JPH07122579B2 - Display device for azimuth measurement - Google Patents

Description

The present invention relates to an azimuth measuring display device for detecting a horizontal component of geomagnetism or the like and displaying a progress state of orbital movement of a moving body such as an automobile. .

[Conventional technology]

For example, as a method of correcting the amount of magnetization magnetized in a moving body such as an automobile, a method of detecting the amount of magnetization by rotating the moving body once or more is generally known. A conventional example of this type is disclosed in, for example, JP-A-63-32317, which will be described with reference to FIG.

In FIG. 10, reference numeral 1 denotes a magnetic sensor that outputs two signals corresponding to the horizontal component of the applied magnetic field, and the horizontal component of the applied magnetic field is the front-back direction (X-axis direction) and left-right direction (Y) of the moving body. Each component decomposed into two components (in the axial direction) is detected, and each electric signal having a magnitude corresponding to the magnitude of each component is output. Reference numerals 2a and 2b are A / D converters that convert each analog output signal of the magnetic sensor 1 into each digital signal, and 4 indicates the necessity of data for correcting an error in azimuth measurement due to magnetization of the moving body itself. Therefore, it is a correction switch for instructing the magnetization correction mode. Reference numeral 5 is a microcomputer for calculating the traveling direction of the moving body by the outputs of the A / D converters 2a and 2b. When the output signal of the correction switch 4 is inputted, the processing is switched to the magnetization correction processing to confirm the end of the circular movement. The display is controlled to instruct the determination and the orbital movement.
Further, the microcomputer 5 is, as is well known, a CPU 5a,
It is equipped with RAM5b and ROM5c. Reference numeral 13 denotes a display device as a display means for inputting and displaying a display control signal from the microcomputer 5, which is composed of a cathode ray tube (CRT) or the like.

Next, the operation will be described. The analog amounts in the X and Y directions obtained by the magnetic sensor 1 are converted into digital amounts by the A / D converters 2a and 2b, respectively, and the microcomputer 5
Is input to. When the output signal of the correction switch 4 is received, the microcomputer 5 switches from the calculation of the moving direction of the moving body to the correction mode, and the outputs of the A / D converters 2a and 2b determine the end of the circular movement and the magnetization. The amount is detected. At this time, in order to instruct the driver to make a circular movement, the microcomputer 5 controls the display 13 to give a display instructing the vehicle to turn as shown in FIG.

That is, FIG. 11 is a display for instructing the orbital movement in the conventional example, and from the start of the orbital movement until the end is determined, the display is fixed as shown in FIG. 11, and the display is not displayed at the end of the orbital movement. A moving azimuth display screen is displayed in which the current position of the moving body is shown in the map information.

[Problems to be Solved by the Invention]

Since the conventional azimuth measuring device is configured as described above, the display form at the time of the circular movement required for the correction of the magnetization of the moving body is only the display for instructing the circular movement. There is a problem that it becomes inaccurate because it is necessary to judge the progress state of the robot with one's own sense, and the effectiveness of the orbital movement can be known from the switching of the display only after all data for the error correction of the bearing measurement is obtained. There was a problem such as feeling anxiety about whether the device is operating properly during orbital movement.

The present invention has been made to solve the above problems, and the effectiveness and progress of orbital movement for magnetization correction for a driver without adding a new function to the display means for azimuth display. It is an object of the present invention to obtain an azimuth measurement display device capable of performing a display that makes the state clear.

[Means for Solving the Problems]

An azimuth measurement display device according to the present invention includes a display means for displaying a traveling azimuth, a correction instruction means for instructing the necessity of magnetization correction, a magnetic field detection means for detecting a horizontal component of a magnetic field, and a circular movement based on the output thereof. And a display control means for causing the display means to display according to the determination stage.

[Work]

In the azimuth measurement display device according to the present invention, the orbital movement progress state is determined stepwise by the orbital movement determination means, and a display corresponding to the orbital movement progress state is displayed on the display means by the control of the display control means for each determination. Let

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of the entire apparatus according to an embodiment of the present invention. In FIG. 1, the same reference numerals as those of the conventional example shown in FIG. It is attached. This device is mounted on a moving body (not shown). A magnetic sensor 1 which is an example of a magnetic detection means detects a horizontal component of a magnetic field by dividing it into two axes that are substantially orthogonal to each other, and detects the longitudinal direction (X-axis direction) of the moving body and a left-right direction (Y-axis direction) orthogonal to the direction. ) Are divided into two horizontal components and output. In the circular movement for correcting the magnetization of the moving body, an output locus as shown in FIG. 4 is obtained after A / D conversion of the output signal. The A / D converters 2a and 2b convert the X-direction component analog output signal and the Y-direction component analog output signal of the magnetic sensor 1 into digital amounts and output X and Y-direction component magnetic direction data. The correction switch 4 is used by the driver to input the necessity of magnetization correction, and is an example of correction instruction means. The microcomputer 51 includes a CPU 5a that performs various calculations and determination processes, a RAM 5b as a work memory,
It is composed of a ROM 5c which stores the flows of FIGS. 2 and 3 as a program in advance, an input circuit 5f connected to the output terminals of the A / D converters 2a and 2b, and an output circuit 5h. CPU5a
Is connected to the other elements of the microcomputer 51 and to the correction switch 4. The microcomputer 51 serves as an orbital movement determining means that determines the output state of the correction switch 4 and receives the output signals of the A / D converters 2a and 2b to stepwise determine the progress state of the orbital movement. The display control means determines the display according to the above and outputs a display control signal to the liquid crystal display panel 10 described later. That is, the microcomputer 51 inputs the X-direction component magnetic azimuth data and the Y-direction component magnetic azimuth data from the magnetic sensor 1 through the A / D converters 2a and 2b, respectively, and sequentially compares them to determine the X-direction. The maximum value and the minimum value of the component magnetic direction data and the maximum value and the minimum value of the Y direction component magnetic direction data are detected, and the maximum value and the minimum value are paired with the magnetic direction data of the other components and each pair is detected. Then, the stage of the orbital movement of the moving body is discriminated based on these stored data. In addition, the microcomputer 51
Can calculate the traveling direction of the moving body by a well-known method based on the data obtained from the orbital movement and the newly input magnetic direction data, and output the traveling direction display control signal. Further, reference numeral 10 is a liquid crystal display panel as a display means for receiving the output signal of the microcomputer 51 and displaying the progress state of the orbiting movement or the moving direction of the moving body. This liquid crystal display panel 10 is composed of four character patterns indicating north, south, east, west, north pattern 12a, east pattern 12b, and south pattern 12.
c, west pattern 12d and segments 11a to 11b are arranged at intervals of 45 ° on the ring so as to indicate the direction of travel in eight directions, and segments 11a, 11c, 11e and 11g are north, east, south and west patterns 12a.
They correspond to the azimuths of ~ 12b.

In the apparatus configured as described above, the microcomputer 51 obtains an input locus such as a circle R shown in FIG. 4 while the moving body is turning.

That is, FIG. 4 shows an example of the input trajectory during the orbital movement. As described above, the microcomputer 51 selects the maximum value and the minimum value of each of the two component inputs from this input trajectory, and at that time. When the orbital movement nears the end, that is, when one turn is made, each of the four components of Q _{1 to} Q ₄ , that is, Q ₁ (X _2min , Y _min ), Q ₂ (X _max , Y _2max ), Q ₃ (X
_2max , Y _max ), Q ₄ (X _min , Y _2min ). However, X _max , Y
_max and X _min , Y _min are the maximum values of the circle R of X, Y direction component input,
It is equivalent to the minimum value. The progress status of the orbital movement is determined from ₅ of r ₁ to r ₅ by sequentially comparing the two-component inputs of four points that are taken in while the orbital movement is in progress and discriminating them under the following conditions.
It is classified into stages.

First, the stage of r ₁ is the state immediately after the orbital movement starts, r ₂
The stage of is a state in which the difference between the maximum value and the minimum value of either of the two captured component inputs exceeds the constant K set in advance by the radius of the input trajectory. At the stage of r ₃ , the difference between the maximum value and the minimum value of the other component input for which the previous judgment was not satisfied exceeds the constant K, and at the stage of r ₄ , the component input in the X direction is the maximum. The two values of the component input in the Y direction at the minimum or the values of the input component in the Y direction at the maximum / minimum are equal within a constant defined as an error. further,
The stage of r ₅ is a state until the above judgment is not satisfied for the other component input, and when all of these conditions are satisfied, the correction ends. Also, as the display during correction,
The two display modes shown in FIG. 5 are repeated, that is, the segments 11a to 11h shown in P1 of FIG. 5a are all turned on, and the segments 11a to 11h shown in P2 of FIG. 5b are turned off. The microcomputer 51 has a liquid crystal display panel 10
Output a display control signal to. At this time, the display time of all lights P1 and all lights P2 is set to the same t ₁ second, and this display time t ₁
Is set for each stage of the progress state of the orbital movement described above, and the display time t ₁ is changed according to the change in stage to notify the driver of the progress state of the turning.

Next, the operation of the apparatus configured as shown in FIG. 1 will be described with reference to FIGS. 2 and 3 which are flowcharts of the processing program of the microcomputer 51. The process starts by turning on the power supply of the device (not shown). First, in step 101, it is determined whether or not the display of the magnetization correction is started based on the state of the correction switch 4. If the correction switch 4 is in the off state, the magnetization correction is not started, and in step 101, the correction switch 4 waits for turning on. When the correction switch 4 is turned on, the process proceeds to step 102, and the display is switched to the correction display in which all lighting P1, all lighting P2 shown in FIG. 5 for instructing the orbital movement is repeated, and either all lighting P1 or all lighting P2 is determined. One is displayed on the liquid crystal display panel 10.

Then, in step 103, the magnetic sensor 1 is used to determine the A / D converters 2a and 2b in order to determine the orbital movement state shown in FIG.
The magnetic azimuth data as the orbital movement data converted by is input, and the maximum value of the magnetic azimuth data of the X direction component,
The minimum value X _MAX , X _MIN , the maximum value and the minimum value Y _MAX , Y _MIN of the magnetic direction data of the Y-direction component are obtained by successive comparison and paired together with the magnetic direction data of the other component to form a RAM 5b.
To store. Of course, at that time, if there is a magnetic bearing data pair of the coordinates of Q _{1 to} Q ₄ shown in FIG. ₄ , it is stored in the RAM 5b.
Next, in step 104, the flow of FIG. 3 is executed based on the magnetic azimuth data detected and stored in step 103 to perform the orbital movement stages r _{1 to} r ₅ (see FIG. 4, where S is the orbital movement). The display time t ₁ is set by classifying the display time t ₁ ). In step 105, it is determined whether or not the turning has been completed. This determination is well known, for example, it is determined whether or not the display time t ₁ defined in step 104 is 0.1 seconds, and if t ₁ ≠ 0.1 seconds, one round is not completed, and t
_It is determined whether or not the current coordinates are within the area defined by the coordinates of ₁ point = 0.1 second and the point S, and if there is one cycle, then one cycle is not completed. If it is determined in step 105 that one round is completed, the correction is completed in step 112, and the mode is switched from the repeated display of all lights P1 and all lights off P2 to the mode in which the moving direction of the moving body is displayed, and the process returns to step 101. If it is determined in step 105 that the turning is not completed,
In the following step 106, the display time counter that counts the display time of the pattern of all lights P1, all the lights P2 is incremented, and in step 107, the value of the display time counter that counts the display time of the pattern is It is determined whether or not the set display time t ₁ or more. Step
If it is less than t _{1 at} 107, the display is not switched, so the process returns to step 103. If t ₁ or more, the display is switched so that the display time counter is cleared to 0 at step 108. After that, in step 109, it is determined whether or not all lighting P1 is currently performed, and if all lighting is P1, in step 110, the display of the liquid crystal display panel 10 is switched to all lighting P2,
If not all lighting P1, the display of the liquid crystal display panel 10 is switched to all lighting P1 in step 111. After the processing of step 110 or step 111, the process returns to step 103 again to repeat the above operation.

Next, the classification into each step and the setting process of the display time t ₁ in step 104 will be described with reference to FIG. First,
In step 201, the display time t ₁ is set to an initial value of 0.5 seconds, the orbital movement stage r ₁ is initialized, and then the orbital movement stages r ₁ and r ₂ are determined.

In steps 202 and 204, the difference between the maximum value and the minimum value (X
_MAX −X _MIN and Y _MAX −Y _MIN ) is compared with a constant K determined in advance by the expected radius of the input trajectory, and the display time t ₁ is decreased by 0.1 seconds for each judgment that the constant K is exceeded, and the point deceleration is reduced. To be faster.

In step 202, the difference between the maximum value X _MAX and the minimum value X _MIN of the magnetic direction data of the X direction component is calculated, and the difference is a constant K.
If it is above, the display time t ₁ is reduced by 0.1 second in step 203, and then the process proceeds to step 204. If it is less than the constant K, the process proceeds to step 204 as it is. In step 204, the difference between the maximum value Y _MAX and the minimum value Y _MIN of the magnetic direction data of the Y-direction component is calculated. If the difference is equal to or more than the constant K, the display time t ₁ is reduced by 0.1 second in step 205 and the next time is calculated. To step 206, and if it is less than the constant K, the process directly proceeds to step 206.

When this process is completed, the display time t ₁ is 0.5 seconds, which is the initial value if the orbital movement is in step r ₁ , 0.4 seconds in step r ₂ , and the steps r ₃ , r
_{If 4} , r ₅ is set to 0.3 seconds.

Then, in step 206, it is determined whether or not the display time t ₁ is 0.3 seconds to determine whether the stage is from r ₃ to r _5, and when it is not 0.3 seconds, the stage of the circular movement is Since it is r ₁ or r ₂ , the process of the stage determination is ended. Also, the display time t ₁
Is 0.3 seconds, the following step 207, step 20
At 9, it is determined whether any one of steps r _{3 to} r ₅ is present.
First, in step 207, the magnetic azimuth data X _{2 min} of the X direction component when the magnetic azimuth data of the Y direction component of the circle R has the minimum value Y _min, and the X direction component of the X direction component when the maximum value Y _max is obtained. It is determined whether or not the magnetic azimuth data X _2max are approximately equal in consideration of the error. That is, in FIG.
It is determined whether or not the X coordinate value of the Q ₁ point and the X coordinate value of the Q ₃ point are approximately equal. If they are equal, the display time t ₁ is set in step 208.
Decrease by 0.1 second and proceed to step 209. If not equal, proceed directly to step 209. In step 209, the minimum value X is the same as the magnetic direction data Y _{2 max} of the Y direction component when the magnetic direction data of the X direction component of the circle R has the maximum value X _max.
It is determined whether or not the magnetic azimuth data Y _{2 min} of the Y-direction component at the time of _min is approximately equal. That is, it is determined whether or not the Y coordinate value of the Q ₂ point and the Y coordinate value of the Q ₄ point in FIG. ₄ are approximately equal. If they are equal, the display time t ₁ is further reduced by 0.1 seconds in step 210 and the process is ended. If they are not equal, the process is ended as it is.

At the end of this process, the display time t ₁ is calculated by the steps r ₁ , r ₂ ,
0.5 seconds, 0.4 seconds, 0.3 seconds, 0.2 seconds, corresponding to r ₃ , r ₄ and r ₅ , respectively.
Set to 0.1 seconds.

While the orbiting movement is repeated, the repetition frequency of the blinking of the display changes, but considering the blinking frequency of the display for the input locus of the orbiting movement shown in FIG. 4, the turning motion is r ₁ → r ₂ → r ₃ → r ₄ → not proceed to the stage of r _5, the display time t ₁ representing the blinking frequency changes that stage the corresponding 0.5 seconds → 0.4 seconds → 0.3 seconds → 0.2 seconds → 0.1 seconds. In other words, as the orbiting movement progresses, the blinking speed of the display becomes faster, and the blinking of the display becomes faster, so that the driver can know the effectiveness of the orbiting movement to correct the magnetization and the progress status of the orbiting movement. You can

Next, a second embodiment will be described with reference to FIGS. 6 to 8. FIG. 6 shows the configuration of the entire apparatus mounted on the moving body, and the same or corresponding parts as in FIG. 1 are designated by the same reference numerals 1,2a, 2b, 4,5a.
5c, 5f, 5h are attached and the description thereof is omitted. Reference numeral 52 denotes a microcomputer, which has the same configuration as that of the first embodiment and has the same connection relationship as the outside, but stores the flow of FIG. 7 (including FIG. 3) as a program in the ROM 5c. . Reference numeral 7 denotes a liquid crystal display panel as a display means, the input terminal of which is connected to the output terminal of the output circuit 5h. This liquid crystal display panel 7 has west, north, east and east, east, south, west northeast northeast character patterns 9a, east-southwest character patterns 9b arranged in upper and lower rows, respectively. The segments 8a to 8i are arranged in a horizontal row and have an azimuth pattern for 16 azimuth directions. As shown in FIG. 8, the microcomputer 52 selects one of the nine segments 8a to 8i in the order of 8a → 8b → 8c → ... Although it is output, if the lighting time (display time) of this one segment is t ₁ seconds, this time t ₁ is the first
May be set in accordance with each stage of the circular movement described in the examples, by changing the display time t ₁ at each stage r ₁ ~r _5, it is intended to convey the progress of the circular movement to the driver .

Next, the operation of the device according to the second embodiment will be described with reference to FIG. First, start and wait until the correction switch 4 is turned on in step 301, switch from azimuth display to correction display in step 302, and in step 303, the orbital movement data is transferred from the magnetic sensor 1 to the A / D exchanger 2a. , 2b
Input through the specified data processing, step 304
Then, based on the magnetic azimuth data, the same flow operation as in FIG. 3 is performed, the stages r _{1 to} r ₅ of the orbital movement are determined and the display time t ₁ is set, and in step 305, whether or not one round is completed is determined. If it is finished, the correction display is switched to the azimuth display in step 312 and the process returns to step 301. If not finished, the process proceeds to step 306. The steps 301 to 305 and the step 312 correspond to the steps 101 to 105 and the step 112 shown in FIG. 2, respectively, and perform exactly the same operation, and thus detailed description thereof will be omitted.

In step 306, the lighting time counter that measures the lighting duration time of one segment is incremented, and step 30
At 7, it is determined whether the value of the lighting time counter is equal to or longer than the display time t ₁ . If the lighting time is less than t ₁ , the process returns to step 303 again, and if the lighting time is t ₁ or more, the lighting time counter is cleared to 0 in step 308. Next, in step 309, the lighting segment number is updated. For example, the segment number before updating is Nm (however, 0 ≦ m
≤15 integer), the updated segment number is N
(M + 1). As shown in FIG. 8, the lighting order of the segments is 8a to 8i to 8a.
Segment numbers N0 to N8 are assigned to 8a to 8i, and segment number N to segments 8h to 8b.
9 to N15 are referred to respectively. In step 310, in order to determine the overflow of the lighting segment No., it is determined whether or not the updated lighting segment No. is N16, and if it is not N16, the process proceeds to step 311a, N16.
If so, the lighting segment No. is set to N0 in step 311, and then the process proceeds to step 311a. In step 311a, the currently lit segment is extinguished and any of the segments 8a to 8i corresponding to the lit segment number set as described above is lit. After the processing of step 311a, step 303
Return to and repeat the above operation.

The display during the revolving movement of the correction is controlled by the above operation, but the display time t _{1 of} one segment is shortened by the progress state of the revolving movement as in the first embodiment, and the moving speed of the display is high. Thus, the driver can accurately know the effectiveness of the orbital movement and the progress of turning by such a change in the display.

In addition, in the second embodiment, as the display form, one of the nine segments 8a to 8i of the liquid crystal display panel 7 is sequentially selected, and the progress time of turning is changed by changing the display time of the one segment. Although it is displayed, it can be displayed by blinking all of the segments 8a to 8i in the same manner as in the first embodiment and turning off all of them, and also in the first embodiment as shown in FIG. Similarly to the second embodiment, one of the eight segments 11a to 11h arranged on the ring is sequentially selected and sequentially lit, for example, in the clockwise direction, and the lighting time is changed. It can also be displayed by doing.

Further, although the liquid crystal display panel is used as the display means in each of the above-mentioned embodiments, other well-known display devices can be easily realized by changing the lighting frequency.

Furthermore, the determination of the stage of the orbital movement is not limited to that of the above-described embodiment, but may be well-known, and has the same effect as that of the above-described embodiment.

〔The invention's effect〕

As described above, according to the present invention, the progress state of the orbiting movement for the magnetization correction is determined stepwise, and the determined step is displayed by the display means for displaying the traveling direction. Since the display and the display of the traveling direction are displayed by the common display means, the device is inexpensive, and the driver can surely know the effectiveness of the orbital movement and the progress state of the orbital movement by looking at the display. There is an effect that can be obtained.

[Brief description of drawings]

FIG. 1 is a block diagram of the entire apparatus according to a first embodiment of the present invention, FIGS. 2 and 3 are flow charts showing the operation of the CPU in FIG. 1, and FIG. FIG. 5 is an explanatory diagram showing an input trajectory of azimuth data, FIG. 5 is a diagram showing a display form according to the first embodiment, FIG. 6 is a configuration diagram of the entire apparatus according to the second embodiment of the present invention, and FIG. FIG. 6 is a flow chart showing the operation of the CPU in FIG. 6, FIG. 8 is a diagram showing a display form according to the second embodiment, FIG. 9 is a diagram showing another display form, and FIG. 10 is a conventional azimuth measuring device. FIG. 11 is a diagram showing an overall configuration, and FIG. 11 is a diagram showing a display form of a conventional example. In the figure, 1 ... magnetic sensor, 4 ... correction switch, 51, 52
...... Microcomputer, 5a …… CPU, 5b …… RAM, 5c
...... ROM, 5f …… Input circuit, 5h …… Output circuit, 7,10 ……
Liquid crystal display panel, 8a-8i …… segment, 11a-11h ……
segment. The same reference numerals in the drawings indicate the same or corresponding parts.

Claims (1)

[Claims] 1. Display means for displaying a traveling direction of a moving body,
A correction instructing means for instructing the necessity of data for correcting an error in azimuth measurement due to magnetization of the moving body itself, and magnetic detection for detecting a horizontal component of a magnetic field such as geomagnetism with respect to two axes that are substantially orthogonal to each other. Means, and an orbital movement determination means for stepwise determining the progress state of the orbital movement of the moving body based on the output signal of the magnetic detection means instructed by the correction instruction means, and the progress state of the orbital movement. A display device for azimuth measurement, comprising: a display control unit that causes the display unit to change the display form in stages according to the determination stage.