JP5161396B2 - Posture identification device - Google Patents
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- 230000001133 acceleration Effects 0.000 claims description 93
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- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
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- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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Description
本発明は、三軸加速度センサを用いた姿勢特定装置に関するものである。 The present invention relates to a posture identifying device using a three-axis acceleration sensor.
特開２００９−２７６２８２号公報には、三軸加速度センサで検出した直交三次元座標での加速度成分を用いて装置の角度を算出し、算出した角度により装置自身の姿勢を特定する姿勢特定装置が開示されている。 Japanese Unexamined Patent Application Publication No. 2009-276282 discloses an attitude specifying device that calculates an angle of a device using acceleration components in orthogonal three-dimensional coordinates detected by a three-axis acceleration sensor, and specifies the posture of the device itself based on the calculated angle. It is disclosed.
従来の三軸加速度センサを用いた姿勢特定装置は、姿勢を特定するために複雑な演算を必要とする。そのため例えば、携帯通信端末装置等に姿勢特定装置を使用する場合には、姿勢の特定に要する演算量が多くなって、携帯通信端末装置のＣＰＵの負担が著しく増加する問題が発生する。 A conventional posture specifying device using a three-axis acceleration sensor requires complicated calculation to specify the posture. Therefore, for example, when the posture specifying device is used for a mobile communication terminal device or the like, the amount of calculation required for specifying the posture increases, causing a problem that the load on the CPU of the mobile communication terminal device increases remarkably.
本発明の目的は、複雑な演算を必要とすることなく、簡単に姿勢を特定できる姿勢特定装置を提供することにある。 An object of the present invention is to provide an attitude specifying device that can easily specify an attitude without requiring complicated calculation.
本発明の姿勢特定装置は、支持体に支持された三軸加速度センサと、第１乃至第３の判定部と、姿勢特定部とを備えている。三軸加速度センサは、支持体に支持されて、支持体に作用する加速度を第１の軸Ｘ、第１の軸Ｘに直交する第２の軸Ｙ、第１の軸Ｘ及び第２の軸Ｙと直交する第３の軸Ｚのそれぞれの軸方向の成分Ｇｘ，Ｇｙ及びＧｚに分解して検知し、各成分Ｇｘ，Ｇｙ及びＧｚが−１≦Ｇｘ≦１、−１≦Ｇｙ≦１及び−１≦Ｇｚ≦１の範囲の値になるように出力する。第１の判定部は、αを正の数として、第１の軸方向の成分Ｇｘが、Ｇｘ＜−α、−α≦Ｇｘ＜０、０≦Ｇｘ＜α及びα≦Ｇｘのいずれの範囲にあるかを判定して判定結果をデジタル値で出力する。第２の判定部は、βを正の数として、第２の軸方向の成分Ｇｙが、Ｇｙ＜−β、−β≦Ｇｙ＜０、０≦Ｇｙ＜β及びβ≦Ｇｙのいずれの範囲にあるかを判定して判定結果をデジタル値で出力する。第３の判定部は、γを正の数として、第３の軸方向の成分Ｇｚが、Ｇｚ＜−γ、−γ≦Ｇｚ＜０、０≦Ｇｚ＜γ及びγ≦Ｇｚのいずれの範囲にあるかを判定して判定結果をデジタル値で出力する。より具体的には、α、β及びγが同じ数であるのが好ましい。さらに実用的には、α、β及びγが、０．５であるのが好ましい。姿勢特定部は、第１乃至第３の判定部が判定したデジタル値の判定結果の組合せに基づいて、重力加速度が支持体に作用する重力加速度方向を決定し、重力加速度方向から支持体の姿勢を特定する。本発明では、姿勢特定部が、予め第１乃至第３の判定部が判定する結果の組合せと支持体に作用する重力加速度方向との対応関係を示すデータを記憶した加速度方向データ記憶部と、第１乃至第３の判定部が判定したデジタル値の判定結果の組合せを入力として、該判定結果の組合せに対応する支持体に作用する重力加速度方向を加速度方向データ記憶部に記憶されたデータから検索して出力する検索部とを備えている。 The posture specifying device of the present invention includes a triaxial acceleration sensor supported by a support, first to third determination units, and a posture specifying unit. The triaxial acceleration sensor is supported by a support, and the acceleration acting on the support is expressed by a first axis X, a second axis Y orthogonal to the first axis X, a first axis X, and a second axis. The components Gx, Gy, and Gz of the third axis Z orthogonal to Y are decomposed and detected, and the components Gx, Gy, and Gz are −1 ≦ Gx ≦ 1, −1 ≦ Gy ≦ 1, and It outputs so that it may become the value of the range of -1 <= Gz <= 1. In the first determination unit, α is a positive number, and the first axial component Gx is in any range of Gx <−α, −α ≦ Gx <0, 0 ≦ Gx <α, and α ≦ Gx. Judgment is made and the judgment result is output as a digital value. The second determination unit sets β as a positive number, and the second axial component Gy is in any range of Gy <−β, −β ≦ Gy <0, 0 ≦ Gy <β, and β ≦ Gy. Judgment is made and the judgment result is output as a digital value. The third determination unit sets γ as a positive number, and the component Gz in the third axial direction is in any range of Gz <−γ, −γ ≦ Gz <0, 0 ≦ Gz <γ, and γ ≦ Gz. Judgment is made and the judgment result is output as a digital value. More specifically, α, β and γ are preferably the same number. Further practically, α, β and γ are preferably 0.5. The posture specifying unit determines a gravitational acceleration direction in which the gravitational acceleration acts on the support based on a combination of the determination results of the digital values determined by the first to third determination units, and the posture of the support from the gravitational acceleration direction. Is identified. In the present invention, the posture specifying unit stores an acceleration direction data storage unit that stores data indicating a correspondence relationship between a combination of results determined by the first to third determination units in advance and the gravitational acceleration direction acting on the support; From the data stored in the acceleration direction data storage unit, the gravitational acceleration direction acting on the support corresponding to the combination of the determination results is input using the combination of the determination results of the digital values determined by the first to third determination units. And a search unit for searching and outputting.
本発明によれば、１つの判定部において２ビットのデジタル値で判定結果を出力する。そのため第１乃至第３の判定部からは、２ビット×３＝６ビットの情報が出力される。そして事前に、第１乃至第３の判定部から出力される判定結果の組合せと、支持体に作用する重力加速度方向との対応関係を示すデータを取得して、加速度方向データ記憶部に記憶しておく。そして検索部は、第１乃至第３の判定部が判定したデジタル値の判定結果の組合せを入力として、該判定結果の組合せに対応する支持体に作用する重力加速度方向を加速度方向データ記憶部に記憶されたデータから検索して出力する。このようにすれば、少ない情報量の入力（６ビット）と少ない記憶データとに基づいて、複雑な演算を必要とすることなく、三軸加速度センサが装着された装置の姿勢を特定することができる。 According to the present invention, one determination unit outputs a determination result as a 2-bit digital value. Therefore, information of 2 bits × 3 = 6 bits is output from the first to third determination units. In advance, data indicating a correspondence relationship between the combination of the determination results output from the first to third determination units and the gravitational acceleration direction acting on the support is acquired and stored in the acceleration direction data storage unit. Keep it. The search unit receives as input the combination of the determination results of the digital values determined by the first to third determination units, and stores the gravitational acceleration direction acting on the support corresponding to the combination of the determination results in the acceleration direction data storage unit. Search and output from stored data. In this way, it is possible to specify the posture of the device on which the three-axis acceleration sensor is mounted without requiring a complicated calculation based on a small amount of information input (6 bits) and a small amount of stored data. it can.
加速度方向データ記憶部に記憶するデータは、第１乃至第３の判定部が判定する結果の組合せと支持体に作用する重力加速度方向との対応関係を示すデータであれば、どのような形式及び内容であってもよい。例えば、三軸加速度センサの軸中心を中心とする球体を仮定したときに、球体を第１及び第２の軸に平行な第１の仮想面で４等分し、球体を第２の軸及び第３の軸に平行な第２の仮想面で４等分し、球体を第１の軸及び第３の軸に平行な第３の仮想面で４等分して、球体の表面に区分けされる５６の仮想領域に識別符号を付す。そして第１乃至第３の判定部が判定する結果の組合せにより決まる重力加速度方向に位置する仮想領域の識別符号を前記第１乃至第３の判定部が判定する結果の組合せと対応付けて、加速度方向データ記憶部に記憶してもよい。この場合、検索部は、重力加速度方向を識別符号を用いて出力するようにする。このようにすれば、姿勢特定装置を実装した装置の姿勢を５６の方向情報で示すことができる。このレベルの情報であれば、多くの携帯通信端末装置におけるＣＰＵの負担を殆ど増大させることがない。 As long as the data stored in the acceleration direction data storage unit is data indicating the correspondence between the combination of the results determined by the first to third determination units and the gravitational acceleration direction acting on the support, any format and It may be content. For example, assuming a sphere centered on the axial center of the triaxial acceleration sensor, the sphere is divided into four equal parts by a first virtual plane parallel to the first and second axes, and the sphere is divided into the second axis and The sphere is divided into four equal parts by a second imaginary plane parallel to the third axis, and the sphere is divided into four equal parts by a third imaginary plane parallel to the first axis and the third axis. 56 are assigned identification codes. The identification code of the virtual region located in the direction of gravitational acceleration determined by the combination of results determined by the first to third determination units is associated with the combination of results determined by the first to third determination units, and the acceleration You may memorize | store in a direction data memory | storage part. In this case, the search unit outputs the gravitational acceleration direction using the identification code. In this way, the orientation of the device on which the orientation specifying device is mounted can be indicated by 56 direction information. With this level of information, the burden on the CPU in many mobile communication terminal devices is hardly increased.
以下、図面を参照して本発明の姿勢特定装置の実施の形態の一例について詳細に説明する。図１は、本発明の姿勢特定装置の実施の形態の一例の構成を示すブロック図である。図１に示すように、本実施の形態の姿勢特定装置は、三軸加速度センサ１と、三軸加速度センサ１を支持する支持体３とを備えている。ここで支持体３は、三軸加速度センサが収納固定されるケーシングであっても、また三軸加速度センサが固定される基板であってもよく、これらケーシングまたは基板は、例えば携帯通信端末装置のような姿勢特定装置を必要とする機器に対して固定される。したがって三軸加速度センサ１は、この機器に作用する加速度を検出することになる。図２に示すように、三軸加速度センサ１は、支持体３に作用する加速度を第１の軸Ｘ、第１の軸Ｘに直交する第２の軸Ｙ、第１の軸Ｘ及び第２の軸Ｙと直交する第３の軸Ｚのそれぞれの軸方向の成分（加速度成分）Ｇｘ，Ｇｙ及びＧｚに分解して検知する。本実施の形態では、機器が静止しているときにも重力加速度Ｇを検出するための加速度成分を出力することができる半導体加速度センサを用いている。本実施の形態の三軸加速度センサ１は、各成分Ｇｘ，Ｇｙ及びＧｚが−１≦Ｇｘ≦１、−１≦Ｇｙ≦１及び−１≦Ｇｚ≦１の範囲の値になるように正規化された検出値を出力する。 Hereinafter, an example of an embodiment of a posture identifying device of the present invention will be described in detail with reference to the drawings. FIG. 1 is a block diagram showing a configuration of an example of an embodiment of a posture identifying device of the present invention. As shown in FIG. 1, the posture specifying device of the present embodiment includes a triaxial acceleration sensor 1 and a support 3 that supports the triaxial acceleration sensor 1. Here, the support 3 may be a casing in which the triaxial acceleration sensor is housed and fixed, or may be a substrate on which the triaxial acceleration sensor is fixed. These casing or substrate may be, for example, a portable communication terminal device. It is fixed with respect to the apparatus which requires such an attitude | position identification apparatus. Therefore, the triaxial acceleration sensor 1 detects the acceleration acting on this device. As shown in FIG. 2, the three-axis acceleration sensor 1 is configured such that the acceleration acting on the support 3 is a first axis X, a second axis Y that is orthogonal to the first axis X, a first axis X, and a second axis. Are detected by being decomposed into components (acceleration components) Gx, Gy, and Gz in the axial direction of the third axis Z that is orthogonal to the axis Y. In this embodiment, a semiconductor acceleration sensor that can output an acceleration component for detecting the gravitational acceleration G even when the device is stationary is used. The triaxial acceleration sensor 1 according to the present embodiment is normalized so that the components Gx, Gy, and Gz have values in the ranges of −1 ≦ Gx ≦ 1, −1 ≦ Gy ≦ 1, and −1 ≦ Gz ≦ 1. The detected value is output.
三軸加速度センサ１から出力される正規化された第１乃至第３の軸方向の加速度成分Ｇｘ乃至Ｇｚは、第１乃至第３の判定部５乃至９に入力される。第１の判定部５は、αを正の数として、第１の軸方向の成分Ｇｘが、Ｇｘ＜−α、−α≦Ｇｘ＜０、０≦Ｇｘ＜α及びα≦Ｇｘのいずれの範囲にあるかを判定して判定結果をデジタル値で出力する。本実施の形態では、具体的に、αとして０．５を採用している。したがって、第１の判定部５は、具体的に、第１の軸方向の成分Ｇｘが、Ｇｘ＜−０．５、−０．５≦Ｇｘ＜０、０≦Ｇｘ＜０．５及び０．５≦Ｇｘのいずれの範囲にあるかを判定して判定結果をデジタル値で出力する。また第２の判定部７は、βを正の数として、第２の軸方向の成分Ｇｙが、Ｇｙ＜−β、−β≦Ｇｙ＜０、０≦Ｇｙ＜β及びβ≦Ｇｙのいずれの範囲にあるかを判定して判定結果をデジタル値で出力する。具体的に、βとして０．５を採用している。したがって、第２の判定部７は、具体的に、第２の軸方向の成分Ｇｙが、Ｇｙ＜−０．５、−０．５≦Ｇｙ＜０、０≦Ｇｙ＜０．５及び０．５≦Ｇｙのいずれの範囲にあるかを判定して判定結果をデジタル値で出力する。第３の判定部９は、γを正の数として、第３の軸方向の成分Ｇｚが、Ｇｚ＜−γ、−γ≦Ｇｚ＜０、０≦Ｇｚ＜γ及びγ≦Ｇｚのいずれの範囲にあるかを判定して判定結果をデジタル値で出力する。具体的に、γとして０．５を採用している。したがって、第３の判定部９は、具体的に、第３の軸方向の成分Ｇｚが、Ｇｚ＜−０．５、−０．５≦Ｇｚ＜０、０≦Ｇｚ＜０．５及び０．５≦Ｇｚのいずれの範囲にあるかを判定して判定結果をデジタル値で出力する。 The normalized acceleration components Gx to Gz in the first to third axial directions output from the triaxial acceleration sensor 1 are input to the first to third determination units 5 to 9. The first determination unit 5 sets α as a positive number, and the first axial component Gx is in any range of Gx <−α, −α ≦ Gx <0, 0 ≦ Gx <α, and α ≦ Gx. And the determination result is output as a digital value. In the present embodiment, specifically, 0.5 is adopted as α. Therefore, specifically, the first determination unit 5 determines that the first axial component Gx has Gx <−0.5, −0.5 ≦ Gx <0, 0 ≦ Gx <0.5, and 0. The range of 5 ≦ Gx is determined, and the determination result is output as a digital value. The second determination unit 7 sets β as a positive number, and the second axial component Gy is any of Gy <−β, −β ≦ Gy <0, 0 ≦ Gy <β, and β ≦ Gy. It is determined whether it is within the range, and the determination result is output as a digital value. Specifically, 0.5 is adopted as β. Therefore, specifically, the second determination unit 7 determines that the second axial component Gy has Gy <−0.5, −0.5 ≦ Gy <0, 0 ≦ Gy <0.5, and 0. The range of 5 ≦ Gy is determined, and the determination result is output as a digital value. The third determination unit 9 sets γ as a positive number, and the third axial component Gz is in any range of Gz <−γ, −γ ≦ Gz <0, 0 ≦ Gz <γ, and γ ≦ Gz. And the determination result is output as a digital value. Specifically, 0.5 is adopted as γ. Therefore, the third determination unit 9 specifically determines that the third axial component Gz is Gz <−0.5, −0.5 ≦ Gz <0, 0 ≦ Gz <0.5, and 0. The range of 5 ≦ Gz is determined, and the determination result is output as a digital value.
第１乃至第３の判定部５乃至９の出力（判定結果）は、姿勢特定部１１に入力され、姿勢特定部１１は三軸加速度センサ１が固定された支持体（または機器）の姿勢を判定する。本実施の形態では、姿勢特定部１１は、第１乃至第３の判定部５乃至９が判定したデジタル値の判定結果の組合せに基づいて、重力加速度Ｇが支持体３に作用する重力加速度方向を決定し、重力加速度方向から支持体３の姿勢を特定する。姿勢特定部１１は、加速度方向データ記憶部１３と、検索部１５とを備えている。加速度方向データ記憶部１３は、予め第１乃至第３の判定部５乃至９が判定する結果の組合せと支持体３に作用する重力加速度方向との対応関係を示すデータを記憶する。検索部１５は、第１乃至第３の判定部５乃至９が判定したデジタル値の判定結果の組合せを入力として、この判定結果の組合せに対応する支持体３に作用する重力加速度方向を加速度方向データ記憶部１３に記憶されたデータから検索して出力する。 Outputs (determination results) of the first to third determination units 5 to 9 are input to the posture specifying unit 11, and the posture specifying unit 11 determines the posture of the support (or device) to which the three-axis acceleration sensor 1 is fixed. judge. In the present embodiment, the posture specifying unit 11 is based on the combination of the determination results of the digital values determined by the first to third determination units 5 to 9, and the gravitational acceleration direction in which the gravitational acceleration G acts on the support 3. And the posture of the support 3 is specified from the direction of gravitational acceleration. The posture specifying unit 11 includes an acceleration direction data storage unit 13 and a search unit 15. The acceleration direction data storage unit 13 stores data indicating a correspondence relationship between a combination of results determined by the first to third determination units 5 to 9 and the gravitational acceleration direction acting on the support 3 in advance. The search unit 15 receives the combination of the determination results of the digital values determined by the first to third determination units 5 to 9, and determines the gravitational acceleration direction acting on the support 3 corresponding to the determination result combination as the acceleration direction. The data stored in the data storage unit 13 is searched and output.
加速度方向データ記憶部１３に記憶するデータは、第１乃至第３の判定部５乃至９が判定する結果の組合せと支持体３に作用する重力加速度方向との対応関係を示すデータであれば、どのような形式及び内容であってもよい。本実施の形態では、図３及び図４に示すように、三軸加速度センサ１の軸中心を中心とする球体Ｓを仮定したときに、球体Ｓを第１の軸Ｘ及び第２の軸Ｙに平行な第１の仮想面で４等分し、球体Ｓを第２の軸Ｙ及び第３の軸Ｚに平行な第２の仮想面で４等分し、球体Ｓを第１の軸Ｘ及び第３の軸Ｚに平行な第３の仮想面で４等分して、球体Ｓの表面を５６の仮想領域に区分けして識別符号（１〜５６）を付ける。図３は、三軸加速度センサ１を水平に置いた場合と、傾斜させた場合において、Ｘ−Ｚ軸平面からの視点とＸ−Ｙ軸平面からの視点で、三軸加速度センサ１と球体Ｓの関係を示す図である。 If the data stored in the acceleration direction data storage unit 13 is data indicating the correspondence between the combination of results determined by the first to third determination units 5 to 9 and the direction of gravity acceleration acting on the support 3, Any format and content may be used. In the present embodiment, as shown in FIGS. 3 and 4, assuming a sphere S centered on the axial center of the triaxial acceleration sensor 1, the sphere S is represented by a first axis X and a second axis Y. The sphere S is divided into four equal parts by a second virtual surface parallel to the second axis Y and the third axis Z, and the sphere S is divided into the first axis X. And the third virtual plane parallel to the third axis Z is divided into four equal parts, the surface of the sphere S is divided into 56 virtual areas, and identification codes (1 to 56) are attached. FIG. 3 shows the three-axis acceleration sensor 1 and the sphere S in terms of the viewpoint from the XZ-axis plane and the viewpoint from the XY-axis plane when the triaxial acceleration sensor 1 is placed horizontally and tilted. It is a figure which shows the relationship.
図４は、識別符号の付与の例を示す図である。図４においては、重力加速度Ｇが、Ｇ＜−０．５、−０．５≦Ｇ＜０、０≦Ｇ＜０．５及び０．５≦Ｇの範囲にある場合に分けて、球体Ｓの表面に区分けされた５６の仮想領域に付された識別符号の例を示している。そして姿勢特定部１１は、第１乃至第３の判定部が判定する結果の組合せにより決まる重力加速度方向に位置する仮想領域の識別符号を、第１乃至第３の判定部が判定する結果の組合せと対応付けて、加速度方向データ記憶部１３に記憶している。 FIG. 4 is a diagram illustrating an example of giving an identification code. In FIG. 4, the sphere S is divided into cases where the gravitational acceleration G is in the ranges of G <−0.5, −0.5 ≦ G <0, 0 ≦ G <0.5, and 0.5 ≦ G. The example of the identification code | symbol attached | subjected to 56 virtual regions divided into the surface of is shown. Then, the posture specifying unit 11 is a combination of the results of the first to third determination units determining the identification code of the virtual region located in the gravitational acceleration direction determined by the combination of the results of the determinations of the first to third determination units. And stored in the acceleration direction data storage unit 13.
図５（Ａ）及び（Ｂ）並びに図６（Ａ）及び（Ｂ）には、加速度方向データ記憶部１３内の姿勢情報レジスタに記憶するデジタル・データの例を示している。図５（Ａ）は第３の判定部９が出力する第３の軸（Ｚ軸）の成分Ｇｚのデジタル値出力が０．５≦Ｇｚであり、図５（Ｂ）は成分Ｇｚのデジタル値出力が０≦Ｇｚ＜０．５であり、図６（Ａ）は成分Ｇｚのデジタル値出力が−０．５≦Ｇｚ＜０であり、図６（Ｂ）は成分Ｇｚのデジタル値出力がＧｚ＜−０．５の範囲にある場合におけるデジタル・データの例を示している。図５（Ａ）及び（Ｂ）並びに図６（Ａ）及び（Ｂ）におけるアドレス番号とは、姿勢情報レジスタのアドレス番号である。姿勢情報レジスタは、チャンネル番号Ｄ０乃至Ｄ７がそれぞれ付された８つのチャンネルを有している。ＸＳＵからＺＳＬは、第１の軸（Ｘ軸）の出力〜第３の軸（Ｚ軸）を２ビットで表現したデータを示している。例えば第３の軸（Ｚ軸）の出力が、０．５≦Ｇｚの場合は、ＺＳＵ＝０，ＺＳＬ＝１で表現され、第３の軸（Ｚ軸）の出力が、０≦Ｇｚ＜０．５の場合は、ＺＳＵ＝０，ＺＳＬ＝０で表現され、第３の軸（Ｚ軸）の出力が、−０．５≦Ｇｚ＜０の場合は、ＺＳＵ＝１，ＺＳＬ＝１で表現され、第３の軸（Ｚ軸）の出力が、Ｇｚ＜−０．５の場合は、ＺＳＵ＝１，ＺＳＬ＝０で表現される。第１及び第２の軸（Ｘ、Ｙ）軸の場合も同様にして２ビットで表現される。本実施の形態では、Ｄ７からＤ２にそれぞれＸＳＵからＺＳＬを割り当てている。従って、各アドレスの姿勢情報レジスタ値は、８ビットの２進数で表現される。なお、Ｄ１及びＤ２は使用していないため、値は０でも１でもよく、ブランクでもよい。そして本実施の形態では、識別符号（ＣＡＬ）を、各アドレスの姿勢情報レジスタ値を２ビット右にシフトさせて１０進数に換算した値としている。具体的には、例えばアドレス番号１の場合には、姿勢情報レジスタ値を２ビット右にシフトさせると「０１０１０１」となり、この値を１０進数に換算した２１が識別符号（ＣＡＬ）となっている。この識別符号は、球体Ｓの表面に区分けされた５６の仮想領域に付された識別符号に対応するものであり、重力加速度方向の位置を示す。 FIGS. 5A and 5B and FIGS. 6A and 6B show examples of digital data stored in the attitude information register in the acceleration direction data storage unit 13. 5A shows that the digital value output of the third axis (Z axis) component Gz output by the third determination unit 9 is 0.5 ≦ Gz, and FIG. 5B shows the digital value of the component Gz. The output is 0 ≦ Gz <0.5, FIG. 6A shows the digital value output of the component Gz is −0.5 ≦ Gz <0, and FIG. 6B shows the digital value output of the component Gz is Gz. An example of digital data in the case of <−0.5 is shown. The address numbers in FIGS. 5A and 5B and FIGS. 6A and 6B are the address numbers of the attitude information register. The attitude information register has eight channels assigned channel numbers D0 to D7, respectively. XSU to ZSL indicate data in which the output of the first axis (X axis) to the third axis (Z axis) are expressed by 2 bits. For example, when the output of the third axis (Z axis) is 0.5 ≦ Gz, it is expressed as ZSU = 0, ZSL = 1, and the output of the third axis (Z axis) is 0 ≦ Gz <0. .5 is expressed by ZSU = 0 and ZSL = 0, and when the output of the third axis (Z-axis) is −0.5 ≦ Gz <0, it is expressed by ZSU = 1 and ZSL = 1. When the output of the third axis (Z axis) is Gz <−0.5, it is expressed as ZSU = 1 and ZSL = 0. Similarly, the first and second axes (X, Y) are represented by 2 bits. In the present embodiment, XSU to ZSL are assigned to D7 to D2, respectively. Therefore, the attitude information register value of each address is expressed by an 8-bit binary number. Since D1 and D2 are not used, the value may be 0 or 1, or may be blank. In this embodiment, the identification code (CAL) is a value obtained by shifting the attitude information register value of each address to the right by 2 bits and converting it to a decimal number. Specifically, for example, in the case of address number 1, when the attitude information register value is shifted to the right by 2 bits, “010101” is obtained, and 21 obtained by converting this value into a decimal number is the identification code (CAL). . This identification code corresponds to the identification code assigned to the 56 virtual regions divided on the surface of the sphere S, and indicates the position in the direction of gravity acceleration.
図４の下段の各図中の番号が、この識別符号に相当する。図７は、図４に示した識別符号を立体的に表示した例を示している。 The number in each figure in the lower part of FIG. 4 corresponds to this identification code. FIG. 7 shows an example in which the identification code shown in FIG. 4 is displayed three-dimensionally.
本実施の形態では、検索部１５は、第１乃至第３の判定部５乃至９が判定したデジタル値の判定結果ＸＳＵからＺＳＬの組合せを入力として、この判定結果の組合せが属するアドレス番号の識別符号（ＣＡＬ）を、加速度方向データ記憶部１３に記憶されたデータから検索する。そして検索部１５が、重力加速度方向を識別符号（１〜５６の番号）を用いて出力する。このようにすれば、姿勢特定装置を実装した機器の姿勢を５６の方向情報で示すことができる。このレベルの情報であれば、多くの携帯通信端末装置におけるＣＰＵの負担を殆ど増大させることはない。 In the present embodiment, the search unit 15 receives the combination of the digital value determination results XSU to ZSL determined by the first to third determination units 5 to 9, and identifies the address number to which the combination of the determination results belongs. The code (CAL) is searched from the data stored in the acceleration direction data storage unit 13. And the search part 15 outputs a gravitational acceleration direction using an identification code | symbol (number of 1-56). In this way, the orientation of the device on which the orientation specifying device is mounted can be indicated by 56 direction information. With this level of information, the burden on the CPU in many mobile communication terminal devices is hardly increased.
本発明によれば、１つの判定部において２ビットのデジタル値で判定結果を出力する。そのため第１乃至第３の判定部からは、２ビット×３＝６ビットの情報が出力される。そして事前に、第１乃至第３の判定部から出力される判定結果の組合せと、支持体に作用する重力加速度方向との対応関係を示すデータを取得して、加速度方向データ記憶部に記憶しておく。そして検索部は、第１乃至第３の判定部が判定したデジタル値の判定結果の組合せを入力として、該判定結果の組合せに対応する支持体に作用する重力加速度方向を加速度方向データ記憶部に記憶されたデータから検索して出力する。このようにすれば、少ない情報量の入力（６ビット）と少ない記憶データとに基づいて、複雑な演算を必要とすることなく、三軸加速度センサが装着された装置の姿勢を特定することができる。 According to the present invention, one determination unit outputs a determination result as a 2-bit digital value. Therefore, information of 2 bits × 3 = 6 bits is output from the first to third determination units. In advance, data indicating a correspondence relationship between the combination of the determination results output from the first to third determination units and the gravitational acceleration direction acting on the support is acquired and stored in the acceleration direction data storage unit. Keep it. The search unit receives as input the combination of the determination results of the digital values determined by the first to third determination units, and stores the gravitational acceleration direction acting on the support corresponding to the combination of the determination results in the acceleration direction data storage unit. Search and output from stored data. In this way, it is possible to specify the posture of the device on which the three-axis acceleration sensor is mounted without requiring a complicated calculation based on a small amount of information input (6 bits) and a small amount of stored data. it can.
１ 三軸加速度センサ
３ 支持体
５ 第１の判定部
７ 第２の判定部
９ 第３の判定部
１１ 姿勢特定部
１３ 加速度方向データ記憶部
１５ 検索部DESCRIPTION OF SYMBOLS 1 Triaxial acceleration sensor 3 Support body 5 1st determination part 7 2nd determination part 9 3rd determination part 11 Posture determination part 13 Acceleration direction data storage part 15 Search part
Claims (5)
前記第１の軸方向の成分Ｇｘが、Ｇｘ＜−０．５、−０．５≦Ｇｘ＜０、０≦Ｇｘ＜０．５及び０．５≦Ｇｘのいずれの範囲にあるかを判定して判定結果をデジタル値で出力する第１の判定部と、
前記第２の軸方向の成分Ｇｙが、Ｇｙ＜−０．５、−０．５≦Ｇｙ＜０、０≦Ｇｙ＜０．５及び０．５≦Ｇｙのいずれの範囲にあるかを判定して判定結果をデジタル値で出力する第２の判定部と、
前記第３の軸方向の成分Ｇｚが、Ｇｚ＜−０．５、−０．５≦Ｇｚ＜０、０≦Ｇｚ＜０．５及び０．５≦Ｇｚのいずれの範囲にあるかを判定して判定結果をデジタル値で出力する第３の判定部と、
前記第１乃至第３の判定部が判定したデジタル値の前記判定結果の組合せに基づいて、重力加速度が前記支持体に作用する重力加速度方向を決定し、前記重力加速度方向から前記支持体の姿勢を特定する姿勢特定部とを備え、
前記姿勢特定部は、予め前記第１乃至第３の判定部が判定する結果の組合せと前記支持体に作用する前記重力加速度方向との対応関係を示すデータを記憶した加速度方向データ記憶部と、前記第１乃至第３の判定部が判定したデジタル値の判定結果の組合せを入力として、該判定結果の組合せに対応する前記支持体に作用する重力加速度方向を前記加速度方向データ記憶部に記憶された前記データから検索して出力する検索部とを備えていることを特徴とする姿勢特定装置。The acceleration that is supported by the support and acts on the support is orthogonal to the first axis X, the second axis Y orthogonal to the first axis X, the first axis X, and the second axis Y. The components Gx, Gy, and Gz are detected by being decomposed into axial components Gx, Gy, and Gz of the third axis Z, and −1 ≦ Gx ≦ 1, −1 ≦ Gy ≦ 1, and −1 ≦ A triaxial acceleration sensor that outputs a value in a range of Gz ≦ 1,
It is determined whether the first axial component Gx is in a range of Gx <−0.5, −0.5 ≦ Gx <0, 0 ≦ Gx <0.5, and 0.5 ≦ Gx. A first determination unit that outputs a determination result as a digital value;
It is determined whether the second axial component Gy is in a range of Gy <−0.5, −0.5 ≦ Gy <0, 0 ≦ Gy <0.5, and 0.5 ≦ Gy. A second determination unit that outputs the determination result as a digital value;
It is determined whether the third axial component Gz is in a range of Gz <−0.5, −0.5 ≦ Gz <0, 0 ≦ Gz <0.5, and 0.5 ≦ Gz. A third determination unit that outputs the determination result as a digital value;
Based on the combination of the determination results of the digital values determined by the first to third determination units, a gravitational acceleration direction acting on the support is determined, and the posture of the support is determined from the gravitational acceleration direction. A posture identifying unit for identifying
The posture specifying unit is an acceleration direction data storage unit storing data indicating a correspondence relationship between a combination of results determined by the first to third determination units and the gravity acceleration direction acting on the support; The combination of the determination results of the digital values determined by the first to third determination units is input, and the gravitational acceleration direction acting on the support corresponding to the combination of the determination results is stored in the acceleration direction data storage unit. And a retrieval unit that retrieves and outputs from the data.
αを正の数として、前記第１の軸方向の成分Ｇｘが、Ｇｘ＜−α、−α≦Ｇｘ＜０、０≦Ｇｘ＜α及びα≦Ｇｘのいずれの範囲にあるかを判定して判定結果をデジタル値で出力する第１の判定部と、
βを正の数として、前記第２の軸方向の成分Ｇｙが、Ｇｙ＜−β、−β≦Ｇｙ＜０、０≦Ｇｙ＜β及びβ≦Ｇｙのいずれの範囲にあるかを判定して判定結果をデジタル値で出力する第２の判定部と、
γを正の数として、前記第３の軸方向の成分Ｇｚが、Ｇｚ＜−γ、−γ≦Ｇｚ＜０、０≦Ｇｚ＜γ及びγ≦Ｇｚのいずれの範囲にあるかを判定して判定結果をデジタル値で出力する第３の判定部と、
前記第１乃至第３の判定部が判定したデジタル値の前記判定結果の組合せに基づいて、重力加速度が前記支持体に作用する重力加速度方向を決定し、前記重力加速度方向から前記支持体の姿勢を特定する姿勢特定部とを備え、
前記姿勢特定部は、予め前記データを記憶した加速度方向データ記憶部と、前記第１乃至第３の判定部が判定したデジタル値の判定結果の組合せを入力として、該判定結果の組合せに対応する前記支持体に作用する重力加速度方向を前記加速度方向データ記憶部に記憶された前記データから検索して出力する検索部とを備えていることを特徴とする姿勢特定装置。The acceleration that is supported by the support and acts on the support is orthogonal to the first axis X, the second axis Y orthogonal to the first axis X, the first axis X, and the second axis Y. The components Gx, Gy, and Gz are detected by being decomposed into axial components Gx, Gy, and Gz of the third axis Z, and −1 ≦ Gx ≦ 1, −1 ≦ Gy ≦ 1, and −1 ≦ A triaxial acceleration sensor that outputs a value in a range of Gz ≦ 1,
It is determined whether αx is a positive number and the first axial component Gx is in a range of Gx <−α, −α ≦ Gx <0, 0 ≦ Gx <α, and α ≦ Gx. A first determination unit that outputs a determination result as a digital value;
With β as a positive number, it is determined whether the component Gy in the second axial direction is in a range of Gy <−β, −β ≦ Gy <0, 0 ≦ Gy <β, and β ≦ Gy. A second determination unit that outputs a determination result as a digital value;
It is determined whether γ is a positive number and the third axial component Gz is in a range of Gz <−γ, −γ ≦ Gz <0, 0 ≦ Gz <γ, and γ ≦ Gz. A third determination unit that outputs the determination result as a digital value;
Based on the combination of the determination results of the digital values determined by the first to third determination units, a gravitational acceleration direction acting on the support is determined, and the posture of the support is determined from the gravitational acceleration direction. A posture identifying unit for identifying
The posture specifying unit receives a combination of an acceleration direction data storage unit that stores the data in advance and a digital value determination result determined by the first to third determination units, and corresponds to the combination of the determination results. A posture identifying apparatus comprising: a search unit that searches and outputs the gravitational acceleration direction acting on the support from the data stored in the acceleration direction data storage unit.
前記検索部は、前記重力加速度方向を前記識別符号を用いて出力する請求項１に記載の姿勢特定装置。The posture specifying unit divides the sphere into four equal parts by a first virtual plane parallel to the first and second axes, assuming a sphere centered on the axial center of the triaxial acceleration sensor, The sphere is divided into four equal parts by a second imaginary plane parallel to the second axis and the third axis, and the sphere is divided into four parts by a third imaginary plane parallel to the first axis and the third axis. The virtual regions located in the direction of gravitational acceleration determined by the combination of the results determined by the first to third determination units are provided with identification codes for 56 virtual regions equally divided into the surface of the sphere. The identification code of the region is stored in the acceleration direction data storage unit in association with the combination of results determined by the first to third determination units,
The posture specifying device according to claim 1, wherein the search unit outputs the gravitational acceleration direction using the identification code.
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| JP4552658B2 (en) * | 2005-01-13 | 2010-09-29 | 日立金属株式会社 | Attitude detection method using two-axis magnetic sensor and program thereof |
| CN101151508B (en) * | 2005-03-28 | 2012-01-04 | 旭化成电子材料元件株式会社 | Traveling direction measuring apparatus and traveling direction measuring method |
-
2011
- 2011-06-30 WO PCT/JP2011/065057 patent/WO2012002494A1/en active Application Filing
- 2011-06-30 CN CN201180032143.5A patent/CN102959357B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH10260055A (en) * | 1997-03-19 | 1998-09-29 | Honda Motor Co Ltd | Device for detecting traveling speed and direction of pedestrian |
| JP2003329705A (en) * | 2002-05-13 | 2003-11-19 | Casio Comput Co Ltd | Method and apparatus for analyzing motion and program thereof |
| JP2009276282A (en) * | 2008-05-16 | 2009-11-26 | Sumitomo Electric Ind Ltd | Attitude determination apparatus and method, movement direction determination apparatus, position determination apparatus, and computer program |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102959357A (en) | 2013-03-06 |
| JPWO2012002494A1 (en) | 2013-08-29 |
| CN102959357B (en) | 2015-11-25 |
| WO2012002494A1 (en) | 2012-01-05 |
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