KR100327602B1 - Method and apparatus for sensing and measuring the movements of the objects in three dimensions - Google Patents

Abstract

The present invention provides three gyros for measuring rotational angular velocity using a change in voltage based on a change in pressure of a piezoelectric element, and three accelerometers for measuring linear acceleration by measuring an acceleration change as a change in charge amount using MEMS technology. sensor means configured by combining one each in the x, y and z axis directions; Low-pass filter means for low-passing the rotational angular velocity signal and the linear acceleration signal in the x-, y-, and z-axis directions output from the sensor means to remove high-pass components; Multiplexing means for multiplexing and shaping the output signal from the low-pass filter means; A / D conversion means for converting a standardized analog signal output from the multiplexing means into a digital signal; The rotational angular velocity signal converted into a digital signal is compared with the reference rotation data previously stored in the ROM to determine the rotational direction of the sensor means, and the reference is previously stored in the ROM. Calculating means for determining a moving direction of the sensor means by comparing with the moving data, calculating a speed by integrating the linear acceleration signal converted into the digital signal, and calculating a distance by integrating the calculated speed; And a transmission means for wirelessly outputting data concerning the calculated rotation direction, movement direction, speed, and distance.

Description

METHOD AND APPARATUS FOR SENSING AND MEASURING THE MOVEMENTS OF THE OBJECTS IN THREE DIMENSIONS}

The present invention relates to a method and apparatus for detecting and measuring a moving direction, a moving distance, a moving speed, and a rotational state of an object moving in three dimensions.

As a general apparatus for detecting and measuring the movement of an object two-dimensionally, a pointing device such as a mouse, a joystick, a digitizer, etc., which are used as accessories of a computer, may be mentioned. As can be seen, the movement of a pointing cell, such as a ball embedded therein, is mechanically, optically, or electrostatically sensed and transmits a signal relating to the mouse's movement direction and movement trajectory to a computer, thereby providing various data required by the software. Providing. Such a conventional device is configured to detect only the movement of a single pointing cell, and the range of detection is limited to two dimensions.

Recent developments in computer software technology, such as gaming software and computer graphics (CG) software, the development of 3D technology that processes the appearance and movement of various objects in three dimensions have been developed. A virtual three-dimensional display can be performed on the image.

The virtual 3D technology described above is currently applied to most display fields, and in the future, it is expected that a substantial three-dimensional processing, rather than a virtual display, is required in various industries, for example, an automation line or a dangerous line for producing a large product. Three-dimensional remote control of the arm of a robot used in a material handling facility, three-dimensional processing of inputs and outputs to a computer, moving objects in three dimensions, such as military guidance equipment, drones or submarines, It will be necessary to remotely control objects such as satellites.

The problem here is that the functions of the sensing / measuring devices that are commercially available until now are substantially limited to two-dimensional processing for a single object. In other words, while the CPU and software technology are at a level that can sufficiently cope with three-dimensional data processing, the method of detecting and measuring the movement of the object remains in two-dimensional processing, so the movement of the object to be controlled is complicated in three dimensions. In one case, there is a problem in that a sensing / measurement signal corresponding to such a movement cannot be generated.

On the other hand, it is assumed that military guidance equipment such as missiles are equipped with three-dimensional sensing / measuring devices, but at present, the specific technical configuration is closed and the price of the product is expected to be very expensive. There are many limitations to commercialization.

The present invention has been made in view of the above circumstances, and has improved the method of detecting / measuring the movement of an object to detect and measure the movement of an object in real time in three dimensions in real time, and a method for detecting and measuring the price thereof It is an object of the present invention to provide a detection / measuring method and a device for detecting and measuring a direction and speed, a moving distance, and a rotation state of an object quickly and accurately.

1 is a block diagram of a sensing / measuring device according to an embodiment of the present invention,

2 is a flowchart illustrating an operation procedure of the CPU shown in FIG. 1.

The three-dimensional sensing / measuring method of the present invention for achieving the above object,

When a sensor made by combining a gyro and an accelerometer with three pairs of one each in the x, y, and z axis directions is moved, the rotational angular velocity signal in the x, y, and z axis directions corresponding to the rotation of the sensor is extracted from the gyro. In addition, extracting a linear acceleration signal in the x, y, z-axis direction corresponding to the linear movement of the sensor from the accelerometer,

Converting the rotational angular velocity signal corresponding to the rotation and the linear acceleration signal corresponding to the linear movement into a digital signal;

The rotation direction of the sensor is determined by comparing the rotation angular velocity signal converted into a digital signal with reference rotation data prepared in advance, and the movement direction of the sensor by comparing the linear acceleration signal converted into digital signal with reference movement data prepared in advance. To determine,

Calculating a speed by integrating the linear acceleration signal converted into the digital signal;

Calculating a distance by integrating the calculated speed;

And wirelessly outputting data about the calculated rotation direction, movement direction, speed, and distance.

In addition, the three-dimensional sensing / measuring device of the present invention for achieving the above object,

Three gyros having multiple faces and measuring rotational angular velocity using the variation of voltage based on the pressure change of piezoelectric elements attached to each side, and linear acceleration by measuring acceleration change as change of charge amount using MEMS technology Sensor means configured by combining three accelerometers each measuring one in the x, y, and z-axis directions,

A low-pass filter means for low-passing the high-frequency components by low-passing the rotational angular velocity signal in the x, y, z-axis direction output from the gyro of the sensor means and the linear acceleration signal in the x, y, z-axis direction output from the accelerometer;

Multiplexing means for multiplexing and shaping the output signal from the lowpass filter means,

An A / D conversion means for converting a standardized analog signal output from the multiplexing means into a digital signal;

The rotational angular velocity signal converted into a digital signal is compared with the reference rotation data previously stored in the ROM to determine the rotational direction of the sensor means, and the reference is previously stored in the ROM. A calculation means for determining a moving direction of the sensor means by comparing with the moving data, calculating a speed by integrating the linear acceleration signal converted into the digital signal, and calculating a distance by integrating the calculated speed;

And transmitting means for wirelessly outputting data concerning the calculated rotation direction, movement direction, speed, and distance.

<Example>

Hereinafter, the present invention will be described in detail in the form of examples.

1 is a view showing the configuration of an embodiment according to the present invention, the sensing / measuring device of this embodiment, three gyros (Gx, Gy, Gz) and three accelerometers (Ax, Ay, Az) x, y, Sensor 1 formed by combining one each in the z-axis direction and rotational angular velocity signals (Ogx, Ogy, Ogz) in the x-, y-, and z-axis directions output from the gyros (Gx, Gy, Gz) of the sensor (1). ) And 6 low-pass filters that remove the high pass components and pass only the low pass components by receiving linear acceleration signals (Oax, Oay, Oaz) in the x, y, and z directions output from the accelerometers (Ax, Ay, Az). A low pass filter unit 2 composed of LPF1 to LPF6, a multiplexer 3 for multiplexing and shaping the output signal of the low pass filter unit 2, and converting the analog output of the multiplexer 3 into a digital signal Reference rotation day pre-stored in the ROM the rotation angular velocity signal converted into the digital signal of the A / D converter 4 and the A / D converter 4 The direction of rotation of the sensor 1 is determined by comparison with the rotors, and the direction of movement of the sensor 1 is determined by comparing the linear acceleration signal converted into a digital signal with reference movement data previously stored in the ROM. Integrating the linear acceleration signal converted into a digital signal to calculate the speed, the central processing unit (5) for calculating the distance by integrating the calculated speed, and the data about the calculated rotation direction, movement direction, speed, distance It is comprised with the transmitter 6 which outputs wirelessly.

Gyro (Gx, Gy, Gz) constituting the sensor 1 is a vibrating gyro, for example, each of which has a plurality of surfaces and a piezoelectric element is attached to each surface, when the gyro (Gx, Gy, Gz) is moved The physical force corresponding to the rotational movement among the movements acts on the piezoelectric elements attached to each surface to generate a corresponding voltage change, thereby outputting the rotational angular velocity of the gyro. The gyro is commercially available, such as the models ENV-05D-52 and ENV-05DB-52 of Japan's MURATA Corporation.

In addition, the accelerometers Ax, Ay, and Az constituting the sensor 1 are semiconductor accelerometers using, for example, iMEMS technology. When the accelerometers Ax, Ay, and Az move, the accelerometers of the linear motion are measured. To print it out. Such accelerometers are commercially available, such as the models ADXL202 and ADXL210 of ANALOG DEVICES of the United States.

The sensor 1 is composed of a total of three pairs of gyros and accelerometers acting as described above in the x, y, and z-axis directions, respectively, when the sensor 1 itself moves, or any specific part of the measurement object. When the sensor 1 attached to the sensor 1 moves, it outputs a signal related to rotation in the x, y, z axis direction and a signal related to linear movement in response to the movement.

That is, the gyro (Gx, Gy, Gz) of the sensor 1 outputs a signal corresponding to the rotational component during the movement of the object, which is installed in the x, y, z axis direction, respectively, Outputs the angular velocity signal related to the rotational motion, respectively. In addition, the accelerometers Ax, Ay, and Az of the sensor 1 output a signal relating to linear movement during the movement of the object. The accelerometers are also provided in the x, y, and z axis directions, and therefore, linear in each axis direction. Outputs an acceleration signal relating to movement, respectively.

Therefore, when the two signals in the three axial directions of the sensor 1 are combined and judged, it is possible to detect / measure which sensor is moving at what speed and at what speed in which position in the three-dimensional space. Will be.

Hereinafter, the sensing / measuring method of the present invention will be described with reference to FIG. 2.

Fig. 2 is a flow chart showing the operation performed by the central processing unit 5, wherein the central processing unit 5 includes data of a ROM which stores rotation data related to rotation in three dimensions and movement data related to movement. By comparing and calculating the output of the standardized sensor 1, comprehensive data on the movement of the sensor 1 is created.

That is, as shown in FIG. 2, the central processing unit 5 lows the rotational angular velocity signals Ogx, Ogy and Ogz and the linear acceleration signals Oax, Oay and Oaz in the three axial directions from the sensor 1. The shaping is performed while passing through the pass filter 2 and the multiplexer 3 (S1), and the shaped analog signal is applied to the A / D converter 4 to convert it into a digital signal (S2).

Next, the central processing unit 5 performs error compensation of the digital signal (S3), and compares / calculates the rotational angular velocity signal with the error compensated and the reference rotation data stored in the ROM (1) in three dimensions. In addition to determining the rotation direction, the movement direction of the sensor 1 in three dimensions is determined by comparing / computing the linear movement acceleration signal compensated for with the error and the reference movement data stored in the ROM (S4).

Next, the central processing unit 5 calculates the moving speed of the sensor 1 by integrating the linear moving acceleration, and calculates the moving distance of the sensor 1 by integrating this moving speed (S5).

The data about the rotation direction, the movement direction, the movement speed, and the movement distance determined or calculated as described above is provided to the three-dimensional control system wirelessly through the transmitter 6 (S6).

As the external three-dimensional control system, as described above, a remote control device of a robot arm (Arm) used in an automated facility for producing a large product or a facility for handling hazardous materials, an input / output control device for a 3D processing computer, Or control devices for military guidance equipment, drones, submarines, satellites, etc., moving in three dimensions.

According to the present invention described above, beyond the limitation of the conventional two-dimensional detection / measurement, with respect to the movement of the object, in addition to the direction and speed and the moving distance of the object to detect the rotation state of the object quickly and accurately and By measuring, it is possible to efficiently provide three-dimensional data required for the control of an unmanned manufacturing facility to be put into production in the future, or three-dimensional data which will be used for the core control of moving objects moving in three dimensions at low cost.

Claims (3)

When a sensor made by combining a gyro and an accelerometer with three pairs of one each in the x, y, and z axis directions is moved, the rotational angular velocity signal in the x, y, and z axis directions corresponding to the rotation of the sensor is extracted from the gyro. In addition, extracting a linear acceleration signal in the x, y, z-axis direction corresponding to the linear movement of the sensor from the accelerometer, Converting the rotational angular velocity signal corresponding to the rotation and the linear acceleration signal corresponding to the linear movement into a digital signal; The rotation direction of the sensor is determined by comparing the rotation angular velocity signal converted into a digital signal with reference rotation data prepared in advance, and the movement direction of the sensor by comparing the linear acceleration signal converted into digital signal with reference movement data prepared in advance. To determine, Calculating a speed by integrating the linear acceleration signal converted into the digital signal; Calculating a distance by integrating the calculated speed; And wirelessly outputting data about the calculated rotation direction, movement direction, speed, and distance. Three gyros having multiple faces and measuring rotational angular velocity using the change of voltage based on the pressure change of piezoelectric elements attached to each face, and linear acceleration by measuring acceleration change as change of charge amount using MEMS technology. Sensor means configured by combining three accelerometers each measuring one in the x, y, and z-axis directions, A low-pass filter means for low-passing the high-frequency components by low-passing the rotational angular velocity signal in the x, y, z-axis direction output from the gyro of the sensor means and the linear acceleration signal in the x, y, z-axis direction output from the accelerometer; Multiplexing means for multiplexing and shaping the output signal from the lowpass filter means, An A / D conversion means for converting a standardized analog signal output from the multiplexing means into a digital signal; The rotational angular velocity signal converted into a digital signal is compared with the reference rotation data previously stored in the ROM to determine the rotational direction of the sensor means, and the reference is previously stored in the ROM. A calculation means for determining a moving direction of the sensor means by comparing with the moving data, calculating a speed by integrating the linear acceleration signal converted into the digital signal, and calculating a distance by integrating the calculated speed; And a transmission means for wirelessly outputting data on the calculated rotation direction, movement direction, speed, and distance. 3. The apparatus of claim 2, wherein the gyro is a vibratory gyro and the accelerometer is a semiconductor accelerometer.