JP7036273B2 - Angular velocity sensors, inertial measurement units, mobile positioning devices, portable electronic devices, electronic devices, and mobile objects - Google Patents

Description

The present invention relates to an angular velocity sensor, an inertial measurement unit, a mobile body positioning device, a portable electronic device, an electronic device, and a mobile body.

In recent years, as an electronic device, an angular velocity sensor manufactured by using silicon MEMS (Micro Electro Mechanical System) technology has been developed. As such an angular velocity sensor, for example, Patent Document 1 has an element provided with a movable electrode and a fixed electrode which are arranged in a comb-teeth shape and are opposed to each other, and is based on the capacitance between these two electrodes. A capacitive angular velocity sensor that detects the angular velocity is described. In this configuration, a large number of movable electrodes and fixed electrodes are provided in order to increase the detection sensitivity.

U.S. Patent Application Publication No. 2014/0272618

However, in the configuration of the angular velocity sensor described in Patent Document 1, it is necessary to reduce the displacement width of the movable electrode in order to reduce the size, and there is a problem that the detection sensitivity is lowered.

The present invention has been made to solve at least a part of the above-mentioned problems, and can be realized as the following form or application example.

[Application Example 1] The angular velocity sensor according to this application example is provided so as to be displaceable in a first direction with respect to the substrate and a longitudinal portion extending from a folded portion in a second direction orthogonal to the first direction. A spring portion including a shape, a first detection electrode displaceable in the first direction including a plurality of first electrode fingers provided along the second direction and extending in the first direction, and the second detection electrode. The spring portion comprises a second detection electrode provided along the direction and comprising a plurality of second electrode fingers extending in the first direction between the first electrode fingers, and a detection electrode having. , The folded portion of the spring portion is provided on the center side of the end portion of the detection electrode in the second direction, and the detection electrode is the detection electrode. On the end side, the first surface facing the spring portion in the first direction and the first surface provided in the second direction on the center side of the first surface and in the first direction. It is characterized by including a second surface closer to the spring portion.

According to this application example, in the region where the detection electrode and the spring portion face each other, the detection electrode has a first surface away from the spring portion and a second surface close to the spring portion, so that the detection electrode is close to the detection electrode. While arranging the spring portion, it is possible to suppress a decrease in the displacement width of the spring portion. Therefore, it is possible to obtain an angular velocity sensor in which a decrease in detection sensitivity is reduced even if the size is reduced.

[Application Example 2] In the angular velocity sensor according to the above application example, the first detection electrode is provided on the spring portion side of the second detection electrode in the first direction, and the folded portion of the spring portion is provided. It is preferable that the surface overlaps with the first surface and does not overlap with the second surface in a plan view from the first direction.

According to this application example, since the first surface of the first detection electrode (movable detection electrode) facing the spring portion is provided away from the spring portion including the folded portion, the first detection electrode (movable detection electrode) is provided. The electrodes) can be placed closer to the spring portion. Therefore, the size of the angular velocity sensor can be reduced.

[Application Example 3] In the angular velocity sensor described in the above application example, the first detection electrode is connected to the spring portion at the end of the first detection electrode, and the spring portion and the first detection electrode are connected to each other. It is preferable that the distance from the first surface increases as the distance from the end of the first detection electrode increases in the second direction.

According to this application example, since the first surface of the first detection electrode (movable detection electrode) facing the spring portion is provided on the folded-back portion side at a greater distance from the spring portion, the first detection electrode (movable) is provided. It is possible to suppress a decrease in the displacement width at the folded-back portion, which is easier to approach when the detection electrode) is displaced. Therefore, it is possible to obtain an angular velocity sensor in which a decrease in detection sensitivity is reduced even if the size is reduced.

[Application Example 4] In the angular velocity sensor according to the above application example, the second detection electrode is provided on the spring portion side of the first detection electrode in the first direction, and has a fixing portion fixed to the substrate. Including, it is preferable that the region of the spring portion overlapping the second surface is smaller than the region overlapping the first surface in a plan view from the first direction.

According to this application example, since the region of the first surface of the second detection electrode (fixed detection electrode) far away from the spring portion is provided wider than the region of the second surface close to the spring portion, the spring. It is possible to suppress a decrease in the displacement width of the portion. Therefore, it is possible to obtain an angular velocity sensor in which a decrease in detection sensitivity is reduced even if the size is reduced.

[Application Example 5] In the angular velocity sensor according to the application example, the closer the distance between the spring portion and the first surface of the second detection electrode is to the end portion of the first detection electrode in the second direction. Larger is preferable.

According to this application example, the first surface of the second detection electrode (fixed detection electrode) facing the spring portion is provided on the end side of the second detection electrode (fixed detection electrode) at a greater distance from the spring portion. Therefore, it is possible to suppress a decrease in the displacement width at the end of the second detection electrode (fixed detection electrode), which is more accessible when the spring portion is displaced. Therefore, it is possible to obtain an angular velocity sensor in which a decrease in detection sensitivity is reduced even if the size is reduced.

[Application Example 6] The inertial measurement unit according to the present application example is characterized by including the angular velocity sensor described in the above application example and a control circuit for controlling the drive of the angular velocity sensor.

According to this application example, the effect of the angular velocity sensor as described above can be enjoyed, and a highly reliable inertial measurement unit can be obtained.

[Application Example 7] The mobile positioning device according to this application example includes an inertial measurement unit described in the above application example, a receiving unit that receives a satellite signal on which position information is superimposed from a positioning satellite, and the received satellite. Based on the acquisition unit that acquires the position information of the receiving unit based on the signal, the calculation unit that calculates the posture of the moving body based on the inertial data output from the inertial measurement unit, and the calculated posture. It is characterized by including a calculation unit for calculating the position of the moving body by correcting the position information.

According to this application example, the effect of the angular velocity sensor as described above can be enjoyed, and a highly reliable mobile positioning device can be obtained.

[Application Example 8] The portable electronic device according to this application example includes the angular velocity sensor described in the above application example, a case in which the angular velocity sensor is housed, and output data from the angular velocity sensor housed in the case. It is characterized by including a processing unit for processing the above, a display unit housed in the case, and a translucent cover for closing the opening of the case.

According to this application example, the effect of the angular velocity sensor as described above can be enjoyed, and a highly reliable portable electronic device can be obtained.

[Application Example 9] The electronic device according to the present application example is characterized by including the angular velocity sensor described in the above application example and a control unit that controls based on a detection signal output from the angular velocity sensor. And.

According to this application example, the effect of the angular velocity sensor as described above can be enjoyed, and a highly reliable electronic device can be obtained.

[Application Example 10] The moving body according to the present application example includes the angular velocity sensor described in the above application example and an attitude control unit that controls the posture based on the detection signal output from the angular velocity sensor. It is characterized by that.

According to this application example, the effect of the angular velocity sensor as described above can be enjoyed, and a highly reliable moving body can be obtained.

The plan view which shows the angular velocity sensor which concerns on 1st Embodiment of this invention. FIG. 1 is a cross-sectional view taken along the line AA in FIG. The plan view which shows the element part which the angular velocity sensor of FIG. 1 has. FIG. 3 is an enlarged plan view of part B in FIG. The enlarged plan view of the reverse phase spring which the element part of FIG. 3 has. The enlarged plan view of the reverse phase spring which the element part of FIG. 3 has. The schematic diagram for demonstrating the vibration mode of the element part shown in FIG. The plan view which shows a part of the detection part which the angular velocity sensor which concerns on 2nd Embodiment of this invention has. The plan view which shows the modification of the angular velocity sensor which concerns on 2nd Embodiment of this invention. The plan view which shows a part of the detection part which the angular velocity sensor which concerns on 3rd Embodiment of this invention has. The plan view which shows the modification of the angular velocity sensor which concerns on 3rd Embodiment of this invention. The plan view which shows the modification of the angular velocity sensor which concerns on 3rd Embodiment of this invention. The plan view which shows the element part of the angular velocity sensor which concerns on 4th Embodiment of this invention. FIG. 10 is an enlarged plan view of part C in FIG. The plan view which shows the modification of the angular velocity sensor which concerns on 4th Embodiment of this invention. The plan view which shows the modification of the angular velocity sensor which concerns on 4th Embodiment of this invention. An exploded perspective view showing a schematic configuration of an inertial measurement unit. The perspective view which shows the arrangement example of the inertia sensor element of an inertial measurement unit. The block diagram which shows the whole system of the mobile positioning apparatus. The figure which shows the operation of the mobile positioning apparatus schematically. The plan view which shows the structure of the portable electronic device schematically. A functional block diagram showing a schematic configuration of a portable electronic device. The perspective view which shows typically the structure of the mobile type personal computer which is an example of an electronic device. The perspective view which shows typically the structure of the smartphone (portable telephone) which is an example of an electronic device. The perspective view which shows the structure of the digital still camera which is an example of an electronic device. The perspective view which shows the structure of the automobile which is an example of a moving body.

Hereinafter, the angular velocity sensor, the inertial measurement unit, the mobile body positioning device, the portable electronic device, the electronic device, and the moving body according to the present invention will be described in detail based on the embodiments shown in the accompanying drawings. The embodiments described below do not unreasonably limit the content of the present invention described in the claims. Moreover, not all of the configurations described in the present embodiment are essential constituent requirements of the present invention.

<Angular velocity sensor>
[First Embodiment]
First, the angular velocity sensor 1 according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 7. FIG. 1 is a plan view showing an angular velocity sensor according to the first embodiment of the present invention. FIG. 2 is a cross-sectional view taken along the line AA in FIG. FIG. 3 is a plan view showing an element portion of the angular velocity sensor of FIG. FIG. 4 is an enlarged plan view of part B in FIG. 5 and 6 are enlarged plan views of the reverse phase spring included in the element portion of FIG. 3, respectively. FIG. 7 is a schematic diagram for explaining the vibration mode of the element unit shown in FIG. In FIGS. 1 to 7 and 8A to 11C shown below, an X-axis, a Y-axis, and a Z-axis are shown as three axes orthogonal to each other, and each of the element portions 4 bonded to the substrate 2 is shown. The plane on which the portions are arranged is defined as the X-axis and the Y-axis, and the direction in which the substrate 2 and the lid 3 are joined is defined as the Z-axis. Further, the direction parallel to the X-axis is the "first direction" or "X-axis direction" in the present embodiment, and the direction parallel to the Y-axis is the "second direction" or "Y-axis direction" in the present embodiment, the Z-axis. The direction parallel to is also referred to as "Z-axis direction". Further, the arrow tip side of each axis is also referred to as "plus side", and the opposite side is also referred to as "minus side". Further, the plus side in the Z-axis direction is also referred to as "upper or upper", and the negative side in the Z-axis direction is also referred to as "lower or lower".

The angular velocity sensor 1 shown in FIG. 1 is an angular velocity sensor capable of detecting an angular velocity ωz around the Z axis. The angular velocity sensor 1 has a substrate 2, a lid 3, and an element portion 4.

As shown in FIG. 1, the substrate 2 has a rectangular plate shape in a plan view from the Z-axis direction. Further, the substrate 2 has a recess 21 that opens to the upper surface, which is the upper surface. The recess 21 functions as a relief portion for preventing (suppressing) contact between the element portion 4 and the substrate 2. Further, the substrate 2 has a plurality of mounts 22 (221,222,223,224,225) protruding from the bottom surface of the recess 21. The element portion 4 is joined to the upper surface of these mounts 22. As a result, the element portion 4 can be fixed to the substrate 2 in a state where contact with the substrate 2 is prevented. Further, the substrate 2 has grooves 23, 24, 25, 26, 27, 28 that are open to the upper surface.

The substrate 2 includes, for example, a glass material containing movable ions (alkali metal ion, hereinafter represented by Na +) such as sodium ion (Na +) and lithium ion (Li +) (for example, Tempax (registered trademark) glass, Pyrex (eg). A glass substrate made of (registered trademark) borosilicate glass such as glass) can be used. Thereby, for example, as described later, the substrate 2 and the element portion 4 can be anode-bonded, and these can be firmly bonded. Further, since the substrate 2 having light transmission is obtained, the state of the element unit 4 can be visually recognized from the outside of the angular velocity sensor 1 via the substrate 2. However, the constituent material of the substrate 2 is not particularly limited, and a silicon substrate, a ceramic substrate, or the like may be used.

As shown in FIG. 1, wirings 73, 74, 75, 76, 77, and 78 are arranged in the grooves 23, 24, 25, 26, 27, and 28, respectively. The wirings 73, 74, 75, 76, 77, and 78 are each electrically connected to the element unit 4. Further, one end of the wiring 73, 74, 75, 76, 77, 78 is exposed to the outside of the lid 3, and functions as an electrode pad P for electrical connection with an external device.

As shown in FIG. 1, the lid 3 has a plate shape having a rectangular plan view shape in a plan view from the Z-axis direction. Further, as shown in FIG. 2, the lid 3 has a recess 31 that opens to the lower surface. The lid 3 is joined to the upper surface of the substrate 2 so that the element portion 4 is housed in the recess 31. A storage space S for accommodating the element portion 4 is formed inside the lid 3 and the substrate 2.

Further, as shown in FIG. 2, the lid 3 has a communication hole 32 that communicates inside and outside the storage space S. Therefore, the storage space S can be replaced with a desired atmosphere through the communication hole 32. Further, a sealing member 33 is arranged in the communication hole 32, and the communication hole 32 is airtightly sealed by the sealing member 33. The storage space S is preferably in a reduced pressure state, particularly preferably in a vacuum state. As a result, the viscous resistance is reduced, and the element portion 4 can be vibrated efficiently.

As such a lid 3, for example, a silicon substrate can be used. However, the lid 3 is not particularly limited, and for example, a glass substrate or a ceramic substrate may be used. The method of joining the substrate 2 and the lid 3 is not particularly limited and may be appropriately selected depending on the material of the substrate 2 and the lid 3, but for example, the bonding surface activated by anode bonding or plasma irradiation. Examples thereof include activated bonding for bonding to each other, bonding with a bonding material such as glass frit, and diffusion bonding for bonding metal films formed on the upper surface of the substrate 2 and the lower surface of the lid 3. In the present embodiment, the substrate 2 and the lid 3 are joined via a glass frit 39 (low melting point glass).

The element portion 4 is arranged in the storage space S and is joined to the upper surface of the mount 22. The element portion 4 can be formed, for example, by patterning a conductive silicon substrate doped with impurities such as phosphorus (P) and boron (B) by a dry etching method (silicon deep etching). Hereinafter, the element unit 4 will be described in detail. In the following, a straight line that intersects the center O of the element unit 4 and extends in the Y-axis direction in a plan view from the Z-axis direction is also referred to as a “virtual straight line α”.

As shown in FIG. 3, the shape of the element unit 4 is symmetrical with respect to the virtual straight line α. Further, the element unit 4 has drive units 41A and 41B arranged on both sides of the virtual straight line α. The drive units 41A and 41B can drive the detection units 44A and 44B as detection electrodes, and the drive unit 41A has a comb-shaped movable drive electrode 411A and a comb-shaped movable drive electrode as a movable electrode unit. It has 411A and fixed drive electrodes 412A which have voids and are arranged alternately. Similarly, the drive unit 41B has a comb-shaped movable drive electrode 411B, a comb-shaped movable drive electrode 411B, and a fixed drive electrode 412B having a gap and arranged alternately as a movable electrode unit. Have.

Further, the fixed drive electrode 412A is located outside the movable drive electrode 411A (the side far from the virtual straight line α), and the fixed drive electrode 412B is located outside the movable drive electrode 411B (the side far from the virtual straight line α). is doing. Further, the fixed drive electrodes 412A and 412B are respectively bonded to the upper surface of the mount 221 and fixed to the substrate 2. Further, the movable drive electrodes 411A and 411B are electrically connected to the wiring 73, respectively, and the fixed drive electrodes 412A and 412B are electrically connected to the wiring 74, respectively.

Further, the element unit 4 includes four fixed portions (first fixed portion 42A, second fixed portion 421A) arranged around the drive unit 41A and four fixed portions (first fixed portion 42A) arranged around the drive unit 41B. It has one fixed portion 42B and a second fixed portion 421B). The first fixing portions 42A and 42B and the second fixing portions 421A and 421B are joined to the upper surface of the mount 222 and fixed to the substrate 2.

Further, the element unit 4 includes four drive springs 43A for connecting the first fixed portion 42A and the second fixed portion 421A and the movable drive electrode 411A, and the first fixed portion 42B, the second fixed portion 421B and the movable drive electrode 411B. It has four drive springs 43B, which are connected to the above. Each drive spring 43A is elastically deformed in the X-axis direction to allow displacement of the movable drive electrode 411A in the X-axis direction, and each drive spring 43B is elastically deformed in the X-axis direction to allow the X-axis of the movable drive electrode 411B. Directional displacement is allowed.

When a drive voltage is applied between the movable drive electrodes 411A and 411B and the fixed drive electrodes 412A and 412B via the wirings 73 and 74, the movable drive electrode 411A and the fixed drive electrode 412A and the movable drive electrode 411B and the fixed drive are fixedly driven. Electrostatic attraction is generated between the electrodes 412B and the electrodes 412B, respectively. Due to this electrostatic attraction, the movable drive electrode 411A elastically deforms the drive spring 43A in the X-axis direction and vibrates in the X-axis direction, and the movable drive electrode 411B elastically deforms the drive spring 43B in the X-axis direction and causes the X-axis. It vibrates in the direction. Since the drive units 41A and 41B are arranged symmetrically with respect to the virtual straight line α, the movable drive electrodes 411A and 411B vibrate in opposite phases in the X-axis direction so as to repeatedly approach and separate from each other. Therefore, the vibration of the movable drive electrodes 411A and 411B is canceled, and the vibration leakage can be reduced. Hereinafter, this vibration mode is also referred to as a "drive vibration mode".

The angular velocity sensor 1 of the present embodiment has an electrostatic drive method that excites the drive vibration mode by electrostatic attraction, but the method for exciting the drive vibration mode is not particularly limited, and for example, piezoelectric drive. It is also possible to apply a method, an electromagnetic drive method using the Lorentz force of a magnetic field, or the like.

Further, the element unit 4 has detection units 44A and 44B arranged between the drive units 41A and 41B. The detection unit 44A has a comb-shaped movable detection electrode 441A as a first detection electrode, a comb-shaped movable detection electrode 441A, and a fixed detection electrode as a second detection electrode arranged alternately with a gap. It has 442A and 443A. The fixed detection electrodes 442A and 443A are arranged side by side in the Y-axis direction, the fixed detection electrode 442A is located on the positive side in the Y-axis direction with respect to the center of the movable detection electrode 441A, and the fixed detection electrode 443A is located on the negative side in the Y-axis direction. Is located. Further, the fixed detection electrodes 442A and 443A are arranged in pairs so as to sandwich the movable detection electrodes 441A from both sides in the X-axis direction.

Similarly, the detection unit 44B serves as a second detection electrode having a comb-shaped movable detection electrode 441B as a first detection electrode and a comb-shaped movable detection electrode 441B having a gap and being alternately arranged. It has fixed detection electrodes 442B and 443B. The fixed detection electrodes 442B and 443B are arranged side by side in the Y-axis direction, the fixed detection electrode 442B is located on the positive side in the Y-axis direction with respect to the center of the movable detection electrode 441B, and the fixed detection electrode 443B is located on the negative side in the Y-axis direction. Is located. Further, the fixed detection electrodes 442B and 443B are arranged in pairs so as to sandwich the movable detection electrodes 441B from both sides in the X-axis direction.

The movable detection electrodes 441A and 441B are electrically connected to the wiring 73, the fixed detection electrodes 442A and 443B are electrically connected to the wiring 75, respectively, and the fixed detection electrodes 443A and 442B are electrically connected to the wiring 76, respectively. Is electrically connected to. When the angular velocity sensor 1 is driven, electrostatic capacitance Ca is formed between the movable detection electrode 441A and the fixed detection electrode 442A and between the movable detection electrode 441B and the fixed detection electrode 443B, and the movable detection electrode 441A and the fixed detection electrode 443A are formed. A capacitance Cb is formed between the movable detection electrode 441B and the fixed detection electrode 442B.

Further, the element unit 4 has two first fixing units 451 and 452 arranged between the detection units 44A and 44B. The first fixing portions 451 and 452 are respectively joined to the upper surface of the mount 224 and fixed to the substrate 2. The first fixed portions 451 and 452 are arranged in the Y-axis direction and are arranged at intervals. In this embodiment, the movable drive electrodes 411A and 411B and the movable detection electrodes 441A and 441B are electrically connected to the wiring 73 via the first fixing portions 451 and 452.

Further, the element portion 4 includes a detection spring 46A as four spring portions connecting the movable detection electrode 441A and the first fixed portions 42A, 451 and 452, and the movable detection electrode 441B and the first fixed portion 42B, 451 and 452. It has a detection spring 46B as four spring portions connecting the and. Each detection spring 46A is elastically deformed in the X-axis direction to allow displacement of the movable detection electrode 441A in the X-axis direction, and elastically deformed in the Y-axis direction to cause displacement of the movable detection electrode 441A in the Y-axis direction. Permissible. Similarly, each detection spring 46B is elastically deformed in the X-axis direction to allow displacement of the movable detection electrode 441B in the X-axis direction, and elastically deformed in the Y-axis direction to the Y-axis direction of the movable detection electrode 441B. Displacement is allowed.

Therefore, the angular velocity ωz around the Z-axis allows the movable detection electrodes 441A and 441B to be displaced in the second direction (Y-axis direction), which is the direction of the detection axis in which the movable detection electrodes 441A and 441B are displaced, and the angular velocity ωz around the Z-axis can be detected.

Further, as shown in FIG. 4, the detection unit 44B is arranged in a comb-tooth shape with a movable detection electrode 441B having a movable detection electrode finger 51 as a plurality of first electrode fingers arranged in a comb-tooth shape. It has a fixed detection electrode finger 53 as a plurality of second electrode fingers, a movable detection electrode finger 51 of the movable detection electrode 441B, and a fixed detection electrode 443B having a gap and arranged alternately.

The fixed detection electrode 443B has a plurality of fixed detection electrode fingers 53 extending along the first direction (X-axis direction). Further, the movable detection electrode 441B is provided so as to extend along the second direction (Y-axis direction) and the first trunk portion 50 and the first trunk portion 50 along the X-axis direction. It has a fixed detection electrode finger 53, a plurality of movable detection electrode fingers 51 arranged at intervals in the Y-axis direction, and a first connecting portion 52 connected to the first trunk portion 50.

Further, the first connecting portion 52 has a first support portion 521 connected to the first trunk portion 50 and a second support portion 522 connected to the detection spring 46B, and is fixedly detected to the first support portion 521. The distance between the second support portion 522 and the fixed detection electrode 443B in the Y-axis direction is smaller than the distance between the second support portion 522 and the fixed detection electrode 443B in the Y-axis direction. That is, the first support portion 521 is arranged closer to the fixed detection electrode 443B side than the second support portion 522. Since the second support portion 522 is provided, the detection spring 46B can be lengthened, and the movable detection electrode 441B can be more easily displaced.

Further, the length of the first support portion 521 in the X-axis direction is substantially equal to the length of the movable detection electrode finger 51 in the X-axis direction. Therefore, the facing area between the side surface of the first support portion 521 and the side surface of the fixed detection electrode finger 53 can be made equal to the facing area between the side surface of the movable detection electrode finger 51 and the side surface of the fixed detection electrode finger 53.

The distance between the first support portion 521 and the fixed detection electrode 443B in the Y-axis direction is substantially equal to the distance between the fixed detection electrode finger 53 and the movable detection electrode finger 51 in the Y-axis direction. That is, since the facing areas are also substantially equal, the capacitance between the first support portion 521 and the fixed detection electrode 443B is made equal to the capacitance between the fixed detection electrode finger 53 and the movable detection electrode finger 51. be able to.

Therefore, since the first support portion 521 and the fixed detection electrode 443B correspond to the pair of fixed detection electrode fingers 53 and the movable detection electrode finger 51, the first support portion 521 can be regarded as the movable detection electrode finger 51. The number of movable detection electrode fingers 51 can be increased without changing the dimensions of the detection unit 44B in the Y-axis direction. That is, the capacitance between the movable detection electrode 441B and the fixed detection electrode 443B can be increased, and the detection sensitivity can be improved. In addition, it is possible to reduce the size by having the same detection sensitivity.

The detection spring 46B has a longitudinal shape extending along the second direction (Y-axis direction) and a folded-back portion 461 on the center side of the movable detection electrode 441B, and is fixed to the first fixing portion 42B to be the first. It can be elastically deformed in the direction (X-axis direction). Further, the detection spring 46B has a longitudinal shape extending along the first direction (X-axis direction) and a folded portion 462 on the end side of the movable detection electrode 441B, and has an end portion 54 of the movable detection electrode 441B. It can be elastically deformed in the second direction (Y-axis direction) by being connected to.

The fixed detection electrode 443B is arranged on the detection spring 46B side as a spring portion with respect to the movable detection electrode 441B in the X-axis direction, and the detection unit 44B (fixed detection electrode 443B) as a detection electrode facing the detection spring 46B is the first. It has one surface 445 and a second surface 446 of a detection unit 44B (fixed detection electrode 443B) provided on the center side of the movable detection electrode 441B from the first surface 445 in the Y-axis direction. The distance G1 between the first surface 445 of the detection unit 44B (fixed detection electrode 443B) and the detection spring 46B in the X-axis direction is the X-axis between the second surface 446 of the detection unit 44B (fixed detection electrode 443B) and the detection spring 46B. Greater than the direction spacing G2. That is, in the X-axis direction, the second surface 446 is closer to the detection spring 46B than the first surface 445.

Further, the detection spring 46B has a smaller region overlapping with the second surface 446 than a region overlapping with the first surface 445 in a plan view in the first direction (X-axis direction). Further, the folded portion 461 of the detection spring 46B is provided at a large distance from each other on the end portion side of the longitudinal shape opposite to the folded portion 461 of the detection spring 46B. As a result, the fixed detection electrode 443B can be arranged closer to the folded-back portion 461 of the detection spring 46B whose displacement amount is smaller than that of the fixed detection electrode 443B. Then, the fixed detection electrode 443B can be largely separated from the end side of the longitudinal shape opposite to the folded portion 461 of the detection spring 46B having a large displacement with respect to the fixed detection electrode 443B, and the detection spring 46B is further displaced. It can be facilitated. Therefore, the movable detection electrode 441B can be largely displaced, and the detection sensitivity can be improved. Therefore, it is possible to obtain the angular velocity sensor 1 in which the decrease in the detection sensitivity is reduced even if the size is reduced.

Further, the fixed detection electrode 443B is fixed to the substrate 2 via the third fixing portion 447. The third fixed portion 447 is included in the fixed detection electrode 443B in a plan view from the Z-axis direction, and is provided so as to face a part of the second surface 446 of the fixed detection electrode 443B. That is, the third fixed portion 447 is provided not in the region formed by the first surface 445 having a small area in order to secure the interval G1 larger than the interval G2, but in the region formed by the wider second surface 446. ing. As a result, the circumference of the third fixed portion 447 can be surrounded more thickly, so that when a large impact is applied in the Z-axis direction, stress is applied to the boundary where the fixed detection electrode 443B is connected to the third fixed portion 447. However, it can be suppressed from being damaged.

In this embodiment, as shown in FIG. 3, at both ends of the detection unit 44B in the Y-axis direction, the ends in the −Y axis direction and the ends in the −X axis direction have been described as an example. , At the end of the detection unit 44B in the -Y-axis direction, at the end in the + X-axis direction, at the end of the detection unit 44B in the + Y-axis direction, at both ends in the X-axis direction, and at both ends in the Y-axis direction of the detection unit 44A. , Both ends in the X-axis direction have the same configuration.

Further, the element unit 4 is located between the drive unit 41A and the detection unit 44A, and is located between the reverse phase spring 47A connecting the movable drive electrode 411A and the movable detection electrode 441A, and between the drive unit 41B and the detection unit 44B. It has a reverse phase spring 47B that connects the movable drive electrode 411B and the movable detection electrode 441B. The movable detection electrode 441A can be displaced in the X-axis direction with respect to the movable drive electrode 411A by elastically deforming the reverse phase spring 47A in the X-axis direction. Similarly, the movable detection electrode 441B can be displaced in the X-axis direction with respect to the movable drive electrode 411B by elastically deforming the reverse phase spring 47B in the X-axis direction.

As shown in FIG. 5, the reverse phase spring 47A includes a spring body 471A, a beam 477A connecting the spring body 471A and the movable drive electrode 411A, and a beam 478A connecting the spring body 471A and the movable detection electrode 441A. have. Further, the spring body 471A has a shape extending in the Y-axis direction and elastically deformable in the X-axis direction, and an arm 472A extending in the Y-axis direction and elastically deformable in the X-axis direction. It has 473A and. The arms 472A and 473A are arranged with a gap in the X-axis direction, the beam 477A is connected to the central portion of the arm 472A, and the beam 478A is connected to the central portion of the arm 473A. Further, the spring body 471A has a connecting portion 474A for connecting one ends of the arms 472A and 473A, and a connecting portion 475A for connecting the other ends of the arms 472A and 473A. Therefore, the spring body 471A has a frame shape in which the central portion opens.

The reverse phase spring 47B has the same configuration as the reverse phase spring 47A, and as shown in FIG. 6, the spring main body 471B, the beam 477B connecting the spring main body 471B and the movable drive electrode 411B, and the spring main body 471B are movable. It has a beam 478B and a beam for connecting the detection electrode 441B.

Here, as shown in FIG. 7, in the drive vibration mode, the vibration of the movable drive electrode 411A is transmitted to the movable detection electrode 441A via the reverse phase spring 47A, so that the movable detection electrode 441A becomes the vibration of the movable drive electrode 411A. It vibrates in the X-axis direction in conjunction with it. Similarly, since the vibration of the movable drive electrode 411B is transmitted to the movable detection electrode 441B via the reverse phase spring 47B, the movable detection electrode 441B vibrates in the X-axis direction in conjunction with the vibration of the movable drive electrode 411B. Further, as described above, since the movable drive electrodes 411A and 411B vibrate in the opposite phase in the X-axis direction, the movable detection electrodes 441A and 441B also vibrate in the opposite phase in the X-axis direction so as to repeatedly approach and separate from each other. .. Therefore, the vibration of the movable detection electrodes 441A and 441B is canceled, and the vibration leakage to the substrate 2 can be reduced.

Further, in the drive vibration mode, the movable detection electrode 441A vibrates in the opposite phase in the X-axis direction so as to repeatedly approach and separate from the movable drive electrode 411A by utilizing the elastic deformation of the reverse phase spring 47A. Similarly, utilizing the elastic deformation of the reverse phase spring 47B, the movable detection electrode 441B vibrates in the opposite phase in the X-axis direction so as to repeatedly approach and separate from the movable drive electrode 411B. As a result, at least a part of the vibration of the movable detection electrode 441A and the movable drive electrode 411A is canceled, and at least a part of the vibration of the movable detection electrode 441B and the movable drive electrode 411B is canceled. Therefore, it is possible to more effectively reduce the vibration leakage to the substrate 2 as compared with the case where the movable detection electrode 441A and the movable drive electrode 411A and the movable detection electrode 441B and the movable drive electrode 411B vibrate in the same phase. In order to vibrate the movable detection electrode 441A and the movable drive electrode 411A in the opposite phase in the drive vibration mode, for example, the spring constant of the reverse phase spring 47A between them may be adjusted, and the movable detection electrode 441B may be adjusted. In order to vibrate the movable drive electrode 411B and the movable drive electrode 411B in opposite phases, for example, the spring constant of the reverse phase spring 47B between them may be adjusted.

The resonance frequency f1 in the reverse phase mode in which the movable detection electrode 441A, the movable drive electrode 411A, the movable detection electrode 441B, and the movable drive electrode 411B vibrate in opposite phases, and the movable detection electrode 441A, the movable drive electrode 411A, and the movable detection electrode The larger the difference between the resonance frequency f2 in the in-phase mode in which the 441B and the movable drive electrode 411B vibrate in the same phase, the easier it is to vibrate in the out-of-phase mode, and the more difficult it is to combine the in-phase modes (that is, the out-of-phase mode). Become dominant). Specifically, for example, when the resonance frequency f1 in the reverse phase mode is about 30 kHz, it is preferable that the resonance frequency f2 in the in-phase mode is separated from the resonance frequency by 3 kHz or more (that is, 10% or more). As a result, it becomes difficult for the common mode to be sufficiently coupled, and it is possible to drive in the reverse phase mode more stably.

In addition, "the movable detection electrode 441A (441B) and the movable drive electrode 411A (411B) are vibrated in the opposite phase" means that the reverse phase mode is dominant as well as the case where the vibration other than the reverse phase mode is not coupled. If so, other vibration modes (for example, the above-mentioned in-phase mode) may be combined. Further, for example, the case where there is no phase difference in the vibration between the movable detection electrode 441A and the movable drive electrode 411A is included as well as the case where there is a phase difference. The case where there is no phase difference means that, for example, the time when the movable drive electrode 411A starts to be displaced to the plus side in the X-axis direction and the time when the movable detection electrode 441A starts to be displaced to the minus side in the X-axis direction coincide with each other. .. Further, the case where there is a phase difference means that, for example, the movable detection electrode 441A starts to be displaced to the minus side in the X-axis direction after the time when the movable drive electrode 411A starts to be displaced to the plus side in the X-axis direction.

When the angular velocity ωz is applied to the angular velocity sensor 1 during driving in such a drive vibration mode, the movable detection electrodes 441A and 441B have the detection springs as shown by the arrow A in FIG. While elastically deforming 46A and 46B in the Y-axis direction, they vibrate in the opposite phase in the Y-axis direction (this vibration is also called "detection vibration mode"). In the detection vibration mode, since the movable detection electrodes 441A and 441B vibrate in the Y-axis direction, there is a gap between the movable detection electrode 441A and the fixed detection electrodes 442A and 443A and a gap between the movable detection electrode 441B and the fixed detection electrodes 442B and 443B. Each changes, and the capacitances Ca and Cb change accordingly. Therefore, the angular velocity ωz can be obtained based on the changes in the capacitances Ca and Cb.

In the detection vibration mode, when the capacitance Ca becomes large, the capacitance Cb becomes small, and conversely, when the capacitance Ca becomes small, the capacitance Cb becomes large. Therefore, the detection signal (signal corresponding to the magnitude of the capacitance Ca) output from the QV amplifier connected to the wiring 75 and the detection signal (capacitance Cb) output from the QV amplifier connected to the wiring 76. Noise can be canceled and the angular velocity ωz can be detected more accurately by performing a differential calculation (subtraction process: Ca—Cb) with the signal corresponding to the magnitude of the noise.

Here, in the drive vibration mode, the amplitude of the movable detection electrode 441A becomes larger than the amplitude of the movable drive electrode 411A due to the expansion and contraction of the reverse phase spring 47A, and the amplitude of the movable detection electrode 441B increases due to the expansion and contraction of the reverse phase spring 47B. It is larger than the amplitude of 411B. Therefore, the amplitude of the movable detection electrodes 441A and 441B in the drive vibration mode can be increased, and a larger Coriolis force acts by that amount. Therefore, the detection sensitivity of the angular velocity ωz is improved. Further, since the movable detection electrodes 441A and 441B can be vibrated greatly with a small driving force, power consumption can be reduced.

Further, as shown in FIG. 3, the element unit 4 has a frame 48 located in the central portion thereof (between the detection unit 44A and the detection unit 44B). The frame 48 has a shape along the contour of the alphabet "H", that is, a so-called H shape, and has a defective portion 481 (recess) located on the positive side in the Y-axis direction and a defective portion 482 (recessed portion) located on the negative side in the Y-axis direction. It has a recess) and. The first fixing portion 451 is arranged inside and outside the defect portion 481, and the first fixing portion 452 is arranged inside and outside the defect portion 482. As a result, the first fixed portions 451 and 452 can be formed long in the Y-axis direction, and the bonding area with the substrate 2 is increased by that amount, and the bonding strength between the substrate 2 and the element portion 4 is increased.

Further, the element portion 4 is located between the first fixing portion 451 and the frame 48, is located between the frame spring 488 connecting them, and is located between the first fixing portion 452 and the frame 48, and connects them. It has a frame spring 489 and.

Further, the element unit 4 is located between the frame 48 and the movable detection electrode 441A, and is located between the connection spring 40A connecting them and the frame 48 and the movable detection electrode 441B, and is a connecting spring connecting them. It has 40B and. The connection spring 40A supports the movable detection electrode 441A together with the detection spring 46A, and the connection spring 40B supports the movable detection electrode 441B together with the detection spring 46B. Therefore, the movable detection electrodes 441A and 441B can be supported in a stable posture, and unnecessary vibration (spurious) of the movable detection electrodes 441A and 441B can be reduced.

In the drive vibration mode, the connection springs 40A and 40B are elastically deformed to allow vibration of the movable bodies 4A and 4B composed of the movable detection electrodes 441A and 441B and the movable drive electrodes 411A and 411B. Then, the connection springs 40A and 40B and the frame springs 488 and 489 are elastically deformed, and the frame 48 rotates around the center O, so that the movable detection electrodes 441A and 441B are allowed to vibrate in the Y-axis direction.

Further, the element unit 4 has monitor units 49A and 49B for detecting the vibration state of the movable drive electrodes 411A and 411B in the drive vibration mode. The monitor unit 49A is arranged on the movable detection electrode 441A, and has a movable monitor electrode 491A having a plurality of electrode fingers arranged in a comb-tooth shape and a movable monitor electrode 491A having a plurality of electrode fingers arranged in a comb-tooth shape. It has fixed monitor electrodes 492A, 493A, which are alternately arranged with a gap from the electrode finger of the above. The fixed monitor electrode 492A is located on the positive side in the X-axis direction with respect to the movable monitor electrode 491A, and the fixed monitor electrode 493A is located on the negative side in the X-axis direction with respect to the movable monitor electrode 491A.

Similarly, the monitor unit 49B is movable by having a movable monitor electrode 491B arranged in a movable detection electrode 441B and having a plurality of electrode fingers arranged in a comb-tooth shape and a plurality of electrode fingers arranged in a comb-tooth shape. It has fixed monitor electrodes 492B and 493B which are alternately arranged with a gap from the electrode finger of the monitor electrode 491B. The fixed monitor electrode 492B is located on the negative side in the X-axis direction with respect to the movable monitor electrode 491B, and the fixed monitor electrode 493B is located on the positive side in the X-axis direction with respect to the movable monitor electrode 491B.

These fixed monitor electrodes 492A, 493A, 492B, and 493B are respectively bonded to the upper surface of the mount 225 and fixed to the substrate 2. Further, the movable monitor electrodes 491A and 491B are electrically connected to the wiring 73, respectively, the fixed monitor electrodes 492A and 492B are electrically connected to the wiring 77, respectively, and the fixed monitor electrodes 493A and 493B are respectively. , Electrically connected to the wiring 78. Further, the wirings 77 and 78 are connected to a QV amplifier (charge-voltage conversion circuit), respectively. When the angular velocity sensor 1 is driven, a capacitance Cc is formed between the movable monitor electrode 491A and the fixed monitor electrode 492A and between the movable monitor electrode 491B and the fixed monitor electrode 492B, and the movable monitor electrode 491A and the fixed monitor electrode 493A are formed. A capacitance Cd is formed between the movable monitor electrode 491B and the fixed monitor electrode 493B.

As described above, in the drive vibration mode, since the movable detection electrodes 441A and 441B vibrate in the X-axis direction, the gap between the movable monitor electrode 491A and the fixed monitor electrodes 492A and 493A and the movable monitor electrode 491B and the fixed monitor electrode 492B, The gap with 493B changes, and the capacitances Cc and Cd change accordingly. Therefore, it is possible to detect the vibration state (particularly the amplitude in the X-axis direction) of the movable bodies 4A and 4B based on the changes in the capacitances Cc and Cd.

In the drive vibration mode, the capacitance Cd decreases as the capacitance Cc increases, and conversely, the capacitance Cd increases as the capacitance Cc decreases. Therefore, the detection signal (signal corresponding to the magnitude of the capacitance Cc) obtained from the QV amplifier connected to the wiring 77 and the detection signal (the magnitude of the capacitance Cd) obtained from the QV amplifier connected to the wiring 78. Noise can be canceled by performing differential calculation (subtraction processing: Cc-Cd) with the corresponding signal), and the vibration state of the movable bodies 4A and 4B can be detected more accurately.

The vibration state (amplitude) of the movable bodies 4A and 4B detected by the outputs from the monitor units 49A and 49B is fed back to the drive circuit that applies the voltage V2 to the movable bodies 4A and 4B. The drive circuit changes the frequency and duty ratio of the voltage V2 so that the amplitudes of the movable bodies 4A and 4B become the target values. As a result, the movable bodies 4A and 4B can be vibrated with a predetermined amplitude more reliably, and the detection accuracy of the angular velocity ωz is improved.

As described above, the angular velocity sensor 1 according to the first embodiment has the following features.
The distance G1 between the first surface 445 of the detection unit 44B (fixed detection electrode 443B) and the detection spring 46B in the X-axis direction is the X-axis between the second surface 446 of the detection unit 44B (fixed detection electrode 443B) and the detection spring 46B. Greater than the direction spacing G2. That is, in the X-axis direction, the second surface 446 is closer to the detection spring 46B than the first surface 445. Further, the folded portion 461 of the detection spring 46B is provided at a large distance from each other on the end portion side of the longitudinal shape opposite to the folded portion 461 of the detection spring 46B. As a result, the detection unit 44B (fixed detection electrode 443B) can be arranged closer to the folded portion 461 of the detection spring 46B whose displacement amount is smaller than that of the detection unit 44B (fixed detection electrode 443B). Then, the detection unit 44B (fixed detection electrode 443B) is largely separated from the end portion of the longitudinal shape opposite to the folded portion 461 of the detection spring 46B having a large displacement with respect to the detection unit 44B (fixed detection electrode 443B). This makes it easier to displace the detection spring 46B. Therefore, the movable detection electrode 441B can be largely displaced, and the detection sensitivity can be improved. Therefore, it is possible to obtain the angular velocity sensor 1 in which the decrease in the detection sensitivity is reduced even if the size is reduced.

Further, the detection spring 46B has a smaller region overlapping with the second surface 446 than a region overlapping with the first surface 445 in a plan view in the first direction (X-axis direction). That is, since the region of the first surface 445 that is largely separated from the detection spring 46B of the fixed detection electrode 443B is provided wider than the region of the second surface 446 that is close to the detection spring 46B, the displacement width of the detection spring 46B The decrease can be suppressed. Therefore, it is possible to obtain the angular velocity sensor 1 that reduces the decrease in detection sensitivity even if the size is reduced.

[Second Embodiment]
Next, the angular velocity sensor 1a according to the second embodiment of the present invention will be described with reference to FIG. 8A. FIG. 8A is a plan view showing a part of the detection unit included in the angular velocity sensor according to the second embodiment of the present invention. Note that FIG. 8A corresponds to part B in FIG.

The angular velocity sensor 1a according to the present embodiment is the same as the angular velocity sensor 1 according to the first embodiment described above, except that the configurations of the fixed detection electrodes 443A and 443B of the detection units 44A and 44B are mainly different. ..

In the following description, the angular velocity sensor 1a of the second embodiment will be described mainly on the differences from the above-described embodiment, and the description of the same matters will be omitted. Further, in FIG. 8A, the same reference numerals are given to the same configurations as those of the above-described embodiment.

In the detection units 44A and 44B of the angular velocity sensor 1a according to the second embodiment, the detection unit 44B will be described as an example. As shown in FIG. 8A, the fixed detection electrode 443B faces the detection spring 46B and is provided along the direction intersecting the detection spring 46B with the first surface 445a of the detection unit 44B (fixed detection electrode 443B). It has a second surface 446 of a detection unit 44B (fixed detection electrode 443B) provided on the center side of the movable detection electrode 441B from the first surface 445a. The distance G3 in the X-axis direction between the first surface 445a of the detection unit 44B (fixed detection electrode 443B) and the detection spring 46B increases as the distance from the folded portion 461 increases. In other words, the distance G3 in the X-axis direction between the first surface 445a and the detection spring 46B increases as it approaches the end 54 of the movable detection electrode 441B. Therefore, the distance G3 in the X-axis direction between the first surface 445a of the detection unit 44B (fixed detection electrode 443B) and the detection spring 46B is set between the second surface 446 of the detection unit 44B (fixed detection electrode 443B) and the detection spring 46B. It is larger than the distance G4 in the X-axis direction. That is, they are provided at a large distance from each other on the end portion side of the longitudinal shape opposite to the folded portion 461 of the detection spring 46B than the folded portion 461 of the detection spring 46B. As a result, the fixed detection electrode 443B can be arranged close to the folded-back portion 461 of the detection spring 46B whose displacement amount is smaller than that of the fixed detection electrode 443B. Then, the fixed detection electrode 443B can be largely separated from the end side of the longitudinal shape opposite to the folded portion 461 of the detection spring 46B having a large displacement with respect to the fixed detection electrode 443B, and the detection spring 46B is further displaced. It can be facilitated. Therefore, since the movable detection electrode 441B can be largely displaced, the detection sensitivity can be improved.

Further, in the above-described embodiment, the first surface 445 of the detection unit 44B (fixed detection electrode 443B) is continuously inclined in a direction away from the detection spring 46B from the folded portion 461 of the detection spring 46B toward the end portion. However, if they are separated from each other, the present invention is not limited to this, and for example, the angular velocity sensor 1b as a modification of the second embodiment is of the detection unit 44B (fixed detection electrode 443B) as shown in FIG. 8B. The first surface 445b may be composed of a plurality of surfaces 445c, 445d, 445e and may be inclined stepwise with respect to the detection spring 46B.

In this embodiment, as in the first embodiment, referring to FIG. 3, at both ends of the detection unit 44B in the Y-axis direction, the ends in the −Y axis direction and the ends in the −X axis direction. As an example, the detection unit 44B at the end in the −Y axis direction, the end in the + X axis direction, the detection unit 44B at the end in the + Y axis direction, both ends in the X axis direction, and the detection unit 44A. Both ends in the Y-axis direction and both ends in the X-axis direction have the same configuration.

The angular velocity sensors 1a and 1b of the second embodiment have been described above. Even with such a second embodiment, the same effect as that of the first embodiment described above can be exhibited.

[Third Embodiment]
The angular velocity sensor 1c according to the third embodiment of the present invention will be described with reference to FIG. 9A. FIG. 9A is a plan view showing a part of the detection unit included in the angular velocity sensor according to the third embodiment of the present invention.

The angular velocity sensor 1c according to the present embodiment is the same as the angular velocity sensor 1 according to the first embodiment described above, except that the configurations of the detection units 44A and 44B are mainly different.

In the following description, the angular velocity sensor 1c of the third embodiment will be described mainly on the differences from the above-described embodiment, and the description of the same matters will be omitted. Further, in FIG. 9A, the same reference numerals are given to the same configurations as those of the above-described embodiment.

In the above-described embodiment, the fixed detection electrode 443B is provided between the detection spring 46B and the movable detection electrode 441B, but in the present embodiment, as shown in FIG. 9A, the detection spring 46B and the fixed detection electrode 443B are provided. A movable detection electrode 441B is provided between the two.

The movable detection electrode 441B is arranged on the detection spring 46B side of the fixed detection electrode 443B in the X-axis direction, and is the first surface 445 and the first surface of the detection unit 44B (movable detection electrode 441B) facing the detection spring 46B. It has a second surface 446 of a detection unit 44B (movable detection electrode 441B) provided on the center side of the movable detection electrode 441B from 445. The distance G5 between the first surface 445 of the detection unit 44B (movable detection electrode 441B) and the detection spring 46B in the X-axis direction is the Y-axis direction of the second surface 446 of the detection unit 44B (movable detection electrode 441B) and the detection spring 46B. It is larger than the distance G6 in the X-axis direction from the extension line of. Further, in a plan view from the first direction (X-axis direction), the folded-back portion 461 overlaps with the first surface 445 of the detection unit 44B (movable detection electrode 441B) and does not overlap with the second surface 446. Therefore, the detection spring 46B and the movable detection electrode 441B can be arranged closer to each other. Therefore, it is possible to reduce the decrease in detection sensitivity and obtain a miniaturized angular velocity sensor 1c.

Further, in the above-described embodiment, the first surface 445 of the detection unit 44B (movable detection electrode 441B) is provided parallel to the detection spring 46B from the folded portion 461 to the end portion 54a of the detection spring 46B in the X-axis direction. The spacing G5 is always equal, but is not limited to this as long as it is separated from the folded portion 461 of the detection spring 46B.

For example, in the angular velocity sensor 1d as a modification of the third embodiment, as shown in FIG. 9B, the distance G7 between the first surface 445f of the detection unit 44B (movable detection electrode 441B) and the detection spring 46B in the X-axis direction is set. , The closer to the folded portion 461, the larger the size. In other words, the distance G7 between the first surface 445f and the detection spring 46B in the X-axis direction becomes larger as the distance from the end portion 54a of the movable detection electrode 441B increases. Therefore, from the distance G7 between the first surface 445f of the detection unit 44B (movable detection electrode 441B) and the detection spring 46B in the X-axis direction, the second surface 446 of the detection unit 44B (movable detection electrode 441B) and the detection spring 46B The distance G8 in the X-axis direction is smaller. Therefore, similarly to the third embodiment, the detection spring 46B and the movable detection electrode 441B can be arranged closer to each other.

Further, in the above-described embodiment, the first surface 445f of the detection unit (detection electrode) is continuously inclined in a direction away from the detection spring 46B from the end portion of the detection spring 46B toward the folded portion 461. The angular velocity sensor 1e as a modification of the third embodiment is not limited to this as long as it is separated from each other, for example, as shown in FIG. 9C, the first surface of the detection unit 44B (movable detection electrode 441B). 445 g may be inclined stepwise with respect to the detection spring 46B.

The angular velocity sensors 1c, 1d, 1e of the third embodiment have been described above. Even with such a third embodiment, the same effect as that of the above-mentioned first embodiment can be exhibited. Further, since the distance between the detection spring 46B and the detection unit 44B (movable detection electrode 441B) in the X-axis direction can be greatly separated including the folded portion 461 of the detection spring 46B, the movable detection electrode can be more reliably separated. The 441B can be greatly displaced. Therefore, it is possible to obtain the angular velocity sensors 1c, 1d, 1e that reduce the decrease in the detection sensitivity even if the size is reduced.

[Fourth Embodiment]
Next, the angular velocity sensor 1f according to the fourth embodiment of the present invention will be described with reference to FIGS. 10 and 11A. FIG. 10 is a plan view showing an element portion of the angular velocity sensor according to the fourth embodiment of the present invention. FIG. 11A is an enlarged plan view of part C in FIG.

The angular velocity sensor 1f according to the present embodiment is the same as the angular velocity sensor 1 according to the first embodiment described above, except that the configurations of the drive units 41A and 41B are mainly different.

In the following description, the angular velocity sensor 1f of the fourth embodiment will be described mainly on the differences from the above-described embodiment, and the description of the same matters will be omitted. Further, in FIGS. 10 and 11A, the same reference numerals are given to the same configurations as those in the above-described embodiment.

In the drive units 41A and 41B of the angular velocity sensor 1f according to the fourth embodiment, the drive unit 41B will be described as an example. As shown in FIGS. 10 and 11A, the drive unit 41B includes a movable drive electrode 411B having a plurality of movable drive electrode fingers 61 arranged in a comb-like shape, and a plurality of fixed drive electrodes arranged in a comb-like shape. It has a movable drive electrode finger 61 having a finger 63 and a movable drive electrode 411B, and a fixed drive electrode 412B having gaps and arranged alternately.

The fixed drive electrode 412B has a plurality of fixed drive electrode fingers 63 extending along the first direction (X-axis direction). Further, the movable drive electrode 411B is provided so as to extend along the Y-axis direction from the second trunk portion 60 and the second trunk portion 60 along the X-axis direction, and the fixed drive electrode finger. It has a plurality of movable drive electrode fingers 61 arranged at intervals in the Y-axis direction from 63, and a second connecting portion 62 connected to the second trunk portion 60.

The drive spring 43B has a longitudinal shape extending along the second direction (Y-axis direction) and a folded portion 431 on the center side of the movable drive electrode 411B, and is elastically deformed in the first direction (X-axis direction). can do. Further, the end portion of the drive spring 43B having a longitudinal shape opposite to the folded portion 431 is connected to the second fixing portion 421B and the second connecting portion 62 of the movable drive electrode 411B, respectively.

The fixed drive electrode 412B has a first surface 415 of the drive unit 41B (fixed drive electrode 412B) facing the drive spring 43B and a drive unit 41B (fixed drive) provided on the center side of the movable drive electrode 411B from the first surface 415. It has a second surface 416 of the electrode 412B). The distance G9 between the first surface 415 of the drive unit 41B (fixed drive electrode 412B) and the drive spring 43B in the X-axis direction is the X axis between the second surface 416 of the drive unit 41B (fixed drive electrode 412B) and the drive spring 43B. Greater than the directional spacing G10. That is, they are provided at a large distance from each other on the end portion side of the longitudinal shape opposite to the folded portion 431 of the drive spring 43B than the folded portion 431 of the drive spring 43B. As a result, the fixed drive electrode 412B can be arranged closer to the folded-back portion 431 of the drive spring 43B whose displacement amount is smaller than that of the fixed drive electrode 412B. Then, the fixed drive electrode 412B can be largely separated from the end side of the longitudinal shape opposite to the folded portion 431 of the drive spring 43B having a large displacement with respect to the fixed drive electrode 412B, and the drive spring 43B is further displaced. It can be facilitated. Therefore, since the movable drive electrode 411B can be largely displaced, the movable detection electrode 441B can be largely displaced, and the detection sensitivity can be further improved. Therefore, it is possible to obtain the angular velocity sensor 1f in which the decrease in the detection sensitivity is reduced even if the size is reduced.

Further, in the above-described embodiment, the first surface 415 of the drive unit 41B (fixed drive electrode 412B) is provided parallel to the drive spring 43B from the folded portion 431 to the end of the drive spring 43B, and is spaced in the X-axis direction. G9 is always equal, but is not limited to this as long as it is separated from the folded portion 431 of the drive spring 43B.

For example, in the angular velocity sensor 1g as a modification of the fourth embodiment, as shown in FIG. 11B, the fixed drive electrode 412B faces the drive spring 43B, and the drive is provided along the direction intersecting the drive spring 43B. The portion 41B (fixed drive electrode 412B) has a first surface 415a and a second surface 416 provided on the center side of the movable drive electrode 411B from the first surface 415a. The distance G11 in the X-axis direction between the first surface 415a of the drive unit 41B (fixed drive electrode 412B) and the drive spring 43B increases as the distance from the folded portion 431 increases. The distance G11 between the first surface 415a of the drive unit 41B (fixed drive electrode 412B) and the drive spring 43B in the X-axis direction is the X axis between the second surface 416 of the drive unit 41B (fixed drive electrode 412B) and the drive spring 43B. Greater than the directional spacing G12. That is, they are provided at a large distance from each other on the end portion side of the longitudinal shape opposite to the folded portion 431 of the drive spring 43B than the folded portion 431 of the drive spring 43B. As a result, the fixed drive electrode 412B can be arranged close to the folded-back portion 431 of the drive spring 43B whose displacement amount is smaller than that of the fixed drive electrode 412B. Then, the fixed drive electrode 412B can be largely separated from the end side of the longitudinal shape opposite to the folded portion 431 of the drive spring 43B having a large displacement with respect to the fixed drive electrode 412B, and the drive spring 43B is further displaced. It can be facilitated. Therefore, since the movable drive electrode 411B can be largely displaced, the movable detection electrode 441B can be largely displaced, and the detection sensitivity can be further improved.

Further, in the above-described embodiment, the first surface 415 of the drive unit 41B (fixed drive electrode 412B) is continuously inclined in a direction away from the drive spring 43B from the end portion of the drive spring 43B toward the folded portion 431. However, if they are separated from each other, the present invention is not limited to this, and for example, the angular velocity sensor 1h as a modification of the fourth embodiment is of the drive unit 41B (fixed drive electrode 412B) as shown in FIG. 11C. The first surface 415b may be inclined stepwise with respect to the drive spring 43B.

In this embodiment, as shown in FIG. 10, at both ends of the drive unit 41B in the Y-axis direction, the ends in the −Y-axis direction are taken as an example and described, but the ends in the + Y-axis direction of the drive unit 41B have been described. The same configuration is used at both ends of the unit and the drive unit 41A in the Y-axis direction.

The angular velocity sensors 1f, 1g, 1h of the fourth embodiment have been described above. Even with such a fourth embodiment, the same effect as that of the first embodiment described above can be exhibited.

<Inertial measurement unit>
Next, an inertial measurement unit (IMU: Inertial Measurement Unit) 2000 to which the angular velocity sensor 1 according to the embodiment of the present invention is applied will be described with reference to FIGS. 12 and 13. FIG. 12 is an exploded perspective view showing a schematic configuration of the inertial measurement unit. FIG. 13 is a perspective view showing an arrangement example of the inertial sensor element of the inertial measurement unit.

The inertial measurement unit 2000 shown in FIG. 12 is a device that detects the posture and behavior (inertial momentum) of a moving body (mounted device) such as an automobile or a robot. The inertial measurement unit 2000 functions as a so-called 6-axis motion sensor including a 3-axis acceleration sensor and a 3-axis angular velocity sensor.

The inertial measurement unit 2000 is a rectangular parallelepiped having a substantially square plane shape. Further, screw holes 2110 as fixing portions are formed in the vicinity of two vertices located in the diagonal direction of the square. The inertial measurement unit 2000 can be fixed to the mounted surface of a mounted body such as an automobile by passing two screws through the two screw holes 2110. By selecting parts and changing the design, it is possible to reduce the size to a size that can be mounted on a smartphone or a digital camera, for example.

The inertial measurement unit 2000 has an outer case 2100, a joining member 2200, and a sensor module 2300, and has a configuration in which the sensor module 2300 is inserted by interposing the joining member 2200 inside the outer case 2100. There is. Further, the sensor module 2300 has an inner case 2310 and a substrate 2320.

The outer shape of the outer case 2100 is a rectangular parallelepiped whose plane shape is substantially square, similar to the overall shape of the inertial measurement unit 2000, and screw holes 2110 are formed in the vicinity of two vertices located in the diagonal direction of the square. There is. Further, the outer case 2100 has a box shape, and the sensor module 2300 is housed inside the outer case 2100.

The inner case 2310 is a member that supports the substrate 2320, and has a shape that fits inside the outer case 2100. Further, the inner case 2310 is formed with a recess 2311 for preventing contact with the substrate 2320 and an opening 2312 for exposing the connector 2330 described later. Such an inner case 2310 is joined to the outer case 2100 via a joining member 2200 (for example, a packing impregnated with an adhesive). Further, the substrate 2320 is bonded to the lower surface of the inner case 2310 via an adhesive.

As shown in FIG. 13, on the upper surface of the substrate 2320, a connector 2330, an angular velocity sensor 2340z for detecting an angular velocity around the Z axis, an acceleration sensor 2350 for detecting acceleration in each axis of the X axis, the Y axis, and the Z axis, etc. Is implemented. Further, on the side surface of the substrate 2320, an angular velocity sensor 2340x for detecting the angular velocity around the X axis and an angular velocity sensor 2340y for detecting the angular velocity around the Y axis are mounted. The angular velocity sensors 2340z, 2340x, and 2340y are not particularly limited, and a vibration gyro sensor using the Coriolis force, such as the above-mentioned angular velocity sensor 1, can be used. The acceleration sensor 2350 is not particularly limited, and for example, a capacitance type acceleration sensor can be used.

Further, a control IC 2360 as a control circuit is mounted on the lower surface of the substrate 2320. The control IC 2360 is an MCU (Micro Controller Unit), which has a built-in storage unit including a non-volatile memory, an A / D converter, and the like, and controls each unit of the inertial measurement unit 2000. The storage unit stores a program that defines the order and contents for detecting acceleration and angular velocity, a program that digitizes the detection data and incorporates it into packet data, and accompanying data. In addition, a plurality of other electronic components are mounted on the substrate 2320.

The inertial measurement unit 2000 has been described above. Such an inertial measurement unit 2000 includes an angular velocity sensor 2340z, 2340x, 2340y and an acceleration sensor 2350 as the angular velocity sensor 1, a control IC 2360 (control circuit) that controls the drive of each of these sensors 2340z, 2340x, 2340y, and 2350. Includes. As a result, the effect of the above-mentioned angular velocity sensor 1 can be enjoyed, and a highly reliable inertial measurement unit 2000 can be obtained.

<Mobile positioning device>
Next, the mobile positioning device 3000 to which the angular velocity sensor 1 according to the embodiment of the present invention is applied will be described with reference to FIGS. 14 and 15. FIG. 14 is a block diagram showing the entire system of the mobile positioning device. FIG. 15 is a diagram schematically showing the operation of the mobile positioning device.

The mobile body positioning device 3000 shown in FIG. 14 is a device that is attached to a moving body and used to perform positioning of the moving body. The moving body is not particularly limited, and may be any of a bicycle, a car (including a four-wheeled vehicle and a motorcycle), a train, an airplane, a ship, and the like, but in the present embodiment, it will be described as a four-wheeled vehicle. The mobile positioning device 3000 includes an inertial measurement unit 3100 (IMU), an arithmetic processing unit 3200, a GPS receiving unit 3300, a receiving antenna 3400, a position information acquisition unit 3500, a position synthesis unit 3600, and a processing unit 3700. , A communication unit 3800, and a display unit 3900. As the inertial measurement unit 3100, for example, the above-mentioned inertial measurement unit 2000 can be used.

Further, the inertial measurement unit 3100 has a 3-axis accelerometer 3110 and a 3-axis angular velocity sensor 3120. The arithmetic processing unit 3200 as an arithmetic unit receives acceleration data from the acceleration sensor 3110 and angular velocity data from the angular velocity sensor 3120, performs inertial navigation arithmetic processing on these data, and performs inertial navigation positioning data (acceleration of a moving body and acceleration of a moving body). Data including posture) is output.

Further, the GPS receiving unit 3300 as a receiving unit receives a signal (GPS carrier wave, a satellite signal on which position information is superimposed) from a GPS satellite via a receiving antenna 3400. Further, the position information acquisition unit 3500 as an acquisition unit is a GPS indicating the position (latitude, longitude, altitude), speed, and direction of the mobile body positioning device 3000 (mobile body) based on the signal received by the GPS reception unit 3300. Output positioning data. The GPS positioning data also includes status data indicating a reception status, reception time, and the like.

The position synthesis unit 3600 as a calculation unit is based on the inertial navigation positioning data as inertial data output from the arithmetic processing unit 3200 and the GPS positioning data output from the position information acquisition unit 3500, and the position of the moving body, specifically. Calculates the position of the moving object on the ground. For example, even if the position of the moving body included in the GPS positioning data is the same, as shown in FIG. 15, if the posture of the moving body is different due to the influence of the inclination of the ground or the like, the position of the moving body is different. It means that the moving body is running. Therefore, the accurate position of the moving object cannot be calculated only from the GPS positioning data. Therefore, the position synthesizing unit 3600 calculates which position on the ground the moving body is traveling by using the inertial navigation positioning data (particularly, the data regarding the attitude of the moving body). The determination can be made relatively easily by an operation using a trigonometric function (slope θ with respect to the vertical direction).

The position data output from the position synthesis unit 3600 is subjected to predetermined processing by the processing unit 3700, and is displayed on the display unit 3900 as a positioning result. Further, the position data may be transmitted to an external device by the communication unit 3800.

The mobile positioning device 3000 has been described above. As described above, such a mobile positioning device 3000 includes an inertial measurement unit 3100, a GPS receiving unit 3300 (receiving unit) that receives a satellite signal on which position information is superimposed from a positioning satellite, and a received satellite signal. Based on the position information acquisition unit 3500 (acquisition unit) that acquires the position information of the GPS receiver unit 3300 and the inertial navigation positioning data (inertial data) output from the inertial measurement unit 3100, the posture of the moving object is determined. It includes a calculation processing unit 3200 (calculation unit) for calculation and a position synthesis unit 3600 (calculation unit) for calculating the position of a moving body by correcting position information based on the calculated posture. As a result, the effect of the above-mentioned angular velocity sensor 1 (inertial measurement unit 2000) can be enjoyed, and a highly reliable mobile positioning device 3000 can be obtained.

<Portable electronic devices>
Next, a portable electronic device to which the angular velocity sensor 1 according to the embodiment of the present invention is applied will be described with reference to FIGS. 16 and 17. FIG. 16 is a plan view schematically showing the configuration of a portable electronic device. FIG. 17 is a functional block diagram showing a schematic configuration of a portable electronic device.
Hereinafter, a wristwatch-type activity meter (active tracker) will be described as an example of a portable electronic device.

As shown in FIG. 16, the wristwatch-type activity meter (active tracker) wrist device 1000 is attached to a part (subject) such as a user's wrist by a band 1032, 1037 or the like, and displays a digital display unit 150. It is possible to prepare and wirelessly communicate. The above-mentioned angular velocity sensor 1 according to the present invention is incorporated in the wrist device 1000 as a sensor for measuring the angular velocity.

The wrist device 1000 is housed in a case 1030 in which at least the angular velocity sensor 1 is housed, a processing unit 100 (see FIG. 17) that is housed in the case 1030 and processes output data from the angular velocity sensor 1, and a case 1030. The display unit 150 and the translucent cover 1071 that closes the opening of the case 1030 are provided. A bezel 1078 is provided on the outside of the case 1030 of the translucent cover 1071 of the case 1030. A plurality of operation buttons 1080 and 1081 are provided on the side surface of the case 1030. Hereinafter, a more detailed description will be given with reference to FIG.

The acceleration sensor 113 detects accelerations in the three-axis directions that intersect each other (ideally orthogonal to each other), and outputs a signal (acceleration signal) according to the magnitude and direction of the detected three-axis acceleration. Further, the angular velocity sensor 114 as the angular velocity sensor 1 detects each angular velocity in the triaxial directions intersecting (ideally orthogonal to each other), and signals according to the magnitude and direction of the detected triaxial angular velocity (angular velocity). Signal) is output.

In the liquid crystal display (LCD) constituting the display unit 150, for example, the position information using the GPS sensor 110 or the geomagnetic sensor 111, the movement amount, and the angular velocity sensor 114 included in the angular velocity sensor 1 are used according to various detection modes. Exercise information such as the amount of exercise that has been performed, biological information such as the pulse rate using the pulse sensor 115, or time information such as the current time is displayed. It is also possible to display the environmental temperature using the temperature sensor 116.

The communication unit 170 performs various controls for establishing communication between a user terminal and an information terminal (not shown). The communication unit 170 is, for example, Bluetooth (registered trademark) (BTLE: including Bluetooth Low Energy), Wi-Fi (registered trademark) (Wireless Fidelity), Zigbee (registered trademark), NFC (Near field communication), ANT + (registered). A transmitter / receiver and a communication unit 170 corresponding to a short-range wireless communication standard such as (trademark) are configured to include a connector corresponding to a communication bus standard such as USB (Universal Serial Bus).

The processing unit 100 (processor) is composed of, for example, an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), or the like. The processing unit 100 executes various processes based on the program stored in the storage unit 140 and the signal input from the operation unit 120 (for example, the operation buttons 1080 and 1081). The processing by the processing unit 100 includes data processing for each output signal of the GPS sensor 110, the geomagnetic sensor 111, the pressure sensor 112, the acceleration sensor 113, the angular velocity sensor 114, the pulse sensor 115, the temperature sensor 116, and the measuring unit 130, and the display unit 150. Display processing to display an image on the sensor, sound output processing to output sound to the sound output unit 160, communication processing to communicate with an information terminal via the communication unit 170, power control processing to supply power from the battery 180 to each unit, etc. Is included.

Such a wrist device 1000 can have at least the following functions.
1. 1. Distance: The total distance from the start of measurement is measured by the high-precision GPS function.
2. 2. Pace: Displays the current running pace from the pace distance measurement.
3. 3. Average speed: Calculates and displays the average speed from the start of running to the present.
4. Elevation: The GPS function measures and displays the altitude.
5. Stride: Measures and displays stride length even in tunnels where GPS radio waves do not reach.
6. Pitch: Measures and displays the number of steps per minute.
7. Heart rate: The heart rate is measured and displayed by the pulse sensor.
8. Gradient: Measures and displays the slope of the ground during training and trail running in the mountains.
9. Auto lap: Automatically measures laps when running a preset fixed distance or a certain period of time.
10. Exercise calories burned: Shows calories burned.
11. Steps: Displays the total number of steps since the start of exercise.

The wrist device 1000 can be widely applied to a running watch, a runner's watch, a runner's watch compatible with multi-sports such as dual sports and a triathlon, an outdoor watch, and a satellite positioning system, for example, a GPS watch equipped with GPS.

Further, although the above description has been made using GPS (Global Positioning System) as the satellite positioning system, another Global Navigation Satellite System (GNSS) may be used. For example, one or more of satellite positioning systems such as EGNOS (European Geostationary-Satellite Navigation Overlay Service), QZSS (Quasi Zenith Satellite System), GLONASS (GLObal NAvigation Satellite System), GALILO, BeiDou (BeiDou Navigation Satellite System), etc. May be used. Further, as at least one of the satellite positioning systems, a geostationary satellite navigation augmentation system (SBAS: Satellite based Augmentation System) such as WAAS (Wide Area Augmentation System) or EGNOS (European Geostationary Satellite Navigation Overlay Service) may be used. ..

Since such a portable electronic device includes an angular velocity sensor 1 and a processing unit 100, it has excellent reliability.

<Electronic equipment>
Next, an electronic device to which the angular velocity sensor 1 according to the embodiment of the present invention is applied will be described with reference to FIGS. 18 to 20.

First, with reference to FIG. 18, a mobile personal computer 1100, which is an example of an electronic device, will be described. FIG. 18 is a perspective view schematically showing the configuration of a mobile personal computer which is an example of an electronic device.

In this figure, the personal computer 1100 is composed of a main body portion 1104 provided with a keyboard 1102 and a display unit 1106 provided with a display unit 1108, and the display unit 1106 rotates with respect to the main body portion 1104 via a hinge structure portion. It is movably supported. Such a personal computer 1100 has a built-in angular velocity sensor 1, and the control unit 1110 can perform control such as attitude control based on the detection data of the angular velocity sensor 1.

FIG. 19 is a perspective view schematically showing the configuration of a smartphone (portable telephone) which is an example of an electronic device.

In this figure, the smartphone 1200 incorporates the above-mentioned angular velocity sensor 1. The detection data (angular velocity data) detected by the angular velocity sensor 1 is transmitted to the control unit 1201 of the smartphone 1200. The control unit 1201 includes a CPU (Central Processing Unit), recognizes the posture and behavior of the smartphone 1200 from the received detection data, and changes the display image displayed on the display unit 1208. , You can make a warning sound, a sound effect, or drive a vibration motor to vibrate the main body. In other words, it is possible to perform motion sensing of the smartphone 1200 and change the display content, generate sound, vibration, or the like from the measured posture and behavior. In particular, when running a game application, you can experience a sense of reality that is close to reality.

FIG. 20 is a perspective view showing the configuration of a digital steel camera which is an example of an electronic device. It should be noted that this figure also briefly shows the connection with an external device.

A display unit 1310 is provided on the back surface of the case (body) 1302 of the digital still camera 1300 to display based on an image pickup signal by a CCD, and the display unit 1310 displays a subject as an electronic image. It also functions as a finder. Further, on the front side (back side in the drawing) of the case 1302, a light receiving unit 1304 including an optical lens (imaging optical system), a CCD, and the like is provided.

When the photographer confirms the subject image displayed on the display unit 1310 and presses the shutter button 1306, the image pickup signal of the CCD at that time is transferred and stored in the memory 1308. Further, in the digital still camera 1300, a video signal output terminal 1312 and an input / output terminal 1314 for data communication are provided on the side surface of the case 1302. Then, as shown in the figure, a television monitor 1430 is connected to the video signal output terminal 1312, and a personal computer 1440 is connected to the input / output terminal 1314 for data communication, respectively, as needed. Further, the image pickup signal stored in the memory 1308 is output to the television monitor 1430 or the personal computer 1440 by a predetermined operation. Such a digital still camera 1300 has a built-in angular velocity sensor 1, and the control unit 1316 can perform control such as image stabilization based on the detection data of the angular velocity sensor 1.

Since such an electronic device includes an angular velocity sensor 1 and control units 1110, 1201, 1316, it has excellent reliability.

In addition to the personal computer 1100 in FIG. 18, the smartphone (portable phone) 1200 in FIG. 19, and the digital still camera 1300 in FIG. 20, electronic devices including the angular speed sensor 1 include, for example, a tablet terminal, a clock, and an inkjet type. Discharger (for example, inkjet printer), laptop personal computer, TV, video camera, video tape recorder, car navigation device, pager, electronic notebook (including communication function), electronic dictionary, calculator, electronic game equipment, word processor, Workstations, videophones, security TV monitors, electronic binoculars, POS terminals, medical equipment (eg electronic thermometers, blood pressure monitors, blood glucose meters, electrocardiogram measuring devices, ultrasonic diagnostic devices, electronic endoscopes), fish finder, various types Measuring equipment, instruments (for example, vehicles, aircraft, marine instruments), flight simulators, seismometers, pedometers, tilt meters, vibration meters that measure the vibration of hard disks, attitude control devices for flying objects such as robots and drones, It can be applied to control equipment and the like used for inertial navigation for automatic driving of automobiles.

<Mobile>
Next, a moving body to which the angular velocity sensor 1 according to the embodiment of the present invention is applied will be described with reference to FIG. 21. FIG. 21 is a perspective view showing the configuration of an automobile which is an example of a moving body.

As shown in FIG. 21, the automobile 1500 as a moving body has a built-in angular velocity sensor 1, and for example, the angular velocity sensor 1 can detect the posture of the vehicle body 1501. The detection signal of the angular speed sensor 1 is supplied to the vehicle body attitude control device 1502 as an attitude control unit for controlling the attitude of the vehicle body, and the vehicle body attitude control device 1502 detects the attitude of the vehicle body 1501 based on the signal, and the detection result. Depending on the situation, the hardness of the suspension can be controlled, and the brakes of the individual wheels 1503 can be controlled. In addition, the angular speed sensor 1 also includes keyless entry, immobilizer, car navigation system, car air conditioner, antilock braking system (ABS: Antilock Brake System), airbag, and tire pressure monitoring system (TPMS: Tire Pressure Monitoring). It can be widely applied to electronic control units (ECUs) such as System), engine control, and battery monitors for hybrid and electric vehicles.

In addition to the above examples, the angular speed sensor 1 applied to a moving body is, for example, posture control of a bipedal walking robot or a train, remote control of a radiocon airplane, a radiocon helicopter, and a drone, or an autonomous type. Used for attitude control of flying objects, attitude control of agricultural machinery (agricultural machinery) or construction machinery (construction machinery), control of rockets, artificial satellites, ships, AGVs (unmanned transport vehicles), legged robots, etc. Can be done. As described above, the angular velocity sensor 1 and each control unit (not shown) are incorporated in realizing the attitude control of various moving bodies.

Since such a moving body includes an angular velocity sensor 1 and a control unit (for example, a vehicle body attitude control device 1502 as an attitude control unit), such a moving body has excellent reliability.

As mentioned above, angular velocity sensors 1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h, inertial measurement unit 2000, mobile positioning device 3000, portable electronic device (1000), electronic device (1100, 1200, 1300). , And the mobile body (1500) have been described based on the illustrated embodiment, but the present invention is not limited thereto, and the configuration of each part may be replaced with an arbitrary configuration having the same function. Can be done. Further, any other constituents may be added to the present invention.

Further, in the above-described embodiment, the X-axis, the Y-axis, and the Z-axis are orthogonal to each other, but if they intersect each other, the present invention is not limited to this, and for example, the X-axis is relative to the normal direction of the YZ plane. The Y-axis may be slightly tilted with respect to the normal direction of the XY plane, or the Z-axis may be slightly tilted with respect to the normal direction of the XY plane. The term "slightly" means the range in which the angular velocity sensors 1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, and 1h can exert their effects, and the specific tilt angle (numerical value) is configured. It depends on such things.

1,1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h ... angular velocity sensor, 2 ... substrate, 21 ... recess, 22,221,222,223,224,225 ... mount, 23, 24, 25, 26 , 27, 28 ... Groove, 3 ... Lid, 31 ... Recess, 32 ... Communication hole, 33 ... Sealing member, 39 ... Glass frit, 4 ... Element, 4A, 4B ... Movable body, 41A, 41B ... Drive 411A, 411B ... Movable drive electrode, 412A, 412B ... Fixed drive electrode, 42A, 42B ... First fixed part, 421A, 421B ... Second fixed part, 43A, 43B ... Drive spring, 431 ... Folded part, 44A, 44B ... Detection unit as a detection electrode, 441A, 441B ... Movable detection electrode as a first detection electrode, 442A, 442B, 443A, 443B ... Fixed detection electrode as a second detection electrode, 445 ... First surface, 446 ... Second Surface, 447 ... 3rd fixed portion, 451, 452 ... 1st fixed portion, 46A, 46B ... Detection spring as spring portion, 461, 462 ... Folded portion, 47A, 47B ... Reverse phase spring, 471A, 471B, ... Spring Main body, 472A, 473A ... Arm, 474A, 475A ... Connection part, 477A, 477B, 478A, 478B ... Beam, 48 ... Frame, 481,482 ... Missing part, 488, 489 ... Frame spring, 49A, 49B ... Monitor part, 491A, 491B ... Movable monitor electrode, 492A, 492B, 493A, 493B ... Fixed monitor electrode, 50 ... First trunk, 51 ... Movable detection electrode finger as first electrode finger, 52 ... First connecting part, 521 ... First Support part 522 ... Second support part, 53 ... Fixed detection electrode finger as second electrode finger, 54 ... End part, 60 ... Second trunk part, 61 ... Movable drive electrode finger, 62 ... Second connecting part, 63 ... Fixed drive electrode finger, 73,74,75,76,77,78 ... Wiring, 1000 ... Wrist device as a portable electronic device, 1100 ... Personal computer, 1200 ... Smartphone (mobile phone), 1300 ... Digital steel camera, 1500 ... Automobile as a moving object, 2000 ... Inertivity measuring device, 3000 ... Mobile positioning device, G1, G2, G3, G4, G5, G6, G7, G8, G9, G10, G11, G12 ... Interval.

Claims (14)

When the three axes orthogonal to each other are the X-axis, Y-axis, and Z-axis,
With the board
An element unit that is supported by the surface of the substrate orthogonal to the Z axis and detects an angular velocity based on a change in capacitance.
A lid bonded to the substrate so as to cover the element portion,
Including
The element part is
A first trunk extending along the Y-axis, and a plurality of first trunks extending in the X-axis direction along the X-axis from the positive edge of the X-axis of the first trunk. The first electrode including the electrode finger and
The support portion connected to the first electrode and
A spring portion connected to the support portion and extending in the Y-axis direction along the Y-axis, and a spring portion.
Including
The first trunk portion includes a first surface adjacent to the spring portion at the negative edge portion of the X axis.
In a plan view from the Z-axis direction along the Z-axis, the distance from the spring portion on one end side of the first surface is different from the distance from the spring portion on the other end side of the first surface. An angular velocity sensor that features that. In claim 1,
In a plan view from the Z-axis direction, the distance from the spring portion on the one end side of the first surface is smaller than the distance from the spring portion on the other end side of the first surface. Angular velocity sensor. In claim 1 or 2,
An angular velocity sensor characterized in that the distance between the first surface and the spring portion increases from one end side to the other end side . In any one of claims 1 to 3,
An angular velocity sensor characterized in that the first surface is stepped in a plan view from the Z-axis direction. In any one of claims 1 to 4,
The angular velocity sensor is characterized in that the spring portion is fixed to the substrate via a folded portion . In any one of claims 1 to 5,
The element part is
A second trunk extending along the Y-axis and extending in the X-axis direction from the negative edge of the second trunk on the X-axis and crossing each other with the plurality of first electrode fingers. An angular velocity sensor comprising a second electrode that includes a plurality of second electrode fingers arranged so as to . In claim 6,
The first electrode is a fixed electrode and is a fixed electrode.
An angular velocity sensor characterized in that the second electrode is a movable electrode . In claim 6,
The first electrode is a movable electrode and is a movable electrode.
An angular velocity sensor characterized in that the second electrode is a fixed electrode . In any one of claims 1 to 8,
The substrate is provided with a first recess on the positive side of the Z axis.
The lid body is provided with a second recess on the minus side of the Z axis.
The angular velocity sensor is characterized in that the element portion is housed in a storage space including the first recess and the second recess . The angular velocity sensor according to any one of claims 1 to 9.
The circuit electrically connected to the angular velocity sensor and
An inertial measurement unit characterized by including. The inertial measurement unit according to claim 10 ,
A receiver that receives satellite signals from positioning satellites,
An acquisition unit that acquires the position information of the reception unit based on the received satellite signal, and an acquisition unit.
A calculation unit that calculates the posture of a moving body based on the inertial data output from the inertial measurement unit.
A calculation unit that calculates the position of the moving body by correcting the position information based on the calculated posture, and
A mobile positioning device characterized by including. The angular velocity sensor according to any one of claims 1 to 9 .
The case where the angular velocity sensor is housed and
A processing unit housed in the case and processing output data from the angular velocity sensor,
The display unit housed in the case and
A portable electronic device characterized by including. The angular velocity sensor according to any one of claims 1 to 9 .
A control unit that controls based on the detection signal output from the angular velocity sensor,
An electronic device characterized by containing. The angular velocity sensor according to any one of claims 1 to 9 .
An attitude control unit that controls the attitude based on the detection signal output from the angular velocity sensor, and
A mobile body characterized by containing.

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