JP2001264351A - Inertia measuring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an inertia measuring device wherein a sensing axis of the inertia measuring device and an axis defined for an object to be measured, are matched each other. SOLUTION: A plurality of acceleration sensors and angular speed sensors whose sensing axis is held in X, Y, and Z axial directions orthogonal among others, and a calculation device, wherein the detection signal of each sensor is inputted as a detection signal for a preset attitude for calculating angular speed, attitude angle and the like applied to the object, are provided. Here, an axis setting means 17 is provided between each sensor and the calculation device. The definition for the axis of output of a sensor is changed by the axis setting means so that the correlation between the sensing axis of the inertia measuring device and the axis defined for the object is matched.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is used, for example, when measuring the movement of a human body by mounting it on an object to be measured, such as a human body, or when performing an impact test by mounting it on an object to be measured, such as a dummy doll. Regarding the inertial measurement device, in particular, each acceleration sensing axis and angular velocity sensing axis according to the situation attached to the measurement target object, each axis defined in the measurement target object, for example, forward axis,
It is an object of the present invention to provide an inertial measurement device that can freely correspond to a downward axis and a right axis.

[0002]

2. Description of the Related Art Conventionally, three acceleration sensors are attached to an object to be measured while their sensing axes are held in postures oriented in X, Y, and Z directions orthogonal to each other, and the detection signals of these three acceleration sensors are detected. An inertial measurement device that measures and measures acceleration applied to a measurement target object, or three acceleration sensors and three angular velocity sensors each having an acceleration sensing axis and X, Y, and Z axes orthogonal to each other. Inertial measurement devices that are arranged crosswise to each other, perform inertial operation processing using each detection signal of each acceleration sensor and angular velocity sensor, and measure a change in the posture of an object to be measured by the inertial operation processing are widely used. I have.

FIG. 12 shows an example of the external shape of the inertial measurement device. Reference numeral 10 indicates the entire inertial measurement device. The inertial measurement device 10 has a plurality of acceleration sensors, angular velocity sensors, and the like mounted inside a box 11, and for inertial measurement in the X and Y directions, X, Y, and X, depending on the number of the mounted acceleration sensors and angular velocity sensors. It is classified into each for inertial measurement in the Z direction. The example shown in FIG. 12 shows a case of an inertial measurement device that measures inertia in the X, Y, and Z directions. The box 11 is provided with a mounting bracket 12 for mounting to the object to be measured, and is attached to the object to be measured using the mounting bracket 12. The cable 13 is pulled out from one surface of the box 11.

An arithmetic processing unit is generally built in the box 11, and is applied to the object to be measured by using the acceleration detection signals and the angular velocity detection signals of the sensing axes X, Y, Z of each sensor. The direction of acceleration, the amount of rotation, the amount of change in posture, and the like are output to the outside through the cable 13. FIG. 13 shows an example of an electrical configuration of a conventional inertial measurement device. In this example, acceleration and angular velocity in three axial directions are measured, and angular velocity ω, attitude angle φ,
Inertial measurement device 1 for calculating acceleration A, velocity V, position P, etc.
0 is shown.

[0005] The acceleration sensors A1, A2, A3 and the angular velocity sensors J1, J2 held in a posture for detecting the angular velocity around the acceleration sensing axes X, Y, Z of the acceleration sensors A1, A2, A3. , J3. The detection signals AX, AY, AZ of these sensors and JX, J
Y and JZ are the reference sensor axis setting unit 15 for each sensor A1, A
2, the directions of the sensing axes X, Y, and Z of A3 and J1, J2, and J3 and the axes defined on the measurement object side, for example, the forward axis F;
The rightward axis R, the downward axis D, etc., are defined, and the defined acceleration detection signals FAX, RAY, DAZ and the angular velocity detection signals FJJX, RJY, DJZ are input to the arithmetic processing unit 16. From the arithmetic processing unit 16, the angular velocity ω, the posture angle φ, which are associated with the forward axis F, the rightward axis R, and the downward axis D defined for the measurement target object.
It outputs acceleration A, velocity V, position P, and the like. in this way,
The angular velocity ω, the attitude angle φ output from the arithmetic processing unit 16,
In order to associate the acceleration A, the velocity V, and the position P with the directions of the axes F, R, and D defined on the measurement target object 20,
The forward axis F, the right axis R, and the downward axis in which the directions of the axes of the signals supplied to the forward axis input terminal TF, the right axis input terminal TR, and the downward axis input terminal TD of the arithmetic processing device 16 are predetermined. It is necessary to match the direction of D. This setting is used as the reference sensor axis setting unit 1
Going at 5.

[0006]

In the conventional inertial measurement apparatus, the axis definition of the signal supplied to each input terminal TF, TR, TD of the arithmetic processing unit 16 is set by the reference sensor axis setting unit 15, and the measurement is performed on the object to be measured. For example, since it is uniquely associated with the defined forward axis F, downward axis D, and rightward axis R,
When the inertial measurement device 10 is mounted on the object to be measured, the forward axis F, the downward axis D, the rightward axis R defined on the object to be measured and the self-sensing axes X, Y, and Z are associated with each other. You have to choose the direction and wear it.

In particular, as shown in FIG. 12, when the mounting bracket 12 is prepared in the box 11, the mounting surface on the object to be measured is determined by the position of the mounting bracket 12. In order to freely select and mount the direction, it is necessary to perform a troublesome work. One example is shown in FIGS.
6 will be described. In this example, a case is shown in which the inertial measurement device 10 is attached to a measurement target object 20 such as a helmet, and the measurement target object 20 is put on, for example, a dummy doll or a human to perform various measurements.

As shown in FIG. 12, the inertial measuring device 10 is housed in a box 11 and the box 11 is attached to the mounting bracket 1.
2, the front axis F, the downward axis D, and the right axis R defined in the measurement object 20 are attached to the measurement object 20.
And each sensing axis X, Y, Z defined in the inertial measurement device 10
(Specifically, each axis X, Y, Z and its direction X +, X-, Y +,
Y-, Z +, and Z-) must be attached so that the relation between them always remains constant.

When the sensing axes X, Y, and Z of the inertial measuring device 10 are associated with the forward axis F, the downward axis D, and the right axis R defined on the object 20 to be measured, the mounting bracket 12 is used. The simplest way to attach the object is to attach it to the top surface of the measurement object 20 as shown in FIG. However,
On the top surface, the condition is poor. For example, the bracket 14 is required to be attached to the rear of the object 20 to be measured as shown in FIG. 15 or to the side as shown in FIG.

As described above, even when only the helmet which is the object to be measured 20 is mounted using the mounting bracket 12, various measures are required to match the definition of the axis. In addition, various measures are required to attach the inertial measurement device 10 to a measurement object having various shapes. An object of the present invention is to provide an inertial measurement device that can be attached to a measurement target object in a free orientation, even if each of the sensing axes X, Y, and Z of the inertial measurement device and each axis defined for the measurement target object. An object of the present invention is to provide an inertial measurement device that can freely set and match the correspondence.

[0011]

According to a first aspect of the present invention, a plurality of acceleration sensors are held in such a manner that their respective acceleration sensing axes are orthogonal or intersecting with each other. In an inertial measurement device that is attached to a target object and measures the acceleration applied to the measurement target object, each of the acceleration sensing axes of each acceleration sensor is defined by each axis defined in the measurement target object according to the state of attachment to the measurement target object. An inertial measurement device having a configuration provided with an axis setting means defined in any of the above is proposed.

According to a second aspect of the present invention, the plurality of angular velocity sensors are configured to be held such that their respective angular velocity sensing axes are orthogonal or intersecting with each other, and the plurality of angular velocity sensors are mounted on an object to be measured. In the inertial measurement device that measures the angular velocity applied to the object to be measured, each angular velocity sensing axis of each angular velocity sensor is defined as one of the axes defined for the object to be measured according to the state of attachment to the object to be measured. We propose an inertial measurement device with a configuration provided with an axis setting means.

According to a third aspect of the present invention, a plurality of acceleration sensors, each of which is held in a posture in which the respective acceleration sensing axes are orthogonal or intersecting with each other, and the angular velocity of each of the acceleration sensors about each acceleration sensing axis is measured. An inertial measurement device configured to include a plurality of angular velocity sensors mounted in a posture, the plurality of acceleration sensors and the angular velocity sensors being mounted on the measurement target object, and measuring an acceleration applied to the measurement target object and an angular velocity The present invention proposes an inertial measurement device having a configuration provided with axis setting means for defining each of the sensing axis of each acceleration sensor and the sensing axis of each angular velocity sensor to any of the axes defined in the measurement target object.

According to claim 4 of the present invention, claim 1 or 2
In any of the inertial measurement devices described above, the number of acceleration sensors or angular velocity sensors is two each, and the acceleration sensing axes of these two acceleration sensors or angular velocity sensors, or the X and Y directions in which the angular velocity sensing axes are orthogonal to each other. We propose an inertial measurement measure with an alternating arrangement. According to a fifth aspect of the present invention, in any of the inertial measurement devices according to the first or second aspect, the number of the acceleration sensors or the angular velocity sensors is three, and each of the three acceleration sensors or the acceleration sensing axes of the angular velocity sensors or We propose an inertial measurement device having a structure in which angular velocity sensing axes are arranged to cross each other in X, Y, and Z directions orthogonal to each other.

According to claim 6 of the present invention, claim 1 or 2
In any of the inertial measurement devices described above, the number of acceleration sensors or angular velocity sensors is three or more, respectively, and the three or more acceleration sensors, three of the angular velocity sensors, or the acceleration sensors of the angular velocity sensors are used. Axes or angular velocity sensing axes are arranged crossing each other in X, Y, Z directions orthogonal to each other, and each acceleration sensing axis or angular velocity sensing axis of another acceleration sensor or angular velocity sensor crosses at an angle different from the X, Y, Z directions. We propose an inertial measurement device with a structure that is arranged by placing.

According to a seventh aspect of the present invention, in the inertial measurement apparatus according to the third aspect, two acceleration sensors and two angular velocity sensors are provided, and each of the two acceleration sensors and the angular velocity sensors has an acceleration sensing axis and an angular velocity sensor. We propose an inertial measurement device having a structure in which angular velocity sensing axes are arranged crossing each other in X and Y directions orthogonal to each other. Claim 8 of the present invention
In the inertial measurement device according to the third aspect, three acceleration sensors and three angular velocity sensors are provided, respectively, and the acceleration sensing axis and the angular velocity sensing axis of the three acceleration sensors and the angular velocity sensors are orthogonal to each other. Y, Z
We propose an inertial measurement device with a structure that is arranged crossing in the direction.

According to a ninth aspect of the present invention, in the inertial measurement device according to the third aspect, three or more acceleration sensors and three or more angular velocity sensors are provided, and three or more of the three acceleration sensors and three or more angular velocity sensors are provided. The acceleration sensors and the angular velocity sensors are arranged such that their respective acceleration sensing axes and angular velocity sensing axes cross each other in the X, Y, and Z directions orthogonal to each other, and each acceleration sensor and angular velocity sensor of the other acceleration sensor and angular velocity sensor The present invention proposes an inertial measurement device having a structure in which axes are arranged so as to cross at angles different from the X, Y, and Z directions.

According to a tenth aspect of the present invention, in any one of the inertial measuring devices according to the first to ninth aspects, the axis setting means is provided with an axis definition setting storage section, and the axis setting section is set in the axis definition setting storage section. An inertial measurement device having a structure for storing a setting signal for performing the operation is proposed. In an eleventh aspect of the present invention, there is provided the inertial measurement apparatus according to the tenth aspect, wherein the axis definition setting storage unit is configured by a nonvolatile memory. According to a twelfth aspect of the present invention, in any one of the inertial measurement apparatuses according to the first to eleventh aspects, the sensing axis which is in a vertically downward posture from among a plurality of acceleration sensing axes or angular velocity sensing axes defined in the inertial measuring apparatus. Vertical downward axis detecting means for detecting the vertical downward axis detected by the vertical downward axis detecting means, and other vertical axes defined as the object to be measured except for the sensing axis in the posture of the vertical downward axis detected by the vertical downward axis detecting means. An inertial measurement device having a configuration provided with an axis setting means for performing setting corresponding to another axis other than the above is proposed.

[0019]

According to the configuration of the inertial measuring device proposed in claims 1 to 3 of the present invention, since the inertial measuring device is provided with the axis setting means, the definition of each sensing axis of the inertial measuring device can be freely selected and set. can do. Therefore, the direction can be freely selected and mounted on the object to be measured. As a result, for example, even if the sensor is attached to the object to be measured in a posture that is easy to mount using the mounting bracket, each sensing axis can be freely associated with the forward axis, the downward axis, and the right axis defined on the object to be measured. This provides an advantage that the mounting can be easily performed.

Claim 4 claims that the present invention is applied to an inertial measurement device for measuring inertia in two X and Y axes using two acceleration sensors or angular velocity sensors. Claim 5 claims that the present invention is applied to an inertial measurement device in which the acceleration sensing axis or the angular velocity sensing axis has three axes of X, Y, and Z. By applying the present invention regardless of whether the acceleration sensing axis or the angular velocity sensing axis is two-axis or three-axis, there is no limitation on the mounting direction, so that an inertial measurement device that is easy to handle is provided. be able to.

Further, even if the inertial measuring device comprises only the acceleration sensor proposed in claim 1, the inertial measuring device may be constructed as follows.
Even if the inertial measurement device configured only with the angular velocity sensor proposed in the above, even if the accuracy of the inertial measurement device of the configuration in which the acceleration sensor and the angular velocity sensor proposed in claim 3 are provided as a pair is not obtained, It is possible to measure a change in the position, a change in the posture, and the like of the measurement target object. Accordingly, claims 1 and 2
The inertial measurement device proposed in (1) can also be put to practical use.

According to a sixth aspect of the present invention, three or more acceleration sensors or angular velocity sensors are provided, and the sensing axes of three of the three or more sensors are arranged in three orthogonal X, Y, and Z directions. Another sensor proposes an inertial measurement device having a structure in which sensing axes of other sensors are arranged at angles other than X, Y, and Z. According to the inertial measurement device proposed in claim 6, the inertia is measured using the sensors whose sensing axes are arranged in the X, Y, and Z directions in normal times, but any one of the three sensors is defective. , The use of sensors arranged at angles other than the X, Y, and Z directions makes it possible to maintain the same measurement state as before the failure.

According to the inertial measuring device proposed in claims 7 to 9 of the present invention, a structure in which an acceleration sensor and an angular velocity sensor are provided for each sensing axis in a pair is provided, so that an inertial measuring device with high measurement accuracy can be obtained. Can be. In particular, according to the inertial measurement device proposed in claim 9, since three or more acceleration sensors and angular velocity sensors are used, one or two of the three or more sensors are always used while three sensors are used. Even if three of the sensors become defective, the measurement can be continued by substituting a sensor other than the three commonly used sensors. In this respect, there is obtained an advantage that a highly accurate and reliable inertial measurement device can be provided.

According to the inertial measuring device proposed in claim 10 of the present invention, since the axis setting means is provided with the axis definition setting storage section, each setting state can be stored in the axis setting storage section. After setting once by using a non-volatile memory in the axis definition setting storage unit as proposed in claim 11, the setting operation may not be performed at all from the next time by using the data taken into the non-volatile memory. Therefore, since the impact test or the like can be performed by removing the input means 19, an inertial measurement device that is easy to handle in this respect can be provided.

According to the inertial measuring device proposed in claim 12 of the present invention, since the vertical downward axis detecting means is provided, the vertical downward axis detecting means detects the sensing axis in the vertical downward posture. Can be. As a result, the sensing axis in the vertically downward posture can be automatically determined as, for example, the downward axis of the measurement target object, and the inertial measurement means and the measurement target object can be determined simply by setting the correspondence relationship of the other axes. Can be set for all axes. Therefore, there is an advantage that the setting operation can be simplified.

[0026]

FIG. 1 shows an embodiment of an inertial measuring device proposed in claims 1 and 5 of the present invention. Parts corresponding to those in FIG. 13 are denoted by the same reference numerals. The inertial measurement device proposed in claim 1 has a plurality of acceleration sensors A1, A2,
The acceleration sensing axes X, Y, and Z of A3 are arranged so as to intersect with each other, and their detection outputs AX, AY, and AZ are processed, and the acceleration A, the attitude angle φ, and the velocity V, which are given to the measurement object, are calculated.
In the inertial measurement device 10 that outputs the position P and the like, an axis setting unit 17 is provided, and the axis setting unit 17 determines the acceleration sensing axes X, Y, and Z of the acceleration sensors A1, A2, and A3 as an object to be measured (FIG. 1). (Not shown in the drawing), the posture of each axis (forward axis F, right axis R, downward axis D) can be matched.

In the example shown in FIG. 1, as shown in FIG.
The sensing axes X, Y, and Z of the inertial measurement device 10 that are generated when the sensor is directly attached to 0 deviate from the relationship between the forward axis F, the downward axis D, and the right axis R defined for the measurement target object 20. Here is an example of trying to resolve this. That is, in the conventional inertial measurement device, the detection signal AX of the acceleration sensor A1 having the X axis as the sensing axis is input to the forward axis input terminal TF of the arithmetic processing device 16, and the X axis is set to the forward axis F of the object 20 to be measured. In this example, since the X axis is oriented in the vertical direction as shown in FIG. 2, the X axis must correspond to the downward axis D of the measurement target object 20. Further, the Y axis corresponds to the rightward axis R, and the Z axis corresponds to the forward axis F.

As a result, in the example shown in FIG.
7, the detection signal AX of the acceleration sensor A1 is input to the downward axis input terminal TD of the arithmetic processing device 16, the detection signal AY of the acceleration sensor A2 is input to the right input terminal TR of the arithmetic processing device 16, and the acceleration sensor What is necessary is just to set so that the detection signal AZ of A3 is inputted to the forward input terminal TF of the arithmetic processing unit 16. With this setting, the arithmetic processing unit 16 can correctly calculate the movement of the measurement target object 20 in accordance with the forward axis F, the right axis R, and the downward axis D defined for the measurement object 20.

Reference numeral 18 shown in FIG. 1 denotes an axis definition setting storage unit for storing each setting status set in the axis setting means 17. The axis definition setting storage unit 18 can be constituted by a memory such as a RAM, for example. Also, static RA
By using a non-volatile memory such as M, for example, once from the input means 19 constituted by a computer,
By writing the setting status, the status can be maintained, so that once the setting has been made, the input means 19 can be put to practical use without being connected. In the present invention, the configuration provided with the axis definition setting storage unit 18 is claimed in claim 10, and the axis definition setting storage unit 18 is constituted by a nonvolatile memory in claim 11.

The embodiment shown in FIG. 1 is an embodiment exemplified for simply explaining the outline of the present invention.
In the embodiment shown in FIG. 1, each of the acceleration sensors A1, A2, A
No consideration is given to the polarities corresponding to the directions of the detection signals AX, AY, and AZ, but in reality, each of the acceleration sensors A1, A
2. It is necessary to determine the direction of the applied acceleration in consideration of the polarity of the detection signal detected by A3. That is, polarities are added to the acceleration sensing axes X, Y, and Z of the inertial measurement device 10 as shown in FIG. When this polarity is associated with each axis of the measurement target object 20, in the example shown in FIG. 3, the forward direction is Z +, the backward direction is Z-, the right direction is Y +, the left direction is Y-, the upward direction is X +, and the downward direction. Is associated with X-.

When the acceleration is applied in each of these directions, the detection signals are AZ- in the Z-direction, AZ + in the Z + direction, AY +, Y- in the Y + direction.
AY- for the direction, AX +, X for the X + direction
Assuming that AX− is output in the − direction, the forward input terminal TF and the right input terminal T
R, the forward input signal AZ whose polarity is also defined at the downward input terminal TD
+, Rightward signal AY +, and downward signal AX−.

FIG. 4 shows an example of a setting input from the input means 19 shown in FIG. In this example, two axes of the six sensing axes X +, X-, Y +, Y-, Z +, Z- of the acceleration sensors A1, A2, A3 are determined as a downward axis and a forward axis. The other axes indicate that they are necessarily determined. That is, in FIG. 0 indicates a case where the downward axis is set to Z + and the forward axis is set to X +. By setting these two axes, the other axes X-, Y +, Y-, Z- are necessarily determined. Therefore, for example, the table shown in FIG. 4 is prepared in the input unit 19, and the combination of each axis is stored in the axis definition setting storage unit 18 shown in FIG. May be configured to be completed only by inputting from the input means 19.

FIG. 5 shows a specific embodiment of the axis setting means 17 in consideration of the polarity. Switches SX1, SX2 and SY
1, SY2, SZ1, SZ2 are acceleration sensors A1, A
2, switches WX1, XY1, WZ1, WX2, W for deciding which direction of signal A3 to select
Y2, WZ2, WX3, WY3, and WZ3 indicate switches for setting which axis signal is to be input to the forward axis input terminal TF, the right axis input terminal TR, and the downward axis input terminal TD of the arithmetic processing unit 16. . These switches can be configured by, for example, semiconductor switches formed in a semiconductor integrated circuit, and are controlled to be turned on or off according to the set values stored in the axis definition setting storage unit 18 and set to desired switching states.

FIG. 6 shows an embodiment of the inertial measuring device proposed in claims 2 and 5 of the present invention. In this embodiment, three angular velocity sensors J1, J2, J3 are connected to their angular velocity sensing axes X,
A configuration in which Y and Z are arranged orthogonal to each other, and the detection signal is matched to each axis defined as the object to be measured by the axis setting means 17 and input to each of the input terminals TF, TR and TD of the arithmetic processing unit 16; The following shows the case. Even if the inertial measurement device 10 is attached to the measurement target object in any posture in this embodiment,
The axis setting means 17 can replace the definition of the axis. Therefore, when the inertial measurement device 10 is attached to the object to be measured, there is no restriction on the orientation thereof, so that the inertial measurement device 10 can be easily attached using, for example, the attached fitting 12. In this embodiment, the axis setting means 17 having the configuration shown in FIG. 5 is actually used.

FIG. 7 shows an embodiment of the inertial measuring device proposed in claims 3 and 8 of the present invention. In this embodiment, X,
Acceleration sensors A1, A2, and A3 on each of the Y and Z sensing axes;
Angular velocity sensors J1, J2, J3 for measuring angular velocities applied around the respective acceleration sensing axes of these acceleration sensors A1, A2, A3 are provided, and angular velocity ω, posture using respective acceleration and angular velocity detection signals. The case where the present invention is applied to an inertial measurement device configured to output an angle φ, an acceleration A, a velocity V, a position P, and the like will be described.

Accordingly, in this embodiment, two signal paths, ie, an acceleration detection signal path and an angular velocity detection signal path, are provided, and the axis setting means 17 is constituted by these two signal switching circuits. FIG. 8 shows an embodiment of the inertial measurement device proposed in claims 6 and 9. Claim 6 claims an inertial measurement device in which one of an acceleration sensor and an angular velocity sensor is provided in three or more axes directions. In Claim 9, an acceleration sensor and an angular velocity sensor are provided in three or more axes as a pair. Claimed configuration. FIG. 8 shows four acceleration sensors A1, A2, A3, A4 and four angular velocity sensors J.
1 shows an embodiment of an inertial measurement device provided with 1, J2, J3 and J4. The sensing axes X, Y, and Z of the three acceleration sensors A1 to A3 and the three angular velocity sensors J1, J2, and J3 are set in directions orthogonal to each other, but the other one acceleration sensor A4 and the angular velocity sensor The sensing axis of J4 is each sensing axis X,
For example, as shown in FIG.
Set at an angle of 7356 °.

As described above, by providing the fourth acceleration sensor A4 and the angular velocity sensor J4 at a known angle in advance, any one of the other acceleration sensors A1, A2, A3 or the angular velocity sensors J1, J2, If any one of J3 becomes defective, the output of the fourth acceleration sensor A4 and the output of the angular velocity sensor J4 can be substituted. That is, if the angle of the sensing axis is known, the acceleration and angular velocity in any direction can be obtained from the ratio of the angle θ.

Therefore, the detection signals Aθ, Jθ of the fourth acceleration sensor A4 and the fourth angular velocity sensor J4 are always input to the arithmetic processing unit 16 through the dedicated input terminal Tθ, and are determined by the ratio of the detection signals of the other sensors. It is used as a parameter for calculating the acceleration and angular velocity of the X, Y, and Z axes.
The calculated value is not used while the other sensor is normal, but is used when the other sensor becomes defective. In the embodiments described above with reference to FIGS. 1, 6, 7, and 8, one or both of the acceleration sensor and the angular velocity sensor are arranged in the three axes of X, Y, and Z. By providing the axis setting means 17 even in an inertial measurement device provided with an acceleration sensor or an angular velocity sensor on the two axes of X and Y proposed in claim 7, without selecting its posture,
It can be easily understood that an operation and an effect that can be attached to the object to be measured in a free orientation can be obtained. Therefore, description of an embodiment in which the axis setting means 17 and the axis definition setting storage unit 18 are provided in the two-axis type inertial measurement device will be omitted.

FIG. 10 shows an embodiment of the inertial measuring device proposed in claim 12 of the present invention. In this embodiment, a vertical downward axis detecting means 21 is provided, and the vertical downward axis detecting means 21 detects a sensing axis in a vertically downward attitude, and outputs a detection signal of the sensing axis to the downward axis of the arithmetic processing unit 16. Input terminal T
The case where the state of the axis setting means 17 is controlled so as to input to D is shown. That is, the acceleration sensors A1, A
By detecting the direction of the gravitational acceleration based on the state of the output of 2, A3, the sensing axis in the downward posture can be obtained. Another method is to use angular velocity sensors J1, J
2. It is also possible to detect the sensing axis in a vertically downward posture by detecting the angular velocity due to the rotation of the earth from each detection signal of J3.

The vertical downward axis detecting means 21 detects the sensing axis in the vertical downward posture by any of these methods,
The information of the detected axis is sent to the input means 19, and the input means 19 displays the information of the axis to the user. The user can determine which sensing axis should be designated as, for example, the forward axis F from the mounting attitude of the inertial measurement device 10 by knowing the sensing axis in the vertically downward attitude,
By inputting the axis from the input means 19, the setting of the correct direction is completed.

FIG. 11 shows the setting of another axis input by the input means 19 when the vertical downward axis is detected. Setting NO. 0 indicates that when the vertical downward axis is Z + or Z−, X + is set as the forward axis, and when the vertical downward axis is X + or X−, Y + is set as the forward axis.
Therefore, by storing the table shown in FIG. 11 in the axis definition setting storage unit 18 or the input unit 19, the user can set the setting number. By inputting only the desired axis, the desired axis can be set as the forward axis.

[0042]

As described above, according to the present invention, since the inertia measuring device 10 is provided with the axis setting means 17, the sensing axis of each sensor can be set in any of X, Y and Z directions. Even if it is attached, the definition of the axis of the signal input to the arithmetic processing unit 16 can be arbitrarily changed by switching the detection signal of the sensor, so that the measurement can be freely performed without selecting the direction of the inertial measurement device 10. It can be attached to the target object. Therefore, for example, when the mounting bracket 12 is prepared in the inertial measurement device 10, the axis definition is defined as the measurement target object by using the mounting bracket 12 regardless of the orientation of the mounting target. Can be aligned with the axis that is being used. As a result, an inertial measurement device that is easy to handle can be provided.

Also, by using a non-volatile memory for the axis definition setting storage unit 18, once the setting state is stored, even if the input means 19 is removed, the state is stored. Input means 1 when performing
9 can be removed and a test can be performed, and in this respect also, an advantage that a user-friendly inertial measurement device can be provided can be obtained. In addition, when the vertical downward axis detecting means 21 is provided, the mounting posture of the inertial measurement device 10 can be automatically determined, and the handling can be further simplified in this respect. The advantage is obtained that the handling can be further simplified.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of an inertial measurement device proposed in claims 1 and 5 of the present invention.

FIG. 2 is a side view for explaining the operation of FIG. 1;

FIG. 3 is a perspective view illustrating an example of a definition of a sensing axis of the inertial measurement device.

FIG. 4 is a view showing an example of setting conditions input to an axis definition setting storage unit shown in FIG. 1;

5 is a connection diagram for explaining an example of the internal structure of the axis setting means shown in FIG.

FIG. 6 is a block diagram for explaining an embodiment of an inertial measurement device proposed in claims 2 and 5 of the present invention.

FIG. 7 is a block diagram for explaining an embodiment of an inertial measurement device proposed in claims 3 and 8 of the present invention.

FIG. 8 is a block diagram for explaining an embodiment of an inertial measurement device proposed in claims 6 and 9 of the present invention.

9 is a view for explaining the direction of a sensing axis of each sensor of the embodiment shown in FIG. 8;

FIG. 10 is a block diagram for explaining an embodiment of an inertial measurement device proposed in claim 12 of the present invention.

11 shows an example of a setting condition input to the axis definition setting storage section shown in FIG.

FIG. 12 is a perspective view for explaining a conventional inertial measurement device.

FIG. 13 is a block diagram for explaining an outline of an electrical configuration of a conventional inertial measurement device.

FIG. 14 is a plan view showing an example of a state in which the inertial measurement device is attached to a measurement target object in order to explain a disadvantage of the conventional inertial measurement device.

FIG. 15 is a side view for explaining inconvenience of the conventional inertial measurement device, similarly to FIG.

FIG. 16 is a front view for explaining inconvenience of the conventional inertial measurement device, similarly to FIGS. 14 and 15;

[Explanation of symbols]

 Reference Signs List 10 Inertial measuring device 11 Box 12 Mounting bracket 13 Cable X, Y, Z Sensing axis of inertial measuring device F Forward axis defined for measuring object D Downward axis defined for measuring object R For measuring object Defined rightward axis A1, A2, A3 Acceleration sensor J1, J2, J3 Angular velocity sensor 14 Bracket 15 Reference sensor axis setting unit 16 Arithmetic processing unit 17 Axis setting means 18 Axis definition setting storage unit 19 Input means 20 Object to be measured 21 Vertical downward axis detection means

Claims (12)

[Claims] A plurality of acceleration sensors are configured so that their respective acceleration sensing axes are held in a posture where they are orthogonal or intersecting with each other, and these plurality of acceleration sensors are mounted on a measurement target object and applied to the measurement target object. In an inertial measurement device for measuring an acceleration to be measured, an axis setting means for defining each acceleration sensing axis of each of the acceleration sensors to one of the axes defined for the object to be measured in accordance with a state of attachment to the object to be measured. An inertial measurement device characterized by having a configuration provided with: 2. A plurality of angular velocity sensors are held in such a manner that their respective angular velocity sensing axes are orthogonal or intersecting with each other, and the plurality of angular velocity sensors are mounted on an object to be measured and applied to the object to be measured. In an inertial measurement device for measuring an angular velocity to be measured, an axis setting means for defining each angular velocity sensing axis of each of the angular velocity sensors to one of the axes defined for the object to be measured in accordance with a state of attachment to the object to be measured. An inertial measurement device characterized by having a configuration provided with: 3. A plurality of acceleration sensors each of which is held in a posture in which each of the acceleration sensing axes are orthogonal or intersecting with each other, and a plurality of acceleration sensors which are attached in a posture for measuring an angular velocity of each of the acceleration sensors around each of the acceleration sensing axes. In an inertial measurement device configured to include an angular velocity sensor, the plurality of acceleration sensors and angular velocity sensors are mounted on the measurement target object to measure acceleration and angular velocity applied to the measurement target object. An inertial measurement apparatus characterized by comprising an axis setting means for defining each of a sensing axis and a sensing axis of each angular velocity sensor to any of the axes defined for the object to be measured. 4. The inertial measurement device according to claim 1, wherein the number of the acceleration sensors and the number of the angular velocity sensors are each two, and each of the two acceleration sensors or each of the acceleration sensing axes or the angular velocities of the angular velocity sensors. Inertial measurement measures characterized in that the sensing axes are arranged alternately in X and Y directions orthogonal to each other. 5. The inertial measurement device according to claim 1, wherein the number of the acceleration sensors or the angular velocity sensors is three, and each of the three acceleration sensors or each of the acceleration sensing axes of the angular velocity sensor; Alternatively, the inertial measurement device has a structure in which angular velocity sensing axes are arranged so as to intersect in X, Y, and Z directions orthogonal to each other. 6. The inertial measurement device according to claim 1, wherein the number of the acceleration sensor or the angular velocity sensor is three or more, and three or more of the three or more acceleration sensors or the angular velocity sensor are included. The acceleration sensor or the angular velocity sensor of each angular velocity sensor, or the angular velocity sensing axis is arranged to intersect in the X, Y, and Z directions orthogonal to each other, and each of the acceleration sensor or the angular velocity sensor of the other angular velocity sensor or the angular velocity sensor An inertial measurement apparatus characterized in that the axes are arranged so as to intersect at an angle different from the X, Y, and Z directions. 7. The inertial measurement device according to claim 3, wherein
The acceleration sensor and the angular velocity sensor are provided two each, and the acceleration sensor and the angular velocity sensing axis of the two acceleration sensors and the angular velocity sensor are arranged so as to intersect in the X and Y directions orthogonal to each other. An inertial measurement device characterized by the above-mentioned. 8. The inertial measurement device according to claim 3, wherein
A structure in which three acceleration sensors and three angular velocity sensors are provided, and three acceleration sensors and three angular acceleration sensors of the three angular acceleration sensors are arranged to intersect in the X, Y, and Z directions orthogonal to each other. An inertial measurement device characterized by the following. 9. The inertial measurement device according to claim 3, wherein
The acceleration sensor and the angular velocity sensor are each provided with three or more, and the three acceleration sensors and the angular velocity sensors among the three or more acceleration sensors and the angular velocity sensors have their respective acceleration sensing axes and angular velocity sensing axes orthogonal to each other. X, Y, and Z directions, and each acceleration sensor and the angular velocity sensor axis of the other acceleration sensor and angular velocity sensor are arranged to intersect at an angle different from the X, Y, and Z directions. Inertial measurement device characterized by the following. 10. The inertial measurement device according to claim 1, wherein said axis setting means is provided with an axis definition setting storage section, and said axis definition setting storage section is provided with a setting for setting said axis setting means. An inertial measurement device having a structure for storing a signal. 11. The inertial measurement device according to claim 10, wherein the axis definition setting storage unit is constituted by a nonvolatile memory. 12. The inertial measuring device according to claim 1, wherein a sensing axis in a vertically downward posture is detected from a plurality of acceleration sensing axes or angular velocity sensing axes defined in the inertial measuring device. A vertical downward axis detecting means and other axes other than the vertical downward axis defined in the object to be measured, other sensing axes except the sensing axis in the vertical downward posture detected by the vertical downward axis detecting means. And an axis setting means for making settings corresponding to the inertia measurement.