JPS5961708A - Digital type curve recorder - Google Patents

Abstract

PURPOSE:To facilitate reproduction of results of measuring a moving curve by continuously calculating coordinates of moving points with automatic measurement of information on moving direction and moving distance to select and memorize those only necessary for the reproduction of the moving curve with direction changes as parameter. CONSTITUTION:Two magnetic sensors 3 are used to measure the component of the earth magnetism in the on-going direction and that in the orthogonal direction respectively. Assuming that the on-going direction of a person is at theta to the direction of the (x) axis, outputs of the two sensors are Costheta and Sintheta respectively. A foot switch 5 is provided to generate a switching signal each time one step is taken. The switching signal is introduced into a microcomputer 6 with a bearing signal. Components in the direction of (x) axis and (y) axis are integrated at each switching signal with the microcomputer 6 to always calculate the current position automatically. Since the angle of bearing is always calculated, coordinates necessary for reproduction of the walking route is automatically selected with changes in as parameter and memorized into a memory. They are displayed on an XY display board 8 as required thereby facilitating the reproduction of results of measuring the moving curve.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a curve recorder capable of compressing position data using velocity vector information.

First, the present invention will be explained in detail. A sensor that can automatically measure the direction of movement and steps of movement is attached to the drive unit of a portable walking route recording device, vehicle-mounted driving route measuring device, or self-portrait device, and the coordinates of the driving point are continuously measured. If you look for it, you can measure the movement curve. In this case, only some coordinate points are selected from among the points on the movement route using changes in the azimuth in the direction of movement as a noyarameter, and these point sequences are calculated using the commonly known three-way interpolation method. By connecting smoothly using the following curve, the original phIFR can be faithfully reproduced again. These cubic curves for interpolation are those that connect the given point series with a smooth or curved line. Among these, we will introduce the commonly used B-spline IItl line and parabola mixing method.

fOB Stella 4F curve Four consecutive position vectors v, , v, , ・V i
The following linear combination of +2 +■ represents one curve segment 1+5 and is one of the B-spline nb lines.

Here, ■ can be found from the connection point P of the curve segment, 75=.

C1 (t) country. (t)Vt+Et(t)■++1 and a half”2
(t) ■i + 2 half FJ3 (t) ■i.

Quantity=Q,l,”・,41-2.0≦t≦1go(
t)-it6+-! -t2-it +-L- 26 E, (t) = Kei t3 - t2 + heat E2 (t) = -zuke 15 + Keimo 2 + Kei t + An 3 E5 (t) = 100 t Tore is the cubic equation of t It can also be a town as follows.

1 1 1 C(t)−=(−V, +−V−−−V, +−!−v
, )I31 6 1 2 +4-1
2 ++2 6 t+5+ (-V, -V,
+'V) t22 r tll 21+2 1 -l-(-, Vi +TVl+2) tl 2
1 + (a Vi 4-i■1-1-1' 5 ■l+
2) A=--V, +-2-V, -! -V -1-
Lv.

5 1 2 1+1 2 1+2 5 1+5■ B=-■ -v, -to-! −■21 ++1
21+2 C=--'-V, 4-! -V 2 I21+2 1J=-! -V -+-uv -to↓V6I
314-1 61+2 (b) Four consecutive position vectors P ・P specified between parabolic 1li1il mixing laws
・ ・When P・ , P, P, , P,
,.

I l+1 ++2 1+3”i
−) Parabolic segment Q, (t) and Pt produced by 2
+1 'P1.4' By not mixing the parabolic segment R, (t) created by ii4 using the interpolation method, the song ff9.C is created between P1+1 and P, +2.
+(t) is defined as follows.

cl<t)=CI-<yumi)IQi(Kanofukan1(t)
Ql(t)=QAt2+QBt+QcR,(t)=R
If At2 + RBt + R is fixed with respect to t, then C1 (t) = (-℃dan) I3 + (QA factor also 9), 2 010 + (QB - 10 customers).

tot.

+QC QA=-AQ-CQS2θQRA--AR-cos2θ
8Q13 =CO3θ, (B, +A, d(1-2XQ
)) RB=(BR-1-AR-e)cos9RQc
-CQ+xQ-a(B,+A,・d(1-xQ)) R
c=C.

An=((P++2-Pt+1)-Xq(Pt+3-P
t+1 )) ρB = P, PH2-PI Q d B'i+3'ito1 n.

C-P・I C1-Pt+1 d=PI12PI ”=Pl++Pi+1 tO
=PI-)2Pi-1-I-P ωSθQ=(P++2-Pi-H)·(15→). . 5
oR=(PH-2'i+1), ``tOe'') The cubic equations such as the B-spline mentioned above smoothly interpolate the distorted point sequence, but in order to select this point sequence, it is necessary to use a curved line. One possible method is to use the change in the azimuth angle of the movement direction of each coordinate point above as a parameter.

Although there are still several possible methods for selection, the present invention uses the method shown in FIG. 1 as one of them.

In other words, each point is tangent to the free curve as shown in (1) in the figure (21), (z2),...
, create a group of tangents (envelope) (2), and each tangent (2
, ) , (22) , ... are based on the slope of the tangent (21) at the starting point of the curve, and are Δθ, 2Δθ, 3Δθ,
If we leave only the points of contact that are precisely aligned with Δθ and smoothly connect the series of points using a B-spline or the like, we can reproduce the original curve (1). This Δθ is set to an appropriate value depending on the accuracy of reproduction or the characteristics of the curve. Figure 2 shows that Δθ=3 in the example of Figure 1.
0°.

FIG. In this example, the number of points sampled at the beginning is 77, but if you leave points every Δθ = 30°, the number of points becomes 13 including the start point and end point. compression becomes possible. It goes without saying that this is advantageous for Curve Record Shiozu. FIG. 3 is a diagram showing the basic configuration of the present invention based on the above-mentioned principle. In the block diagram of FIG. 3A, (3) is a means capable of measuring the movement direction such as a magnetic sensor, (4) is an analog-to-digital converter, (5) is a travel sensor that measures the movement distance, and (6) is a means for measuring the movement direction. is a microcomputer, (
7) shows the memory like a floppy disk. Note that (8) is a display, and (9) is a drawing device, which are provided as necessary. As shown in Fig. 3B, the magnetic sensor (3) takes the earth's horizontal magnetic field (magnetic north) as the basis for the spatial direction, and sets the slope θ of the tangent at an arbitrary point P to the S stone θ. and cos θ
It is output in the form of . The output data of the magnetic sensor (3) is sent to the travel sensor (5) via the leopard converter (4).
This data is input into the microcomputer (6) together with the other data. The value of θ can be calculated easily and quickly in the form tanθ=snoring, so if you select the data as described above using the value of θ as a parameter and store it in the memory (7), it will be possible to calculate Continuous measurement results can be easily reproduced with a very small number of points.

First, an example will be described in which the present invention is implemented in a portable walking abbreviation recording device, that is, a recorder device that reproduces the walking route of a person walking while carrying a geomagnetic sensor. The magnetic sensor (3) may be of any type, but a Hall element type as shown in FIG. 4 is suitable. The Hall element type sensor J- is a rectangular parallelepiped-shaped semiconductor piece with a Hall effect, and has an electrode in the X-axis direction (shaded in the figure) and a lead-out terminal electrode in the Y tha+ direction perpendicular to the edge. X
When a constant current is applied in the Ib direction and a magnetic field B is applied in the Z-axis direction, a Hall voltage proportional to B is generated in the Ylet direction. Two sets of such magnetic sensors are used, and they are attached to the front of the belt αO as shown in Fig. 5, and one Hall element (3
1), the geomagnetic component force in the direction of travel is transferred to the other Hall element (3).
□) Measure the component force in the direction perpendicular to it.

Note that FIG. 5A is a top view, and FIG. 5B is a front view. If the direction of movement of a person wearing the belt 01 on their waist is θ with respect to the X-axis direction, then the Hall element (31)
, the outputs of (32) are Cll5θr slnθ, respectively
becomes. On the other hand, a foot switch (5) is provided between the footwear of both feet as a suitable distance sensor, and the switch (5) is pressed down when 4U takes one step to generate a switch signal.

This switch signal is input to the portable microcomputer (6) together with the azimuth signal cos θ and the S stone θ.

In the computer (6), X to the human step? l
Component force ΔX in + (north-south) direction and Y-axis (west-bundle) direction
= i(cnSθ and ΔY == K g!nθ is refined each time the switch signal is received, so the current position X = ΣΔ
X, Y=ΣΔY is always automatically expressed as 1iV. Also, the azimuth angle θ is always i1t! y, the coordinate points necessary for reusing the walking route are automatically selected using the change in θ as a parameter and stored in the memory. If necessary, the boating course can be displayed as a display, such as a small LCD type X attached to a wrist band.
It can be displayed on the Y display board (8). Note that in FIG. 5, parts corresponding to those in FIG. 3A are given the same reference numerals.

Next, an example in which the present invention is implemented in an on-vehicle driving route recorder will be described. In the figure 6, (3) is a Hall element type magnetic sensor, (5) is a stroke sensor that detects the rotation of the wheel in an integrated manner, and the axis of interest of both sensors (3) and (5) is the microcomputer computer (6). ), the current position is calculated from moment to moment, and the coordinate values necessary to reproduce the course taken using changes in azimuth angle as parameters are selected and stored in memory. (8) is a CRT type display whose display surface is covered with a transparent map of the service area. The current position rJ' is displayed as a light spot on the display screen based on input from the computer (6), and the course up to the current position can be changed as necessary.
Tracks can be read.

Next, an example in which the present invention is implemented in a free-running pen type line drawing device will be described. Figure 7A is a partially cutaway front view, Figure 7B
is a partially sectional side view. In the figure, Kanhapen 1. H
(c) is an illustration, (b).

Q→ indicates a caster type wheel. When drawing by pressing In (A) onto the drawing board (A) with No.
124 has a caster type structure (it follows the direction tangentially to the drawing line).The center line W-W' of both axles (A) and (C) is the vertical rotation of the caster with the handle H at the top. There is an eccentricity e between the wheels Z and Z'.The two wheel Kihira bearings and the bearings that have vertical bearings on the top and bottom of the caster vertical rotation shaft have an eccentricity e between them. Align the pen (A) with the axis z −z' and move the pen (A) to the spring (
C) It is pressed against the drawing board (B). Hall element type magnetic sensor (3) and stroke sensor (5) are placed above and below in the bearing section (c), and these detect the cosine and sine values of the azimuth angle θ in the moving direction of the pen i). is opened, and the turning angle of the wheel is measured. This information is introduced into the computer (6) on the stand (c) near the υ drawing board (a) by means of a flexible guide # (a).

Note that (c) is the outer casing, and when drawing, the pen () is placed in an appropriate position so that it can be stably pressed against the screen with the handle H, for example, in three symmetrical positions, and lightly pressed against the board surface with a barb (g). Three ball terminals (31,), (31°).

(313) (only one is shown in the figure). In the computer (7), the current position of the machine (4) is always calculated during drawing, and the coordinate position necessary to reproduce the motion curve is selected using the change in the tangential direction of the motion curve as a parameter.
stored in memory. (8) is a CRT display that always displays the current position of the drawing pen by the computer (6), so if the CRT is made of a persistent type, the artist can always observe the drawing status on the display screen. .

Furthermore, it is also possible to read out the reproduction curve from memory, if necessary.

Although magnetic north was used as a reference for the direction of the walking route and the vehicle travel route described above, the same applies to the free-running type drawing-in shown in FIG. However, when the running wheel caster part is attached to a part driven by an external mechanism such as a drafter for drafting, and the handle is pressed onto the drawing board to forcibly follow the direction of rotation of the wheel in the direction of the drawing line. The direction reference is the XY baseline of the drawing board.

Note that the orientation of the drawing board in this case does not need to be horizontal as in the case of Figure 81!7, but can be used in any inclined orientation as in normal use. The case where an arm-type drafter is used in this type will be explained below.

FIG. 8 shows the structure of an arm-type drafter of a normal parallel link mechanism. In the figure, AB CD and E
Since FGH is a parallel link and p EiFICB,
If D and A are fixed at the corners of the drawing board, HG will maintain the right angle to DAK at any position on the drawing board.

Therefore, the structure of the caster portion is shown in FIG. 9. 9A is a partially cutaway front view, FIG. 9B is a partially sectional side view, and FIG. 9C is a top view. Disc 0 of caster part (
Fix the screw to hole 0◇ of the drafter HG board in Figure 8.
Join. The bearing of the disc (4 (the upper end of j is the handle 09, the concentric part is the caster vertical rotation shaft neck 0) is the bearing of the disc (4).
◆, The single core bearing for 0 is formed integrally with the portion θO. In the song, the bearing is part 0 (9 is the axis center of loquat-I=02-1)
It has a hand guide part of the pen 0 which is aligned with the 1 core. From the above structure, the wheel (1j, ).

(32) is installed orthogonally to a part of the concentric part of the disk θO,
A magnet θ → is attached to the upper end of the cask vertical rotation axis neck (41). The cosine value of θ and the rg sine value in the tangential direction of the curve are transmitted from the sensor units (3,) and (32), and the rotation amount of the wheel is This information is measured by the 1-stroke sensor θ!
The information on the direction is then sent to a computer located in a nearby stand, where the current position of the main shaft is calculated, and the coordinate points necessary to reproduce the curve are selected and stored using the change in direction angle as a parameter.

As explained above, the present invention continuously calculates the coordinates of moving points by automatically measuring information on the moving direction and moving distance, and calculates the coordinates of moving points among these coordinate points necessary for reproducing the above moving curve using the direction change as a parameter. It is characterized by the fact that only certain coordinate points are selected and stored, and a large number of position data obtained by measuring movement curves can be compressed. By smoothly interpolating these point sequences, it is possible to easily reproduce the open side result of the movement curve.

[Brief explanation of the drawing]

1 and 2 are explanatory diagrams showing the principle of the present invention, FIG. 3 is a diagram showing the basic groove configuration of the curve recorder of the present invention, and FIG. 4 is a perspective view showing an example of a magnetic sensor used in the present invention. FIG. 5 is a diagram showing the first embodiment of the present invention, and FIG. 6 is a diagram showing the second embodiment of the present invention.
■1, circle'; 71WI is a diagram showing the third embodiment of Kinoe 813, FIG. It is a figure which shows the 4th Example of this invention which is used by attaching to. (3)...Moving direction measuring means, (5)...Moving vehicle 1! Open side means of lI#, (6)...Means for continuously calculating the coordinates of the moving point, (6). (7)... Among these Km points, select only the V C marks necessary for reproducing the 1'@ moving song line, considering the change in direction as ・P l -. means to do. Same as Hideosamu Matsukuma ”・）gu

Claims (1)

[Claims] means for automatically measuring information on the moving direction and moving distance; and means for continuously calculating the coordinates of the moving point based on the measured values;
A digital curve recorder comprising means for selecting and storing only the smoke points necessary for reproducing the movement curve from among these coordinate points as a meter for measuring changes in direction.