JP5338704B2 - Acceleration calculation method and acceleration calculation device - Google Patents

Description

  The present invention relates to an acceleration calculation method and an acceleration calculation device that are used, for example, to detect the motion state of an object.

  Conventionally, the motion state of an object is generally often detected by attaching an acceleration sensor or an angular velocity sensor to the object. Examples of motion state detection targets include automobiles, aircraft, ships, and industrial robots. In the case of such an object, high accuracy of detection of the sensor is important because the accuracy of control is required, but since it is often used in an environment where power can be continuously supplied, The size of power consumption may not be a problem.

  In addition, detection of the motion state is also performed on a person, an animal, or the like, and Patent Document 1 proposes that an accelerometer is attached to the human body for the purpose of monitoring the state of the person. In such a case, the accelerometer has a power supply source such as a battery. However, since the acceleration sensor and the angular velocity sensor always consume power, the frequency of replacement of the power supply source may be annoying.

JP 2004-81632 A

  However, it may be important to use a secondary battery as a power supply source in the future for devices that require accuracy of control, as well as the high detection accuracy of the sensor. Low power consumption is important. Further, as described above, low power consumption is required for the purpose of monitoring the state of a person. In order to cope with this, a sensor that consumes less power or a detection device that consumes less power is required instead of a conventional acceleration sensor or angular velocity sensor.

  SUMMARY An advantage of some aspects of the invention is to solve at least one of the problems described above, and the invention can be implemented as a form or an application example of the following acceleration calculation method and acceleration calculation apparatus.

[Application Example 1]
One acceleration calculation method according to the present invention includes a first electrode, a second electrode disposed opposite to the first electrode, and a pair of electrodes including the first electrode and the second electrode. A sensor that is disposed between the pair of electrodes and that conducts the pair of electrodes in either a conductive state or a non-conductive state, and calculates an index value that represents the conductive state in a unit time. 1 process and the 2nd process which calculates acceleration based on the square sum of the said index value in predetermined time, It is characterized by the above-mentioned.

  According to this method, an index value representing a state of conduction per unit time is calculated from an output value of a sensor including a pair of electrodes and a conductor disposed between the pair of electrodes, and an index at a predetermined time is calculated. The acceleration can be calculated based on the sum of squares of the values. A sensor having a simple structure having a pair of electrodes and a conductor disposed between the pair of electrodes is in a conductive state between the pair of electrodes when the conductor contacts both of the pair of electrodes. If only one of the electrodes is in contact, the pair of electrodes are in a non-conductive state. For this reason, since a current flows when the pair of electrodes are in a conductive state, power consumption is smaller than that of a normal acceleration sensor. When the sensor with the simple structure described above is attached to an object, the position of the conductor with respect to the pair of electrodes changes according to the movement of the object, and the number of changes in the conduction state or non-conduction state associated therewith, Further, it is possible to measure the length of time that is in a conductive state or the length of time that is in a non-conductive state. The index value is calculated based on the output value of the sensor having the simple structure described above. A unit time is a time interval suitable for setting an index value. It is conceivable that the time interval varies depending on the object whose motion is detected. It is preferable to determine the time interval by performing an experiment or the like. The predetermined time is a time interval composed of a plurality of continuous unit times, and the calculated acceleration is an acceleration at the predetermined time. It is conceivable that how many times the predetermined time is made per unit time depends on the object whose motion is to be detected.

  Further, when the sensor with the simple structure described above is attached to an object so that the conductor is in contact with both of the pair of electrodes in a state where the object is upright, the conductor does not move when the object is inclined at a predetermined angle. It comes into contact with only one of the electrodes. That is, when an inclination of a predetermined angle occurs in the object, the output of the sensor having the simple structure described above changes from a conductive state to a non-conductive state. From this, it is possible to detect the inclination of the object from the conductive or non-conductive state of the pair of electrodes. For this reason, the sensor having the simple structure described above may be referred to as a tilt detection sensor. In the following description of the embodiments or application examples, the sensor having the simple structure described above is referred to as a tilt detection sensor for convenience.

[Application Example 2]
In the acceleration calculation method according to the application example, it is preferable that the index value is calculated using a ratio of a length of time occupied by the conduction state in the unit time.

  According to this method, by setting the index value as a ratio of the length of time occupied by the conduction state, it is possible to classify the state of movement of the target wearing the inclination detection sensor. Since the change in the state of conduction in the tilt detection sensor occurs due to the movement of the target wearing the tilt detection sensor, the proportion of the time occupied by the state of conduction in the unit time is a feature of the movement of the target wearing the tilt detection sensor. Can be thought of as showing.

[Application Example 3]
In the acceleration calculation method according to the application example described above, the acceleration is preferably a value obtained by correcting a result obtained by the sum of squares using a correction table created in advance.

  According to this method, a more accurate acceleration can be calculated by preparing a correction table in advance. At a predetermined time, the value obtained by summing the squares of the index values takes a value that has a correlation with the acceleration of the target equipped with the tilt detection sensor, but may need to be corrected. When correction is required, a correction table is created in advance, and correction using the correction table makes it possible to easily obtain the acceleration of the target equipped with the tilt detection sensor. The correction table is preferably created from the value of the sum of squares of the acceleration given to the inclination detection sensor and the index value obtained as a result of giving the acceleration.

[Application Example 4]
Another acceleration calculation method according to the present invention is a method using a first sensor and a second sensor, wherein the first sensor is disposed opposite to the first electrode and the first electrode. And the second electrode arranged between the first electrode and the second electrode, and the first electrode and the second electrode are either in a conductive state or a non-conductive state The second sensor includes: a third electrode; a fourth electrode disposed opposite to the third electrode; the third electrode; and the fourth electrode. And a second conductor that places the third electrode and the fourth electrode in either a conducting state or a non-conducting state, and has a first unit time. A first process for calculating a first index value representing the state of conduction in the first sensor; And a second process for calculating a first acceleration based on a sum of squares of the first index value at a predetermined time of 1, and the second sensor represents the state of conduction in a second unit time. A third process for calculating a second index value; a fourth process in which the second sensor calculates a second acceleration based on a sum of squares of the second index value at a second predetermined time; And a fifth process of selecting one of the first acceleration and the second acceleration. The first unit time, the first predetermined time, the second unit time, and the second predetermined time are preferably determined by performing an experiment or the like.

  According to this method, the acceleration determined to be appropriate from the first acceleration calculated based on the conduction state of the first sensor and the second acceleration calculated based on the conduction state of the second sensor. Can be selected.

[Application Example 5]
In another acceleration calculation method according to the application example described above, in the fifth process, a reference sensor is selected from the first sensor and the second sensor, and the sum of squares of the reference sensor is selected. It is preferable to select the acceleration based on the value.

  According to this method, it is possible to simplify the process of selecting acceleration by selecting a sensor that is a reference for selection.

[Application Example 6]
In another acceleration calculation method according to the application example, the first conductor and the second conductor are spherical conductors, and the first conductor and the second conductor The diameter, the mass of the first conductor and the second conductor, the size of the space in which the first conductor and the second conductor can move, and the end of the first electrode and the It is preferable that at least one of the distance between the end of the second electrode and the distance between the end of the third electrode and the end of the fourth electrode is different.

  According to this method, the shape of at least one component of the first sensor and the shape of at least one component of the second sensor are different from each other, so that the detectable acceleration range can be expanded. . When at least one of the diameter and mass of the spherical conductor or the size of the space in which the spherical conductor can move is different, the range that can be correlated with the actual acceleration differs. Therefore, by having a plurality of sensors that differ in at least one of the diameter and mass of the spherical conductor, the size of the space in which the spherical conductor can move, and the distance between the ends of the pair of electrodes, it is possible to correlate with the actual acceleration. The range that can be taken can be expanded.

[Application Example 7]
One acceleration calculation device according to the present invention includes a first electrode, a second electrode disposed opposite to the first electrode, and a pair of electrodes including the first electrode and the second electrode. A spherical conductor disposed between the pair of electrodes to make the pair of electrodes either in a conductive state or a non-conductive state, and an arithmetic processing unit, wherein the arithmetic processing unit is the conductive in unit time Acceleration is calculated based on a level calculation unit that calculates which level of the plurality of levels corresponds to, and a square sum of values of the plurality of levels at a predetermined time including the plurality of unit times. And an acceleration calculation unit for performing the operation.

  According to this configuration, the level calculation unit calculates which level of the plurality of levels the conduction state of the tilt detection sensor per unit time is, and the acceleration calculation unit calculates the square of the level value at a predetermined time. By calculating the acceleration based on the sum, the acceleration can be calculated from the output of the tilt detection sensor. The unit time is a time interval suitable for setting the level, and may be different depending on the object whose motion is to be detected. It is preferable to determine the time interval by performing an experiment or the like. The predetermined time is a time interval composed of a plurality of continuous unit times, and is a time interval for calculating acceleration. Since how many times the predetermined time is set to the unit time may vary depending on the object whose motion is to be detected, it is preferable to determine by performing an experiment or the like.

[Application Example 8]
Another acceleration calculation device according to an application example of the present invention includes a first sensor, a second sensor, and an arithmetic processing unit, wherein the first sensor includes a first electrode, A second electrode disposed opposite to the first electrode, and disposed between the first electrode and the second electrode, wherein the first electrode and the second electrode are in a conductive state or non-conductive. A second conductor, wherein the second sensor includes a third electrode, a fourth electrode disposed opposite to the third electrode, and the second electrode. A second conductor disposed between the third electrode and the fourth electrode, and bringing the third electrode and the fourth electrode into a conductive state or a non-conductive state. The arithmetic processing unit includes a level calculation unit and an acceleration calculation unit, and the level calculation unit is configured to perform the first unit time. A process of calculating which level among the plurality of levels the conduction state of the first sensor at the second level is, and the conduction state of the second sensor in the second unit time is the plurality of levels. And calculating the level of the level of the first sensor at a first predetermined time including a plurality of the first unit times. Based on the process of calculating the first acceleration based on the sum of squares and the sum of squares of the level values of the second sensor at a second predetermined time including a plurality of the second unit times. Then, a process of calculating the second acceleration and a process of selecting and outputting either the first acceleration or the second acceleration are performed.

  According to this method, the acceleration determined to be appropriate from the first acceleration calculated based on the conduction state of the first sensor and the second acceleration calculated based on the conduction state of the second sensor. Can be selected. The first unit time, the first predetermined time, the second unit time, and the second predetermined time are preferably determined by performing an experiment or the like.

The block diagram of the acceleration calculation apparatus in 1st Embodiment. The figure which showed the change of the level in 1st Example. The figure which showed the calculated acceleration in 1st Example. The figure which showed the example of the difference of the acceleration before and behind correction | amendment in 2nd Example, and an actual acceleration. The block diagram of the acceleration calculation apparatus in 2nd Embodiment. The figure which showed the range of the acceleration covered with an acceleration calculation apparatus. Main flowchart. The flowchart of a 1st process. The flowchart of a 2nd process.

  Hereinafter, embodiments of an acceleration calculation method and an acceleration calculation apparatus according to the present invention will be described with reference to the drawings.

(First embodiment)
FIG. 1 shows some of the components of the acceleration calculation apparatus 10 according to this embodiment. The acceleration calculation device 10 determines whether the motion state in a specific time interval of the sensor unit 1 is at any one of a plurality of levels, calculates acceleration from the level, and outputs the calculated acceleration as a processing result. And includes a sensor unit 1, a detection unit 2, an arithmetic processing unit 3, and an output unit 4. The acceleration calculation device 10 detects a change in the output of the sensor unit 1 with the detection unit 2, calculates the acceleration with the arithmetic processing unit 3 from the detection result of the detection unit 2, and calculates the acceleration calculated by the output unit 4 with the acceleration calculation device 10. To the outside. Each of the above-described components of the acceleration calculation device 10 will be described in more detail next.

  The sensor unit 1 includes a pair of electrodes that are kept in an insulated state and have a fixed positional relationship, and a movable spherical conductor that exists in a space formed between the pair of electrodes. The space formed between the pair of electrodes is a spherical space, and the spherical conductor moves in the space in accordance with the movement of the object to which the sensor unit 1 is attached. When the spherical conductor is in contact with both of the pair of electrodes, the pair of electrodes is in a conductive state (hereinafter referred to as ON), and the spherical conductor is in contact with only one of the pair of electrodes or with any electrode. Otherwise, the pair of electrodes are in a non-conducting state (hereinafter referred to as “off”).

  The detection unit 2 has a function of detecting an on / off state of the sensor unit 1 from a change in the output of the sensor unit 1 and outputting a detection result to the arithmetic processing unit 3. The arithmetic processing unit 3 recognizes a change in the detection result from the detection unit 2 as a change in the interrupt signal.

  The arithmetic processing unit 3 includes a level calculation unit 5, an acceleration calculation unit 6, and a process control unit 7. The detection signal from the detection unit 2 is processed as an interrupt signal, and the ratio of the conduction state of the pair of electrodes of the sensor unit 1 in the unit time having the first predetermined time length is calculated. The level calculator 5 calculates (first process) which level the state occupies. The level determined by the level calculation unit 5 is associated with a value (index value) indicating the determined level, and the index value is sent to the acceleration calculation unit 6. The acceleration calculation unit 6 calculates a sum of squares of a plurality of levels at a second predetermined time having a plurality of unit times, calculates acceleration based on the sum of the squares (second processing), and outputs it to the output unit 4 To do.

  The processing control unit 7 is a processing block that controls the entire arithmetic processing unit 3. The processing control unit 7 controls the operation modes of the level calculation unit 5, the acceleration calculation unit 6, and the output unit 4. I do. A part of the processing performed by the processing control unit 7 is shown as a main flowchart 100 in FIG.

  The process shown in the main flowchart 100 is started after the power-on reset is completed after the apparatus power of the acceleration calculating apparatus 10 is turned on. The detection unit 2, the level calculation unit 5, the acceleration calculation unit 6, and the output unit 4 are in an operation stop state after the power-on reset, and start a predetermined operation according to an instruction from the processing control unit 7. A flowchart of the first process processed by the level calculation unit 5 is shown in FIG. 8 as a flowchart 200, and a flowchart of the second process processed by the acceleration calculation unit 6 is shown in FIG. 9 as a flowchart 300. In the present embodiment, it is assumed that the interrupt signal mask in the arithmetic processing unit 3 is turned on by a power-on reset.

  First, in FIG. 7 and process S101, the acceleration calculation apparatus 10 is initialized. Although the order of initial setting in the components inside the acceleration calculation apparatus 10 is not described, in the present embodiment, after the initial setting of the processing control unit 7 is performed, the initial setting of other components is performed. However, since the order of the initial setting varies depending on the embodiment, it is not necessarily the same as that in the present embodiment.

  The process control unit 7 instructs the detection unit 2, the level calculation unit 5, the acceleration calculation unit 6 and the output unit 4 to start the process in FIG. 7 / process S102, and turns off the interrupt mask (interrupt is interrupted) in FIG. 7 / process S103. To allow). The interrupt mask is turned off in the processing control unit 7 whose role is to manage the operation of the components in the acceleration calculation apparatus 10. In the present embodiment, all interrupt processing is performed in the processing control unit 7. It is not executed. The execution of the interrupt process will be described later as necessary.

  After the interrupt mask is turned off in FIG. 7 and processing S103, the processing control section 7 monitors the interrupt that needs to be executed in the processing control section 7 (FIG. 7 and processing S104). (FIG. 7, process S105), the process proceeds to the end process (FIG. 7, process S106). If the interrupt does not indicate the end, the process proceeds to interrupt process 1 (FIG. 7, process S107). The interrupt process 1 is a process including a plurality of interrupt processes that need to be defined as the acceleration calculating device 10 and includes an interrupt process that is not directly related to the present invention. For this reason, the specific flowchart of the interrupt process 1 is omitted.

  Next, the level calculation unit 5 will be described. The level calculation unit 5 performs the first process, but does not perform only the first process. Accordingly, processing other than the processing shown in the flowchart 200 is also executed. For example, there is an interrupt process not shown in the flowchart 200. However, the processing other than the first processing performed by the level calculation unit 5 is not related to the present invention and is determined to be a so-called design item, so that it is not particularly described in this embodiment, and it is determined that description is necessary. We will only mention the parts that have been made. The same applies to other components as to what is called a design matter.

  The first process processed by the level calculation unit 5 is activated by an activation instruction from the process control unit 7 after power-on reset. When the interrupt is permitted by the process control unit 7 (FIG. 7, process S103), it is detected whether an interrupt has occurred (FIG. 8, process S201). It is determined whether or not the interrupt factor indicates that the unit time has elapsed (FIG. 8, process S202). If the interrupt factor indicates that the unit time has elapsed, the level value TLn is output (FIG. 8, process S203). ). If the interrupt factor does not indicate that the unit time has elapsed, it is determined whether an interrupt has occurred due to a detection signal from the detection unit 2 (FIG. 8, process S204). If the interrupt is due to a detection signal, it is first determined whether or not it indicates a change from on to off (FIG. 8, process S205). Time OnTn is calculated (FIG. 8, process S206). If it indicates a change from OFF to ON, the OFF accumulated time OfTn is calculated (FIG. 8, processing S209, processing S210).

  After calculating the ON cumulative time OnTn and the OFF cumulative time OfTn, the level TLn is determined by the processing S207, processing S208, processing S211, processing S212, processing S213, processing S214, and processing S215 in FIG. 8, and the next interrupt is generated. Is detected (FIG. 8, process S201).

  Note that n at the end of variables such as TLn and OnTn represents an integer of 0 or more, and indicates that there are a plurality of sets of variables. When the unit time is switched, a variable set different from the variable set used in the previous unit time is used. This means that when one unit time ends and the next unit time is entered, the acceleration of the previous unit time cannot be calculated by clearing the variable for measurement of the next unit time. Is to prevent.

  In the present embodiment, the unit time is measured by the process control unit 7, and when a predetermined time interval defined as the unit time elapses, an interrupt is generated in the process control unit 7, and the interrupt process 1 of the process control unit 7 (FIG. 7). During the process S107), an interrupt signal indicating the passage of unit time is output to the level calculator 5. The process S202 in FIG. 8 confirms the generation of this interrupt signal.

  Each time the unit time elapses by the first process described above, the level value in the unit time is output to the acceleration calculation unit 6. The second process is executed by the acceleration calculation unit 6 using this level value. Next, the flowchart 300 of the second process shown in FIG. 9 will be described.

  The acceleration calculation unit 6 is in a stopped state after the power-on reset as described above, and is activated by the process S102 in FIG. After startup, the sum of squares calculation result and acceleration calculation result are cleared (FIG. 9, process 301), and the level value reception monitoring state is entered (FIG. 9, process S302). When the level value is received, the received level value is temporarily stored in a memory or a register (both not shown) in the acceleration calculation unit 6 (FIG. 9, process S303), and the sum of squares is calculated by the following equation using the level value. (FIG. 9, process S304), and it is determined whether the calculation of the sum of squares has been performed a prescribed number of times (FIG. 9, process S305). In the following formula, V (t) is a level value, and T indicates a specified number of times. k is a proportionality constant, and the calculation result of the sum of squares is a.

  After the calculation of the sum of squares is performed a prescribed number of times, it is determined whether correction is necessary (FIG. 9, process S306). If correction is necessary, correction is performed using a correction table in the acceleration calculation unit 6. (FIG. 9, process S307), and outputs the corrected result as an acceleration calculation result to the output unit 4 (FIG. 9, process S308).

  As can be seen from the flowcharts shown in FIGS. 8 and 9, in the present embodiment, the first process and the second process are set to continue to be executed as long as the power supply is continued once activated. In addition, parameters used in the present embodiment are determined in advance through experiments or the like.

  The example of the acceleration calculated | required using this embodiment is shown. FIG. 2 is a diagram showing variables used in the equation (1). T0 indicates a time interval of unit time. T is a time range in which acceleration is detected, but is determined by the number of unit times. This number is the prescribed number of times T in equation (1). It is preferable that T0 be within 1 second, and T should be about 10 seconds at the longest. In this example, T0 was set to 0.1 second and T was set to 10 (1 second).

  FIG. 3 shows the acceleration actually given by the shaker and the acceleration obtained by the acceleration calculation device 10 of the present embodiment. However, no correction is performed, and the result obtained by the equation (1) is illustrated. The horizontal axis in FIG. 3 is the acceleration applied by the shaker. The vertical axis | shaft of FIG. 3 has shown the acceleration obtained by the acceleration calculation apparatus 10 by this embodiment. FIG. 3 shows that the acceleration calculated by the acceleration calculation device 10 according to the present embodiment can be used practically from 0.9 G to 1.1 G even without correction. The proportionality constant k was determined based on experimental results.

  In this embodiment, an example of correction will be shown. As can be seen from FIG. 3, practical use is possible only in the range of 0.9 G to 1.1 G without correction. However, the value of the sum of squares has changed from 0.7 G. For example, it is possible to expand the usable range by correcting the curve a shown in FIG. 4 so as to become the straight line a ′ shown in FIG. It is.

  As a correction method, when the calculation result becomes a specific value, a method of multiplying the calculation result by a coefficient obtained by an experiment or the like, an acceleration corresponding to the calculation result is obtained by an experiment, and a correspondence table between the calculation result and the acceleration There is a method in which acceleration is obtained from a calculation result obtained by actual measurement using this correspondence table. In the present embodiment, the acceleration calculation unit 6 has a correspondence table as a correction table. As a result, in the acceleration calculation apparatus 10 according to the present embodiment, an output value that is the same value as the given acceleration can be obtained in the range of 0.7 G to 1.3 G, as indicated by b in FIG. did it.

(Second Embodiment)
FIG. 5 shows some of the components of the acceleration calculation device 20 according to this embodiment. The acceleration calculation device 20 includes sensor units 11, 21 and 31, a detection unit 22, an arithmetic processing unit 23 and an output unit 24. Due to the presence of a plurality of sensor units, the internal configurations of the detection unit 22 and the arithmetic processing unit 23 are different from the detection unit 2 and the arithmetic processing unit 3 in the first embodiment. The output unit 24 may be the same as the output unit 4 in the first embodiment.

  Although FIG. 5 shows that the diameters of the spherical conductors of the sensor unit 11, the sensor unit 21, and the sensor unit 31 are different from each other, the sensor units 11, 21, and 31 have a spherical conductor diameter and a spherical conductivity. It is only necessary that at least one of the mass of the body, the size of the space in which the spherical conductor can move, and the distance of the insulating portion between the pair of electrodes be different from those of the other sensor units. Thereby, the movements of the spherical conductors when the same acceleration is applied to the sensor units 11, 21, and 31 are different. As a result, the detection signals from the detection unit 22 with respect to the output signals of the sensor units 11, 21, and 31 are different, and the range of acceleration that can be calculated by the acceleration calculation device 20 is expanded by using the different detection signals. It becomes possible.

  The processing performed by the detection unit 22 for each of the sensor units 11, 21, and 31 is basically the same as that of the detection unit 2 in the first embodiment. For this reason, at least the detection unit 22 needs to perform processing three times that of the detection unit 2, and processing capacity corresponding to this is required.

  The major difference between the arithmetic processing unit 23 and the arithmetic processing unit 3 is that the arithmetic processing unit 23 selects an acceleration to be output as the acceleration calculating device 20 from the accelerations calculated based on the outputs of the sensor units 11, 21 and 31. The circuit exists. Other than this, the processing performed by the arithmetic processing unit 23 for each of the sensor units 11, 21, and 31 is basically the same as the arithmetic processing unit 3 in the first embodiment. In addition, by performing the processing of the three sensors with one arithmetic processing unit 23, correction of the calculated sum of squares of each sensor unit is performed with reference to the calculated values of other sensor units other than the own sensor unit. It can also be done. The arithmetic processing unit 23 needs to perform at least three times the processing of the arithmetic processing unit 3 of the first embodiment, and processing capacity corresponding to this processing is required.

  In this embodiment, a sensor corresponding to the calculation of relatively low acceleration with respect to the sensor unit 21 is used for the sensor unit 11, and a sensor corresponding to the calculation of relatively high acceleration with respect to the sensor unit 21 is used as the sensor unit 31. It is an example which shows that the range which becomes measurable expands by using a plurality of sensors. FIG. 6 shows the result of calculating the acceleration of the acceleration calculating device 20 in this embodiment. In addition, the difference in the shape of the sensor part 11, the sensor part 21, and the sensor part 31 shown in FIG. 5 does not limit the shape of each sensor in a present Example.

  The horizontal axis in FIG. 6 indicates the magnitude of acceleration applied by the vibrator, and the vertical axis in FIG. 6 indicates the magnitude of acceleration calculated by the acceleration calculating device 20 in this embodiment. The calculation result of the sensor unit 11 according to the above formula (1) is represented by a curve 11, the calculation result of the sensor unit 21 by the above formula (1) is represented by a curve 21, and the calculation result of the sensor unit 31 by the above formula (1) is represented by a curve 31. Show. Further, the maximum value of acceleration calculated by the acceleration calculating device 20 is 1.2 G, and the acceleration obtained by performing correction based on these calculated values is indicated by a bold line.

  As can be seen from FIG. 6, since there are overlapping portions in the calculation results based on the outputs of the sensor unit 11, the sensor unit 21, and the sensor unit 31, all the calculation results are corrected. It turns out that it is not necessary. The determination of which calculation result is used for correction and the output of the acceleration calculation device 20 can be made based on the calculation result based on the output of the sensor unit 21. When the calculation result based on the sensor unit 11 is equal to or less than the calculation result based on the output of the sensor unit 21, the calculation result based on the output of the sensor unit 11 is corrected. As a result, acceleration in the range of 0.1 G to 0.65 G can be calculated. If the calculation result based on the output of the sensor unit 21 is larger than the calculation result based on the output of the sensor unit 11 and is greater than the calculation result based on the output of the sensor unit 31, the output of the sensor unit 21 The calculation result based on is corrected. As a result, it is possible to calculate acceleration in a range greater than 0.65G and less than or equal to 1.2G. The range of acceleration that can be calculated by the acceleration calculating device 20 is shown by a bold line in FIG.

  As described above, by applying the present invention, acceleration can be calculated using a tilt detection sensor. Moreover, the calculation range of acceleration can be expanded by using a plurality of inclination detection sensors.

  The application of the present invention is not limited to the method described above. For example, the detection result from the detection unit 2 may be transmitted by wireless communication means, and the processing performed by the arithmetic processing unit 3 (23) may be performed by a personal computer or the like. Further, the conductor does not have to be spherical, and may be any shape that moves according to the inclination, such as a rotating body such as an oblate ball (ellipsoid) or a cylinder. In the above-described embodiments and examples, the space formed between the electrodes of the sensor unit has been described as a spherical space. However, the space may not necessarily be a spherical shape, and may be rotated as an oblate (ellipsoid) or a cylinder. Any shape may be used as long as the conductor can move.

  DESCRIPTION OF SYMBOLS 1,11,21,31 ... Sensor part, 2,22 ... Detection part, 3,23 ... Arithmetic processing part, 4,24 ... Output part, 5,25 ... Level calculation part, 6,26 ... Acceleration calculation part, 7 27, processing control unit, 10, 20 ... acceleration calculation device, 100, 200, 300 ... flowchart.

Claims (8)

A first electrode;
A second electrode disposed opposite the first electrode;
A conductor disposed between a pair of electrodes composed of the first electrode and the second electrode, and bringing the pair of electrodes into a conductive state or a non-conductive state;
Using a sensor with
A first process for calculating an index value representing the state of conduction in unit time;
A second process of calculating an acceleration based on a sum of squares of the index values at a predetermined time.   The acceleration calculation method according to claim 1, wherein the index value is calculated using a ratio of a time length occupied by the conduction state in the unit time.   The acceleration calculation method according to claim 1, wherein the acceleration is a value obtained by correcting a result obtained by the sum of squares using a correction table created in advance. A method using a first sensor and a second sensor,
The first sensor is
A first electrode;
A second electrode disposed opposite the first electrode;
A first conductor disposed between the first electrode and the second electrode, and bringing the first electrode and the second electrode into a conductive state or a non-conductive state; ,
With
The second sensor is
A third electrode;
A fourth electrode disposed opposite to the third electrode;
A second conductor disposed between the third electrode and the fourth electrode, and bringing the third electrode and the fourth electrode into a conductive state or a non-conductive state; ,
With
A first process for calculating a first index value representing the state of conduction in the first sensor in a first unit time;
A second process for calculating a first acceleration based on a sum of squares of the first index value at a first predetermined time;
A third process in which the second sensor calculates a second index value representing the state of conduction in a second unit time;
A fourth process in which the second sensor calculates a second acceleration based on a sum of squares of the second index value at a second predetermined time;
A fifth process of selecting an acceleration of either the first acceleration or the second acceleration;
The acceleration calculation method characterized by including.   In the fifth process, a reference sensor is selected from the first sensor and the second sensor, and the acceleration is selected based on the value of the sum of squares in the reference sensor. The acceleration calculation method according to claim 4. The first conductor and the second conductor are spherical conductors,
The diameter of the first conductor and the second conductor, the mass of the first conductor and the second conductor, the wide space in which the first conductor and the second conductor can move And at least one of the distance between the end of the first electrode and the end of the second electrode and the distance between the end of the third electrode and the end of the fourth electrode are different. The acceleration calculation method according to claim 4 or 5, wherein A first electrode;
A second electrode disposed opposite the first electrode;
A spherical conductor disposed between a pair of electrodes composed of the first electrode and the second electrode, and bringing the pair of electrodes into a conductive state or a non-conductive state;
An arithmetic processing unit;
Including
The arithmetic processing unit includes: a level calculation unit that calculates which level among the plurality of levels the conduction state in unit time; and a plurality of level values in a predetermined time including the plurality of unit times And an acceleration calculation unit that calculates acceleration based on a square sum of. A first sensor;
A second sensor;
An arithmetic processing unit,
The first sensor is
A first electrode;
A second electrode disposed opposite the first electrode;
A first conductor disposed between the first electrode and the second electrode, and bringing the first electrode and the second electrode into a conductive state or a non-conductive state; With
The second sensor is
A third electrode;
A fourth electrode disposed opposite to the third electrode;
A second conductor disposed between the third electrode and the fourth electrode, and bringing the third electrode and the fourth electrode into a conductive state or a non-conductive state; With
The arithmetic processing unit includes a level calculation unit and an acceleration calculation unit,
The level calculating unit calculates a level of a plurality of levels in which the conduction state of the first sensor in a first unit time corresponds, and the second unit time in a second unit time. Performing a process of calculating which level of the plurality of levels the conduction state of the sensor corresponds to;
The acceleration calculation unit calculates a first acceleration based on a sum of squares of the level values of the first sensor at a first predetermined time including a plurality of the first unit times; A process of calculating a second acceleration based on a sum of squares of the level values of the second sensor at a second predetermined time including a plurality of the second unit times; the first acceleration; An acceleration calculation apparatus that performs a process of selecting and outputting one of the second accelerations.

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