether or not the rotation-corrected mounting base 4 is corrected as planned is set on the mounting base 4. It is detected in real time by the mounting angle detecting sensor 13 and fed back to the control device 12. The control device 12 calculates a horizontal angle rotation control signal that makes the angle difference zero, and sends the control signal to the angle adjustment motor 6 again to cause the angle adjustment motor 6 to control the horizontal angle rotation mechanism 15. Via the mounting base 4
Is automatically controlled in real time so that it is always parallel to the ground horizontal reference plane A.

As a result, the gyro sensor 1 for detecting the azimuth angle during the running of the vehicle, as shown in FIG.
When the vehicle is on an uphill at an inclination angle Y1 with respect to the ground level reference plane A, the mounting base 4 on which the gyro sensor 1 for azimuth angle detection is rotated and corrected by an angle corresponding to the inclination angle Y1, and the vehicle is leveled on the ground. Inclination angle Y3 with respect to reference plane A
Gyro sensor for azimuth angle detection
Is corrected by the angle corresponding to the inclination angle Y3, and the rotation is automatically controlled in real time so as to be always parallel to the ground horizontal reference plane A.

Next, the operation of the gyro sensor mounting angle adjusting device 50 according to the present embodiment will be described with reference to FIG.

First, this processing is started by turning on the power supply by operating the ignition switch of the vehicle or the like, and the output value of the horizontal angle detecting sensor 3, that is, the inclination angle detected by the horizontal angle detecting sensor 3 during running of the vehicle or the like. (For example,
The angle Y1 or Y3 generated by the slope is read (step 51). Based on the tilt angle Y1 (or Y3), the angle of the azimuth detecting gyro sensor 1 with respect to the ground horizontal reference plane A (in the present embodiment, the tilt angle Y
1 (or Y3 becomes equal) (step 52), and the calculated angle (ie, the tilt angle Y1) is calculated.
(Or Y3), a predetermined horizontal angle rotation control signal to be rotated is transmitted to the angle adjusting motor 6, and the azimuth detecting gyro sensor 1 mounted on the mounting base 4, ie, the mounting base 4 is transmitted. Goes to the step of adjusting the angle so that the angle is parallel to the ground horizontal reference plane A (step 53). The angle adjusting motor 6 to which the horizontal angle rotation control signal is given,
By rotating by an angle corresponding to this control signal, the spur gear 9 meshed with the spur gear 8 fitted and fixed to the shaft of the angle adjusting motor 6 rotates, and the shaft 10 fitted and fixed to the spur gear 9 is rotated. It rotates in conjunction with it. In this way, the initial adjustment after the power is turned on is first performed.

Further, in the present embodiment, the correction control of the deviation angle α described in the second embodiment is also performed. That is, in step 53, the inclination angle Y1 (or Y) is set so that the mounting base 4 is parallel to the ground horizontal reference plane A.
3) After being moved by a considerable amount, the output value of the mounting angle detecting sensor 13 installed on the upper surface of the mounting base 4 (formed so as to be parallel to the mounting surface D), that is, the shift angle α, The reading (step 54), the angle difference between the output value and the ground horizontal angle (that is, the same as the shift angle α in the present embodiment) is calculated (step 55), and the calculated angle difference (ie, A predetermined horizontal angle rotation control signal to be rotated based on the angle difference (for example, α> 0, that is, the mounting base 4) so that the deviation angle α becomes zero.
Is tilted counterclockwise from the ground horizontal reference plane A, a positive pulse signal for rotating the mounting base 4 clockwise, α <0, that is, the mounting base 4 is
When the mounting base 4 is tilted more clockwise, a negative pulse signal for rotating the mounting base 4 in a counterclockwise direction is transmitted to the angle adjusting motor 6, and the mounting base 4, ie, the mounting base 4
The process proceeds to a step of adjusting the angle so that the gyro sensor 1 for azimuth detection installed in the azimuth angle is parallel to the ground horizontal reference plane A (step 56).

This step 56 is always fed back to the preceding step of step 54 while the vehicle is running in step 57, and is repeatedly and automatically controlled so that the angle difference is always zero (ie, α = 0). The process by this repetition is performed in real time. Then, when the vehicle stops in step 57, the automatic control ends (step 58).

As described above, the gyro sensor mounting angle adjusting apparatus can automatically adjust the azimuth detecting gyro sensor mounting angle to the horizontal angle at all times even when the vehicle is running. Reliability is increased.

Next, a gyro sensor mounting angle adjusting apparatus according to a fourth embodiment will be described. FIG. 5 is a diagram showing the operation of the gyro sensor mounting angle adjusting device according to the fourth embodiment of the present invention, and FIG. 9 is a diagram illustrating the gyro sensor mounting angle adjusting device according to the fourth embodiment of the present invention. It is a figure which shows an operation flowchart. In FIG. 5, for convenience of explanation, the gantry 2 is in a state of floating above the bottom surface of the housing. In the fourth embodiment, the description of the same components as those in the second embodiment will be omitted.

The gyro sensor mounting angle adjusting device 50 according to the fourth embodiment does not use the horizontal angle detecting sensor 3 used in the second embodiment, but directly uses the mounting angle detecting sensor 13 alone. The gyro sensor 1 for angle detection is adjusted so as to be parallel to the ground horizontal reference plane A.

That is, as shown in FIG. 5, since the mounting angle detecting sensor 13 is provided in parallel with the azimuth angle detecting gyro sensor 1, the displacement angle α detected by the mounting angle detecting sensor 13 is determined. If used, the inclination angle of the angular velocity detection surface G of the azimuth angle detection gyro sensor 1 with respect to the ground horizontal reference plane A can be detected. Therefore, the control device 12
The processing may be controlled so that the mounting base 4 is rotationally driven so that the deviation angle α becomes zero and the feedback adjustment is performed.

Next, the operation of the gyro sensor mounting angle adjusting device 50 according to the present embodiment will be described with reference to FIG. 9 based on a procedure for correcting and resetting the mounting angle of the mounting base 4.

First, the vehicle navigation device body 21
This process is started by the ON operation of the reset switch described above, and the output value of the mounting angle detecting sensor 13, that is, the shift angle α detected by the mounting angle detecting sensor 13 is read (step 61). This deviation angle α is the ground horizontal reference plane A of the angular velocity detection plane G of the azimuth angle detection gyro sensor 1.
And its value become equal. It is determined whether or not it is necessary to adjust the angle of the gyro sensor 1 for detecting the azimuth based on the deviation angle α (step 62).

In this determination, the angle needs to be adjusted (YES).
In the case of [α ≠ 0], a predetermined horizontal angle rotation control signal to be rotated is calculated based on the shift angle α, and this control signal is transmitted to the angle adjusting motor 6 to cause the mounting base 4, That is, the mounting angle detecting sensor 13 installed on the mounting base 4
And the gyro sensor 1 for detecting the azimuth angle is the ground horizontal reference plane A
The process proceeds to the step of adjusting the angle so as to be parallel to (step 63).

After the angle adjustment of the mounting base 4 on which the gyro sensor 1 for azimuth angle detection is performed in the step 63, the process returns to the steps 61 and 62 again, and the mounting base 4 is leveled on the ground as planned. It is determined based on the deviation angle α whether or not the correction rotation is performed so as to be parallel to the reference plane A, and the angle of the mounting base 4 is adjusted in step 63 so that the deviation angle α becomes zero. In this manner, the angle is repeatedly adjusted until the deviation angle α becomes zero. In the process by this repetition, the shift angle α becomes zero,
When the angle adjustment becomes unnecessary (step 62), the reset operation when the vehicle navigation device body 21 is mounted on the vehicle, that is, the angle adjustment ends (step 67).
In the present embodiment, the process is performed at the time of initial setting (reset). However, the present invention is not limited to this.

As described above, in the gyro sensor mounting angle adjusting apparatus, the azimuth detecting gyro sensor actually detects the inclination angle of the azimuth detecting gyro sensor with respect to the horizontal plane only by the mounting base angle detecting sensor. The gyro sensor for azimuth detection can be made horizontal by adjusting and setting so that the structure is simple, the cost can be reduced, and the reliability is improved.

Although the mounting reference plane B (ie, the predetermined surface of the housing) of the vehicle navigation apparatus main body 21 is used as the housing bottom surface, the present invention is not limited to this, and may be adopted as a substrate (such as a motherboard) inside the housing. Is also good. Further, when the gantry 2 and the horizontal angle detection sensor 3 are mounted at a predetermined angle from the bottom of the housing, the angle may be corrected in advance in consideration of the predetermined angle.

[0079]

As described above, according to the present invention, in the gyro sensor mounting angle adjusting apparatus, each time the gyro sensor is mounted on various vehicles, the mounting angle on the vehicle is checked, and then the gyro sensor is manually operated. The horizontal angle can be automatically adjusted using the horizontal angle detection sensor, the mounting angle detection sensor, the horizontal angle rotation mechanism, etc. without adjusting the mounting angle of the vehicle to the horizontal angle. Since the mounting angle of the gyro sensor for detecting the azimuth angle can always be automatically adjusted and held at the horizontal angle even in the inside, the workability and the reliability can be improved.

[Brief description of the drawings]

FIG. 1 is an operation explanatory diagram of a gyro sensor mounting angle adjusting device according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a structural appearance of a gyro sensor mounting angle adjusting device according to the first embodiment of the present invention.

FIG. 3 is an operation explanatory view of a gyro sensor mounting angle adjusting device according to a second embodiment of the present invention.

FIG. 4 is an operation explanatory view of a gyro sensor mounting angle adjusting device according to a third embodiment of the present invention.

FIG. 5 is an operation explanatory view of a gyro sensor mounting angle adjusting device according to a fourth embodiment of the present invention.

FIG. 6 is a diagram showing an operation flowchart of the gyro sensor mounting angle adjusting device according to the first embodiment of the present invention.

FIG. 7 is a diagram illustrating an operation flowchart of a gyro sensor mounting angle adjusting device according to a second embodiment of the present invention.

FIG. 8 is a diagram showing an operation flowchart of a gyro sensor mounting angle adjusting device according to a third embodiment of the present invention.

FIG. 9 is a diagram illustrating an operation flowchart of a gyro sensor mounting angle adjusting device according to a fourth embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Gyro sensor for azimuth angle detection 2 ... Stand 3 ... Sensor for horizontal angle detection 4 ... Mounting base 5 ... Rotating arm 6 ... Motor for angle adjustment 7, 11 ... Bearings 8, 9 ... Gears 10 ... Rotary shaft 12 ... Control device 13 ... Mounting angle detection sensor 15 ... Horizontal angle rotation mechanism 21 ... Vehicle navigation device body 50 ... Gyro sensor mounting angle adjustment device

Claims (5)

[Claims] 1. A gyro sensor mounting angle adjusting device, wherein a gyro sensor for detecting an azimuth angle is mounted on a predetermined surface of a housing, and the mounting angle is adjusted so that the detecting surface of the gyro sensor is set on a horizontal basis. A horizontal angle detecting means for detecting an angle difference between a detection surface of the gyro sensor and the horizontal reference; and an attachment angle of the gyro sensor with respect to a predetermined surface of the housing according to the angle difference detected by the horizontal angle detecting means And a mounting angle adjusting means for changing the angle of the gyro sensor. 2. The horizontal angle detecting means is attached to a predetermined surface of the housing, and the horizontal angle detecting means detects an inclination angle between a horizontal reference and a predetermined surface of the housing. The mounting angle adjusting means changes the mounting angle of the gyro sensor with respect to a predetermined surface of the housing in accordance with the inclination angle detected by the horizontal angle detecting means. A gyro sensor mounting angle adjusting device as described in the above. 3. A gyro sensor is mounted in parallel with the gyro sensor, and further includes mounting angle detecting means for detecting an angle difference between a detection surface of the gyro sensor and a horizontal reference. After the mounting angle with respect to the predetermined surface of the housing is changed, the mounting angle adjusting means further corresponds to the angle difference between the inclination angle and the mounting angle detected by the mounting angle detecting means, and the gyro sensor The mounting angle adjusting device for a gyro sensor according to claim 2, wherein the mounting angle with respect to a predetermined surface of the housing is changed again. 4. The mounting angle detecting means according to claim 1, wherein said horizontal angle detecting means is attached in parallel with said gyro sensor and detects an angle difference between a detection surface of said gyro sensor and a horizontal reference. Item 2. The gyro sensor mounting angle adjusting device according to Item 1. 5. The gyro sensor mounting angle adjusting device according to claim 1, wherein the housing to which the gyro sensor is mounted is a main body of the navigation device.