JP4016194B2 - Detection device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a technique for reducing the occurrence of erroneous detection when detecting an acceleration or a tilt state by adopting a structure that is hardly affected by disturbance.
[0002]
[Prior art]
Conventionally, configurations based on various detection principles are known for detection devices that detect inclination, acceleration, and the like.
[0003]
For example, in the case of an acceleration sensor, a large number of electrodes are arranged in an insulating container, the conductive fluid is accommodated in the container, and the displacement or deformation of the conductive fluid according to the direction and magnitude of acceleration is performed. The form detected by the position and number of electrodes is mentioned (refer patent document 1).
[0004]
In addition, there is an embodiment in which an inclination correction unit is provided to cancel the influence of the posture change so that the influence on the detection accuracy is not a problem due to the posture change (tilt) of the moving body (see Patent Document 2).
[0005]
As for the tilt angle sensor, a pendulum type configuration form (for example, see Patent Document 3), a form form using a ball as a movable contact (for example, see Patent Document 4), and bubble distortion detection using buoyancy. (For example, refer to Patent Document 5).
[0006]
[Patent Document 1]
JP-A-6-66825
[Patent Document 2]
Japanese Patent Laid-Open No. 9-96533
[Patent Document 3]
WO99 / 30110 pamphlet
[Patent Document 4]
JP 11-195359 A
[Patent Document 5]
JP-A-9-257474
[0007]
[Problems to be solved by the invention]
By the way, in the conventional detection apparatus, a detection error occurs due to the influence of the inclination of the apparatus itself or unnecessary acceleration, and the accuracy deteriorates.
[0008]
For example, since a conventional acceleration sensor detects gravitational acceleration at the same time, it is difficult to accurately output acceleration when the moving body has a change in posture (tilt). Alternatively, in order to output the acceleration accurately, correction in consideration of the posture is required, and correction calculation by a correction electric circuit or microcomputer is necessary, which complicates the configuration and processing.
[0009]
Further, the conventional tilt angle sensors are all configured using gravity and have an unbalanced structure in the vertical direction (vertical direction). That is, since it has an unbalanced structure in the vertical direction, there is a drawback that it reacts sensitively to acceleration in the horizontal direction (horizontal direction), which causes false detection. Therefore, in order to counteract the influence of such acceleration, it is necessary to add a braking mechanism such as a damper or a braking plate, or to subtract acceleration using another acceleration sensor. Or increase costs.
[0010]
Therefore, the present invention reduces the detection error due to the influence of the attitude of the device and unnecessary acceleration in the detection device that detects acceleration or inclination, and does not involve complicated configuration and processing for that purpose. Is an issue.
[0011]
[Means for Solving the Problems]
In order to solve the above-mentioned problems, the present invention has a side surface formed in an inverted T-shape, a support having a base and a vertical support shaft erected on the base, Extending from the fulcrum to the left and right sides It has arm parts consisting of left arm part and right arm part of the same length, and is attached to each end of the left arm part and right arm part. One or more pairs of weight bodies of the same weight are attached, The central part of the arm part is pivotable to the support shaft of the support body at the fulcrum. At the balance position of gravity applied to the weight body While maintaining a horizontal state with respect to the horizontal plane By detecting the angle between the rotating body configured to be stationary and the support shaft and the arm part, or by detecting and integrating the relative speed between the support body and the rotating body. Detecting means for detecting an inclined state of the base with respect to the horizontal plane.
[0012]
Therefore, according to this configuration, while adopting a structure that is balanced in the vertical direction and the horizontal direction, even if an unexpected acceleration is applied to the rotating body when tilt detection is performed, the influence is exerted on the rotating force on the rotating body. As a result, no false detection occurs.
[0013]
Also, Furthermore, it further has a pendulum supported so as to be rotatable around a fulcrum of the support, and detects a relative position between the rotating body and the pendulum, or a relative position between the rotating body and the pendulum. By detecting and integrating the speed, the angle between the arm and the pendulum is measured, and detection means for detecting each acceleration is provided. It is provided.
[0014]
Therefore, according to this configuration, a structure that is balanced in the vertical direction and the horizontal direction is adopted, and the influence on the rotating body is not exerted due to the posture change (tilt) of the support body (the rotational force on the rotating body is not affected). Does not work), so no false detection occurs.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
The present invention relates to a detection device including a support body and a rotating body supported by the support body, and aims to reduce detection errors in detecting an inclination angle, acceleration, and the like.
[0016]
1 to 3 are explanatory diagrams of the principle according to the present invention and show an application example to a tilt sensor or the like.
[0017]
The detection device 1 includes a support body 2 and a rotating body 3 that is supported by the support body 2 in a rotatable state.
[0018]
In this example, the side surface of the support body 2 is formed in an inverted T shape, and has a base 2a and a vertical support shaft 2b erected on the base 2a.
[0019]
The rotating body 3 has an array shape, and weight bodies 3b and 3b are respectively attached to both ends of an arm portion 3a extending from the fulcrum O to the left and right sides. That is, the center portion of the arm portion 3a is supported by the support shaft 2b at the fulcrum O, and the same weights (weight bodies) are attached to the ends of the left arm 3aL and the right arm 3aR having the same length. Therefore, in the state where the entire device (sensor) is installed horizontally, as shown in FIG. 1 (A), the arm portion 3a is inclined to either side as shown in FIG. It has come to be not.
[0020]
As shown in FIG. 1B, when the detection apparatus 1 is tilted at an angle of “θ” with respect to the horizontal plane, the arm portion 3a is also horizontal. That is, it can be seen that the angle formed between the support shaft 2b of the support 2 and the arm portion 3a is “90 ° −θ”, and becomes smaller as the inclination θ of the detection device 1 increases.
[0021]
The inclination angle “90 ° −θ” is measured by a position sensor (or an angle sensor), or the velocity is measured using a velocity sensor in the course of tilting, and the measured angle is integrated to know the inclination angle. be able to. That is, by providing a position sensor and a speed sensor as detection means for detecting the relative position between the support 2 and the rotating body 3 or detecting and integrating the relative speed between the two, the attitude of the detection device 1 ( (Tilt state) can be detected.
[0022]
FIG. 2 is a diagram for explaining the influence on the detection by the lateral (horizontal) acceleration applied to the rotator 3.
[0023]
In this structure, even if lateral acceleration is applied to the detection device 1, force acts on the weight bodies 3b and 3b on both sides of the arm portion 3a in the same manner (see arrows Ha and Hb indicated by broken lines). The arm portion 3a is not tilted, and therefore erroneous detection due to lateral acceleration does not occur in the detection means of the detection apparatus 1 (that is, no erroneous detection signal is output from the detection means of the detection apparatus 1). In addition, the arrow of "mg" shown with a continuous line in a figure shows the direction of the gravity which acts on the weight body 3b.
[0024]
Further, as shown in FIG. 3, even when acceleration in the vertical direction is applied to the rotating body 3, this does not cause a detection error similarly. For example, even if an upward acceleration (see arrow U shown by a broken line) is applied to the apparatus, the arm 3a does not tilt, and therefore no erroneous detection occurs.
[0025]
As described above, the detection device 1 can purely detect only the tilt without being affected by the linear (translational) acceleration applied thereto.
[0026]
FIG. 4 shows a configuration example 4 of the detection apparatus.
[0027]
In this example, the rotating body 5 is composed of a disk 6 constituting the disk, and weights (heavy bodies) 7 and 7 attached to the disk. The center of the disk 6 is a support shaft 2b of the support body 2. Is supported rotatably. That is, the pair of weights 7 and 7 are attached and fixed to the outer peripheral edge of the disk 6 respectively.
[0028]
The rotating body 5 according to the present invention has a moment of inertia symmetrical in the vertical direction (vertical direction) and in the horizontal direction with respect to the support shaft of the support body in the stationary state. That is, “inertial moment symmetric in the vertical direction” means that the rotating body 5 has a symmetrical moment of inertia with respect to the axis (symmetric axis) “X” extending in the horizontal direction, as conceptually shown in FIG. In addition, the “moment of inertia symmetric in the horizontal direction” means that the rotating body 5 has a symmetric (right / left symmetric) moment of inertia with respect to the axis (symmetric axis) “Z” extending in the vertical direction.
[0029]
In the present configuration example 4, the center portion of the disk 6 is supported by the support shaft 2b, and the weights 7 and 7 are respectively attached to both ends of the disk 6 on a certain diameter. “X” is an axis passing through the center of the two weights 7 and 7 and the fulcrum O (an axis including the diameter of the disk 6), and the left-right symmetry axis “Z” is a straight line passing through the fulcrum O and perpendicular to “X”. .
[0030]
As in this example, the rotating body 5 has a pair of weight bodies (weights 7 and 7) having the same moment of inertia with respect to the support shaft 2b of the supporting body 2 as balancers, and the rotating body 5 is vertically It is preferable to provide a configuration in which the rotating body 5 is supported by the support body 2 so as to be rotatable in a plane, and the rotating body 5 is stationary at the position of balance of gravity applied to the weight body.
[0031]
The rotating body 5 is provided with a detected portion 8 based on a magnetized pattern, a position detecting print pattern, or the like, and a magnetic or optical detecting means 9 for the detected portion 8 is a support shaft 2 b of the support 2. Is attached. For example, as shown in the drawing, the relative position between the rotating body 5 and the support body 2 is provided by providing a detected portion 8 at the peripheral portion of the disk 6 and detecting this by a detecting means such as a magnetic sensor or an optical sensor. (Angle) can be measured (details will be described later).
[0032]
Next, an acceleration detection apparatus according to the present invention will be described with reference to the principle explanatory diagrams shown in FIGS.
[0033]
The difference between the detection apparatus 10 shown in this example and the detection apparatus 1 is that the pendulum 11 is supported by the support body 2 in a rotatable state, and is basically related to the support body 2 and the rotation body 3. The configuration is the same as that of the detection device 1.
[0034]
The pendulum 11 is supported at a fulcrum O in the same manner as the rotator 3 with respect to the support shaft 2b, and as shown in FIG. 6, in a state where no external force other than gravity is applied to the detection device 10, The pendulum 11 points in the vertical direction (downward) according to gravity.
[0035]
FIG. 7 shows a posture in which the detection device 10 is tilted.
[0036]
Even if the entire detection device 10 is tilted, the arm 3a of the rotating body 3 does not tilt as shown in FIG. 7A, and the pendulum 11 remains pointing in the vertical direction as indicated by an arrow M. . That is, even if the detection apparatus 10 is tilted at an angle of “θ” with respect to the horizontal plane, the arm portion 3a remains horizontal (the angle formed between the pendulum 11 and the arm portion 3a is 90 °). The angle formed between the support shaft 2b of the support 2 and the arm portion 3a is “90 ° −θ”.
[0037]
In this state, as shown in FIG. 7B, when the acceleration (α) in the lateral direction (horizontal direction) is given to the detection device 10, the weights (weight bodies) of the left arm 3aL and the right arm 3aR are the same. The arm portion 3a does not move because the force of direction and size is applied, but the pendulum 11 swings according to the lateral acceleration “α”. In other words, the angle formed between the arm 3a and the pendulum 11 changes according to the lateral acceleration “α”. This angle is “90 ° -φ” when the angle formed by the pendulum 11 with respect to the vertical line is indicated as “φ”.
[0038]
The angle between the arm 3a and the pendulum 11 is measured by detecting the relative position between the rotating body 3 and the pendulum 11 or by providing a detecting means for detecting and integrating the relative speed between the two. be able to. Therefore, the angular acceleration can be obtained by second-order differentiation with respect to time based on the angle of the pendulum generated by the lateral acceleration “α”. In addition, at that time, since it is not affected at all by the inclination angle θ of the posture related to the detection device 10 (the rotating body 3 is in a balanced state), a detection error due to θ does not occur.
[0039]
FIG. 8 shows a configuration example of the detection device 12.
[0040]
About the structure of the rotary body 5 or the support body 2, it is the same as that of the structural example 4 shown in FIG. The differences between the two are as follows.
[0041]
-The pendulum 11 is supported by the support shaft 2b in a rotatable state.
-The detecting means 9 is attached to the pendulum 11.
[0042]
That is, the disk 6 and the pendulum 11 are supported by the same support shaft 2b at the fulcrum O, and a pair of weights 7 and 7 are fixed to the opposite sides of the outer periphery of the disk 6 with the fulcrum O in between. Yes. In this example, the detection means 9 for the detected portion 8 of the disk 6 is attached to the pendulum 11 instead of the support shaft 2b. However, as described above, this is the relative relationship between the rotating body 5 and the pendulum 11. Depending on the need to measure the position (angle).
[0043]
Next, a configuration for detecting the position will be described.
[0044]
As a method of giving position information (position detection information) to a disk-shaped rotating body as shown in FIG. 4 or FIG. 8 and detecting this magnetically or optically, for example, the following configuration forms are mentioned. .
[0045]
(1) A mode in which position information (such as a magnetic scale) is magnetized on a disk-shaped rotating body and a relative position between the rotating body and the support or pendulum is detected by attaching a magnetic sensor to the support or pendulum.
[0046]
(2) A mode in which positional information (optical scale or the like) is printed on a disk-shaped rotator, and a reflective optical sensor is attached to the support or pendulum to detect the relative position between the rotator and the support or pendulum.
[0047]
(3) N-pole and S-pole are alternately magnetized to the disk-shaped rotating body, and two magnetic sensors (Hall element, detection coil, etc.) are attached to the support or pendulum, and between the detection outputs of each sensor A mode in which the position difference between the rotating body and the support or pendulum is detected by defining the mounting position so as to have a phase shift of 90 degrees.
[0048]
(4) A slit is formed in the peripheral portion of the disk-shaped rotating body along the circumferential direction, and a light emitting diode and a phototransistor (transmission type optical sensor) are respectively provided on the support or pendulum on both sides of the disk of the rotating body. A mode in which the position difference between the rotating body and the support or pendulum is detected by attaching two sets and defining the mounting position so as to have a phase shift of 90 degrees between the respective detection outputs.
[0049]
In the configuration form in which the relative position is detected as in the above (1) and (2), the detected relative position information is used as angle information as it is. In the form (2), as the position information printed on the rotating body, the position information is digitally detected by encoding the information into a binary code and arranging the bits in the radial direction of the disk. be able to. Alternatively, analog-type position detection can be performed by forming a reflective surface having a print density changed according to position information on a disk.
[0050]
As in the above (3) and (4), in the configuration in which the position difference is detected, it is necessary to determine the origin by resetting the output before the detection when the rotating body is horizontal (stationary state due to balance) ( Origin position setting). After that, direction information and position difference information are obtained from the two-phase signals respectively output from the two sets of sensors, and the relative position between the rotating body and the support or pendulum is obtained by integrating the difference information. Can do.
[0051]
In the present invention, not only the detection by the position sensor described above, but also a configuration in which detection is performed using a speed sensor may be adopted.
[0052]
For example, as shown in FIG. 9, detection coils 9 </ b> A and 9 </ b> A are attached to the outer periphery of a disk-shaped rotating body 5, and a magnetic circuit is formed between the detection coils and the disk. That is, the detection coils 9A and 9A are positioned on opposite sides of the center of the disk 6, and the magnets 9B and 9B are provided for the detection coils, so that the detection coils move in the magnetic circuit. Thus, a configuration may be adopted in which a signal corresponding to the speed is output. As shown in FIG. (B), each magnet 9B has a U shape and is arranged so as to sandwich the disk at the attachment position of the detection coil 9A to form two magnetic circuits. In the drawing, the illustration of the portion of the magnet 9B in front of the disk 6 is omitted for easy viewing.
[0053]
When detecting the speed information of the rotating body using the speed sensor, it is necessary to first reset the detection output when the rotating body is horizontal and determine the origin as in the case of position difference detection. Then, the position information is obtained by integrating the output signal of the detection coil.
[0054]
In the case of the magnetic detection method, there are advantages that the structure is simple and inexpensive, and in the case of the optical detection method, it can be used even in an environment with a strong magnetic field or a strong electric field. There is an advantage.
[0055]
10 and 11 show configuration examples of relative position detection, and include the magnetic detection method and the optical detection method as described above.
[0056]
FIG. 10 is an explanatory diagram illustrating a magnetic scale method as a magnetic detection method, and shows a configuration example 12 in which a magnetized pattern formed on the outer peripheral edge of a rotating disk is detected by a magnetic sensor.
[0057]
A magnetized pattern divided into a plurality of tracks tk1, tk2,... Is formed as the detected portion 13 on the outer peripheral edge of the rotating disk, and these constitute a magnetic scale. The direction indicated by the arrow R indicates the radial direction of the rotating disk. In addition, although the boundary line of each track is actually an arc shape, each boundary line is represented by a straight line in the figure for convenience.
[0058]
In each track, the magnetized portion is indicated by, for example, a hatched portion, and the white portion indicates an unmagnetized portion. In this example, the magnetic scale is composed of magnetized patterns in the five tracks tk1 to tk1, and the i-th track tk is divided into 2 to “i” powers with respect to the presence or absence of the magnetized pattern. ing. That is, the first track tk1 is divided into a magnetized portion and a non-magnetized portion, the second track tk2 is further divided into four times, and the third track tk3 is further doubled to 8 times. In other words, the tracks located closer to the outer periphery are subdivided by increasing the number of divisions of the magnetized pattern. Therefore, although 2 5 = 32 position detections are possible, it goes without saying that the position detection can be performed with higher accuracy if the number of tracks is increased.
[0059]
Thus, in order to detect a (binary) coded magnetization pattern in the radial direction of the rotating disk 6, a magnetic detection unit 14 corresponding to each track is provided. That is, in this example, the five magnetic sensors 14_j (j = 1 to 5) respectively detect the presence / absence of magnetization in each track tkj (j = 1 to 5). These magnetic sensors are attached to the support or pendulum of the rotating disk 6.
[0060]
A detection signal from each magnetic sensor is sent to each comparator corresponding to the sensor. These comparators constitute comparing means 15 for obtaining a binarized output. In this example, comparators 15_j (j = 1 to 5) corresponding to the magnetic sensors 14_j (j = 1 to 5) are provided. Is provided.
[0061]
The output signal of each comparator 15_j is either an H (high) signal or an L (low) signal, and binary data encoded in this way is obtained as position detection data. That is, since the magnetization pattern corresponds to bit data encoded in the radial direction of the rotating disk, the presence / absence of magnetization detected using a magnetic sensor and a comparator is read as bit information. The read data is output as the rotational position information of the encoded rotating disk.
[0062]
For example, when the magnetized part in each track is detected by the magnetic sensor, the output of the comparator corresponding to the magnetic sensor is an H signal, and when the non-magnetized part in each track is detected by the magnetic sensor, In the case where the output of the comparator corresponding to the magnetic sensor is an L signal, when positive logic is adopted, the bit value (logical value) for the H signal is “1”, and the bit value (logical value) for the L signal. Is “0”. Thus, for example, at the position indicated by the arrow T in FIG. 10, the magnetized portions are detected by the magnetic sensors 14_1 and 14_5 in the tracks tk1 and tk5, and the non-magnetized portions are detected by the magnetic sensors 14_2 to 4 in the tracks tk2 to tk4. Thus, the output signals of the comparators 15_1 to 5_1 are “H, L, L, L, H” in the order of the tracks tk1 to tk5, which corresponds to the binary code “10001”.
[0063]
Thus, the detected part (magnetization pattern) formed on the outer peripheral edge of the rotating disk 6 and each magnetic sensor constitute detection means for detecting the relative position between the rotating body and the support or pendulum. ing. That is, by configuring a rotary encoder using a magnetic scale formed as a magnetized pattern on the rotating disk and magnetic detection means using a magnetic sensor, information on the rotational position of the rotating disk is acquired according to the detection of the presence or absence of magnetization. can do.
[0064]
FIG. 11 is an explanatory diagram illustrating an optical scale method as an optical detection method, and shows a configuration in which a light / dark pattern formed on the outer peripheral edge of a rotating disk is detected by an optical sensor.
[0065]
Since the basic configuration is substantially the same as the configuration shown in FIG. 10, the following description will focus on the differences between the two, and the portions that are not different between the two will be denoted by the reference numerals attached to the portions. The detailed description will be omitted by using the same reference numerals.
[0066]
Also in this example, a plurality of tracks tk1, tk2,... Are formed as the detected portion 13A on the outer peripheral edge of the rotating disk 6, but a light / dark pattern is formed in each track. That is, a bright part with a high reflectance and a dark part with a low reflectance constitute an optical scale. For example, in each track, dark portions are indicated by hatched portions, and bright portions are indicated by white portions.
[0067]
In order to detect a light / dark pattern coded in the radial direction of the rotating disk, a light detection unit 16 corresponding to each track is provided. The light sensor constituting the light detection unit 16 is a reflection type, and after returning from the light emitting unit (light emitting element such as an LED), the light reflected by the detected unit 13A is returned to the light receiving unit (photo). Detection element such as a diode).
[0068]
In this example, the five optical sensors 16_j (j = 1 to 5) detect the light / dark state in each track tkj (j = 1 to 5), respectively, and output the corresponding comparator 15_j (j = 1 to 1). Send to 5).
[0069]
The output signal of each comparator 15_j is either an H signal or an L signal, and encoded binary data is obtained as position detection data. That is, since the light / dark pattern corresponds to bit data encoded in the radial direction of the rotating disk, the data is output as the rotational position information of the rotating disk 6 (in FIG. 10, the presence or absence of magnetization is binary). Although coded, in this example, the light and dark states are binary coded.)
[0070]
Thus, the detected part (bright / dark pattern) and each optical sensor formed on the outer peripheral edge of the rotating disk constitute detection means for detecting the relative position between the rotating body and the support or pendulum. . That is, by configuring a rotary encoder using an optical scale formed as a light / dark pattern on the rotating disk and an optical detection means using an optical sensor, rotational position information of the rotating disk can be acquired in response to detection of a light / dark state. Can do.
[0071]
Next, position difference detection will be described using configuration examples shown in FIGS. In addition, the magnetic detection method and the optical detection method are mentioned similarly to the above.
[0072]
FIG. 12 is an explanatory diagram showing an example in which a magnetic sensor is used as a magnetic detection method, and shows a configuration in which a magnetized pattern formed on the outer peripheral portion of a rotating disk is detected by a pair of magnetic sensors.
[0073]
A striped pattern in which magnetized portions and non-magnetized portions are alternately arranged along the circumferential direction as the detected portion 17 is formed on the outer peripheral portion of the rotating disk 6. The direction indicated by the arrow R indicates the radial direction of the rotating disk. In addition, in the rotating disk, the boundary line and the outline line between the portion where the magnetized pattern is formed and the inner peripheral side portion thereof are actually arc-shaped, but in the figure, for the sake of convenience, they are linear. Represents.
[0074]
In the striped magnetization pattern along the circumferential direction, the magnetized portion is indicated by, for example, a hatched portion, and the white portion indicates a portion that is not magnetized.
[0075]
In order to detect such a magnetization pattern, two magnetic sensors 18_1 and 18_2 are provided as the magnetic detection means 18. These magnetic sensors are attached to the support body or pendulum of the rotating disk 6, and the position of each sensor is given a predetermined positional shift in the circumferential direction of the rotating disk 6. In other words, if the mounting position of each sensor is not shifted along the circumferential direction and is defined so as to be along the radial direction of the rotating disk, the detection signal of each sensor becomes in-phase relation, and the rotational phase is changed. Since it cannot be detected, the mounting position shift (relative positional shift amount) corresponding to the formation pitch of the magnetized pattern is different for each sensor so that the detection signal of the magnetized pattern by each sensor has a phase difference of 90 °. Is given intentionally. Therefore, a signal (two-phase signal) having a phase difference of 90 ° according to the rotation direction and rotation speed of the rotating disk 6 is generated.
[0076]
Detection signals from the magnetic sensors are sent to the comparators 19_1 and 19_2 corresponding to the sensors. These comparators constitute comparison means 19 for obtaining a binarized output. In this example, a comparator 19_1 corresponding to the magnetic sensor 18_1 and a comparator 19_2 corresponding to the magnetic sensor 18_2 are provided.
[0077]
The output signal (H signal or L signal) of each comparator is sent to the counting means (or integrating means) 20. For example, an up / down counter is used as the counting means 20, and the above two-phase signals are binarized by the comparators 19_1 and 19_2, respectively, and then supplied as an up / down input and a clock input. That is, the phase relationship between the input signals corresponds to the rotation direction of the rotating disk 6, and the cycle (or frequency) of the input signal corresponds to the rotation speed of the rotating disk 6, so that it corresponds to the two-phase input signal. Up-counting operation and down-counting operation are performed, and the count output becomes position detection data. In this example, since it is necessary to detect the position as an integration (addition / subtraction) result related to the output data of the position difference, it is necessary to determine the origin position as an initial setting (the origin position is determined in a stationary state where the rotating disk is balanced). Do it.)
[0078]
In this way, the magnetized pattern is formed along the circumferential direction of the rotating disk 6, and a two-phase detection signal having a phase difference of 90 ° is generated using the magnetic sensor and the comparator. Therefore, the count output corresponding to the rotational position information can be obtained from the counting means 20 by counting the detection signal according to the rotation direction of the rotating disk. That is, the magnetized pattern and the pair of magnetic sensors formed on the peripheral edge of the rotating body constitute detection means for detecting a positional difference between the rotating body and the support or pendulum.
[0079]
FIG. 13 is an explanatory diagram showing an example in which an optical sensor is used as an optical detection method, and shows a configuration in which a slit pattern formed on the outer periphery of a rotating disk is detected by a pair of optical sensors.
[0080]
Since the basic configuration is substantially the same as the configuration shown in FIG. 12, the following description will focus on the differences between the two, and the portions that are not different between the two are denoted by the reference numerals attached to the portions. The detailed description will be omitted by using the same reference numerals.
[0081]
A striped pattern is formed on the outer peripheral portion of the rotating disk 6 as the detected portion 17A, in which portions where slits are formed along the circumferential direction and portions where the slits are not formed are alternately arranged. ing.
[0082]
In the striped slit pattern along the circumferential direction, the slit-formed portion is indicated by, for example, a hatched portion, and the white portion indicates a portion where no slit is formed.
[0083]
In order to detect such a pattern, two light sensors 21_1 and 21_2 are provided as the light detection means 21, and a transmissive sensor is used in this example. That is, after exiting from the light emitting part (light emitting element such as LED), the light receiving part (detection element such as photodiode) detects the light transmitted through the slit of the detected part 17A, and after exiting the light emitting part, The light shielded by the portion where the slit is not formed in the detected portion does not reach the light receiving portion and is not detected. For example, each optical sensor indicated by a rectangular frame in FIG. 13 is a light receiving portion, a light emitting portion (not shown) is positioned on the back side of the paper surface, and irradiates the detected portion 17A from the back side. I think that. These sensors are also given a predetermined positional shift in the circumferential direction of the rotating disk 6 with respect to the mounting position on the support or pendulum, similarly to the magnetic sensors 18_1 and 18_2 described above (slits by each sensor). There is an intentional displacement between the sensors along the circumferential direction of the rotating disk so that the pattern detection signal has a 90 ° phase difference.
[0084]
Detection signals from the respective optical sensors are sent to the corresponding comparators 19_1 and 19_2. The output signal (H signal or L signal) of each comparator is supplied to an up / down counter constituting the counting means (or integrating means) 20, and the count output becomes position detection data.
[0085]
In this way, the detected portion 17A formed as a slit pattern is formed along the circumferential direction of the rotating disk 6, and two-phase detection with a phase difference of 90 ° is detected by the optical sensor and the comparator according to the presence or absence of the slit. A signal is generated. Therefore, the count output corresponding to the rotational position information can be obtained from the counting means 20 by counting the detection signal according to the rotation direction of the rotating disk. That is, the slit pattern and the pair of optical sensors formed on the outer peripheral edge of the rotating body constitute a detecting unit that detects a position difference between the rotating body and the support or pendulum.
[0086]
In this example, the configuration using the slit and the transmission type optical sensor is shown. However, the present invention is not limited to this. For example, the configuration using the light and dark pattern and the reflection type optical sensor as in FIG. A configuration in which a pattern in which bright portions and dark portions are alternately arranged in the circumferential direction is detected by a pair of reflection type photosensors at the outer peripheral portion, and detection signals with a phase difference of 90 ° are counted and counted. It can be implemented in various forms.
[0087]
In addition, as a magnetic detection method, a magnetized pattern is formed on the outer peripheral portion of the rotating disk in FIG. 12. However, the present invention is not limited to this. For example, as shown in FIG. A method of detecting a change (or a change in magnetic flux density or magnetoresistance) with a pair of magnetic sensors can be mentioned.
[0088]
That is, the iron plate 22 shown in FIG. 14 constitutes a rotating disk (only a part is shown in the figure), and the arrow “K” shown in the figure indicates the rotating direction. Further, thick portions 22a, 22a,... Are formed on the iron plate 22 at predetermined intervals along the rotation direction, and a thin portion (relative to the thick portion) is formed between the thick portions 22a and 22a. In this relationship, a thin portion) 22b is formed. In other words, the thick portions 22a and the thin portions 22b are alternately arranged along the rotation direction of the iron plate 22.
[0089]
The pair of magnetic sensors 23_1 and 23_2 are provided to detect the unevenness of the iron plate 22, and a biasing magnet 24 is provided in the vicinity thereof.
[0090]
The detection unit 25 including the magnetic sensors 23_1 and 23_2 and the magnet 24 is attached to a support body or pendulum of a rotating disk (iron plate). The attachment positions of the magnetic sensors are the thick part 22a and the thin part 22b. The positional deviation is intentionally added so that signals having a phase difference of 90 ° can be obtained. That is, two-phase detection signals are generated by the magnetic sensors 23_1 and 23_2 according to the rotation of the rotating disk, and these detection signals are sent to the counting means (up / down counter) 20 through the comparators 19_1 and 19_2, respectively. The count output by the counting means 20 is obtained as position detection data (position information).
[0091]
In this configuration, it is not necessary to magnetize the rotating disk, and it is only necessary to form irregularities by changing the thickness of the iron plate 22, which is suitable for simplifying the configuration and reducing costs.
[0092]
According to the configuration described above, the following advantages can be obtained in application to an inclination state detection apparatus.
[0093]
・ Because it is not affected by lateral acceleration during tilt detection, a correction acceleration sensor becomes unnecessary and the cost can be reduced.
[0094]
-Since a damper, a braking mechanism, and the like necessary for reducing the influence of lateral acceleration are not required, a high-bandwidth detection device with high sensitivity can be realized.
[0095]
Further, in application to an acceleration detection device, the following advantages can be obtained.
[0096]
A detection device that is not affected by the inclination of the detection device itself and that has a simple structure can be realized.
[0097]
An electric circuit and arithmetic processing for correcting the influence (detection error) due to the inclination of the detection device are not required, and the device cost can be reduced.
[0098]
【The invention's effect】
As is apparent from the above description, according to the invention according to claim 1, even when an unexpected lateral acceleration is applied to the rotating body in application to the tilt sensor or the like, the influence is applied to the rotating body. Since it does not act as a force, a detection error due to this does not occur. Therefore, it is not necessary to add a braking mechanism such as a damper or a braking plate or to perform a correction calculation using another acceleration sensor, so that the configuration can be simplified and the cost can be reduced.
[0099]
According to the invention which concerns on Claim 2 or Claim 6, the influence of the disturbance to a stationary-state rotary body, a minute vibration, etc. can be reduced.
[0100]
According to the invention which concerns on Claim 3 or Claim 7, simplification of a structure can be achieved and the certainty of a detection can be improved.
[0101]
According to the invention which concerns on Claim 4 or Claim 8, the detection of the relative position and speed between a rotary body and a support body or a pendulum is easily performed by providing a to-be-detected part in the peripheral part of a disk. be able to.
[0102]
According to the fifth aspect of the present invention, in the application to the acceleration sensor or the like, the change in the posture (inclination) of the support body does not affect the rotating body, so that a detection error due to the change does not occur. Therefore, a correction circuit and calculation for the posture change are unnecessary, and the configuration can be simplified and the cost can be reduced.
[Brief description of the drawings]
1A and 1B are diagrams for explaining the principle of tilt detection according to the present invention, in which FIG. 1A shows a balanced state and FIG. 1B shows a tilted state.
FIG. 2 is an explanatory diagram regarding the influence of lateral acceleration.
FIG. 3 is an explanatory diagram regarding the influence of upward acceleration.
FIG. 4 is a schematic diagram illustrating a configuration example of a tilt detection device.
FIG. 5 is a diagram for explaining an inertia moment of a rotating body.
FIG. 6 is a diagram for explaining the principle of acceleration detection according to the present invention.
FIG. 7 is an explanatory diagram showing a state in which the tilt state is shown in FIG. (A) and a lateral acceleration is applied to the detection device in the tilt state.
FIG. 8 is a schematic diagram illustrating a configuration example of an acceleration detection device.
FIG. 9 is an explanatory diagram showing a main part of a configuration example using a speed sensor.
FIG. 10 is a diagram illustrating an example of magnetic position detection.
FIG. 11 is a diagram illustrating an example of optical position detection.
FIG. 12 is a diagram illustrating a detection example of a magnetic position difference.
FIG. 13 is a diagram illustrating an example of detection of an optical position difference.
FIG. 14 is a diagram showing another example of magnetic position difference detection.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1, 4, 10, 12 ... Detection apparatus, 2 ... Support body, 2b ... Support shaft, 3 ... Rotation body, 3b ... Weight body, 5 ... Rotation body, 6 ... Disk, 8 ... Detected part, 9 ... Detection means 11 ... Pendulum

Claims (6)

The side surface shape is formed in an inverted T-shape, and a support body having a base and a vertical support shaft erected on the base,
Includes an arm portion made of a left arm and a right arm of the same length extending from the fulcrum to the left and right sides, the weight of the same weight of one or more pairs are attached to each end of the left arm portion and the right arm, the The center part of the arm part is rotatably supported by the support shaft of the support body at the fulcrum, and is configured to stand still while maintaining a horizontal state with respect to a horizontal plane at a position where gravity is applied to the weight body. Rotating body,
By detecting the angle between the support shaft and the arm, or by detecting and integrating the relative speed between the support and the rotating body, the inclination state of the base with respect to the horizontal plane is detected. Detecting means for
A detection device characterized by that. The detection device according to claim 1,
A detection apparatus comprising: a detection unit provided on the rotating body; and the detection unit configured to detect the detection unit magnetically or optically. The detection device according to claim 2,
A detection apparatus, wherein a center part of a disk constituting the rotating body is rotatably supported by the support body, and the detected part is provided at a peripheral part of the disk. The detection device according to claim 1,
A pendulum supported in a rotatable manner around the fulcrum of the support;
The detection means detects a relative position between the rotating body and the pendulum, or detects and integrates a relative speed between the rotating body and the pendulum, thereby integrating the arm portion and the pendulum. A detection device that measures an angle and detects each acceleration. The detection device according to claim 4,
A detection apparatus comprising: a detection unit provided on the rotating body; and the detection unit configured to detect the detection unit magnetically or optically. The detection device according to claim 5,
A detection apparatus, wherein a center part of a disk constituting the rotating body is rotatably supported by the support body, and the detected part is provided at a peripheral part of the disk.

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