JP2022026083A - Displacement measuring device and display method - Google Patents

Abstract

To provide a displacement measuring device with which it is possible to detect the coordinate of a prescribed region of the object to be measured.SOLUTION: Provided is a displacement measuring device comprising: a sensor signal acquisition unit for acquiring a first signal based on the signal outputted from a first inertia sensor arranged in a first portion of a prescribed region of the object to be measured and a second signal based on the signal outputted from a second inertia sensor arranged in a second portion of the prescribed region; a displacement calculation unit for calculating the displacement of the first inertia sensor and the displacement of the second inertia sensor; an azimuth calculation unit for calculating the azimuth of the first inertia sensor and the azimuth of the second inertia sensor; and a coordinate calculation unit for calculating the coordinate of the first portion on the basis of the displacement and azimuth of the first inertia sensor and calculating the coordinate of the second portion on the basis of the displacement and azimuth of the second inertia sensor.SELECTED DRAWING: Figure 4

Description

The present invention relates to a displacement measuring device and a display method.

Patent Document 1 has a function of measuring data such as speed, engine rotation speed, throttle opening, acceleration, etc. of a running competition vehicle in time series, and a function of displaying these data in time series. In a vehicle data logger, a data logger having a data comparison means for comparing data for each lap, a display means for displaying data at a traveling position of a circuit, and a data detection means for detecting the inclination angle and cornering radius of a vehicle body. Is described. According to the data logger described in Patent Document 1, various information for each lap of the competition vehicle can be superimposed and displayed, and the data of the distance series can be displayed to specify the traveling position on the circuit. It is possible to accurately detect the vehicle body tilt angle and cornering radius.

Japanese Unexamined Patent Publication No. 2004-318216

However, the data logger described in Patent Document 1 cannot detect the coordinates of each part of the competition vehicle.

One aspect of the displacement measuring device according to the present invention is
The first signal based on the signal output from the first inertial sensor arranged in the first part of the predetermined part of the object to be measured and the second part different from the first part of the predetermined part. A second signal based on the signal output from the second inertial sensor arranged in the portion of, a sensor signal acquisition unit for acquiring, and a sensor signal acquisition unit.
The displacement of the first inertial sensor is calculated based on the third signal based on the first signal, and the displacement of the second inertial sensor is calculated based on the fourth signal based on the second signal. Displacement calculation unit and
An orientation calculation unit that calculates the orientation of the first inertial sensor based on the third signal and calculates the orientation of the second inertial sensor based on the fourth signal.
The coordinates of the first portion are calculated based on the displacement of the first inertial sensor and the orientation of the first inertial sensor, and the displacement of the second inertial sensor and the second inertia. A coordinate calculation unit that calculates the coordinates of the second part based on the orientation of the sensor, and
including.

One aspect of the display method according to the present invention is
The first signal based on the signal output from the first inertial sensor arranged in the first part of the predetermined part of the object to be measured and the second part different from the first part of the predetermined part. A sensor signal acquisition process for acquiring a second signal based on a signal output from the second inertial sensor arranged in the portion of
The displacement of the first inertial sensor is calculated based on the third signal based on the first signal, and the displacement of the second inertial sensor is calculated based on the fourth signal based on the second signal. Displacement calculation process and
An orientation calculation step of calculating the orientation of the first inertial sensor based on the third signal and calculating the orientation of the second inertial sensor based on the fourth signal.
The coordinates of the first portion are calculated based on the displacement of the first inertial sensor and the orientation of the first inertial sensor, and the displacement of the second inertial sensor and the second inertia. A coordinate calculation step of calculating the coordinates of the second part based on the orientation of the sensor, and
A relative displacement amount calculation step of calculating the relative displacement amount of the second portion with respect to the first portion based on the coordinates of the first portion and the coordinates of the second portion.
A display process for displaying an object based on the relative displacement amount, and
including.

The figure for demonstrating the outline of the displacement measurement system of the object to be measured. The figure which shows the arrangement example of a plurality of inertia sensors 3. The figure which shows the arrangement example of a plurality of inertia sensors 3. The figure which shows the structural example of the displacement measuring apparatus of 1st Embodiment. The figure which shows the relationship between the local coordinate system of an inertial sensor, the local coordinate system of a virtual sensor, and the system coordinate system. The figure which shows an example of the reference coordinate data. The figure which shows an example of a rotation matrix data. The figure which shows an example of the sensor data. The figure which shows an example of virtual sensor data. The figure which shows an example of the displacement data. The figure which shows an example of the orientation data. The figure which shows an example of the coordinate data. The flowchart which shows the procedure of the displacement measurement by the displacement measuring apparatus of 1st Embodiment. The flowchart which shows the other procedure of the displacement measurement by the displacement measuring apparatus of 1st Embodiment. The flowchart which shows the procedure of the offline analysis. The flowchart which shows the procedure of the displacement measurement by the displacement measuring apparatus of 2nd Embodiment. The flowchart which shows the procedure of an online analysis. The figure which shows the configuration example of the display system. The figure which shows the structure of the displacement measuring apparatus included in a display system. The flowchart which shows the procedure of the display method of this embodiment. The flowchart which shows the procedure of the display information generation process. The figure which shows the arrangement example of the displacement measuring device, a plurality of inertia sensors, an image pickup part, and a vehicle information collecting device mounted on a vehicle. The figure which shows an example of the display information. The figure which shows an example of the display information. The figure which shows an example of the display information. The figure which shows an example of the display information.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. The embodiments described below do not unreasonably limit the content of the present invention described in the claims. Moreover, not all of the configurations described below are essential constituent requirements of the present invention.

1. 1. Displacement measuring device 1-1. First Embodiment 1-1-1. Outline of Displacement Measurement System Using Displacement Measuring Device FIG. 1 is a diagram for explaining an outline of a displacement measuring system of a measured object using the displacement measuring device 1 of the present embodiment.

In FIG. 1, the vehicle 4a, which is the object 4 to be measured, is a racing car. However, the object 4 to be measured may be a moving body other than the vehicle 4a, for example, an aircraft, a ship, or the like, or a stationary structure such as a bridge or a building.

As shown in FIG. 1, the vehicle 4a is equipped with a displacement measuring device 1 and a plurality of inertial sensors 3.

In the present embodiment, the inertial sensor 3 is an inertial measurement unit (IMU) having an acceleration sensor and an angular velocity sensor. However, the inertial sensor 3 may be, for example, an acceleration sensor or an angular velocity sensor.

The displacement measuring device 1 includes a first signal based on a signal output from a first inertial sensor arranged in a first portion of a predetermined portion of the vehicle 4a among the plurality of inertial sensors 3, and a plurality of displacement measuring devices 1. A second signal based on a signal output from a second inertial sensor arranged in a second portion of the inertial sensor 3 different from the first portion of the predetermined portion is acquired. For example, the first signal may be a digital signal output from the first inertial sensor, or the analog signal output from the first inertial sensor may be amplified or converted to A / D (Analog to Digital). It may be a processed digital signal. Similarly, for example, the second signal may be a digital signal output from the second inertial sensor, or the analog signal output from the second inertial sensor is amplified or A / D converted. It may be a digital signal.

The predetermined portion may be, for example, a front suspension FS, a rear suspension RS, a front wing FW, a rear wing RW, or the like. Further, the predetermined portion may be a floor panel, a power unit, a transmission or the like (not shown in FIG. 1).

Further, the displacement measuring device 1 calculates the displacement of the first inertial sensor based on the acquired first signal, and calculates the displacement of the second inertial sensor based on the acquired second signal. Further, the displacement measuring device 1 calculates the direction of the first inertial sensor based on the first signal, and calculates the direction of the second inertial sensor based on the second signal. Then, the displacement measuring device 1 calculates the coordinates of the first portion based on the displacement of the first inertial sensor and the orientation of the first inertial sensor, and the displacement of the second inertial sensor and the second The coordinates of the second part are calculated based on the orientation of the inertial sensor.

In particular, in the present embodiment, the displacement measuring device 1 acquires the first signal and the second signal during a predetermined period during the running of the vehicle 4a, and after the predetermined period ends, the first inertia sensor And the displacement of the second inertial sensor are calculated, the orientation of the first inertial sensor and the orientation of the second inertial sensor are calculated, and further, the coordinates of the first part and the coordinates of the second part are calculated. Is calculated.

Further, the displacement measuring device 1 may calculate the relative displacement amount of the second portion with respect to the first portion based on the coordinates of the first portion and the coordinates of the second portion. This relative displacement amount corresponds to the deformation amount of a predetermined portion of the vehicle 4a.

Further, the displacement measuring device 1 may generate traveling condition information which is information on the traveling condition of the vehicle 4a based on the calculated relative displacement amount of each portion of the vehicle 4a. The traveling situation information may include, for example, information such as a deformation amount histogram showing the distribution of the deformation amount of each part of the vehicle 4a and the cumulative fatigue degree of each part of the vehicle 4a.

FIG. 2 is a diagram showing an example of arrangement of a plurality of inertial sensors 3 with respect to the front suspension FS, and is a perspective view of the front suspension FS as viewed from above. In the example of FIG. 2, 12 inertial sensors 3a to 3l, which are inertial sensors 3, are arranged on the front suspension FS.

The inertial sensor 3a is arranged near the base of the right upper arm of the front suspension FS, and the inertial sensors 3b and 3c are arranged near the two tips of the right upper arm, respectively.

The inertial sensor 3d is arranged near the base of the right lower arm of the front suspension FS, and the inertial sensors 3e and 3f are arranged near the two tips of the right lower arm, respectively.

The inertial sensor 3g is arranged near the base of the left upper arm of the front suspension FS, and the inertial sensors 3h and 3i are arranged near the two tips of the left upper arm, respectively.

The inertial sensor 3j is arranged near the base of the left lower arm of the front suspension FS, and the inertial sensors 3k and 3l are arranged near the two tips of the left lower arm, respectively.

The displacement measuring device 1 acquires a signal output from each of the 12 inertial sensors 3a to 3l in a predetermined period. Then, the displacement measuring device 1 calculates the coordinates of each of the 12 inertial sensors 3a to 3l after the predetermined period ends. For example, the displacement measuring device 1 calculates the displacement and orientation of the inertial sensor 3a based on the signal output from the inertial sensor 3a, and the inertial sensor 3a is arranged based on the calculated displacement and orientation of the inertial sensor 3a. Calculate the coordinates of the part. Similarly, the displacement measuring device 1 calculates the displacement and orientation of the inertial sensor 3b based on the signal output from the inertial sensor 3b, and the inertial sensor 3b is arranged based on the calculated displacement and orientation of the inertial sensor 3b. Calculate the coordinates of the part that is being displaced. Similarly, the displacement measuring device 1 calculates the displacement and orientation of the inertial sensor 3c based on the signal output from the inertial sensor 3c, and the inertial sensor 3c is arranged based on the calculated displacement and orientation of the inertial sensor 3c. Calculate the coordinates of the part that is being displaced.

Similarly, the displacement measuring device 1 calculates the displacement and orientation of each of the inertial sensors 3d to 3l based on the signals output from each of the inertial sensors 3d to 3l, and calculates each of the inertial sensors 3d to 3l. Based on the displacement and the orientation, the coordinates of the portion where each of the inertial sensors 3d to 3l are arranged are calculated.

Further, the displacement measuring device 1 is a portion where the reference inertial sensor 3a is arranged based on the coordinates of the portion where the inertial sensor 3a is arranged and the coordinates of the portion where the inertial sensor 3b is arranged. The relative displacement amount of the portion where the inertial sensor 3b is arranged may be calculated. This relative displacement amount corresponds to the deformation amount of the front arm of the right upper arm. Similarly, in the displacement measuring device 1, a reference inertial sensor 3a is arranged based on the coordinates of the portion where the inertial sensor 3a is arranged and the coordinates of the portion where the inertial sensor 3c is arranged. The relative displacement amount of the portion where the inertial sensor 3c is arranged with respect to the portion may be calculated. This relative displacement amount corresponds to the deformation amount of the rear arm of the right upper arm.

Similarly, in the displacement measuring device 1, the reference inertial sensor 3d is set based on the coordinates of the portion where the inertial sensor 3d is arranged and the coordinates of the portion where each of the inertial sensors 3e and 3f is arranged. The relative displacement amount of the portion where each of the inertial sensors 3e and 3f is arranged with respect to the arranged portion may be calculated. These relative displacement amounts correspond to the deformation amount of the front arm and the deformation amount of the rear arm of the right lower arm.

Similarly, in the displacement measuring device 1, the reference inertial sensor 3g is based on the coordinates of the portion where the inertial sensor 3g is arranged and the coordinates of the portion where each of the inertial sensors 3h and 3i is arranged. The relative displacement amount of the portion where each of the inertial sensors 3h and 3i is arranged with respect to the arranged portion may be calculated. These relative displacement amounts correspond to the deformation amount of the front arm and the deformation amount of the rear arm of the left upper arm.

Similarly, in the displacement measuring device 1, the reference inertial sensor 3j is set based on the coordinates of the portion where the inertial sensor 3j is arranged and the coordinates of the portion where each of the inertial sensors 3k and 3l is arranged. The relative displacement amount of the portion where each of the inertial sensors 3k and 3l with respect to the arranged portion may be calculated. These relative displacement amounts correspond to the deformation amount of the front arm and the deformation amount of the rear arm of the left lower arm.

The front suspension FS is an example of a "predetermined portion". Further, the inertial sensor 3a is an example of the "first inertial sensor", and the two inertial sensors 3b and 3c are examples of the "second inertial sensor", respectively. Further, the portion where the inertial sensor 3a is arranged is an example of the "first portion", and the portion where the two inertial sensors 3b and 3c are arranged is an example of the "second portion".

Further, the inertial sensor 3d is another example of the "first inertial sensor", and the two inertial sensors 3e and 3f are other examples of the "second inertial sensor", respectively. Further, the part where the inertial sensor 3d is arranged is another example of the "first part", and the part where the two inertial sensors 3e and 3f are arranged is another example of the "second part". Is.

Further, the inertial sensor 3g is another example of the "first inertial sensor", and the two inertial sensors 3h and 3i are other examples of the "second inertial sensor", respectively. Further, the part where the inertial sensor 3g is arranged is another example of the "first part", and the part where the two inertial sensors 3h and 3i are arranged is another example of the "second part". Is.

Further, the inertial sensor 3j is another example of the "first inertial sensor", and the two inertial sensors 3k and 3l are other examples of the "second inertial sensor", respectively. Further, the part where the inertial sensor 3j is arranged is another example of the "first part", and the part where the two inertial sensors 3k and 3l are arranged is another example of the "second part". Is.

FIG. 3 is a diagram showing an arrangement example of a plurality of inertial sensors 3 with respect to the rear suspension RS, and is a plan view of the rear suspension RS as viewed from below. In the example of FIG. 3, 12 inertial sensors 3m to 3x are arranged on the rear suspension RS.

The inertial sensor 3m is arranged near the base of the right upper arm of the rear suspension RS, and the inertial sensors 3n and 3o are arranged near the two tips of the right upper arm, respectively.

The inertial sensor 3p is arranged near the base of the right lower arm of the rear suspension RS, and the inertial sensors 3q and 3r are arranged near the two tips of the right lower arm, respectively.

The inertial sensors 3s are arranged near the base of the left upper arm of the rear suspension RS, and the inertial sensors 3t and 3u are arranged near the two tips of the left upper arm, respectively.

The inertial sensor 3v is arranged near the base of the left lower arm of the rear suspension RS, and the inertial sensors 3w and 3x are arranged near the two tips of the left lower arm, respectively.

Since it is the same as that described in FIG. 2, the description is omitted, but the displacement measuring device 1 calculates the coordinates of the portion where each of the inertial sensors 3m to 3x is arranged.

Further, the displacement measuring device 1 is a portion where the reference inertial sensor 3m is arranged based on the coordinates of the portion where the inertial sensor 3m is arranged and the coordinates of the portion where the inertial sensor 3n is arranged. The relative displacement amount of the portion where the inertial sensor 3n is arranged may be calculated. This relative displacement amount corresponds to the deformation amount of the front arm of the right upper arm. Similarly, in the displacement measuring device 1, a reference inertial sensor 3m is arranged based on the coordinates of the portion where the inertial sensor 3m is arranged and the coordinates of the portion where the inertial sensor 3o is arranged. The relative displacement amount of the portion where the inertial sensor 3o is arranged with respect to the portion may be calculated. This relative displacement amount corresponds to the deformation amount of the rear arm of the right upper arm.

Similarly, in the displacement measuring device 1, the reference inertial sensor 3p is set based on the coordinates of the portion where the inertial sensor 3p is arranged and the coordinates of the portion where each of the inertial sensors 3q and 3r is arranged. The relative displacement amount of each of the inertial sensors 3q and 3r with respect to the arranged portion may be calculated. These relative displacement amounts correspond to the deformation amount of the front arm and the deformation amount of the rear arm of the right lower arm.

Similarly, in the displacement measuring device 1, the reference inertial sensor 3s is set based on the coordinates of the portion where the inertial sensor 3s is arranged and the coordinates of the portion where each of the inertial sensors 3t and 3u is arranged. The relative displacement amount of the portion where each of the inertial sensors 3t and 3u is arranged with respect to the arranged portion may be calculated. These relative displacement amounts correspond to the deformation amount of the front arm and the deformation amount of the rear arm of the left upper arm.

Similarly, in the displacement measuring device 1, the reference inertial sensor 3v is set based on the coordinates of the portion where the inertial sensor 3v is arranged and the coordinates of the portion where each of the inertial sensors 3w and 3x is arranged. The relative displacement amount of the portion where each of the inertial sensors 3w and 3x is arranged with respect to the arranged portion may be calculated. These relative displacement amounts correspond to the deformation amount of the front arm and the deformation amount of the rear arm of the left lower arm.

The rear suspension RS is an example of a "predetermined portion". Further, the inertial sensor 3m is an example of the "first inertial sensor", and the two inertial sensors 3n and 3o are examples of the "second inertial sensor", respectively. Further, the portion where the inertial sensor 3m is arranged is an example of the "first portion", and the portion where the two inertial sensors 3n and 3o are arranged is an example of the "second portion".

Further, the inertial sensor 3p is another example of the "first inertial sensor", and the two inertial sensors 3q and 3r are other examples of the "second inertial sensor", respectively. Further, the part where the inertial sensor 3p is arranged is another example of the "first part", and the part where the two inertial sensors 3q and 3r are arranged is another example of the "second part". Is.

Further, the inertial sensor 3s is another example of the "first inertial sensor", and the two inertial sensors 3t and 3u are other examples of the "second inertial sensor", respectively. Further, the part where the inertial sensor 3s is arranged is another example of the "first part", and the part where the two inertial sensors 3t and 3u are arranged is another example of the "second part". Is.

Further, the inertial sensor 3v is another example of the "first inertial sensor", and the two inertial sensors 3w and 3x are other examples of the "second inertial sensor", respectively. Further, the part where the inertial sensor 3v is arranged is another example of the "first part", and the part where the two inertial sensors 3w and 3x are arranged is another example of the "second part". Is.

1-1-2. Configuration of Displacement Measuring Device FIG. 4 is a diagram showing a configuration example of the displacement measuring device 1 of the first embodiment. As shown in FIG. 4, the displacement measuring device 1 includes a processing circuit 100, a storage circuit 110, N analog front end (AFE) 120, an operation unit 130, and a communication unit 140. N is a predetermined integer of 2 or more. The displacement measuring device 1 may be configured such that a part of the constituent elements of FIG. 4 is omitted or changed, or another constituent element is added.

The signals output from each of the N inertial sensors 3 are input to each of the N analog front ends 120. The analog front end 120 performs amplification processing and A / D conversion processing on the signal output from the inertial sensor 3 to output a digital signal.

The processing circuit 100 executes the displacement measurement program 111 stored in the storage circuit 110, acquires digital signals output from each of the N analog front ends 120, and is an object to be measured based on the acquired digital signals. 4 Performs a process of calculating the relative displacement amount of each coordinate of the first portion and the second portion of each portion and the second portion with respect to the first portion. Further, the processing circuit 100 may generate travel status information regarding the travel status of the vehicle 4a based on the relative displacement amount of each portion. In addition, the processing circuit 100 performs various processing according to the operation signal from the operation unit 130, processing for controlling the communication unit 140 for data communication with the external device 5, and the like. The processing circuit 100 is realized by, for example, a CPU (Central Processing Unit) or a DSP (Digital Signal Processor).

By executing the displacement measurement program 111, the processing circuit 100 includes a sensor signal acquisition unit 101, a calibration unit 102, a displacement calculation unit 103, an orientation calculation unit 104, a coordinate calculation unit 105, a relative displacement amount calculation unit 106, and a traveling condition. It functions as an information generation unit 107. That is, the displacement measuring device 1 includes a sensor signal acquisition unit 101, a calibration unit 102, a displacement calculation unit 103, an orientation calculation unit 104, a coordinate calculation unit 105, a relative displacement amount calculation unit 106, and a traveling status information generation unit 107.

The sensor signal acquisition unit 101 acquires N digital signals output from the N analog front ends 120.

The calibration unit 102 uses _N rotation matrices _R1 to RN to convert each of the N digital signals acquired by the sensor signal acquisition unit 101 into signals output from each of the N virtual sensors. Convert.

FIG. 5 is a diagram showing the relationship between the local coordinate system of the nth inertial sensor 3, the local coordinate system of the nth virtual sensor, and the system coordinate system. n is an arbitrary integer of 1 or more and N or less. As shown in FIG. 5, the local coordinate system of the nth inertial sensor 3 is defined by the x-axis, the y-axis and the z-axis. Further, the local coordinate system of the nth virtual sensor is the x _img axis, the y _img axis and the z.
Defined on the _img axis. Further, the system coordinate system is an absolute coordinate system whose orientation does not change with respect to the earth's surface, and is defined by the X-axis, the Y-axis, and the Z-axis. Then, in the initial state of the displacement measuring device 1, that is, at the time t = 0 at the start of measurement, the position of the nth virtual sensor coincides with the position of the nth inertial sensor 3. In other words, at time t = 0, the coordinates of the nth inertial sensor 3 and the nth virtual sensor in the system coordinate system match, and both (Xn (0), Yn (0), Zn (0)). Is. Further, at time t = 0, the local seat system of the nth virtual sensor coincides with the system coordinate system. That is, the direction of the x- _img axis coincides with the direction of the X-axis, the direction of the y- _img axis coincides with the direction of the Y-axis, and the direction of the z- _img axis coincides with the direction of the Z-axis.

When the coordinates and orientation of the nth inertial sensor 3 change with the passage of time t, the coordinates and orientation of the local constituency system of the nth virtual sensor also change, but the nth inertial sensor 3 does not depend on the time t. The relationship between the local coordinates of the nth virtual sensor and the local coordinates of the nth virtual sensor is defined by a constant rotation matrix R _n . That is, the calibration unit 102 multiplies the digital signal based on the signal output from the _nth inertial sensor 3 at an arbitrary time t by the rotation matrix Rn, so that the nth virtual signal is obtained at the time t. Converts to a digital signal based on the signal output from the sensor.

Returning to FIG. 4, the displacement calculation unit 103 calculates the displacement of each of the N inertial sensors 3 based on each of the N digital signals converted by the calibration unit 102. Specifically, for any integer n of 1 or more and N or less, the displacement calculation unit 103 double-integrates the acceleration signal included in the nth digital signal to obtain the displacement of the nth inertial sensor 3. The nth displacement vector is calculated.

The direction calculation unit 104 calculates the direction of each of the N inertial sensors 3 based on each of the N digital signals converted by the calibration unit 102. Specifically, for any integer n of 1 or more and N or less, the direction calculation unit 104 integrates the angular velocity signal included in the nth digital signal and is the difference in the direction of the nth inertial sensor 3. The nth directional difference vector is calculated, and the nth directional vector, which is the directional of the nth inertial sensor 3, is calculated based on the nth directional difference vector. For example, the direction calculation unit 104 calculates the nth direction vector at time t + Δt by using the nth direction vector at time t and the nth direction difference vector at time t + Δt. The nth azimuth vector is a unit vector indicating the azimuth of the nth virtual sensor in the system coordinate system.

The coordinate calculation unit 105 is based on the nth displacement vector calculated by the displacement calculation unit 103 and the nth direction vector calculated by the direction calculation unit 104 for any integer n of 1 or more and N or less. The coordinates of the portion where the nth inertial sensor 3 is arranged in the system coordinate system are calculated.

The relative displacement amount calculation unit 106 is the first portion of the vehicle 4a with respect to the first portion of one or a plurality of predetermined portions based on the coordinates of the portion where the N inertial sensors 3 calculated by the coordinate calculation unit 105 are arranged. The relative displacement amount of the part 2 is calculated. For example, the relative displacement amount calculation unit 106 has the difference between the coordinates of the second part at time t and the coordinates of the second part at time t + Δt, the coordinates of the first part at time t, and the first one at time t + Δt. The difference or ratio with the difference from the coordinates of the portion may also be calculated as the relative displacement amount of the second portion with respect to the first portion.

For example, the first inertial sensor 3 is arranged in the first portion of the predetermined portion of the vehicle 4a, and the second inertial sensor 3 is arranged in the second portion different from the first portion of the predetermined portion. In this case, the processing circuit 100 calculates the relative displacement amount of the second portion with respect to the first portion as follows.

First, the sensor signal acquisition unit 101 is based on the first signal based on the signal output from the first inertial sensor 3 and the signal output from the second inertial sensor 3 arranged in the second portion. The second signal and is acquired. The first signal is a digital signal output from the first analog front end 120, and the second signal is a digital signal output from the second analog front end 120.

Next, the calibration unit 102 converts the first signal into a third signal output from the first virtual sensor using the first rotation matrix R ₁ , and converts the second rotation matrix R ₂ into a third signal. The second signal is converted into a fourth signal output from the second virtual sensor. The third signal is a signal based on the first signal, and the fourth signal is a signal based on the second signal. In the initial state of the displacement measuring device 1, the position of the first virtual sensor coincides with the position of the first inertial sensor 3, and the local counterbore system of the first virtual sensor coincides with the system coordinate system. Further, in the initial state of the displacement measuring device 1, the position of the second virtual sensor coincides with the position of the second inertial sensor 3, and the local seat amount system of the second virtual sensor coincides with the system coordinate system. ..

Next, the displacement calculation unit 103 calculates the displacement of the first inertial sensor 3 based on the third signal, and calculates the displacement of the second inertial sensor 3 based on the fourth signal. Specifically, the displacement calculation unit 103 double-integrates the acceleration signal included in the third signal to calculate the first displacement vector, which is the displacement of the first inertial sensor 3. Further, the displacement calculation unit 103 double-integrates the acceleration signal included in the fourth signal to calculate the second displacement vector, which is the displacement of the second inertial sensor 3.

Next, the direction calculation unit 104 calculates the direction of the first inertial sensor 3 based on the third signal, and calculates the direction of the second inertial sensor 3 based on the fourth signal. Specifically, the directional calculation unit 104 integrates the angular velocity signal included in the third signal to calculate the first directional difference vector, which is the directional difference of the first inertial sensor 3, and the directional difference. The first directional vector, which is the directional of the first inertial sensor 3, is calculated based on the first directional difference vector. Further, the directional calculation unit 104 integrates the angular velocity signal included in the fourth signal to calculate a second directional difference vector which is a difference in the directional of the second inertial sensor 3, and is a difference in the directional. The second directional vector, which is the directional of the second inertial sensor 3, is calculated based on the directional difference vector of 2.

Next, the coordinate calculation unit 105 uses the first displacement vector, which is the displacement of the first inertial sensor 3, and the first orientation vector, which is the orientation of the first inertial sensor 3, to form a predetermined portion. Calculate the coordinates of the part 1. Further, the coordinate calculation unit 105 is a second displacement vector of a predetermined portion based on the second displacement vector which is the displacement of the second inertial sensor 3 and the second orientation vector which is the orientation of the second inertial sensor 3. Calculate the coordinates of the part of.

Finally, the relative displacement amount calculation unit 106 calculates the relative displacement amount of the second part with respect to the first part of the predetermined part based on the coordinates of the first part and the coordinates of the second part. do.

In particular, in the present embodiment, the sensor signal acquisition unit 101 acquires the first signal and the second signal in a predetermined period. Then, after the predetermined period is completed, the calibration unit 102 converts the first signal into a third signal, the second signal is converted into a fourth signal, and the displacement calculation unit 103 converts the first signal into a fourth signal. The displacement of the inertial sensor 3 of 1 and the displacement of the second inertial sensor 3 are calculated, and the orientation calculation unit 104 calculates the orientation of the first inertial sensor 3 and the orientation of the second inertial sensor 3, and the coordinate calculation unit. 105 calculates the coordinates of the first part and the coordinates of the second part, and the relative displacement amount calculation unit 106 calculates the relative displacement amount of the second part with respect to the first part.

The traveling condition information generation unit 107 may generate driving condition information which is information on the traveling condition of the vehicle 4a based on the relative displacement amount of each part of the vehicle 4a calculated by the relative displacement amount calculating unit 106. The traveling situation information may include, for example, information such as a deformation amount histogram showing the distribution of the deformation amount of each part of the vehicle 4a and the cumulative fatigue degree of each part of the vehicle 4a.

The traveling status information generation unit 107 defines, for example, an elastic model in which the positions of a plurality of inertial sensors 3 are grid points of the mesh for each part of the vehicle 4a, and determines the relative displacement amount of each grid point of the mesh. The deformation amount histogram shown may be generated. The relative displacement amount of each grid point is, for example, the relative displacement amount of each portion calculated by the relative displacement amount calculation unit 106. Further, the traveling situation information generation unit 107 may calculate the cumulative fatigue degree of each part by obtaining the displacement energy from the relative displacement amount of each lattice point and integrating the value obtained by multiplying the displacement energy by k.

The storage circuit 110 has a ROM (Read Only Memory) and a RAM (Random Access Memory) (not shown). The ROM stores various programs such as the displacement measurement program 111 and predetermined data, and the RAM is used as a work area of the processing circuit 100, and the programs and data read from the ROM and the operation unit 130 are input. The data, the data generated by the processing circuit 100, and the like are stored.

In the present embodiment, the storage circuit 110 stores the displacement measurement program 111, the reference coordinate data 112, the rotation matrix data 113, the sensor data 114, the virtual sensor data 115, the displacement data 116, the orientation data 117, the coordinate data 118, and the like. To.

The reference coordinate data 112 is data having initial coordinates of a portion of the vehicle 4a in which N inertial sensors 3 are arranged. FIG. 6 shows an example of the reference coordinate data 112. As shown in FIG. 6, the reference coordinate data 112 has X coordinates X _n at time t = 0 of the portion of the vehicle 4a in which the nth inertial sensor 3 is arranged for each integer n of 1 or more and N or less. It has (0), Y coordinate Y _n (0) and Z coordinate Z _n (0).

The rotation matrix data 113 is data having _N rotation matrices _R1 to RN that transform the local coordinate system of N inertial sensors 3 into the local coordinate system of N virtual sensors. FIG. 7 shows an example of the rotation matrix data 113. As shown in FIG. 7, the rotation matrix data 113 converts the local coordinate system of the nth inertial sensor 3 into the local coordinate system of the nth virtual sensor for each integer n of 1 or more and N or less. It has R _n .

The sensor data 114 is time-series data of N digital signals output from the N analog front ends 120 acquired by the sensor signal acquisition unit 101. FIG. 8 shows an example of the sensor data 114. As shown in FIG. 8, the sensor data 114 is the acceleration data _a'n (t) and the angular velocity data g'n (t) included in the _nth digital signal for each integer n of 1 or more and N or less. _Includes time series data from time t = 0 to tend. The acceleration data _a'n (t) at time t has an x-axis acceleration value _ax'n (t), a y-axis acceleration value _ay'n (t), and a z-axis acceleration value _az'n (t), and has a time. The angular velocity data _g'n (t) at t has an x-axis angular velocity value _gx'n (t), a y-axis angular velocity value _gy'n (t), and a z-axis angular velocity value _gz'n (t).

The virtual sensor data 115 is time-series data of N digital signals converted by the calibration unit 102. FIG. 9 shows an example of the virtual sensor data 115. As shown in FIG. 9, the virtual sensor data 115 includes acceleration data an (t) and angular velocity data g _n (t) included in the converted nth digital signal for each integer _n of 1 or more and N or less. ) Time-series data from time t = 0 to _tend . Acceleration data an at time _t (
t) has an x-axis acceleration value ax _n (t), a y-axis acceleration value ay _n (t), and a z-axis acceleration value az _n (t), and the angular velocity data g _n (t) at time t is x. It has an axial angular velocity value gx _n (t), a y-axis angular velocity value gy _n (t), and a z-axis angular velocity value gz _n (t).

The displacement data 116 is time-series data of the displacements of the N inertial sensors 3 calculated by the displacement calculation unit 103. FIG. 10 shows an example of the displacement data 116. As shown in FIG. 10, in the displacement data 116, for each integer n of 1 or more and N or less, the time t = 0 to _tend + Δt of the displacement vector d _n (t) which is the displacement of the nth inertial sensor 3. Includes time series data of. The displacement vector d _n (t) at time t has a displacement dx _n (t) in the x _img axis direction, a displacement d _{n (t) in the y i mg axis direction, and a displacement dz n ( t} ) in the z i _mg axis direction.

The direction data 117 is time-series data of the directions of the N inertial sensors 3 calculated by the direction calculation unit 104. FIG. 11 shows an example of the orientation data 117. As shown in FIG. 11, the direction data 117 has a time t = 0 to _end + Δt of the direction vector rn (t) which is the direction of the _nth inertial sensor 3 for each integer n of 1 or more and N or less. Includes time series data of. The direction vector r _n (t) at time t has a direction rX _n (t) in the X-axis direction, a direction rY _n (t) in the Y-axis direction, and a direction rZ _n (t) in the Z-axis direction.

The coordinate data 118 is time-series data of the coordinates of the portion of the vehicle 4a in which the N inertial sensors 3 are arranged, which is calculated by the coordinate calculation unit 105. FIG. 12 shows an example of the coordinate data 118. As shown in FIG. 12, the coordinate data 118 has X coordinates X _n (t) and Y coordinates of the portion of the vehicle 4a in which the nth inertial sensor 3 is arranged for each integer n of 1 or more and N or less. Includes time series data from time t = 0 to _tend + Δt at Y _n (t) and Z coordinate Z _n (t).

The operation unit 130 is an input device composed of operation keys, button switches, and the like, and outputs an operation signal corresponding to the operation by the user to the processing circuit 100.

The communication unit 140 performs various controls for establishing data communication between the processing circuit 100 and the external device 5. For example, the communication unit 140 may transmit the travel status information generated by the processing circuit 100 to the external device 5, and the external device 5 may receive the travel status information and display it on the display unit.

In addition, at least a part of the processing circuit 100 may be realized by dedicated hardware. Further, the displacement measuring device 1 may be a single device or may be composed of a plurality of devices.

1-1-3. Displacement measurement procedure FIG. 13 is a flowchart showing a displacement measurement procedure by the displacement measurement device 1 of the first embodiment.

As shown in FIG. 13, first, in step S1, the displacement measuring device 1 acquires the reference coordinate data 112 and stores it in the storage circuit 110. For example, the displacement measuring device 1 may acquire the reference coordinate data 112 generated by actually measuring the positions of N inertial sensors 3 by the desired measuring device.

Further, in step S2, the displacement measuring device 1 acquires the rotation matrix data 113 and stores it in the storage circuit 110. For example, the displacement measuring device 1 may acquire the rotation matrix data 113 generated by actually measuring the directions of N inertial sensors 3 by a desired measuring device.

Next, in step S3, the displacement measuring device 1 is set at time t = 0.

Next, in the sensor signal acquisition step S4, the sensor signal acquisition unit 101 acquires signals from N inertial sensors 3 and stores them in the storage circuit 110 as a part of the sensor data 114.

The displacement measuring device 1 sets the time t = t + Δt (step S6) until the time t becomes _tend or more (N in step S5), and repeats steps S3 and S4.

Then, when the time t becomes the _tend or more (Y in the step S5), in the step S7, the displacement measuring device 1 is a sensor having data of N inertial sensors 3 acquired during the period from the time _t = 0 to the tend. An offline analysis is performed using the data 114.

FIG. 14 is a flowchart showing another procedure of displacement measurement by the displacement measuring device 1 of the first embodiment. In FIG. 14, the same steps as in FIG. 13 are designated by the same reference numerals. In the procedure shown in FIG. 13, the displacement measuring device 1 performs steps S1 and S2 before the period from time t = 0 to _tend to acquire the data of N inertial sensors 3, whereas FIG. 14 shows. In the procedure shown, the displacement measuring device 1 performs steps S1 and S2 after a period from time _t = 0 to tend to acquire data of N inertial sensors 3. Since each process of steps S1 to S7 of the procedure shown in FIG. 14 is the same as each process of steps S1 to S7 of the procedure shown in FIG. 13, the description thereof will be omitted.

FIG. 15 is a flowchart showing the procedure of offline analysis of step S7 of FIG. 13 or FIG. As shown in FIG. 15, first, in step S101, the displacement measuring device 1 is set at time t = 0 and number n = 1.

Next, in step S102, the direction calculation unit 104 initializes the direction vector _rn (0). For example, the direction calculation unit 104 converts the direction vector r _n (0) = (rX _n (0), rY _n (0), rZ _n (0)) into a unit vector (1,0,0) in the X-axis direction. Initialize and update the orientation data 117.

Next, in the calibration step S103, the calibration unit 102 uses the rotation matrix R _n to convert the acceleration data _a'n (t) and the angular velocity data _g'n (t) into the acceleration data an ₍ t) and the angular velocity. Convert to data g _n (t).

Next, in the displacement calculation step S104, the displacement calculation unit 103 double-integrates the acceleration data an _{(t) to calculate the displacement vector d n (} t + Δt).

Next, in the direction calculation step S105, the direction calculation unit 104 integrates the angular velocity data g _n (t) to calculate the direction difference vector Δr _n (t + Δt), and the direction difference vector Δr is combined with the direction vector r _n (t). The direction vector r _n (t + Δt) is calculated by adding _n (t + Δt).

Next, in the coordinate calculation step S106, the coordinate calculation unit 105 uses the coordinates (X _n (t), Y _n (t), _Zn (t)), the displacement vector d _n (t + Δt), and the orientation vector r _n (t + Δt). ) Is used to calculate the coordinates (X _n (t + Δt), Y _n (t + Δt), _Zn (t + Δt)).

The displacement measuring device 1 sets the time t = t + Δt (step S108) until the time t becomes _tend or more (N in step S107), and repeats steps S103 to S106.

When the time t becomes _tend or more (Y in step S107), the number n is not N (step S).
In N) of 109, in step S110, the displacement measuring device 1 sets the time t = 0 and the number n = n + 1, and repeats steps S102 to S108.

Then, when the number n becomes N (Y in step S109), in the relative displacement amount calculation step S111, the relative displacement amount calculation unit 106 uses the coordinate data 118 to make a second portion of each part of the vehicle 4a. Calculate the relative displacement of the part.

Finally, in the traveling status information generation step S112, the traveling status information generation unit 107 generates travel status information using the relative displacement amount of each portion of the vehicle 4a.

1-1-4. Action Effect As described above, the displacement measuring device 1 of the first embodiment calculates the displacement and orientation of the first inertial sensor 3 based on the signal output from the first inertial sensor 3, and the first The displacement and orientation of the second inertial sensor 3 are calculated based on the signal output from the inertial sensor 3 of 2. The first inertial sensor 3 is arranged in the first portion of the predetermined portion of the vehicle 4a, and the second inertial sensor 3 is arranged in the second portion of the predetermined portion. Therefore, according to the displacement measuring device 1 of the first embodiment, the coordinates of the first part of the predetermined portion are calculated based on the displacement and the orientation of the first inertial sensor 3, and the second inertial sensor 3 is used. The coordinates of the second portion of the predetermined portion can be calculated based on the displacement and the orientation. Further, according to the displacement measuring device 1 of the first embodiment, not only the coordinates of the first part of the predetermined part but also the coordinates of the second part are calculated, so that the position of the predetermined part is calculated accurately. can do.

Further, according to the displacement measuring device 1 of the first embodiment, the deformation amount of the predetermined portion is calculated by calculating the relative displacement amount of the second portion with respect to the first portion of the predetermined portion of the vehicle 4a. can do.

Further, according to the displacement measuring device 1 of the first embodiment, the coordinates in the system coordinate system can be calculated by virtually matching the local coordinate system of each inertial sensor 3 with the system coordinate system in the initial state. ..

Further, according to the displacement measuring device 1 of the first embodiment, the coordinates are calculated after the predetermined period for acquiring the output signal of each inertial sensor 3 is completed, so that the calculation required for the calculation of the coordinates is batch-processed. It is possible to reduce the calculation load at the time of measurement.

1-2. Second Embodiment Hereinafter, with respect to the displacement measuring apparatus 1 of the second embodiment, the same components as those of the first embodiment are designated by the same reference numerals, and the description overlapping with the first embodiment is omitted or simplified, and mainly. The contents different from the first embodiment will be described.

Since the configuration of the displacement measuring device 1 of the second embodiment is the same as that of FIG. 4, the illustration thereof is omitted.

The displacement measuring device 1 of the second embodiment acquires the first signal and the second signal during a predetermined period of travel of the vehicle 4a, and the first inertial sensor is obtained before the predetermined period ends. And the displacement of the second inertial sensor are calculated, the orientation of the first inertial sensor and the orientation of the second inertial sensor are calculated, and the coordinates of the first part of the predetermined part of the vehicle 4a are calculated. And the coordinates of the second part are calculated.

Specifically, the sensor signal acquisition unit 101 acquires the first signal and the second signal in a predetermined period. Then, before the end of the predetermined period, the calibration unit 102 converts the first signal into the third signal, the second signal is converted into the fourth signal, and the displacement calculation unit 103 determines. The displacement of the first inertial sensor 3 and the displacement of the second inertial sensor 3 are calculated, and the orientation calculation unit 104 calculates the orientation of the first inertial sensor 3 and the orientation of the second inertial sensor 3, and calculates the coordinates. The unit 105 calculates the coordinates of the first portion and the coordinates of the second portion, and the relative displacement amount calculation unit 106 calculates the relative displacement amount of the second portion with respect to the first portion.

Since the other configurations and functions of the displacement measuring device 1 of the second embodiment are the same as those of the first embodiment, the description thereof will be omitted.

FIG. 16 is a flowchart showing a procedure of displacement measurement by the displacement measuring device 1 of the second embodiment.

As shown in FIG. 16, first, in step S11, the displacement measuring device 1 acquires the reference coordinate data 112 and stores it in the storage circuit 110. For example, the displacement measuring device 1 may acquire the reference coordinate data 112 generated by actually measuring the positions of N inertial sensors 3 by the desired measuring device.

Further, in step S12, the displacement measuring device 1 acquires the rotation matrix data 113 and stores it in the storage circuit 110. For example, the displacement measuring device 1 may acquire the rotation matrix data 113 generated by actually measuring the directions of N inertial sensors 3 by a desired measuring device.

Next, in step S13, the displacement measuring device 1 is set at time t = 0.

Next, in step S14, the direction calculation unit 104 initializes the direction vector _rn (0). For example, the direction calculation unit 104 converts the direction vector r _n (0) = (rX _n (0), rY _n (0), rZ _n (0)) into a unit vector (1,0,0) in the X-axis direction. Initialize and update the orientation data 117.

Next, in the sensor signal acquisition step S15, the sensor signal acquisition unit 101 acquires signals from the N inertial sensors 3 and stores them in the storage circuit 110 as a part of the sensor data 114.

Next, in step S16, the displacement measuring device 1 performs online analysis using the data of the N inertial sensors 3 acquired in step S15.

The displacement measuring device 1 sets the time t = t + Δt (step S18) until the time t becomes _tend or more (N in step S17), and repeats steps S15 and S16.

FIG. 17 is a flowchart showing the procedure of online analysis of step S16 of FIG. As shown in FIG. 17, first, in step S201, the displacement measuring device 1 is set to the number n = 1.

Next, in the calibration step S202, the calibration unit 102 uses the rotation matrix R _n to convert the acceleration data _an'n (t) and the angular velocity data _g'n (t) into the acceleration data an ₍ t) and the angular velocity. Convert to data g _n (t).

Next, in the displacement calculation step S203, the displacement calculation unit 103 double-integrates the acceleration data an _{(t) to calculate the displacement vector d n (} t + Δt).

Next, in the direction calculation step S204, the direction calculation unit 104 uses the angular velocity data _gn (t).
Is integrated to calculate the directional difference vector Δr _n (t + Δt), and the directional difference vector Δr _n (t + Δt) is added to the directional vector rn (t) to calculate the directional vector _{rn (} t + Δt).

Next, in the coordinate calculation step S205, the coordinate calculation unit 105 uses the coordinates (X _n (t), Y _n (t), _Zn (t)), the displacement vector d _n (t + Δt), and the orientation vector r _n (t + Δt). ) Is used to calculate the coordinates (X _n (t + Δt), Y _n (t + Δt), _Zn (t + Δt)).

If the number n is not N (N in step S206), in step S207, the displacement measuring device 1 sets the number n = n + 1, and repeats steps S202 to S205.

Then, when the number n becomes N (Y in step S206), in the relative displacement amount calculation step S208, the relative displacement amount calculation unit 106 uses the coordinate data 118 to make a second portion of each part of the vehicle 4a with respect to the first part. Calculate the relative displacement of the part.

Finally, in the traveling status information generation step S209, the traveling status information generation unit 107 generates travel status information using the relative displacement amount of each portion of the vehicle 4a.

According to the displacement measuring device 1 of the second embodiment described above, the coordinates can be calculated in real time in a predetermined period for acquiring the output signal of each inertial sensor 3. The displacement measuring device 1 of the second embodiment has the same effect as the displacement measuring device 1 of the first embodiment.

2. 2. Display Method Hereinafter, the display method of the present embodiment will be described with the same reference numerals to the same components as those of the above-described embodiments.

2-1. Configuration of Display System FIG. 18 is a diagram showing a configuration example of a display system for performing the display method of the present embodiment. In the example of FIG. 18, in the display system 200, the displacement measuring device 1, the plurality of inertial sensors 3, and the image pickup unit 7 are mounted on each of the vehicle 4a, which is the plurality of objects to be measured 4. Further, the vehicle information collecting device 8 may be mounted on each of the plurality of vehicles 4a.

The displacement measuring device 1 acquires signals output from a plurality of inertial sensors 3 while the vehicle 4a is traveling. Then, the displacement measuring device 1 calculates the relative displacement amount of the second part of the first part of each part of the vehicle 4a based on the acquired signal, and various types are calculated based on the relative displacement amount of each part of the vehicle 4a. Calculate the value of the index of. Further, the displacement measuring device 1 may calculate an index value based on the vehicle information collected by the vehicle information collecting device 8 while the vehicle 4a is traveling. Further, the displacement measuring device 1 may acquire an image taken by the image pickup unit 7 while the vehicle 4a is traveling. Then, the displacement measuring device 1 transmits the calculated various index values and the acquired video to the display information generation device 210.

The display information generation device 210 acquires various index values and images from the displacement measuring device 1 mounted on each vehicle 4a, and generates display information including an object indicating at least one index value. Since the index value is calculated based on the displacement amount of the vehicle 4a, the object showing the index value is an object based on the relative displacement amount of the predetermined portion of the vehicle 4a.

Further, the display information generation device 210 may generate display information in which the object is superimposed on the image acquired from the displacement measuring device 1 mounted on any of the vehicles 4a. Then, the display information generation device 210 transmits the generated display information to the display device 220. The display device 220 receives the display information and displays it on a display unit (not shown).

The number of each of the displacement measuring device 1, the plurality of inertial sensors 3, the imaging unit 7, and the vehicle information collecting device 8 mounted on each vehicle 4a is not particularly limited.

FIG. 19 is a diagram showing a configuration of a displacement measuring device 1 included in the display system 200. In FIG. 19, the same components as in FIG. 4 are designated by the same reference numerals. As shown in FIG. 19, the displacement measuring device 1 includes a processing circuit 100, a storage circuit 110, a plurality of analog front ends 120, an operation unit 130, and a communication unit 140, as in the first embodiment or the second embodiment described above. include. The displacement measuring device 1 may be configured such that a part of the constituent elements in FIG. 19 is omitted or changed, or another constituent element is added.

In the present embodiment, the processing circuit 100 executes the displacement measurement program 111 stored in the storage circuit 110, so that the sensor signal acquisition unit 101, the calibration unit 102, the displacement calculation unit 103, the orientation calculation unit 104, and the coordinates It functions as a calculation unit 105, a relative displacement amount calculation unit 106, a traveling status information generation unit 107, an image acquisition unit 151, a vehicle information acquisition unit 152, and an index value calculation unit 153. That is, the displacement measuring device 1 includes a sensor signal acquisition unit 101, a calibration unit 102, a displacement calculation unit 103, an orientation calculation unit 104, a coordinate calculation unit 105, a relative displacement amount calculation unit 106, a traveling status information generation unit 107, and an image acquisition. It includes a unit 151, a vehicle information acquisition unit 152, and an index value calculation unit 153.

The functions of the sensor signal acquisition unit 101, the calibration unit 102, the displacement calculation unit 103, the direction calculation unit 104, the coordinate calculation unit 105, the relative displacement amount calculation unit 106, and the traveling status information generation unit 107 are the first embodiment or the second embodiment. Since it is the same as the embodiment, the description thereof will be omitted.

The image acquisition unit 151 acquires an image from the image pickup unit 7.

The vehicle information acquisition unit 152 acquires vehicle information such as the traveling speed of the vehicle 4a and the rotation speed of the engine from the vehicle information collecting device 8.

The index value calculation unit 153 calculates the values of various indexes based on the relative displacement amount of each part of the vehicle 4a calculated by the relative displacement amount calculation unit 106. Further, the index value calculation unit 153 may calculate the index value based on the vehicle information acquired by the vehicle information acquisition unit 152.

Since the functions of the storage circuit 110, the plurality of analog front ends 120, the operation unit 130, and the communication unit 140 are the same as those of the first embodiment or the second embodiment described above, the description thereof will be omitted. In particular, in the present embodiment, the communication unit 140 transmits various index values generated by the index value calculation unit 153 to the display information generation device 210.

In addition, at least a part of the processing circuit 100 may be realized by dedicated hardware. Further, the displacement measuring device 1 may be a single device or may be composed of a plurality of devices.

2-2. Procedure of display method FIG. 20 is a flowchart showing the procedure of the display method of the present embodiment.

As shown in FIG. 20, first, in step S21, the displacement measuring device 1 mounted on each vehicle 4a acquires the reference coordinate data 112 and stores it in the storage circuit 110. For example, the displacement measuring device 1 may acquire the reference coordinate data 112 generated by actually measuring the positions of N inertial sensors 3 by the desired measuring device.

Further, in step S22, the displacement measuring device 1 mounted on each vehicle 4a acquires the rotation matrix data 113 and stores it in the storage circuit 110. For example, the displacement measuring device 1 may acquire the rotation matrix data 113 generated by actually measuring the directions of N inertial sensors 3 by a desired measuring device.

Next, in step S23, the displacement measuring device 1 mounted on each vehicle 4a sets the time t = 0.

Next, in step S24, the direction calculation unit 104 of the displacement measuring device 1 mounted on each vehicle 4a initializes the direction vector _rn (0). For example, the direction calculation unit 104 converts the direction vector r _n (0) = (rX _n (0), rY _n (0), rZ _n (0)) into a unit vector (1,0,0) in the X-axis direction. Initialize and update the orientation data 117.

Next, in the sensor signal acquisition step S25, the sensor signal acquisition unit 101 of the displacement measuring device 1 mounted on each vehicle 4a acquires signals from N inertial sensors 3 and stores them as a part of the sensor data 114. Store in 110.

Next, in step S26, the displacement measuring device 1 of the displacement measuring device 1 mounted on each vehicle 4a performs online analysis using the data of the N inertial sensors 3 acquired in step S25. The procedure for online analysis is the same as in FIG.

Next, in the image acquisition step S27, the image acquisition unit 151 of the displacement measuring device 1 mounted on each vehicle 4a acquires the image captured by the image pickup unit 7.

Next, in the vehicle information acquisition step S28, the vehicle information acquisition unit 152 of the displacement measuring device 1 mounted on each vehicle 4a acquires the vehicle information collected by the vehicle information collecting device 8.

Next, in the index value calculation step S29, the index value calculation unit 153 of the displacement measuring device 1 mounted on each vehicle 4a determines the relative displacement amount of each part and the step S28 calculated by the relative displacement amount calculation unit 106 in the step S26. The values of various indexes are calculated based on the vehicle information collected by the vehicle information acquisition unit 152.

Next, in the display information generation step S30, the display information generation device 210 acquires various index values and images from the displacement measuring device 1 mounted on each vehicle 4a, and displays information including an object indicating each index value. Display information is generated by superimposing an object indicating each index value on an image, and the generated display information is transmitted to the display device 220.

Next, in the display step S31, the display device 220 receives the display information and displays it on the display unit.

Until the time t becomes _tend or more (N in step S32), the displacement measuring device 1 mounted on each vehicle 4a is set to time t = t + Δt (step S33), and steps S25 to S29 are repeated and displayed. The information generation device 210 repeats the process S30, and the display device 220 repeats the process S31.

FIG. 21 is a flowchart showing the procedure of the display information generation step S180 of FIG. As shown in FIG. 21, first, in step S301, the display information generation device 210 acquires various index values and images from the displacement measuring device 1 mounted on each vehicle 4a.

Next, in step S302, the display information generation device 210 generates display information including an object indicating at least one index value acquired in step S301. In step S302, the target index value may be selected based on a signal input from an operation unit (not shown) of the display information generation device 210, or may be selected based on a selection signal from the display device 220. May be good.

Further, in the process S303, the display information generation device 210 synchronizes at least one index value acquired in the process S301 with any of the images acquired in the process S301, and generates display information in which the index value is superimposed on the image. do. For example, since the index value is calculated based on the displacement amount of the vehicle 4a, the step S303 is a synchronization step of synchronizing the displacement amount of the vehicle 4a with the image. In step S303, the target index value and the image may be selected based on the signal input from the operation unit (not shown) of the display information generation device 210, or may be selected based on the selection signal from the display device 220. May be done.

Finally, in step S304, the display information generation device 210 transmits the display information generated in steps S302 and S303 to the display device 220.

2-3. Specific Examples As shown below, examples of the display method of the present embodiment include a display method of displaying various information to the viewer and the crew of the pit in a race by a plurality of vehicles 4a.

FIG. 22 is a diagram showing an arrangement example of a displacement measuring device 1, a plurality of inertial sensors 3, an imaging unit 7, and a vehicle information collecting device 8 mounted on the vehicle 4a.

In the example of FIG. 22, the vehicle 4a, which is the object 4 to be measured, is a racing car, and the displacement measuring device 1, the plurality of inertial sensors 3, the imaging unit 7, and the vehicle information collecting device 8 are mounted on the vehicle 4a. Since the arrangement of the plurality of inertial sensors 3 is the same as that in FIG. 1, the description thereof will be omitted.

The image pickup unit 7 is an on-board camera, and is installed on the right side surface of the engine cover EC, for example, to photograph the front of the vehicle 4a. Therefore, while the vehicle 4a is traveling, the image pickup unit 7 generates an image of the course in front of the vehicle 4a. The image pickup unit 7 may photograph the front and rear of the vehicle 4a. The image pickup unit 7 transmits the captured image to the displacement measuring device 1.

The vehicle information collecting device 8 collects vehicle information, which is various information such as the speed and engine speed of the running vehicle 4a, and transmits the vehicle information to the displacement measuring device 1.

The displacement measuring device 1 acquires signals output from each of the plurality of inertial sensors 3, and based on the acquired signals, the displacement measuring device 1 of the vehicle 4a in which each of the plurality of inertial sensors 3 is arranged by the above-mentioned displacement measuring method. Calculate the relative displacement of the part. That is, the displacement measuring device 1 calculates the relative displacement amount of each portion of the front wing FW, the rear wing RW, the front suspension FS, and the rear suspension RS.

Then, the displacement measuring device 1 calculates the values of various indexes based on the relative displacement amount of each part of the vehicle 4a, attaches the time information, and transmits the various index values to the display information generation device 210. For example, the index value calculation unit 153 of the displacement measuring device 1 can calculate the displacement amount of the center of gravity of the vehicle 4a as an index value based on the downforce estimated from the relative displacement amounts of the front wing FW and the rear wing RW. can. Further, the index value calculation unit 153 determines the wear status of the right front tire RFT, the left front tire LFT, the right rear tire RRT, and the left rear tire LRT as index values from the time series of the relative displacement amounts of the front suspension FS and the rear suspension RS. Can be calculated.

The index value calculation unit 153 may use other information together with the relative displacement amount of each part of the vehicle 4a in order to calculate the tire wear state more accurately. For example, in order to calculate the tire wear condition more accurately, the index value calculation unit 153 may use the relative displacement amount of each part of the vehicle 4a, the temperature of each tire, the internal pressure of each tire, the road surface temperature, and the slip of each tire. The tire wear status may be calculated based on at least one of the number of times, the number of brake locks, and the distance traveled by the vehicle 4a while the tires are being mounted.

For example, an infrared temperature sensor mounted on the carcass inside each tire detects the temperature of each tire and transmits the temperature of each tire to the vehicle information collecting device 8. Further, the air pressure sensor mounted on the carcass inside each tire detects the internal pressure of each tire and transmits the internal pressure of each tire to the vehicle information collecting device 8. Further, an infrared temperature sensor mounted on the lower surface of the floor panel of the vehicle 4a detects the road surface temperature, and transmits the road surface temperature to the vehicle information collecting device 8. The index value calculation unit 153 acquires the temperature of each tire, the internal pressure of each tire, and the road surface temperature from the vehicle information collecting device 8.

Slip rate = (body speed-wheel speed) / body speed x 100 (%), and tire lock occurs when the slip rate is 100%, that is, the wheel speed is 0, which contributes to steerability. The cornering force is almost zero. When each rear tire is locked, the vehicle 4a becomes unstable, and when each front tire is locked, steering becomes ineffective. The side slip of the tire, that is, the side slip is a state in which the vehicle 4a slides sideways when the vehicle 4a is moving in the traveling direction. The inertial sensor 3a mounted on each suspension detects the lateral acceleration, and the index value calculation unit 153 can detect the slip of each tire based on the lateral acceleration detected by each inertial sensor 3a. ..

Further, the wheel speed sensor measures the rotation speed of the brake rotor and transmits the rotation speed of the brake rotor to the vehicle information collecting device 8. The wheel speed sensor is a non-contact type sensor that detects changes in the magnetic field of the brake rotor that rotates with each tire. The index value calculation unit 153 can detect the brake lock based on the rotation speed of the brake rotor acquired from the vehicle information collecting device 8.

The displacement measuring device 1 acquires vehicle information from the vehicle information collecting device 8, calculates values of various indexes based on the acquired vehicle information, attaches time information, and displays various index values. Information generation device 210 May be sent to. For example, the index value calculation unit 153 of the displacement measuring device 1 can calculate the engine mode information of the vehicle 4a as an index value from the information such as the engine speed included in the vehicle information. The engine mode may be, for example, any one of five modes: cruising mode, low power mode, eco mode, high power mode, and overrev mode.

Further, the displacement measuring device 1 may acquire an image from the image pickup unit 7, attach the time information, and transmit the image to the display information generation device 210. For example, the video may be a video including a course on which the vehicle 4a travels.

The display information generation device 210 acquires various index values from the displacement measuring device 1 mounted on each vehicle 4a, and various objects as objects based on the relative displacement amount of a predetermined portion of the vehicle 4a and objects based on vehicle information. Generate display information that includes objects that indicate index values.

The display information may include an object indicating the displacement amount of the center of gravity of the vehicle 4a, which is an index value, as an object based on the relative displacement amount of the front wing FW and the rear wing RW of the vehicle 4a.

Further, the display information may include an object indicating the wear status of the four tires of the vehicle 4a, which is an index value, as an object based on the relative displacement amounts of the front suspension FS and the rear suspension RS of the vehicle 4a.

Further, the display information may include an object indicating the engine mode, which is an index value, as an object based on the vehicle information of the vehicle 4a.

Further, the display information generation device 210 acquires an image from the displacement measuring device 1 mounted on each vehicle 4a, synchronizes one of the index values with any of the images based on the time information, and each index value. Display information may be generated by superimposing an object indicating the above on the video. For example, the video may be a video including a course on which the vehicle 4a travels. FIG. 23 is a diagram showing an example of display information in which an image is superimposed on an index value. In the display information shown in FIG. 23, the objects OB1 and OB2 indicating the displacement amount of the center of gravity of the two vehicles 4a overlap with the video VD including the course on which the vehicle 4a travels. The image VD is an image taken by the image pickup unit 7 mounted on the vehicle 4a traveling in the left lane.

Further, the display information may include a radar chart having a plurality of index values based on the displacement amount of the vehicle 4a as an object based on the relative displacement amount of the predetermined portion of the vehicle 4a. FIG. 24 is a diagram showing an example of display information including a radar chart. In the display information shown in FIG. 24, the object OB3 of the radar chart has the displacement amount of the center of gravity of the vehicle 4a, the wear status of the right front tire RFT, and the wear status of the left front tire LFT as index values based on the displacement amount of the vehicle 4a. It has the wear status of the right rear tire RRT and the wear status of the left rear tire LRT. Further, the object OB3 has an engine mode of the vehicle 4a as an index value based on the vehicle information.

Further, the display information may include an object indicating the driver of each vehicle 4a and an object of a radar chart relating to the vehicle 4a. FIG. 25 is a diagram showing an example of display information including an object indicating a driver and an object of a radar chart. The display information shown in FIG. 25 includes an object OB4 indicating the driver of the vehicle 4a and an object OB7 of the radar chart for the vehicle 4a arranged on the right side thereof. Further, the display information includes an object OB5 indicating a driver of another vehicle 4a and an object OB8 of a radar chart regarding the vehicle 4a arranged on the right side thereof. Further, the display information includes an object OB6 indicating a driver of another vehicle 4a and an object OB9 of a radar chart regarding the vehicle 4a arranged on the right side thereof. For example, as shown in FIG. 26, in the display information shown in FIG. 25, the radar chart objects OB7, OB8, and OB9 having six index values are converted into the level meter objects OB10, OB11, and OB12 showing the six index values. You may replace it.

The display information generation device 210 transmits the generated display information to the display device 220, and the display device 220 displays the display information on a display unit (not shown). The display device 220 may be, for example, a personal computer of a race broadcaster, or may be a personal computer installed in the pit of the team of each vehicle 4a. Further, the display device 220 may be a device for receiving the broadcast of the race, or may be a screen installed in the pit. For example, the display information of FIGS. 23 to 26 is displayed on the display unit of the display device 220. The viewer and the pit crew can watch and analyze the race while grasping, for example, the performance of each vehicle 4a and the skill of each driver by the display information of FIG. 23. Further, the viewer and the pit crew can watch and analyze the race while grasping, for example, the stability and performance of the vehicle 4a or predicting the time of pit stop from the display information of FIG. 24. Further, the viewer and the pit crew can watch and analyze the race while predicting the race development by comparing the performance of each vehicle 4a and the skill of each driver, for example, by using the display information of FIG. 25 or FIG. 26. can.

The display information generation device 210 may also be used as the display device 220. For example, a personal computer installed in the pit of the team of each vehicle 4a may also be used as the display information generation device 210 and the display device 220.

Further, although the example in which the vehicle 4a is a racing car is given, the type of the vehicle 4a is not particularly limited. For example, the vehicle 4a may be a vehicle such as a passenger car or a motorcycle. Further, although the example in which the measured object 4 is the vehicle 4a is given, the measured object 4 may be a moving object other than the vehicle 4a, for example, an aircraft, a ship, or the like, or a stationary structure such as a bridge or a building. It may be.

In the display method of the present embodiment described above, the displacement measuring device 1 calculates the displacement and orientation of the first inertial sensor 3 based on the signal output from the first inertial sensor 3, and the second inertial sensor 3 is used. The displacement and orientation of the second inertial sensor 3 are calculated based on the signal output from the inertial sensor 3. The first inertial sensor 3 is arranged in the first portion of the predetermined portion of the vehicle 4a, and the second inertial sensor 3 is arranged in the second portion of the predetermined portion. Therefore, according to this display method, the displacement measuring device 1 calculates the coordinates of the first part of the predetermined portion based on the displacement and the orientation of the first inertial sensor 3, and the second inertial sensor 3 is used. The coordinates of the second portion of the predetermined portion can be calculated based on the displacement and the orientation. Further, according to this display method, the displacement measuring device 1 calculates not only the coordinates of the first portion of the predetermined portion but also the coordinates of the second portion, so that the position of the predetermined portion can be calculated accurately. can do. Further, according to this display method, the displacement measuring device 1 calculates the amount of deformation of the predetermined portion by calculating the relative displacement amount of the second portion with respect to the first portion of the predetermined portion of the vehicle 4a. be able to. In this display method, the display information generation device 210 generates display information including an object based on the relative displacement amount of each part of the vehicle 4a, and the display device 220 displays the display information, so that the viewer is traveling. The state of the vehicle 4a can be visually grasped.

Further, in the display method of the present embodiment, the display information generation device 210 synchronizes the relative displacement amount of each part of the vehicle 4a with the image including the course on which the vehicle 4a travels, and the image is combined with each part of the vehicle 4a. Since the display device 220 displays the display information by generating the display information in which the objects based on the relative displacement amount of the above are superimposed and displayed, the viewer can visually grasp the state of the vehicle 4a together with the image of the moving vehicle 4a. can do.

Further, according to the display method of the present embodiment, the viewer can visually grasp, for example, the performance of the vehicle 4a and the skill of the driver.

The present invention is not limited to the present embodiment, and various modifications can be carried out within the scope of the gist of the present invention.

The above-described embodiments and modifications are merely examples, and the present invention is not limited thereto. For example, it is also possible to appropriately combine each embodiment and each modification.

The present invention includes substantially the same configurations as those described in the embodiments (eg, configurations with the same function, method and result, or configurations with the same purpose and effect). The present invention also includes a configuration in which a non-essential part of the configuration described in the embodiment is replaced. Further, the present invention includes a configuration having the same action and effect as the configuration described in the embodiment or a configuration capable of achieving the same object. Further, the present invention includes a configuration in which a known technique is added to the configuration described in the embodiment.

The following contents are derived from the above-described embodiments and modifications.

One aspect of the displacement measuring device is
The first signal based on the signal output from the first inertial sensor arranged in the first part of the predetermined part of the object to be measured and the second part different from the first part of the predetermined part. A second signal based on the signal output from the second inertial sensor arranged in the portion of, a sensor signal acquisition unit for acquiring, and a sensor signal acquisition unit.
The displacement of the first inertial sensor is calculated based on the third signal based on the first signal, and the displacement of the second inertial sensor is calculated based on the fourth signal based on the second signal. Displacement calculation unit and
An orientation calculation unit that calculates the orientation of the first inertial sensor based on the third signal and calculates the orientation of the second inertial sensor based on the fourth signal.
The coordinates of the first portion are calculated based on the displacement of the first inertial sensor and the orientation of the first inertial sensor, and the displacement of the second inertial sensor and the second inertia. A coordinate calculation unit that calculates the coordinates of the second part based on the orientation of the sensor, and
including.

This displacement measuring device calculates the displacement and orientation of the first inertial sensor based on the signal output from the first inertial sensor, and the second inertial sensor is based on the signal output from the second inertial sensor. Calculate the displacement and orientation of the inertial sensor. The first inertial sensor is arranged in the first portion of the predetermined portion of the object to be measured, and the second inertial sensor is arranged in the second portion of the predetermined portion. Therefore, according to this displacement measuring device, the coordinates of the first part of the predetermined portion are calculated based on the displacement and orientation of the first inertial sensor, and the displacement and orientation of the second inertial sensor are used. The coordinates of the second part of the predetermined part can be calculated. Further, according to this displacement measuring device, not only the coordinates of the first portion of the predetermined portion but also the coordinates of the second portion are calculated, so that the position of the predetermined portion can be calculated accurately.

One aspect of the displacement measuring device is
Even if a relative displacement amount calculation unit for calculating the relative displacement amount of the second portion with respect to the first portion is included based on the coordinates of the first portion and the coordinates of the second portion. good.

According to this displacement measuring device, the amount of deformation of the predetermined portion can be calculated by calculating the relative displacement amount of the second portion with respect to the first portion of the predetermined portion of the object to be measured.

In one aspect of the displacement measuring device,
The first rotation matrix is used to convert the first signal into the third signal output from the first virtual sensor, and the second rotation matrix is used to convert the second signal into a second signal. Includes a calibration unit that converts to the fourth signal output from the virtual sensor of
In the initial state,
The position of the first virtual sensor coincides with the position of the first inertial sensor, and the local seat system of the first virtual sensor coincides with the system coordinate system.
The position of the second virtual sensor coincides with the position of the second inertia sensor, and the local seating system of the second virtual sensor coincides with the system coordinate system.
The displacement calculation unit is
The acceleration signal included in the third signal is double-integrated to calculate the displacement of the first inertial sensor.
The acceleration signal included in the fourth signal is double-integrated to calculate the displacement of the second inertial sensor.
The direction calculation unit is
The angular velocity signal included in the third signal is integrated to calculate the difference in the direction of the first inertial sensor, and the direction of the first inertial sensor is calculated based on the difference in the direction.
The angular velocity signal included in the fourth signal may be integrated to calculate the difference in the direction of the second inertial sensor, and the direction of the second inertial sensor may be calculated based on the difference in the direction. ..

According to this displacement measuring device, the coordinates in the system coordinate system can be calculated by virtually matching the local coordinate system of each inertial sensor with the system coordinate system in the initial state.

In one aspect of the displacement measuring device,
The sensor signal acquisition unit is
The first signal and the second signal are acquired in a predetermined period, and the first signal and the second signal are acquired.
After the predetermined period is over
The displacement calculation unit calculates the displacement of the first inertial sensor and the displacement of the second inertial sensor.
The orientation calculation unit calculates the orientation of the first inertial sensor and the orientation of the second inertial sensor.
The coordinate calculation unit may calculate the coordinates of the first portion and the coordinates of the second portion.

According to this displacement measuring device, the calculation required for the calculation of the coordinates can be batch-processed, and the calculation load at the time of measurement can be reduced.

In one aspect of the displacement measuring device,
The sensor signal acquisition unit is
The first signal and the second signal are acquired in a predetermined period, and the first signal and the second signal are acquired.
Before the end of the predetermined period
The displacement calculation unit calculates the displacement of the first inertial sensor and the displacement of the second inertial sensor.
The orientation calculation unit calculates the orientation of the first inertial sensor and the orientation of the second inertial sensor.
The coordinate calculation unit may calculate the coordinates of the first portion and the coordinates of the second portion.

According to this displacement measuring device, the coordinates can be calculated in real time.

One aspect of the display method is
The first signal based on the signal output from the first inertial sensor arranged in the first part of the predetermined part of the object to be measured and the second part different from the first part of the predetermined part. A sensor signal acquisition process for acquiring a second signal based on a signal output from the second inertial sensor arranged in the portion of
The displacement of the first inertial sensor is calculated based on the third signal based on the first signal, and the displacement of the second inertial sensor is calculated based on the fourth signal based on the second signal. Displacement calculation process and
An orientation calculation step of calculating the orientation of the first inertial sensor based on the third signal and calculating the orientation of the second inertial sensor based on the fourth signal.
The coordinates of the first portion are calculated based on the displacement of the first inertial sensor and the orientation of the first inertial sensor, and the displacement of the second inertial sensor and the second inertia. A coordinate calculation step of calculating the coordinates of the second part based on the orientation of the sensor, and
A relative displacement amount calculation step of calculating the relative displacement amount of the second portion with respect to the first portion based on the coordinates of the first portion and the coordinates of the second portion.
A display process for displaying an object based on the relative displacement amount, and
including.

In this display method, the displacement and orientation of the first inertial sensor are calculated based on the signal output from the first inertial sensor, and the second inertia is calculated based on the signal output from the second inertial sensor. Calculate the displacement and orientation of the sensor. The first inertial sensor is arranged in the first portion of the predetermined portion of the object to be measured, and the second inertial sensor is arranged in the second portion of the predetermined portion. Therefore, according to this display method, the coordinates of the first part of the predetermined portion are calculated based on the displacement and orientation of the first inertial sensor, and the predetermined portion is calculated based on the displacement and orientation of the second inertial sensor. The coordinates of the second part of the part can be calculated. Further, according to this display method, not only the coordinates of the first portion of the predetermined portion but also the coordinates of the second portion are calculated, so that the position of the predetermined portion can be calculated accurately. Further, according to this display method, the amount of deformation of the predetermined portion can be calculated by calculating the relative displacement amount of the second portion with respect to the first portion of the predetermined portion of the object to be measured. Then, in this display method, since the object based on the relative displacement amount of the predetermined portion of the object to be measured is displayed, the viewer can visually grasp the state of the object to be measured.

One aspect of the display method is
An image acquisition step of acquiring an image including a course on which the object to be measured is taken by a second imaging unit mounted on the object to be measured, and an image acquisition process.
A synchronization step of synchronizing the relative displacement amount with the image,
Including
In the display step,
The object may be superimposed on the image and displayed.

According to this display method, the viewer can visually grasp the state of the object to be measured together with the image of the object to be measured while traveling.

In one aspect of the display method,
The object may include information on the amount of displacement of the center of gravity of the object to be measured.

In one aspect of the display method,
The relative displacement amount may include the displacement amount of the suspension of the measured object.

In one aspect of the display method,
The relative displacement amount may include the displacement amount of the front wing of the object to be measured.

In one aspect of the display method,
The relative displacement amount may include the displacement amount of the rear wing of the object to be measured.

In one aspect of the display method,
The object may include information on tire wear of the object to be measured.

In one aspect of the display method,
The object may include a radar chart having a plurality of index values based on the relative displacement amount.

According to these display methods, the viewer can visually grasp, for example, the performance of the object to be measured.

1 ... Displacement measuring device, 3,3a to 3x ... Inertivity sensor, 4 ... Measured object, 4a ... Vehicle, 5 ... External device, 7 ... Imaging unit, 8 ... Vehicle information collecting device, 100 ... Processing circuit, 101 ... Sensor Signal acquisition unit, 102 ... Calibration unit, 103 ... Displacement calculation unit, 104 ... Direction calculation unit, 105 ... Coordinate calculation unit, 106 ... Relative displacement amount calculation unit, 107 ... Travel status information generation unit, 110 ... Storage circuit, 111 ... displacement measurement program, 112 ... reference coordinate data, 113 ... rotation matrix data, 114 ... sensor data, 115 ... virtual sensor data, 116 ... displacement data, 117 ... orientation data, 118 ... coordinate data, 120 ... analog front end, 130 ... Operation unit, 140 ... Communication unit, 151 ... Video acquisition unit, 152 ... Vehicle information acquisition unit, 153 ... Index value calculation unit, 200 ... Display system, 210 ... Display information generation device, 220 ... Display device

Claims (13)

The first signal based on the signal output from the first inertial sensor arranged in the first part of the predetermined part of the object to be measured and the second part different from the first part of the predetermined part. A second signal based on the signal output from the second inertial sensor arranged in the portion of, a sensor signal acquisition unit for acquiring, and a sensor signal acquisition unit.
The displacement of the first inertial sensor is calculated based on the third signal based on the first signal, and the displacement of the second inertial sensor is calculated based on the fourth signal based on the second signal. Displacement calculation unit and
An orientation calculation unit that calculates the orientation of the first inertial sensor based on the third signal and calculates the orientation of the second inertial sensor based on the fourth signal.
The coordinates of the first portion are calculated based on the displacement of the first inertial sensor and the orientation of the first inertial sensor, and the displacement of the second inertial sensor and the second inertia. A coordinate calculation unit that calculates the coordinates of the second part based on the orientation of the sensor, and
Displacement measuring device including. In claim 1,
A relative displacement amount calculation unit for calculating the relative displacement amount of the second portion with respect to the first portion based on the coordinates of the first portion and the coordinates of the second portion is included. Displacement measuring device. In claim 1 or 2,
The first rotation matrix is used to convert the first signal into the third signal output from the first virtual sensor, and the second rotation matrix is used to convert the second signal into a second signal. Includes a calibration unit that converts to the fourth signal output from the virtual sensor of
In the initial state,
The position of the first virtual sensor coincides with the position of the first inertial sensor, and the local seat system of the first virtual sensor coincides with the system coordinate system.
The position of the second virtual sensor coincides with the position of the second inertia sensor, and the local seating system of the second virtual sensor coincides with the system coordinate system.
The displacement calculation unit is
The acceleration signal included in the third signal is double-integrated to calculate the displacement of the first inertial sensor.
The acceleration signal included in the fourth signal is double-integrated to calculate the displacement of the second inertial sensor.
The direction calculation unit is
The angular velocity signal included in the third signal is integrated to calculate the difference in the direction of the first inertial sensor, and the direction of the first inertial sensor is calculated based on the difference in the direction.
Displacement measurement that integrates the angular velocity signal included in the fourth signal to calculate the difference in the direction of the second inertial sensor, and calculates the direction of the second inertial sensor based on the difference in the direction. Device. In any one of claims 1 to 3,
The sensor signal acquisition unit is
The first signal and the second signal are acquired in a predetermined period, and the first signal and the second signal are acquired.
After the predetermined period is over
The displacement calculation unit calculates the displacement of the first inertial sensor and the displacement of the second inertial sensor.
The orientation calculation unit calculates the orientation of the first inertial sensor and the orientation of the second inertial sensor.
A displacement measuring device in which the coordinate calculation unit calculates the coordinates of the first portion and the coordinates of the second portion. In any one of claims 1 to 3,
The sensor signal acquisition unit is
The first signal and the second signal are acquired in a predetermined period, and the first signal and the second signal are acquired.
Before the end of the predetermined period
The displacement calculation unit calculates the displacement of the first inertial sensor and the displacement of the second inertial sensor.
The orientation calculation unit calculates the orientation of the first inertial sensor and the orientation of the second inertial sensor.
A displacement measuring device in which the coordinate calculation unit calculates the coordinates of the first portion and the coordinates of the second portion. The first signal based on the signal output from the first inertial sensor arranged in the first part of the predetermined part of the object to be measured and the second part different from the first part of the predetermined part. A sensor signal acquisition process for acquiring a second signal based on a signal output from the second inertial sensor arranged in the portion of
The displacement of the first inertial sensor is calculated based on the third signal based on the first signal, and the displacement of the second inertial sensor is calculated based on the fourth signal based on the second signal. Displacement calculation process and
An orientation calculation step of calculating the orientation of the first inertial sensor based on the third signal and calculating the orientation of the second inertial sensor based on the fourth signal.
The coordinates of the first portion are calculated based on the displacement of the first inertial sensor and the orientation of the first inertial sensor, and the displacement of the second inertial sensor and the second inertia. A coordinate calculation step of calculating the coordinates of the second part based on the orientation of the sensor, and
A relative displacement amount calculation step of calculating the relative displacement amount of the second portion with respect to the first portion based on the coordinates of the first portion and the coordinates of the second portion.
A display process for displaying an object based on the relative displacement amount, and
Display method including. In claim 6,
An image acquisition step of acquiring an image including a course on which the object to be measured is taken by a second imaging unit mounted on the object to be measured, and an image acquisition process.
A synchronization step of synchronizing the relative displacement amount with the image,
Including
In the display step,
A display method in which the object is superimposed and displayed on the video. In claim 6 or 7,
The object is a display method including information on the amount of displacement of the center of gravity of the object to be measured. In any one of claims 6 to 8,
The display method, wherein the relative displacement amount includes the displacement amount of the suspension of the measured object. In any one of claims 6 to 9,
The display method, wherein the relative displacement amount includes the displacement amount of the front wing of the object to be measured. In any one of claims 6 to 10,
The display method, wherein the relative displacement amount includes the displacement amount of the rear wing of the object to be measured. In any one of claims 6 to 11,
The object is a display method including information on tire wear of the object to be measured. In any one of claims 6 to 12,
A display method, wherein the object includes a radar chart having a plurality of index values based on the relative displacement amount.

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