KR101757067B1

KR101757067B1 - Apparatus and method for mesuring speed and distance using two sensor

Info

Publication number: KR101757067B1
Application number: KR1020150162718A
Authority: KR
Inventors: 김태진
Original assignee: (주)스마트시스텍
Priority date: 2015-11-19
Filing date: 2015-11-19
Publication date: 2017-07-12
Also published as: KR20170058733A

Abstract

More particularly, the present invention relates to an apparatus and method for measuring movement distance and velocity using a dual sensor, and more particularly, to an apparatus and method for measuring movement distance and velocity using a dual sensor, The present invention relates to an apparatus and a method for measuring a movement distance and a speed of an ultrasonic sensor, the apparatus comprising: a sensor unit including an acceleration sensor for measuring a direction and a size of an acceleration with a plurality of ultrasonic sensors; And a display unit for displaying results calculated by the operation unit, wherein the plurality of ultrasonic sensors are arranged in a line in a moving direction of the moving object, A moving distance and velocity measuring device using the double sensor, and a method therefor.

Description

TECHNICAL FIELD [0001] The present invention relates to an apparatus and method for moving distance and velocity using a dual sensor,

More particularly, the present invention relates to an apparatus and method for measuring movement distance and velocity using a dual sensor, and more particularly, to an apparatus and method for measuring movement distance and velocity using a dual sensor, A moving distance and a speed, and a method thereof.

In general, an apparatus and a method for measuring the moving distance of a moving object have been used in various fields. Among them, in the case of the automobile field, a cumulative system is mounted on the vehicle to display the total mileage of the vehicle, and the information is analyzed to provide a rationale for judging the current state of the vehicle.

In general, the method of measuring the moving distance of the vehicle has been calculated by the number of rotations of the wheel. This is not a method of directly measuring the moving distance but measuring the moving distance indirectly through the number of rotations of the wheel. Inevitably, .

In order to compensate for this, a moving distance measuring method using a GPS sensor or the like is also used. In this method, a distance is calculated by attaching a GPS receiver to a moving object and performing distance calculation according to the position value of the moved GPS receiver. to be. However, this method of GPS distance measurement has no problem when measuring the simple moving distance, but it has a problem that it can not cope with various movement patterns of the moving object.

In other words, as an example, when a vehicle runs on a ramp, the actual travel distance is a path on the ramp. GPS analyzes only the position value to calculate the distance between two points without elevation, There is a problem in that it is impossible to estimate the moving distance indirectly regardless of the moving route in the section in which the GPS satellite is not received because the position data can not be received from the GPS satellite when moving to a tunnel or underground.

A related prior art is Korean Patent Laid-open Publication No. 10-2014-0052430 (Published on 2014. 05. 07).

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems, and it is an object of the present invention to provide a dual sensor capable of calculating an accurate moving distance and speed of a moving object by mounting an acceleration sensor and an ultrasonic sensor on a moving object, And a method of measuring the moving distance and the velocity using the moving distance and the velocity.

The technical objects to be achieved by the present invention are not limited to the above-mentioned technical problems.

According to an aspect of the present invention, there is provided an apparatus for measuring movement distance and velocity using a dual sensor, comprising: a sensor unit including a plurality of ultrasonic sensors and an acceleration sensor for measuring a direction and a size of acceleration; And a display unit for displaying results calculated by the operation unit, wherein the plurality of ultrasonic sensors are arranged in a line in the moving direction of the moving object, The present invention provides a moving distance and velocity measuring apparatus using the dual sensor.

Specifically, the calculation unit can be characterized by using the following expression to find a moving distance? D in which the moving object moves for? T time.

At this time,

h: Height from the ground surface to the ultrasonic sensor 111

h ': the length of the reflected ultrasonic wave when the moving object moves

h ": Upper / lower length when the moving object moves up and down

Δt: Time until ultrasonic signal of one clock is transmitted and received

More specifically,

and the moving distance d of the moving object is calculated by summing the? d values for the time t.

Specifically, the calculation unit may calculate h ', which is the length of the reflected ultrasonic wave when the moving object moves, using the following equation.

At this time,

: Speed of sound velocity

Specifically, the calculating unit may calculate the vertical length h " when the moving object moves up and down using the following equation.

At this time,

: Speed in the vertical direction calculated by the acceleration sensor

Specifically, the calculation unit calculates the velocity in the vertical direction calculated by the acceleration sensor using the following equation

Of the first image.

At this time,

: Vertical acceleration component detected by the acceleration sensor

Specifically, the sensor unit may be implemented as an infrared sensor and an acceleration sensor.

Specifically, the measurement apparatus may further include storage means for storing a temporary operation value or a result value output from the operation unit.

Specifically, the measurement apparatus may further include a communication unit capable of transmitting a temporary operation value or a result value output from the operation unit to an external computer or a portable device.

According to another aspect of the present invention, there is provided a moving distance and velocity measuring method using a dual sensor, the moving distance and velocity measuring method comprising the steps of: receiving and transmitting signals from an ultrasonic sensor to calculate a vertical distance h 'Lt; RTI ID = 0.0 > vertical velocity

; Calculating,

Value and

Comparing the values, calculating the distance d, calculating the velocity V, and displaying the distance d and the velocity V. [

Specifically, the step of transmitting and receiving a signal from the ultrasonic sensor and calculating a vertical distance h 'includes the steps of transmitting and receiving signals by the plurality of ultrasonic sensors, grasping the ultrasonic sensor receiving the largest signal, And a step of calculating an output signal of the first filter.

Specifically, a signal is received from the acceleration sensor,

Comprising the steps of: receiving a signal from an acceleration sensor;

Detecting a vertical velocity

And a step of calculating a second threshold value.

Specifically,

Value and

The comparing step compares the two values, and if they are the same, returns to the first step and performs the process again, and if not, performs the next step.

More specifically, the step of calculating the distance d includes obtaining a moving distance d of the moving object by using the following equation and calculating the moving distance d of the moving object by summing the values of the d values during the time t .

At this time,

Δt: Time until ultrasonic signal of one clock is transmitted and received

As described above, according to the present invention, since a plurality of ultrasonic sensors and acceleration sensors are mounted on a moving object, the signals received from the two sensors are analyzed, and then the moving distance and velocity of the object are calculated. It is possible to accurately and precisely measure the actual moving distance and speed.

In addition, since the present invention uses a plurality of ultrasonic sensors and acceleration sensors without using GPS or the like in the case of measuring the moving distance and velocity of an object, it is possible to use the ultrasonic sensor and the acceleration sensor in fields such as subway and underground repair works There is an effect that can be utilized regardless of place.

Further, since the present invention can calculate a highly accurate and precise moving distance and speed, it has an effect that it can be usefully used in a work requiring precise data such as a vehicle test.

1 is a block diagram of a moving distance and velocity measuring apparatus using a dual sensor according to an embodiment of the present invention.
Fig. 2 is a conceptual diagram showing a situation when the measuring apparatus shown in Fig. 1 moves. Fig.
FIG. 3 is a conceptual diagram showing that an ultrasonic signal is transmitted / received to / from a plurality of sensors in the measuring apparatus shown in FIG.
4 is a graph illustrating the magnitude of signals received by the plurality of ultrasonic sensors shown in FIG.
FIG. 5 is a graph showing a change in an ultrasonic signal received when the measuring apparatus shown in FIG. 1 moves.
Fig. 6 shows the diagrams of the variables for calculating the travel distance d in the measuring apparatus shown in Fig.
FIG. 7 is a diagram illustrating the variables for calculating the moving distance d when the height changes in the measuring apparatus shown in FIG. 1; FIG.
8 is a flowchart illustrating a method of measuring a moving distance and a velocity using a dual sensor according to an embodiment of the present invention.
FIG. 9 is a detailed flowchart of step S210 shown in FIG.
FIG. 10 is a detailed flowchart of step S220 shown in FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same components are denoted by the same reference symbols whenever possible. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

FIG. 1 is a block diagram of a moving distance and velocity measuring apparatus using a dual sensor according to an embodiment of the present invention. A moving distance and velocity measuring apparatus (hereinafter referred to as a measuring apparatus) A sensor unit 110 including an ultrasonic sensor 111 arranged in a line and a three-axis acceleration sensor 113 measuring the direction and the magnitude of the acceleration; And a display unit 130 for displaying the results calculated by the operation unit 120. The display unit 130 displays the results of the calculation.

A plurality of ultrasonic sensors 111 are mounted in a line in accordance with the moving direction of the moving object. The ultrasonic sensor 111 located at the center of the plurality of ultrasonic sensors 111 includes a transmitter and a receiver at the same time, And the remaining ultrasonic sensors 111 are configured to only receive ultrasonic waves transmitted from the ultrasonic sensors 111 located at the center.

Generally, the ultrasonic sensor 111 is composed of one or two piezoelectric elements. When a received ultrasonic wave hits a piezoelectric element, a voltage is generated. On the contrary, a voltage is applied to the piezoelectric element to generate a bottom acoustic wave. And receives the ultrasonic waves reflected from the ground surface, and calculates the distances using the ultrasonic waves.

In the present invention, a plurality of ultrasonic sensors 111 receive the ultrasonic waves transmitted from the ultrasonic sensor 111 located at the center among the ultrasonic sensors 111 mounted in a line, and the size and the arrangement position of the ultrasonic sensors 111 are analyzed Thereby calculating the moving distance and speed of the moving object M to be measured.

The three-axis acceleration sensor 113 is a sensor mounted on the moving object M and capable of sensing the acceleration of the object in three axial directions. Herein, the three-axis acceleration sensor 113 is a sensor in which the moving direction of the moving object M The Y-axis direction refers to the vertical direction of the moving object M, and the Z-axis direction refers to the left and right lateral direction of the moving object M.

In the present invention, the movement distance and velocity of the moving object M calculated by the ultrasonic sensor 111 using the acceleration signal of the moving object M in the Y-axis direction among the reception signals of the three-axis acceleration sensor 113 The error can be adjusted.

The sensor unit 110 may be replaced with an infrared sensor instead of the ultrasonic sensor 111, and may be implemented together with the acceleration sensor 113.

The calculation unit 120 calculates the distance and velocity using the signal received from the ultrasonic sensor 111 and calculates the distance and velocity based on the value calculated by the ultrasonic sensor 111 using the signal received from the 3-axis acceleration sensor 113. [ And transmits the resultant value to the display unit 130. [0050]

The measurement apparatus 100 may further include storage means for storing and outputting the intermediate values or the result values calculated at the arithmetic unit 120 from time to time. Such storage means may include various semiconductor memories, hard disks, and the like.

Here, the detailed calculation process for each calculation will be described in detail below.

The display unit 130 plays a role of displaying the result value calculated by the operation unit 120 to the outside using various media such as a monitor and a portable device so that the user can easily recognize the result value.

Here, the measuring apparatus 100 may further include wired / wireless communication means for transmitting the results to an external computer or a portable device located outside.

Hereinafter, the principles of moving distance and velocity measurement using the dual sensor according to an embodiment of the present invention will be described in more detail.

First, Fig. 2 is a conceptual view showing a situation when the measuring apparatus 100 shown in Fig. 1 moves, and it is exemplified that five ultrasonic sensors 111 are arranged in a line. Each ultrasonic sensor is indicated by -2, -1, 0, 1, and 2 from the left side of the drawing, respectively.

When the '0' ultrasonic sensor 111 located at the center among the ultrasonic sensors 111 arranged in the longitudinal direction moving within the measuring apparatus 100 emits ultrasonic waves toward the ground surface shown below, the directional ultrasonic waves are emitted radially The ultrasound waves are reflected and then received in all five ultrasonic waves arranged in a line.

That is, as described above, only the ultrasonic sensors located at the center among the five ultrasonic sensors 111 transmit and receive, and the remaining sensors only receive.

At this time, the distance between the measuring device 100 and the surface of the ground is represented by 'h', and the directions of the transmission wave and the reflection wave are indicated by arrows.

Fig. 3 is a diagram showing that the ultrasonic signals are transmitted / received to / from a plurality of sensors in the measuring apparatus 100 constructed as described above. In Fig. 3, seven ultrasonic sensors 111 are arranged in a row. 2, 3, -2, -1, 0, 1, 2, and 3 from the left side, and FIG. 4 is a graph showing the magnitude of signals received by each of the plurality of ultrasonic sensors, S and the horizontal axis represents the position P of the plurality of ultrasonic sensors 111.

Referring to the graph of FIG. 4, it can be seen that the magnitude of the signal received by the '0' ultrasonic sensor 111 located at the center is the largest, and that the magnitude of the received signal becomes smaller as the distance from the center increases .

At this time, when the moving object M starts to move, a graph indicating the magnitude of a signal received by each ultrasonic sensor 111 is displayed as if it moves to the left and right as a whole.

5 is a graph illustrating that a graph indicating the magnitude of a signal received by the ultrasonic sensor 111 as the moving object M moves moves to the left and right.

5 shows the magnitude of a signal received by the plurality of ultrasonic sensors 111 mounted on the measuring apparatus 100 at the time t1. The graph shows the positions of the plurality of ultrasonic sensors 111 P-2, P-1, P0, P + 1, and P + 2 are plotted on the abscissa and S is plotted on the ordinate.

In this case, when the parabolic curves are viewed, it can be seen that the magnitude of the signal received by the P0 ultrasonic sensor 111 is the largest, and A is indicated at the apex of the parabola.

5 is a graph showing the magnitudes of signals received by the plurality of ultrasonic sensors 111 mounted on the measuring apparatus 100 at time t2 which has elapsed by? T (? T = t2 - t1) P-2, P-1, P0, P + 1 and P + 2, respectively, and the size of the signal is indicated by S on the vertical axis.

At this time, the moving direction of the moving object M on which the measuring apparatus 100 is mounted is indicated by an arrow at the bottom of the graph as the right direction.

Here, it can be seen that the distance d that the moving object M has moved at the point of time t2 when the moving object M has passed by? T coincides with the moving amount of the entire graph, .

That is, in the graph shown at the upper part, point A indicated by the parabola of P0 is a point of parabola of P-1 in the graph shown at the lower end. In this case, the moving direction is a direction opposite to the moving direction of the object M And the size thereof is equal to the interval between P0 and P-1.

Again, the interval between P0 and P-1 is the actual distance of the ultrasonic sensor 111 disposed at the position, and is the distance d that the moving object M moved.

The velocity V of the moving object M is calculated by differentiating the calculated moving distance? D by the moving time? T. That is, the following equation (1) is obtained.

As a result, the distance? D that the moving object M moves for? T time is calculated by calculating the interval between the first ultrasonic sensor 111 that receives the largest signal and the ultrasonic sensor 111 that receives the largest signal .

If the moving distance of the moving object M is smaller than the interval at which the plurality of ultrasonic sensors 111 are disposed, the moving distance and the velocity can not be calculated in the above-described manner, which will be described in detail below .

6 is a graph illustrating various variables in order to calculate the moving distance d when the moving distance of the moving object M is smaller than the interval at which the plurality of ultrasonic sensors 111 are arranged, A straight line is drawn from the position of the moving object M at the point of time t1 to the surface of the moving object M and a straight line is drawn between the moving object M and the surface of the moving object M The height of the triangle is represented by h ', which is a height changed by drawing a straight line from the point of time t2 to the moving object at time t2, and the internal angle of the upper right corner of the triangle is represented by?.

Here, the reflected distance of the ultrasonic wave transmitted from the ultrasonic sensor 111 becomes h 'instead of h, which can be expressed by the following equation (2).

h 'denotes the height of the moving object M with respect to the ground surface, that is, the height at which the ultrasonic sensor 111 is mounted on the ground surface,

Represents the time at which the largest ultrasonic signal reaches the ultrasonic sensor 111 after being transmitted from the center ultrasonic sensor 111 and reflected on the ground surface. Sound speed

= 331.5 + 0.60714T (T: Celsius temperature of the outside air).

In this way, h 'is calculated and compared with h already known, and when h' becomes larger, it can be known that the moving object M has moved.

Finally, referring to FIG. 6, if we look at the principle of obtaining Δd, which is the distance traveled by the moving object M for Δt time, knowing h and obtaining h ', we apply it to the trigonometric function, Can be calculated by Equation (3).

Here, it is examined how the error occurs in the process of calculating the distance using the ultrasonic sensor 111 in consideration of the case where the moving object M moves not only in the moving direction but also in the vertical direction.

That is, if the moving object M moves up and down while moving, there is no change in the h value corresponding to the up / down value at the time t1 when the movement starts, but if the up / And will differ from the scheme of FIG. 6 described above.

As a result, if the up and down movements of the moving object M are not taken into consideration, the changed h 'value is substituted into the above-mentioned equation, so that the calculation of the moving distance? D of the actual moving object M causes an error.

FIG. 7 is a graphical representation of the variables for calculating the moving distance d in consideration of the case where the height of the moving object M changes while moving, and is a right triangle higher than the right triangle in FIG. 6 Able to know. In other words, the movement was made up and down to reflect the changed h value and h 'value.

Based on this, the final principle of calculating the distance Δd, which is the distance traveled by the moving object (M), which reflects the change of the height, during the time Δt, will be examined.

First, it can be considered that the situation when the moving object M changes in height is divided into two.

First, there is a case where the moving object M moves only vertically without moving in the horizontal direction, and second, a case where the moving object M moves upward and downward while moving in the horizontal direction.

In the first case, it is not the case that the movement distance d and the velocity V of the moving object M to be obtained in the present invention are not obtained. In this case, the measurement process is returned from the beginning to the beginning, (D) and velocity (V) of a general moving object (M), which can cover up and down movements, will be described.

Axis acceleration sensor 113 is a measurement value of the three-axis acceleration sensor 113. As described above, the three-axis acceleration sensor 113 is installed in the measuring apparatus 100 together with the ultrasonic sensor 111, The acceleration is detected.

That is, the three-axis acceleration sensor 113 detects the direction of movement of the moving object M, that is, the X-axis direction in the horizontal direction, the Y-axis direction in the vertical direction of the moving object M, And senses the acceleration of the moving object M with respect to the Z-axis direction, which is the left and right lateral direction, and outputs it as an electrical signal.

In the present invention, two axes in the X-Y direction are measured, and the vector expression related thereto is expressed by the following expression (4).

Here, the movement distance d and the velocity V of the moving object M can be obtained using the ultrasonic sensor 111, and also the moving distance M of the moving object M can be calculated using the three- (d) and velocity (V) can be obtained.

That is, the acceleration component for the moving direction of the moving object M

And the acceleration time t

By integrating the values, the velocity V can be obtained, and by integrating the velocity V with respect to the movement time t, the movement distance d can be obtained.

However, as described above, the acceleration of the moving object M with respect to the horizontal direction

Also, the acceleration in the vertical direction

Values are interlocked.

That is, even if the three-axis acceleration sensor 113 is used to calculate the velocity V and the movement distance d, an error occurs as in the above case.

Therefore, the principle of obtaining the moving distance d by using the ultrasonic sensor 111 and reflecting the up and down movement of the moving object M will be described.

First, among the measured values of the three-axis acceleration sensor 113,

. Here, the acceleration to the side

The component values are assumed to be minimized. In other words,

Keep the value almost at '0'

After the value is measured, the value is integrated to obtain the velocity in the up-and-down direction

, And a calculation formula for this is shown in Equation 5 below.

Then, the ultrasonic sensor 113 calculates the velocity V _sonic value with respect to the vertical direction using the h value and the h 'value, and a calculation formula for the velocity V _sonic value is shown in Equation (6) below.

Subsequently, the velocity in the up-and-down direction calculated by the acceleration sensor 113

. When the absolute value of the velocity V _sonic value with respect to the vertical direction calculated by the ultrasonic sensor 111 becomes the maximum, it means that the moving object M moves only in the vertical direction without moving in the horizontal direction, The maximum value with respect to the absolute value is calculated by the acceleration sensor 113,

.

That is, V _sonic value and

The moving object M vibrates only in the vertical direction, and if it is not the same, it means that the moving object M has moved in the horizontal direction at least.

Therefore V _sonic value and

If they are the same, the operation returns to the beginning and performs the operation again, and if not

(D) is calculated using the value of the movement distance d.

The procedure for obtaining the compensated movement distance d with reference to FIG. 7 is as follows.

First, the value for the changed vertical direction is calculated by adding the increased h value to the original h value. Where h "

Is calculated by multiplying the moving time? T of the moving object M by the moving time? T.

Then, a trigonometric function such as the following equation (8) is derived based on the interior angle? At the upper corner.

Here,? D means a distance in which the moving object M moves in the horizontal direction and is shown at the bottom of Fig.

Lastly,? D, the distance traveled by the moving object M reflecting the change of the height, during? T time is expressed by the following equation (9).

Here, h is a known height of the ultrasonic sensor 111 with respect to the surface of the ground, h 'is a distance at which the ultrasonic wave is reflected from the surface of the ground, and is obtained by a measurement signal of the ultrasonic sensor 111, And the acceleration sensor 113 calculates the up-and-down fluctuation value of the vehicle speed M, and the respective calculation methods have been described in detail.

Finally,? D is the moving distance of the moving object M during? T time when the ultrasonic wave is reflected on the surface of the earth by the ultrasonic sensor 111. Therefore, the moving distance d of the desired moving object M is the distance .

Further, if? D is differentiated with respect to? T, the velocity V can be calculated at that point.

Using the double sensor of the ultrasonic sensor 111 and the three-axis acceleration sensor 113, the actual moving distance d in the horizontal direction reflecting the upward and downward movement of the moving object M and the actual moving distance d It is possible to obtain a very accurate value for

FIG. 8 is a flowchart illustrating a moving distance and velocity measuring method using a dual sensor according to an embodiment of the present invention. In the moving distance and velocity measuring method using a dual sensor, a signal is transmitted and received from an ultrasonic sensor, A step S210 of receiving the signal from the acceleration sensor,

(S220),

Value and

(Step S240) of calculating the distance d, a step S250 of calculating the speed ??, and a step S260 of displaying the distance d and the speed ??.

Referring to FIG. 9, a step S210 of transmitting and receiving a signal from the ultrasonic sensor and calculating a vertical distance h 'includes a step S211 of transmitting / receiving a signal by a plurality of ultrasonic sensors, (Step S213) and calculating the vertical distance h '(step S215).

A step S211 of transmitting and receiving a signal by a plurality of ultrasonic sensors may be performed by the ultrasonic sensor 111 located at the center among a plurality of ultrasonic sensors 111 mounted on the measuring apparatus 100, When transmitting to the ground surface, all the ultrasonic sensors 111 are receiving signals reflected from the ground surface.

The ultrasonic sensor 111 located at the center is simultaneously transmitting and receiving, and the remaining ultrasonic sensor 111 is only receiving.

The step of recognizing the ultrasonic sensor receiving the largest signal (S213) analyzes the size of the ultrasonic wave received by each of the ultrasonic sensors 111 in step S211, detects the ultrasonic sensor 111 receiving the largest signal, This is the step of grasping the arrangement position.

That is, if the moving object M is stopped in place, the signal received by each of the plurality of ultrasonic sensors 111 will be the largest in the ultrasonic sensor 111 located at the center, but when the moving object M starts moving The ultrasonic sensor 111 receiving the signal of the largest size will be one of the ultrasonic sensors 111 off-center.

The calculation of the vertical distance h '(S215) is performed by determining the arrangement position of the ultrasonic sensor 111 that has received the largest signal in step S213 and the arrival time? T thereof, ) Can be calculated as the change h 'due to the movement. The concrete calculation formula is the same as the above-described formula (2).

The movement distance d of the moving object M is obtained by multiplying the array position of the ultrasonic sensor 111 that has received the largest signal in the arrangement interval of the ultrasonic sensors 111 already known as described above, Is the same as Equation (1).

This is a method of calculating the moving distance d easily when the moving distance DELTA d of the moving object M is exactly matched with the array interval of the ultrasonic sensor 111. The moving distance DELTA d of the moving object M d is smaller than the array interval of the ultrasonic sensors 111, the distance calculation method should be used.

10, when a signal is received from the acceleration sensor,

(S220) includes a step (S221) of receiving a signal from the acceleration sensor, a step

(S223) of detecting a vertical velocity

(S225). &Lt; / RTI >

The step S221 of receiving a signal from the acceleration sensor is a step of receiving the acceleration signal measured by the three-axis acceleration sensor 113 mounted on the measuring apparatus 100 and includes the steps of moving the moving object M in the moving direction That is, the X-axis direction in the horizontal direction, the Y-axis direction in the vertical direction of the moving object M, and the Z-axis direction in the left and right lateral direction of the moving object M And outputs it as an electrical signal.

The acceleration component in the vertical direction

(S223), the acceleration component measured by the three-axis acceleration sensor 113 is an acceleration component in the vertical direction among the vector components for the three axes

.

Velocity in the vertical direction

(S215), the vertical acceleration component detected in step S223

The velocity in the vertical direction

And outputs it.

At this time, the concrete calculation process is as shown in Equation (5).

However, although the steps S210 and S220 may be performed before the step S220, the step S220 may be performed before the step S210.

Value and

The step of comparing (230)

The value is the velocity in the vertical direction of the moving object M calculated in step S220 by the measurement value of the acceleration sensor 113,

Refers to the velocity in the vertical direction of the moving object M obtained in step S210 by the measurement value of the ultrasonic sensor 111 as a V _sonic . If the two values are the same as described above, the moving object M The moving object M moves not only up and down but also moves in the horizontal direction, so that the actual moving distance d is determined as the moving distance d, .

The step of calculating the distance d (S240) is a step of finally obtaining the final moving distance d by compensating for the error of the moving object M up and down. The detailed procedure is as described above. The final calculation formula is as shown in Equation (9). The moving distance d of the moving object M is obtained by summing the values of? D calculated in Equation (9) at a specific time.

The step S250 of calculating the speed ?? is a step of differentiating? D calculated in the above-mentioned expression (9) with respect to? T and obtaining the speed V at that point.

Step S260 of displaying the distance d and the velocity V is a step of displaying the values of the distance d and the velocity V on the display unit 130 when the operation unit 130 processes the above calculation process.

As described above, according to the present invention, the actual moving distance d in the horizontal direction reflecting the upward and downward movement of the moving object M using the double sensor of the ultrasonic sensor 111 and the three-axis acceleration sensor 113, It is possible to obtain a very accurate value for the velocity V at the time point.

The moving distance and velocity measuring apparatus and method using the double sensor are not limited to the configuration and operation of the embodiments described above. The above embodiments may be configured so that all or some of the embodiments may be selectively combined to make various modifications.

100: Measuring device 110: Sensor part
111: ultrasonic sensor 113: acceleration sensor
120: Operation unit 130:

Claims

A moving distance and velocity measuring apparatus using a dual sensor,
The measuring device includes: a sensor unit including an acceleration sensor for measuring a direction and a size of an acceleration and a plurality of ultrasonic sensors; an operation unit for calculating a movement distance and a velocity using a value measured by the sensor unit; And a display unit for displaying the results calculated by the operation unit,
Wherein the plurality of ultrasonic sensors are arranged in a line in a moving direction of the moving object,
The operation unit,
The movement distance? D at which the moving object moves for? T time is calculated using the following equation (1)
And a vertical length h " when the moving object is moved up and down is calculated using the following equation (2): " (2) "
&Quot; (1) "

At this time,
h: Height from the ground surface to the ultrasonic sensor 111
h ': the length of the reflected ultrasonic wave when the moving object moves
h ": Upper / lower length when the moving object moves up and down
Δt: Time until ultrasonic signal of one clock is transmitted and received
&Quot; (2) "

At this time,

: Speed in the vertical direction calculated by the acceleration sensor

delete

The method according to claim 1,
The operation unit,
And the moving distance d of the moving object is calculated by summing the Δd values calculated during the moving time of the moving object t during the time t.

The method according to claim 1,
The operation unit,
Wherein the distance h 'is the length of the reflected ultrasonic wave when the moving object moves using the following equation.

At this time,

: Speed of sound velocity

delete

The method according to claim 1,
The operation unit,
The velocity in the vertical direction calculated by the acceleration sensor using the following equation

And a distance sensor for measuring the distance between the first and second sensors.

At this time,

: Acceleration component in the vertical direction detected by the acceleration sensor

The method according to claim 1,
The sensor unit includes:
An infrared sensor, and an acceleration sensor.

The method according to claim 1,
The measuring device includes:
And a storage means for storing a temporary operation value or a result value output from the operation unit.

The method according to claim 1,
The measuring device includes:
Further comprising communication means for transmitting the temporary operation value or the result value output from the operation unit to an external computer or a portable device.

A moving distance and velocity measuring method using a dual sensor,
Calculating a vertical distance h 'by transmitting and receiving a signal from the ultrasonic sensor; and receiving the signal from the acceleration sensor,

Calculating,

Value and

Calculating a distance d; calculating a velocity V; And displaying the distance d and the velocity V,
The step of transmitting and receiving a signal from the ultrasonic sensor and calculating a vertical distance h 'comprises the steps of: transmitting and receiving a signal by a plurality of ultrasonic sensors; determining an ultrasonic sensor receiving the largest signal; And calculating a vertical distance h 'based on the calculated vertical distance h'.
At this time,
h: Height from surface to ultrasonic sensor
h ': the length of the reflected ultrasonic wave when the moving object moves

: Speed in the vertical direction calculated by the acceleration sensor

: Velocity in the vertical direction of the moving object calculated by the measurement value of the ultrasonic sensor

delete

The method of claim 10,
Receiving a signal from the acceleration sensor,

Wherein:
Receiving a signal from an acceleration sensor;
The acceleration component in the vertical direction

; And
Velocity in the vertical direction

And calculating the distance velocity using the dual sensor.

The method of claim 10,
remind

Value and

The step of comparing the values comprises:
Comparing the two values and returning to the first step if the values are the same, and if not, performing the next step if not.

The method of claim 10,
The step of calculating the distance d comprises:
Wherein the moving distance d of the moving object is calculated using the following equation and the moving distance d of the moving object is calculated by summing the calculated? D values during the time t when the moving object has moved. Distance Velocity Measurement Method.

At this time,
Δt: Time until ultrasonic signal of one clock is transmitted and received
h ": Upper / lower length when the moving object moves up and down