JP2006064555A - Method and device for detecting sensitivity of angular velocity sensor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method which enables the precise detection of sensitivity of an angular velocity sensor. <P>SOLUTION: A sensitivity detection device 10 has a swing arm 16 being rotatably attached to a support post 14. A weight 18 is attached to the head section of the swing arm 16. The weight 18 is rotated integrally with the swing arm 16 in a vertical plane. The weight 18 has a mass enough to make the mass of the swing arm 16 negligible, whereby a motion relating to the center of gravity is considered as that of a simple pendulum. The angular velocity sensor 20 is set at a position corresponding to the center of gravity of the weight 18 and brought to be in a pendulum motion. A light shielding member 32 is disposed at the swing arm 16, and when light 39 emitted from light emitting sections 34a, 34b is interrupted by the light shielding member 32, corresponding light receiving sections 36a, 36b input rotation detection signals into a processing unit 30. The processing unit 30 reads an output voltage value of the angular velocity sensor 20, based on the signal from the receiving section 36, and computes the sensitivity of the angular velocity sensor 20 in accordance with a given algorithm. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an angular velocity sensor sensitivity detection method, and more particularly to an angular velocity sensor sensitivity detection method and apparatus using a piezoelectric vibrating piece.

  When detecting and controlling the position and orientation of a moving device or machine, such as a vehicle or a robot, the angular velocity is generally detected by an angular velocity sensor. Further, the angular velocity sensor is used in a very wide range such as being mounted on a video camera to prevent camera shake or used in a car navigation device. In recent years, a vibration-type angular velocity sensor (vibration gyro) using a piezoelectric vibrating piece has become widespread because it is very small and inexpensive.

Since angular velocity sensors are used for attitude control of various devices, it is strongly desired that the detection sensitivities of the respective angular velocity sensors in the same model are the same. That is, each angular velocity sensor is desired to output a detection signal of the same magnitude when detecting the same angular velocity. Since the vibration type angular velocity sensor using the piezoelectric vibrating piece has a small detection signal (voltage) of the piezoelectric vibrating piece, it is amplified and output. However, the detection sensitivity of the vibration type angular velocity sensor varies greatly depending on the angular velocity sensor due to a manufacturing error of a piezoelectric vibrating piece made of a piezoelectric material such as a quartz plate. For this reason, conventionally, as described in Patent Document 1, the angular velocity sensor is rotated at a constant angular velocity for a predetermined time, the output signal (output voltage) of the angular velocity sensor during this time is detected and integrated, and then the integrated value is obtained. Is divided by the reference value to obtain the sensitivity of each angular velocity sensor.
JP-A-9-152339

  In the sensitivity detection method described in Patent Document 1 (hereinafter referred to as a conventional sensitivity detection method), an angular velocity sensor is rotated at a constant rotational speed using a pulse motor. For this reason, the angular velocity sensor is intermittently rotated due to the characteristics of the pulse motor, resulting in uneven rotation. That is, the conventional sensitivity detection method obtains the sensitivity based on unstable information such as rotational speed, and it is unclear whether the output of the angular velocity sensor at an arbitrary point is the output at the set rotational speed. is there. Therefore, the conventional sensitivity detection method rotates for a certain time, integrates the output voltage of the angular velocity sensor within that time, and obtains the sensitivity from the average of the output voltage within this certain time. For this reason, the conventional sensitivity detection method requires a circuit for integrating the voltage, requires a capacitor having a large capacity, and discharges the capacitor to obtain an integrated value, so that the sensitivity cannot be obtained with high accuracy. Further, the conventional sensitivity detection method requires an expensive device such as a pulse motor in order to rotate the angular velocity sensor.

The present invention has been made to solve the above-mentioned drawbacks of the prior art, and aims to enable detection of sensitivity with high accuracy.
Another object of the present invention is to enable detection of sensitivity without using an expensive device such as a pulse motor.

  In the angular velocity sensor, when an object equipped with the angular velocity sensor is rotated at a predetermined angle, for example, 90 °, the amount (integrated value) of signals output during the 90 ° rotation is the same regardless of whether the object rotates faster or slower. . Therefore, when the sensitivity of the two angular velocity sensors is the same, if the value obtained by integrating the output signal (output voltage) of each angular velocity sensor with respect to time is the same, the two angular velocity sensors have rotated by the same angle. On the other hand, when the output signals of the two angular velocity sensors are integrated for the time required to rotate the same angle, the sensitivity of the two is different if there is a difference between the two integrated values. The difference between the integrated values is proportional to the sensitivity of both. The present invention has been made paying attention to such characteristics of the angular velocity sensor.

  In other words, the sensitivity detection method of the angular velocity sensor according to the present invention includes a method of detecting the angular velocity sensor when the angular velocity sensor rotates a plurality of predetermined angles with respect to a reference position by pendulum movement in a vertical plane. The output voltage is detected, the relationship between the rotation angle of the angular velocity sensor and the output voltage is obtained, and the sensitivity of the angular velocity sensor is obtained by comparing the obtained relationship with a reference.

  The pendulum movement is uniquely determined when the initial speed is zero and the length and mass of the arm of the pendulum are constant. Therefore, the output voltage of the angular velocity sensor when the angular velocity sensor is moved in a pendulum and rotated a plurality of predetermined angles with respect to the reference position is detected, and the relationship between the rotation angle and the output voltage is determined according to a predetermined algorithm. Is obtained and compared with the reference, the sensitivity of the angular velocity sensor can be obtained. In addition, the present invention seeks the sensitivity by calculation based on the detected values of the output voltage at a plurality of rotation angles, and it is not necessary to detect unstable rotational speeds or use a capacitor, etc. It can be obtained with high accuracy. The present invention does not require an expensive device such as a motor because the angular velocity sensor is pendulum moved in the vertical plane.

  The relationship between the rotation angle and the output voltage is preferably a predetermined rotation angle of the angular velocity sensor and an integrated value of the output voltage when the predetermined rotation angle is rotated. More accurate sensitivity can be obtained by comparing the integrated values when the predetermined rotation angle is rotated from the reference position, not by comparing the instantaneous output voltage when the angle is rotated. In the case of pendulum movement of the angular velocity sensor, the reference position is preferably a position rotated 90 ° above the lowest point. When the pendulum motion is performed at the initial speed 0 with the position rotated by 90 ° as a base point, the relationship between the rotation angle of the angular velocity sensor and the output voltage can be easily obtained, and the processing can be simplified. Of course, the reference position does not have to be 90 ° above the lowest point. Moreover, you may give arbitrary initial speed to a pendulum motion.

  The plurality of predetermined angles are preferably within 90 ° with respect to the reference position. The predetermined rotation angle can be 90 ° with respect to the reference position. When the pendulum motion exceeds the lowest point at 90 ° with respect to the reference position, the rotational speed decreases, and the angular velocity takes a symmetric value with respect to the lowest point, which complicates the processing.

  Also, the sensitivity detection method of the angular velocity sensor according to the present invention includes: rotating the angular velocity sensor so that the angular velocity sensor rotates a plurality of predetermined angles with respect to a reference position; and the output voltage of the angular velocity sensor. And detecting the relationship between the rotation speed of the angular velocity sensor and the output voltage based on an algorithm given in advance from the detected time and output voltage, and when the angular velocity sensor rotates a predetermined rotation angle The integrated value of the output voltage is calculated, and the integrated value is compared with a reference value to obtain the sensitivity of the angular velocity sensor.

  In the present invention configured as described above, when the time when the angular velocity sensor rotates a plurality of predetermined angles with respect to the reference position is detected, the state of the rotational motion of the angular velocity sensor can be obtained. Therefore, the relationship between the rotation angle of the angular velocity sensor and the output voltage is obtained from the time when the plurality of predetermined angles are rotated and the output voltage. Therefore, the integrated value of the output voltage when the angular velocity sensor rotates a predetermined rotation angle is obtained, and the sensitivity of the angular velocity sensor can be obtained by comparing with the reference value.

  The sensitivity detection device for the angular velocity sensor that performs the sensitivity detection method described above includes a rotating unit that rotates the angular velocity sensor, and a rotation that detects that the angular velocity sensor has rotated a plurality of predetermined angles with respect to a reference position. Based on a detection means, an output reading means for reading an output voltage of the angular velocity sensor when the angular velocity sensor rotates the plurality of angles based on a detection signal of the rotation detection means, and a detection signal of the rotation detection means The angular velocity sensor rotates the angular velocity sensor based on the time measuring means for obtaining the rotation time of the plurality of angles, the output voltage read by the output reading means, and the time obtained by the time measuring means. Correlation calculation means for obtaining a relationship between the angle and the output voltage, and a relation between the rotation angle of the angular velocity sensor obtained by the correlation means and the output voltage. Based on the angular velocity sensor, the integrated value calculating means for determining the integrated value of the output voltage when the angular velocity sensor rotates a predetermined angle, and comparing the integrated value determined by the integrated value calculating means with a reference value, the angular velocity Sensitivity calculating means for determining the sensitivity of the sensor.

  In the present invention thus configured, it is not necessary to detect an unstable rotational speed that fluctuates with time, and an angle and time that are absolute references are obtained, and these can be detected accurately. Is possible. Further, since the angular velocity is obtained by calculation based on the detected angle and time without requiring a capacitor or the like, the sensitivity of the angular velocity sensor can be obtained with high accuracy. The rotation detecting means may be anything as long as it can detect the rotation angle, such as a potentiometer, and is particularly preferably an optical sensor such as a rotary encoder or a photocoupler that does not affect the rotation of the angular velocity sensor.

  The rotating means may be an arm that can swing in a vertical plane. When an arm that can swing in a vertical plane is used, the angular velocity sensor can be caused to perform a pendulum motion (rotational motion) without using a motor or the like, and the sensitivity of the angular velocity sensor can be easily obtained with high accuracy. Of course, the rotating means may be a rotatable rotary table. That is, the angular velocity sensor may be placed on a rotatable rotary table, and a rotational force may be applied to the rotary table by hand. In the case of a rotating table with a large mass, the rotating table rotates at a substantially constant rotational speed for a short time, and the deceleration state due to friction can be easily grasped by experiments and the sensitivity of the angular velocity sensor can be detected with high accuracy. .

A preferred embodiment of a method and apparatus for detecting sensitivity of an angular velocity sensor according to the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 is an explanatory diagram showing an outline of a sensitivity detection apparatus for an angular velocity sensor according to a first embodiment of the present invention. In FIG. 1, the sensitivity detection device 10 has a support column 14 erected on a fixed base 12. A swing arm 16 as a rotating means is swingably attached to the upper end portion of the column 14. That is, the swing arm 16 is fixed to a rotating shaft 17 that is rotatably attached to the support column 14 via a bearing (not shown). A weight 18 is fixed to the tip of the swing arm 16. For this reason, the weight 18 constitutes a rotating means together with the swing arm 16 so that the pendulum can move in the vertical plane.

  In the embodiment, the weight 18 has a mass with which the mass of the swing arm 16 can be ignored. Further, the swing arm 16 has such rigidity that the deflection can be ignored when the weight 18 performs a pendulum motion. Therefore, the weight 18 can be handled as a simple pendulum with respect to the movement of the center of gravity. A mounting portion for the angular velocity sensor 20 is provided at a position corresponding to the center of mass of the weight 18. For this reason, the angular velocity sensor 20 attached to the mounting portion performs a pendulum motion integrally with the weight 18. In the angular velocity sensor 20, a connected lead wire (not shown) is led to the column 14 via the rotary shaft 17 and the like, and an output signal (output voltage) is input to the arithmetic processing unit 30 including a personal computer (personal computer). It is like that. If the mass of the weight 18 cannot ignore the mass of the swing arm 16, the mounting portion of the angular velocity sensor 20 may be provided at a position corresponding to the center of mass of both the swing arm 16 and the weight 18. Thus, by providing the mounting portion of the angular velocity sensor 20 at a position corresponding to the center of mass, it is easy to analyze the pendulum motion of the angular velocity sensor 20.

  A cradle 22 is provided at a position corresponding to the weight 18. The cradle 22 supports the lower portion of the weight 18 and holds the swing arm 16 horizontally. The cradle 22 rotates in a horizontal plane as indicated by an arrow 24. When the pedestal 22 rotates in the horizontal plane and releases the support of the weight 18, the weight 18 is caused by its own weight to have a locus (arrow) 26. Rotate along.

  The sensitivity detection apparatus 10 includes a rotation detection unit that detects that a predetermined angle is rotated when the swing arm 16 is rotated clockwise from the horizontal position that is the reference position shown in FIG. In the case of the embodiment, the rotation detecting means is composed of a light shielding member 32 provided on the swing arm 16 and a plurality of optical sensors for detecting the light shielding member 32. The light shielding member 32 is composed of a pin or the like, and is disposed on the center line 28 along the longitudinal direction of the swing arm 16. On the other hand, the optical sensor includes a light emitting unit 34 (34a, 34b) and a light receiving unit 36 (36a, 36b).

  In the case of the embodiment, the light emitting unit 34 and the light receiving unit 36 are arranged at central angles 30 ° and 60 ° in the clockwise direction with respect to the horizontal position of the swing arm 16. Further, the light emitting unit 34 and the light receiving unit 36 are arranged on one side and the other side of the locus 38 drawn by the light shielding member 32. That is, the light shielding member 32 passes between the light emitting unit 34 and the light receiving unit 36 and temporarily blocks light 39 such as laser light emitted from the light emitting unit 34 toward the light receiving unit 36. The light receiving unit 36 outputs a detection signal to the arithmetic processing unit 30 when the light blocking member 32 blocks the light 39. The light emitting unit 34 and the light receiving unit 36 may be arranged in a direction orthogonal to the paper surface of FIG. 1 and the swing arm 16 itself may be used as a light shielding member. Further, the arrangement positions of the light emitting unit 34 and the light receiving unit 36 may not be 30 ° and 60 °, and may be three or more.

  As shown in FIG. 2, the arithmetic processing device 30 includes an output reading unit 40, a function calculation unit 42, an integrated value calculation unit 44, a sensitivity calculation unit 46, a reference value storage unit 48, and an amplification factor calculation unit 50. Yes. The output reading unit 40, which is an output reading unit, receives the output signals of the light receiving units 36a and 36b, reads the output voltage of the angular velocity sensor 20 based on the output signal of the light receiving unit 36, and the correlation calculation unit. The result is output to a certain function calculation unit 42. As will be described in detail later, the function calculation unit 42 obtains the relationship between the rotation angle of the angular velocity sensor 20 and the output voltage, and outputs the relationship to an integrated value calculation unit (integrated value calculation means) 44 provided on the output side.

  The sensitivity calculator 46 provided on the output side of the integrated value calculator 44 is connected to the integrated value calculator 44 and the reference value storage unit 48 on the input side, and the integrated value output by the integrated value calculator 44 is used as a reference. The sensitivity of the angular velocity sensor 20 is obtained by comparison with a reference value stored in the value storage unit 48 and output to the amplification factor calculation unit 50. The amplification factor calculation unit 50 obtains the amplification factor for the output voltage of the angular velocity sensor 20 so that the sensitivity of each angular velocity sensor 20 of the same model is the same, and outputs it to an amplification factor writing device (not shown).

  The sensitivity detection of the angular velocity sensor 20 by the sensitivity detection apparatus 10 according to the first embodiment is performed as follows. When the arm length L and its mass (weight) W are known, the pendulum motion is uniquely determined. In the case of the embodiment, the sensitivity detection apparatus 10 has a mass that allows the mass of the weight 18 to ignore the mass of the oscillating arm 16 so that the motion of the center of gravity of the weight 18 can be approximated by the motion of a single pendulum. . Therefore, by mounting the angular velocity sensor 20 at a position corresponding to the center of gravity of the weight 18, the pendulum motion is determined by the distance L between the center of gravity of the weight 18 and the center of the rotating shaft 17 and the mass of the weight 18. The mass of the angular velocity sensor 20 is generally much smaller than the weight 18 and can be ignored. However, the mass of the angular velocity sensor 20 may be taken into account by measuring in advance.

  First, the swing arm 16 with the angular velocity sensor 20 mounted on the weight 18 is rotated to the horizontal position as the reference position as shown in FIG. Then, the cradle 22 is rotated by a hand or a motor as indicated by an arrow 24 to release the support of the weight 18. As a result, the angular velocity sensor 20 rotates clockwise (pendulum movement) integrally with the swing arm 16 and the weight 18 like a locus 26 centered on the rotation shaft 17. When the swing arm 16 rotates 30 ° from the horizontal position and the light shielding member 32 provided on the swing arm 16 blocks the light 39 emitted from the light emitting unit 34a, the light receiving unit 36a outputs the rotation detection signal to the arithmetic processing unit 30. Is output to the output reading unit 40. When the signal is input from the light receiving unit 36 a, the output reading unit 40 reads the output voltage of the angular velocity sensor 20 and sends it to the function calculation unit 42. The function calculation unit 42 stores the output signal of the output reading unit 40 in an internal memory (not shown). When the swing arm 16 is rotated 60 degrees clockwise from the horizontal position, the light receiving unit 36 b outputs a rotation detection signal to the output reading unit 40. The output reading unit 40 reads the output voltage of the angular velocity sensor 20 and outputs it to the function calculation unit 42 in the same manner as described above.

The function calculation unit 42 is previously given a relationship such as a rotation time, a rotation speed, and an angular velocity at an arbitrary rotation angle of the angular velocity sensor 20 when the initial velocity at the horizontal position (reference position) is zero. Then, the function calculation unit 42 obtains a relational expression between the rotation angle of the angular velocity sensor 20 and the output voltage based on these relationships, and outputs the relational expression to the integrated value calculation unit 44. Based on the relational expression with the output voltage of the angular velocity sensor 20 obtained by the function calculation unit 42, the integrated value calculation unit 44 sets the angular velocity sensor 20 to a predetermined angle, for example, a position at 90 ° that is the lowest point from the horizontal position. Calculate the integrated value of the output voltage when rotating. That is, since the angular velocity sensor 20 performs a pendulum motion, the time required to rotate 90 ° from the horizontal position at the initial velocity 0 is constant, and the angular velocity sensor 20 is rotated 90 ° at a predetermined average angular velocity. The integrated value K _X of the output voltage obtained by the integrated value calculation unit 44 is input to the sensitivity calculation unit 46.

The reference value storage unit 48 stores the reference sensitivity S ₀ [mV / dps] of the angular velocity sensor and the integrated value K ₀ of the output voltage when the reference angular velocity sensor rotates 90 ° from the horizontal position at the initial velocity 0. is doing. The sensitivity calculation unit 46 compares the integrated value K _X obtained by the integrated value calculation unit 44 with the reference integrated value K ₀ and determines the sensitivity S _X [mV / dps] of the angular velocity sensor 20 using the reference sensitivity S ₀ . For example, it is assumed that the reference sensitivity S ₀ stored in the reference value storage unit 48 is 25 [mV / dps] and the integrated value K ₀ is 450. When the integrated value obtained by the integrated value calculation unit 44 is K _X , the sensitivity S _X of the angular velocity sensor 20 is
S _X : K _X = 25: 450
S _X = (25 × K _X ) / 450 [mV / dps]
It becomes.

The sensitivity of the angular velocity sensor 20 obtained by the sensitivity calculation unit 46 is output to the amplification factor calculation unit 50. The amplification factor calculation unit 50 obtains the amplification factor G from the following equation so that the sensitivity of the angular velocity sensor 20 whose sensitivity is S _X [mV / dps] can be obtained as the reference sensitivity of 25 [mv / dps].
G = 25 / S _X
The amplification factor G obtained by the amplification factor calculator 50 is output to an amplification factor writing device (not shown) and written to the angular velocity sensor 20. Thereby, each angular velocity sensor 20 is adjusted so as to obtain a reference sensitivity of 25 [mV / dps].

  Thus, the sensitivity detection device 10 detects the rotation angle of the angular velocity sensor 20 that can be accurately measured using the pendulum motion, and calculates and obtains the sensitivity based on the rotation angle and the output voltage. Therefore, in the embodiment, it is possible to obtain the sensitivity of the angular velocity sensor 20 with high accuracy without detecting an unstable angular velocity or requiring a capacitor. Therefore, in the embodiment, an amplification factor for making the angular velocity sensor 20 the reference sensitivity can be obtained with high accuracy, and variations in sensitivity of the angular velocity sensor 20 can be reduced. In addition, the sensitivity detection device 10 of the embodiment does not require power such as a motor for rotating the angular velocity sensor 20 because the angular velocity sensor 20 is moved in a pendulum motion in the vertical plane. Can be reduced. Since the angular velocity sensor 20 is disposed at a position corresponding to the center of gravity of the weight 18 and can be handled in the same manner as a single pendulum, the calculation and the like are easy and the apparatus can be simplified. Further, since the sensitivity detection device 10 holds the swing arm 16 in the horizontal position via the weight 18 by the cradle 22 and rotates the cradle 22 to release the support, The angular velocity sensor 20 can be accurately rotated from the reference position. The angular velocity sensor 20 may be arranged at a position that is not the center of gravity of the weight 18. The rotation detection means may be a rotary encoder, a resolver, or the like. Furthermore, the rotation angle for obtaining the integrated value of the output voltage need not be 90 °. And it is desirable for the sensitivity detection apparatus 10 to perform a proper calibration by performing a pendulum motion using a reference angular velocity sensor.

  3 and 4 are explanatory diagrams of the second embodiment. As shown in FIG. 3, the sensitivity detection device 60 according to this embodiment is provided with position detection means for detecting the light shielding member 32 at a position corresponding to the horizontal position that is the reference position of the swing arm 16. This position detecting means is composed of a light emitting part 62 and a light receiving part 64, as in the rotation detecting means provided at the position where the central angle is 30 ° and 60 ° with respect to the horizontal position. The output signal of the light receiving unit 64 is input to the arithmetic processing unit 70 in the same manner as the light receiving unit 36. Note that the sensitivity detection device 60 according to the second embodiment is not provided with the cradle 22 shown in the first embodiment. Other configurations of the second embodiment are substantially the same as those of the first embodiment.

  As shown in FIG. 4, the arithmetic processing unit 70 constituting the sensitivity detection unit 60 includes an output reading unit 40, a function calculation unit 72 that is a correlation calculation unit, a clock unit 74 that is a timing unit, and an integrated value calculation unit. 44, a reference value storage unit 48, and an amplification factor calculation unit 50. The output reading unit 40 receives the output signals of the light receiving units 64 and 36 (36a, 36b), reads the output voltage of the angular velocity sensor 20 based on these output signals, and outputs it to the function calculation unit 72. The output signals of the light receiving units 64 and 36 are input to the time measuring unit 74. The timer 74 measures the time that the swing arm 16 has rotated a predetermined angle of 30 ° and 60 ° from the horizontal position, and sends it to the function calculation unit 72 provided on the output side of the output reading unit 40. To do.

  The integrated value calculation unit 44 is connected to the output side of the function calculation unit 72 as in the first embodiment. A sensitivity calculation unit 46 is provided on the output side of the integrated value calculation unit 44. The sensitivity calculation unit 46 compares the output of the integrated value calculation unit 44 with the reference value stored in the reference value storage unit 48, obtains the sensitivity of the angular velocity sensor 20, and inputs it to the amplification factor calculation unit 50.

  The operation of the sensitivity detection apparatus 60 according to the second embodiment configured as described above is as follows. After mounting the angular velocity sensor 20 at a position corresponding to the center of gravity of the weight 18, the swing arm 16 is lifted upward from the horizontal position by hand or the like. When the swing arm 16 is opened, the angular velocity sensor 20 rotates along the locus 26 shown in FIG. 3 and performs a pendulum motion in the vertical plane. Further, the light shielding member 32 provided on the swing arm 16 rotates along the locus 38.

  When the swing arm 16 is horizontal and the light blocking member 32 blocks the light 39 emitted from the light emitting unit 62, the light receiving unit 64 outputs the detection signal of the light blocking member 32 to the output reading unit 40 and the time measuring unit 74 of the arithmetic processing unit 70. To send. The output reading unit 40 reads the output voltage of the angular velocity sensor 20 and inputs it to the function calculation unit 72 as described above. In addition, when a signal is input from the light receiving unit 64, the time measuring unit 74 starts counting time in synchronization therewith. Further, when the swing arm 16 rotates and the light shielding member 32 blocks the light 39 emitted from the light emitting units 34a and 34b, the corresponding light receiving units 36a and 36b input the detection signals to the output reading unit 40 and the time measuring unit 74. To do. The output reading unit 40 reads the output voltage of the angular velocity sensor 20 based on the output signal of each light receiving unit 36 and inputs it to the function calculation unit 72. On the other hand, when the detection signal is input from the light receiving unit 36a, the time measuring unit 74 calculates the time (rotation time) required for the angular velocity sensor 20 to rotate 30 ° clockwise from the horizontal position of the swing arm 16 which is the reference position. The result is output to the function calculation unit 72. Further, when the detection signal is input from the light receiving unit 36b, the time measuring unit 74 outputs a rotation time of 60 ° to the function calculating unit 72 and resets the count value.

  The function calculation unit 72 is configured to detect the angular velocity sensor 20 when the swing arm 16 passes the horizontal position based on the rotation time of 30 ° and 60 ° input from the time measuring unit 74 according to a predetermined algorithm. While calculating | requiring a speed (initial speed), the speed in each position is calculated. Further, the function calculation unit 72 obtains the rotation time at an arbitrary rotation angle, and based on the obtained rotation time and the output voltage read by the output reading unit 40, the rotation angle of the angular velocity sensor 20 and the output voltage are calculated. A function representing the relationship is obtained and input to the integrated value calculation unit 44. The integrated value calculation unit 44 calculates an integrated value of the output voltage when the angular velocity sensor 20 is rotated 90 ° clockwise from the horizontal position of the swing arm 16 in the same manner as described above, and outputs the integrated value to the sensitivity calculation unit 46. The sensitivity calculation unit 46 compares the integrated value obtained by the integrated value calculation unit 44 with the reference value stored in the reference value storage unit 48, obtains the sensitivity of the angular velocity sensor 20, and sends it to the amplification factor calculation unit 50. The amplification factor calculation unit 50 obtains the amplification factor of the output voltage for setting the angular velocity sensor 20 to the reference sensitivity and outputs it to an amplification factor writing device or the like.

  FIG. 5 is an explanatory diagram of a main part of the third embodiment. In this sensitivity detection device 80, a rotary table 84 is rotatably provided at the upper end portion of the column 82. The turntable 84 has a mounting portion to which an angular velocity sensor can be detachably attached at a predetermined position on the upper surface 86. The turntable 84 has a large mass and rotates smoothly when rotated as indicated by an arrow 88 by hand. That is, when the rotary table 84 is rotated, the rotary table 84 has an inertia that rotates at a substantially uniform rotation speed for a short time (for example, one rotation time). The turntable 84 has a light shielding member 90 on the peripheral surface 89. Around the turntable 84, there are provided three or more rotation detection means (not shown) made of optical sensors. These rotation detection means detect the light shielding member 90 and input it to the same arithmetic processing unit as shown in FIG. The arithmetic processing unit obtains the time for rotating a plurality of predetermined angles based on the detection signals of the plurality of rotation detecting means, and obtains the relationship between the rotational speed of the angular velocity sensor 20 and the output voltage. Then, the arithmetic processing unit obtains the sensitivity of the angular velocity sensor 20 and the amplification factor for obtaining the reference sensitivity in the same manner as described above. The sensitivity can be detected with higher accuracy by rotating the rotary table 84 and obtaining in advance the influence of rotational friction, such as the state of deceleration of the rotational speed.

It is a schematic explanatory drawing of the sensitivity detection apparatus of the angular velocity sensor which concerns on 1st Embodiment. It is a block diagram of the arithmetic processing part which concerns on 1st Embodiment. It is a schematic explanatory drawing of the sensitivity detection apparatus of the angular velocity sensor which concerns on 2nd Embodiment. It is a block diagram of the arithmetic processing unit which concerns on 2nd Embodiment. It is a perspective view of the principal part of the sensitivity detection apparatus which concerns on 3rd Embodiment.

Explanation of symbols

  10, 60... Sensitivity detection device 16, 18... Rotating means (swinging arm, weight), 20. Detection means (light-shielding member, light-emitting part, light-receiving part), 30, 70... Arithmetic processing device, 40... Output reading means (output reading part), 42, 72. , 44... Integrated value calculating means (integrated value calculating section) 46... Sensitivity calculating means (sensitivity calculating section) 48... Reference value storage section 74... Timekeeping section 80. Detection device, 84... Rotating means (rotating table), 90.

Claims (8)

  The angular velocity sensor is moved in a vertical plane to detect the output voltage of the angular velocity sensor when the angular velocity sensor rotates a plurality of predetermined angles with respect to a reference position, and the angular velocity is detected according to a predetermined algorithm. A sensitivity detection method for an angular velocity sensor, wherein a relationship between a rotation angle of the sensor and an output voltage is obtained, and the sensitivity of the angular velocity sensor is obtained by comparing the obtained relationship with a reference. In the angular velocity sensor sensitivity detection method according to claim 1,
The relationship between the rotation angle and the output voltage is a predetermined rotation angle of the angular velocity sensor and an integrated value of the output voltage when the predetermined rotation angle is rotated. Method. In the angular velocity sensor sensitivity detection method according to claim 1 or 2,
The angular velocity sensor sensitivity detection method according to claim 1, wherein the reference position is a position rotated 90 degrees upward with respect to a lowest point of the pendulum motion. In the angular velocity sensor sensitivity detection method according to claim 3,
The angular velocity sensor sensitivity detection method, wherein the plurality of predetermined angles are within 90 ° with respect to a reference position. In the angular velocity sensor sensitivity detection method according to any one of claims 2 to 4,
The method for detecting sensitivity of an angular velocity sensor, wherein the predetermined rotation angle is 90 ° with respect to the reference position.   By rotating the angular velocity sensor, the time when the angular velocity sensor rotates a plurality of predetermined angles with respect to a reference position and the output voltage of the angular velocity sensor are detected, and the detected time and output voltage are used in advance. Based on a given algorithm, a relationship between the rotation angle of the angular velocity sensor and the output voltage is obtained, an integrated value of the output voltage when the angular velocity sensor rotates a predetermined rotation angle, and the integrated value is calculated. A method for detecting sensitivity of an angular velocity sensor, wherein the sensitivity of the angular velocity sensor is obtained by comparison with a reference value. A rotating means for rotating the angular velocity sensor;
Rotation detecting means for detecting that the angular velocity sensor has rotated a plurality of predetermined angles with respect to a reference position;
An output reading means for reading an output voltage of the angular velocity sensor when the angular velocity sensor rotates the plurality of angles based on a detection signal of the rotation detection means;
Based on a detection signal of the rotation detecting means, a time measuring means for obtaining a time during which the angular velocity sensor has rotated the plurality of angles;
Correlation calculating means for obtaining a relationship between the rotation angle of the angular velocity sensor and the output voltage based on the output voltage read by the output reading means and the time obtained by the time measuring means;
Based on the relationship between the rotation angle of the angular velocity sensor obtained by the correlation means and the output voltage, an integrated value calculation means for obtaining an integrated value of the output voltage when the angular velocity sensor rotates a predetermined angle;
Sensitivity calculation means for comparing the integrated value obtained by the integrated value calculation means with a reference value to obtain sensitivity of the angular velocity sensor;
A device for detecting sensitivity of an angular velocity sensor, comprising: In the angular velocity sensor sensitivity detection apparatus according to claim 7,
The angular velocity sensor sensitivity detecting apparatus according to claim 1, wherein the rotating means is an arm that can swing in a vertical plane.

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