WO2008026357A1 - Motion capture - Google Patents

Motion capture Download PDF

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Publication number
WO2008026357A1
WO2008026357A1 PCT/JP2007/061323 JP2007061323W WO2008026357A1 WO 2008026357 A1 WO2008026357 A1 WO 2008026357A1 JP 2007061323 W JP2007061323 W JP 2007061323W WO 2008026357 A1 WO2008026357 A1 WO 2008026357A1
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WIPO (PCT)
Prior art keywords
object
measured
acceleration
axis
sensor
Prior art date
Application number
PCT/JP2007/061323
Other languages
French (fr)
Japanese (ja)
Inventor
Takeshi Nishizawa
Norihiko Shiratori
Original Assignee
Microstone Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Priority to JP2006-231526 priority Critical
Priority to JP2006231526 priority
Application filed by Microstone Corporation filed Critical Microstone Corporation
Publication of WO2008026357A1 publication Critical patent/WO2008026357A1/en

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the preceding groups
    • G01B21/02Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the preceding groups for measuring length, width, or thickness
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/103Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1126Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/56Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
    • G01C19/5607Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using vibrating tuning forks
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01PMEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/18Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0219Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches

Abstract

Provided is a motion capture, which can measure the positional data or the like of a measurement object highly precisely and which is easy in size and weight reductions. The motion capture detects the position or posture of the object with a six-axis sensor having triaxial acceleration sensor for measuring the accelerations (Gxn, Gyn, Gzn) of the object and a triaxial angular velocity sensor for measuring the angular velocities (ωxn, ωyn, ωzn) of the object. The motion capture is characterized by comprising a data processing step for calculating the accelerations (AXn, AYn, AZn) of a reference coordinate system from the individual output data of the triaxial acceleration sensor and the triaxial angular velocity sensor on the basis of an inverse skew matrix (R(n)-1) or a deformed inverse skew matrix (R'(n)-1).

Description

 Specification

 Motion capture

 Technical field

 [0001] The present invention relates to a motion capture. More specifically, the present invention relates to a motion capture that can accurately measure position data of an object to be measured and is easy to reduce in size and weight.

 Background art

 Conventionally, in motion analysis of an object to be measured such as a living body, image information taken from a plurality of angles has been compared.

 However, image processing for obtaining image information is not only expensive, but also requires a large-scale image processing system, which can be used for outdoor sports, motor function rehabilitation, vehicles such as vehicles, In the machine operation analysis etc., there was a problem that it was practically difficult.

 Therefore, motion capture for analyzing the motion of a measurement object such as a living body by combining an acceleration sensor and an angular velocity sensor has been studied.

 However, in addition to sensor error, coordinate conversion error, integration error, etc., it includes a non-linear element called 3-axis rotation, so even a slight error at first will change with time. As a result, there was a problem that it deviated greatly from the actual value.

[0003] For this reason, various improved products have been proposed as motion capillaries. For example, an attitude angle detection device that has an algorithm that does not reduce the accuracy of any attitude and performs data processing using this algorithm ( A kind of motion captilla is disclosed (for example, see Patent Document 1).

More specifically, as shown in FIG. 15, three gyroscopes 311, 312, 313 and two types of Euler angles that are moved in unit time based on the output corresponding to the angular velocity of the gyroscope. Motion angle calculation device (not shown) that computes with, acceleration sensors 314, 315, 316 that detect biaxial acceleration, geomagnetic sensors 317, 318, 319 that detect biaxial geomagnetism, acceleration sensors and geomagnetism Based on the sensor output, around the X, Y, and Z axes A static angle calculation device (not shown) that calculates the rotation angle with two types of Euler angles, a determination device (not shown) that determines the truth of the calculation result, and a posture according to the calculation result of the determination device Attitude angle calculation device (not shown) that calculates angle with two types of Euler angles, Euler angular force error force, Euler angle conversion that selects the Euler angle to be used and converts it to the other Euler angle It is a posture angle detection device composed of an arithmetic device (not shown)

[0004] Further, the measurement error of the viewpoint position by the inertial sensor is corrected. In particular, an accumulation error that occurs with the lapse of time is corrected, and a position / orientation measuring apparatus (a kind of motion capture) is disclosed (for example, see Patent Document 2).

 More specifically, as shown in FIG. 16, an angular velocity measurement unit (high-precision attitude sensor) 401 that measures the angular velocity generated by the rotation of the measurement target and the acceleration generated by the movement and rotation of the measurement target are measured. Based on the output of the acceleration measurement unit (acceleration sensor group) 402 and the angular velocity measurement unit 401, error estimation means (error estimation module) 403 for estimating the error included in the output of the acceleration measurement unit 402, and angular velocity measurement Based on the output of the unit 401, the attitude calculation means (attitude calculation module) 404 for calculating the attitude of the measurement target, the error estimation result by the output of the acceleration measurement unit 402 and the error estimation means 403, and the attitude calculation means 404 〖 A position / orientation measurement apparatus 400 including position calculation means (position calculation module) 405 that calculates the position of a measurement target based on the attitude calculation result. The output error of the acceleration measuring unit 402 is corrected by multiplying by a proportional constant or a time-averaged proportional constant.

 [0005] Further, a posture monitoring device for rehabilitation intended to accurately measure motion by correcting a zero error in a stationary state of 6-axis data obtained from a 3-axis accelerometer and a 3-axis angular velocity meter (A kind of motion capture) is disclosed (for example, see Patent Document 3).

More specifically, as shown in FIG. 17, the 6-axis data obtained from the 3-axis accelerometer and 3-axis angular velocity meter force provided in the posture monitor unit 561 is input to the inertial calculation unit 563, and This is a posture monitoring device for rehabilitation of a living body that corrects the zero error of the state (M, N) and measures the movement of the living body 550 with high accuracy. Patent Document 1: JP 2005-331265 A (Claims)

 Patent Document 2: JP 2005-114452 (Claims)

 Patent Document 3: Japanese Patent Laid-Open No. 2005-34343 (Claims)

 Disclosure of the invention

 Problems to be solved by the invention

[0006] However, the attitude angle detection device disclosed in Patent Document 1 performs rotation conversion in a path different from the actual operation state, and does not match the actual operation state of the object to be measured, thus improving reliability. Not only is it lacking, but the two types of Euler angular forces also calculate the attitude angle, so there is a problem that it takes time to process the data because of the large amount of calculation processing. In addition to the 6-axis data of the object to be measured, it was necessary to measure the specified geomagnetism using a geomagnetic sensor, and it was difficult to reduce the size and weight of the sensor part.

 In addition, the position and orientation measurement device disclosed in Patent Document 2 cannot substantially handle the case where the output error of the acceleration measurement unit is large, and furthermore, if the output error of several acceleration measurement units is not uniform, There was a problem that the error could not be corrected substantially.

 Furthermore, the posture monitoring device for rehabilitation disclosed in Patent Document 3 only corrects the zero-point error in the stationary state of the 6-axis data before and after the movement of the measured object using a Kalman filter or the like. Therefore, there has been a problem that the accurate position of the object to be measured cannot be detected in a reference coordinate system as a coordinate system for observing movement, for example, the ground coordinate system.

 [0007] The position and orientation measurement devices disclosed in Patent Documents 1 to 3 have a problem of low measurement accuracy. In particular, when the object to be measured makes a circular motion, if the sensor part is made large in order to prevent the measurement error from increasing, it becomes difficult to reduce the size and weight of the device. In addition, there were problems of increased power consumption and difficulty in mounting on circuit boards.

On the other hand, in general motion sensors (acceleration sensor, angular velocity sensor), the output error due to temperature change (drift) of offset and gain is remarkable. For example, correction as shown in Fig. 18 is performed, and various temperature It is used with a compensation circuit added. However, a fixed compensation circuit written in EPROM or other device with large variations in sensor and circuit characteristics. On the road, there was a problem that sufficient accuracy was not obtained! /.

 [0008] Therefore, as a result of intensive studies on such a problem, the present inventors have found that even when the object to be measured has a circular motion, for example, the measurement interval is relatively 5 to 50 ms. Even when rough sampling is performed, a relatively small 6-axis sensor and a predetermined data processing algorithm (3-axis batch rotation conversion technology based on minute angles integrating angular velocities) are used to measure It has been found that the position of an object can be detected with high accuracy.

 That is, an object of the present invention is to provide a motion capture that can accurately measure position data of an object to be measured and that can be easily reduced in size and weight.

 Means for solving the problem

According to the present invention, a three-axis acceleration sensor xn yn zn for measuring acceleration (G 1, G 2, G 3) of an object to be measured

 And 6-axis xn yn ζη, each equipped with a 3-axis angular velocity sensor that measures angular velocity (ω, ω, ω)

This is a motion capture for detecting the position or orientation of the object to be measured by the sensor. From the output data of the 3-axis acceleration sensor and 3-axis angular velocity sensor, the inverse skew matrix expressed by the following formula (1) ( R (n) — 1 ), or based on the deformed inverse skew matrix ((n) " 1 ) expressed by the following formula (2), the acceleration of the reference coordinate system expressed by the following formula (3) ( Motion carrier including data processing steps to calculate A, A, A)

 Xn Yn Ζη

 Petitya.

 In other words, even if the object to be measured has a circular motion or the like in the reference coordinate system, the position of the object to be measured can be accurately detected by the 3-axis batch rotation conversion technology based on the minute angle that integrates the angular velocity. In addition, it is possible to provide motion capture that can be easily reduced in size and weight.

In the following formula (1), the product of the individual inverse skew matrixes, and in the following formula (2), the force that is the product of the individual inverse skew matrixes. These are called the inverse skew matrix and the inversely deformed skew matrix.

(In Equation (1), At is a minute time between measurements of the object to be measured.)

(In Formula (2), At is a minute time between measurements of the object to be measured.)

[0014]

 (3)

[0015] (In Equation (3), G is the gravity on the reference coordinates at the start of measurement.

 It is acceleration. )

 [0016] In configuring the motion capture of the present invention, it is preferable that the acceleration in the reference coordinate system is the acceleration in the ground coordinate system.

 That is, the position of the object to be measured can be accurately detected even when the object to be measured has a circular motion in the ground coordinate system as the reference coordinate system.

[0017] In configuring the motion capture of the present invention, a three-axis acceleration sensor and

Calculate the acceleration (A A A) of the ground coordinate system from the output data of the 3-axis angular velocity sensor.

 It is preferable to calculate the position data of the object to be measured based on the acceleration of this earth coordinate system.

 With this configuration, the position of the object to be measured can be detected more quickly. Based on the acceleration of the earth coordinate system, not only the position data of the object to be measured but also the speed and inclination angle of the object to be measured can be accurately calculated.

[0018] Further, in configuring the motion capture of the present invention, it is preferable that the output data of the three-axis acceleration sensor is subjected to an offset correction process before the data processing step.

With this configuration, the position of the object to be measured is detected more quickly and accurately. be able to.

 [0019] In configuring the motion capture of the present invention, a known adjustment voltage may be applied to the three-axis acceleration sensor and / or the three-axis angular velocity sensor to adjust the detection level. preferable.

 With this configuration, the position of the object to be measured can be detected more quickly and accurately even if the measurement range (range) of the object to be measured is expanded and a large offset occurs.

 [0020] Further, in configuring the motion capture according to the present invention, the first motion capture and the second motion capture are included, and each of them is disposed at a position away from the object to be measured. At the same time, it is preferable to calculate the relative position in the constituent part of the object to be measured from the position data obtained by the first motion capture and the position data obtained by the second motion capture.

 With this configuration, even the relative position of the component to be measured can be detected with high accuracy, and the state of the sample to be measured can be estimated from that.

 In addition, not only the position data of the object to be measured by the motion capture but also the inclination angle data of the object to be measured can be used to calculate the relative angle (position relative to the component part of the object to be measured).

 Therefore, by attaching the first motion capture to the vehicle and attaching the second motion capture to the driver, the relative angle (relative position) at the component part of the object to be measured can be calculated. It is possible to infer human movements with coordinates fixed to the vehicle.

 [0021] Further, in configuring the motion capture according to the present invention, a power supply is included, and the power supply is electrically connected to the outside of the motion capture housing. It is preferable to isolate it from the 6-axis sensor mounted inside.

 With this configuration, the position of the object to be measured can be detected with higher accuracy by eliminating the influence of the relatively heavy power supply.

[0022] In configuring the motion capture of the present invention, the 6-axis sensor is It is preferably mounted on a rigid substrate laminated on a steel substrate.

 Such a configuration not only facilitates the mounting of the 6-axis sensor, but also guarantees the operation of the 6-axis sensor and can detect the position of the object to be measured with higher accuracy.

 [0023] Further, in configuring the motion capture according to the present invention, it is preferable that a plurality of rigid substrates are stacked on the flexible substrate, and the plurality of rigid substrates are stacked at a predetermined interval. Better!/,.

 With this configuration, the 6-axis sensor can be easily mounted, and can be bent or deformed using the flexible substrate exposed between the rigid substrates. Therefore, it is possible to dramatically improve the degree of freedom in attaching and handling motion capillaries.

 [0024] Another aspect of the motion capture of the present invention is the acceleration (G, G

 xn yn

, G) 3 axis acceleration sensor and angular velocity (ω, ω, ω) 3 axis zn xn yn ζη

 This is a motion capture for detecting the position or orientation of the object to be measured by a 6-axis sensor equipped with each of the angular velocity sensors. The object to be measured is output from the output data of the 3-axis acceleration sensor and 3-axis angular velocity sensor. When it is determined that the robot is in non-inertial motion, the skew matrix (R (n)) expressed by the following formula (4) or the deformed skew matrix (IT ( n) Based on), it is a motion capture that includes a data processing step for calculating the inclination angle of the reference gravity vector applied to the object to be measured.

That is, even when the object to be measured is in non-inertial motion, the acceleration of the object to be measured can be accurately measured.

 In the following formula (4), the product of the individual skew matrixes, and in the following formula (5), the force that is the product of the individual deformed skew matrices. It shall be called a skew matrix and a modified skew matrix.

(In Equation (4), At is a minute time between measurements of the object to be measured.)

(In Formula (5), At is a minute time between measurements of the object to be measured.)

 Brief Description of Drawings

 [0029] [Fig. 1] (a) to (c) are a schematic cross-sectional view, a plan view, and a side view of a motion cap- ture according to the present invention.

 FIG. 2 is another schematic cross-sectional view of the motion capture of the present invention.

 FIG. 3 is a diagram for explaining a correction method for a triaxial acceleration sensor and a triaxial angular velocity sensor.

 [FIG. 4] (a) to (b) are diagrams for explaining an example of a three-axis acceleration sensor.

 FIG. 5 (a) to (b) are diagrams for explaining an example of a triaxial angular velocity sensor.

 FIG. 6 is a diagram for explaining the electrode relationship of the triaxial angular velocity sensor.

 [FIG. 7] (a) to (d) are diagrams for explaining the operation of the three-axis angular velocity sensor (part

D o

 [FIG. 8] (a) to (d) are diagrams for explaining the operation of the three-axis angular velocity sensor (part

2).

 [Fig. 9] (a) to (d) are diagrams for explaining the operation of the three-axis angular velocity sensor (part

3).

 FIG. 10 is a flowchart for carrying out a correction method for a 3-axis acceleration sensor and a 3-axis angular velocity sensor.

 [Fig. L l] (a) to (b) are diagrams showing the relationship between a trajectory during circular motion using a skew matrix as an algorithm, its elapsed time and error.

 [FIG. 12] (a) to (b) are diagrams showing the relationship between a trajectory during circular motion using a deformed skew matrix as an algorithm, its elapsed time and error.

 [FIG. 13] (a) to (d) are composite substrates including a flexible circuit substrate and a rigid substrate.

[FIG. 14] (a) to (b) are diagrams for explaining an application example to a baseball bat for practice. The

 FIG. 15 is a diagram for explaining a conventional posture angle detection device (part 1).

 FIG. 16 is a diagram for explaining a conventional position and orientation measurement apparatus (part 2).

 FIG. 17 is a diagram for explaining a conventional rehabilitation posture monitoring device.

3).

 FIG. 18 is a diagram for explaining a correction method for a conventional triaxial acceleration sensor and a triaxial angular velocity sensor.

 BEST MODE FOR CARRYING OUT THE INVENTION

[0030] As shown in Figs. 1 (a) to (c) or Fig. 2, the embodiment of the present invention includes a three-axis acceleration sensor 16a for measuring the acceleration (G, G, G) of an object to be measured, and an angular velocity. A motion capture 10 for detecting the position or orientation of an object to be measured by a six-axis sensor 16 having a three-axis angular velocity sensor 16b that measures (ω 1, ω, ω), and a three-axis acceleration sensor 16a From the output data of the 3-axis angular velocity sensor 16b, based on the inverse skew matrix (R (n) or the modified inverse skew matrix (R '(n) " 1 ), the acceleration (A, A, A Motion capture including data processing steps to calculate

10.

 Another embodiment of the motion capture according to the present invention is a motion capture for detecting the position or orientation of an object to be measured by using a similar 6-axis sensor, and comprising a 3-axis acceleration sensor If the measured object is determined to be in non-inertial movement from the output data of the 3-axis angular velocity sensor, the skew matrix (R (n)) or the deformation skew matrix (IT (n ) Based on)), the motion capture includes a data processing step for calculating the tilt angle from the reference gravity vector applied to the object to be measured.

 FIG. 1 (a) is a schematic cross-sectional view of the motion capture 10, FIG. 1 (b) is a schematic plan view thereof, and FIG. 1 (c) is a schematic side view thereof. FIG. 2 is a schematic cross-sectional view of another motion capture 1 (1.

[0031] 1. Basic configuration

 (1) 3-axis acceleration sensor

As shown in Fig. 4, the 3-axis acceleration sensor has a buried SiO layer inside and a flat surface. A mass body 43 having a rectangular shape, beam portions 45 to 48 that connect the mass body 43 and the frame portion 42 at four locations, and a plurality of resistance elements 49 provided at predetermined locations of these 45 to 48 A piezoresistive type three-dimensional acceleration sensor 40 is preferable.

 In addition to the structure shown in the figure, a three-axis acceleration sensor that can detect static acceleration such as gravity, as represented by a capacitance type, can be applied.

 In other words, the three-dimensional acceleration sensor is used to monitor the acceleration in the three-dimensional direction of the object to be measured, and the three-dimensional acceleration component (G, G, G) is filtered to synthesize the predetermined direction component. A vector G (G 1, G 2, G 3) can be defined. Shi

 0 Ox Oy Oz

 Therefore, the combined beta G (G, G, G) of the gravity direction component can be accurately determined from the acceleration components (G, G, G) in the three-dimensional direction.

 0 Ox Oy Oz

 [0032] (2) 3-axis angular velocity sensor

 FIG. 5 is a diagram provided for explaining an example of the triaxial angular velocity sensor 50. FIG. 6 is a diagram for explaining the electrode relationship of the triaxial angular velocity sensor 50, and FIGS. 7 to 9 are diagrams for explaining the operation of the triaxial angular velocity sensor 50. FIG.

 Therefore, the triaxial angular velocity sensor preferably has a configuration in which a piezoelectric element is stacked on the vibrator and detects Coriolis generated when the angular velocity around the three axes changes.

 The reason for this is that if Coriolis is detected, the monitored angular velocity components (ω, ω, χ y ω) can be measured as relatively large values. This is because the correction can be effectively performed so as to approximate the angular velocity motion state. Moreover, if Coriolis is detected, it is possible to provide a triaxial angular velocity sensor that consumes less power and can be easily reduced in size and weight.

More specifically, in the case of the triaxial angular velocity sensor 50 shown in FIG. 5, the base 56 for fixing the three vibrating legs 5 2a, 52b, 52c and the vibrating legs 52a, 52b , 52c, three mass bodies 53a, 53b, 53c connected to each other, an oscillation circuit section (not shown) for vibrating each vibration leg 52a, 52b, 52c, and each mass body 53a, 53b, 53c And a detection unit (not shown) for detecting Coriolica generated in the above.

In the plane including the vibrating legs 52a, 52b, 52c, the two orthogonal axes are the X axis and When the Y axis is set and the vertical axis is perpendicular to the plane, the first vibrating leg 52b is aligned with the vertical axis, and the second vibrating leg 52a and the third vibrating leg 52c are Also provided are extending portions 54a, 54c extending in an oblique direction so that the axial force is also separated from each other.

 Further, when the Coriolis generated for each mass body 53a, 53b, 53c is detected by the detection unit of the angular velocity sensor 50, the vibration mode of each mass body 53a, 53b, 53c is the second vibration leg 52a and the second vibration 3) The vibration leg 52c opens and closes simultaneously in the Y-axis direction, or the second vibration leg 52a and the third vibration leg 52c are simultaneously displaced in the same direction with respect to the Y-axis direction. 1 The vibration leg 52b has a two-dimensional movement of the HA mode that moves in the opposite direction.

In addition, the triaxial angular velocity sensor shown in FIG. 5 includes electrodes as shown in FIG. 6 at predetermined locations, and can measure the angular velocity as shown in FIG.

 That is, as shown in FIG. 6, the oscillation circuit unit 80 of the triaxial angular velocity sensor 50 is a part including a vibration circuit for vibrating the vibration legs 52a, 52b, and 52c in a predetermined vibration mode. Therefore, it is preferable that the oscillating circuit unit 80 is configured to include an oscillating circuit, an AGC circuit, an impedance conversion circuit, a phase correction circuit, a comparator, and the like.

 Here, in FIG. 6, as a part of the oscillation circuit unit 80, a frequency signal oscillation device (oscillation circuit) 77, output terminals 71, 73, 75, ground (or reference potential) 72, 74, 76, An oscillating circuit composed of predetermined wiring is shown.

 In this oscillation circuit section 80, a plurality of electrodes 70 (70 & 7011) are provided on each vibration leg 52a, 52b, 52c so that a driving signal should be input to each vibration leg 52a, 52b, 52c. . Then, for example, the electrodes of the second vibrating leg 52a and the third vibrating leg 52c are provided with two electrodes 70a, 70b, 70k, 701 in a divided form on one of the side surfaces. On the other side, one electrode 70e is provided over the entire surface. A pair of auxiliary electrodes 70c and 70d are provided almost entirely on the upper and lower surfaces of the second vibrating leg 52a and the third vibrating leg 52c in order to assist the electrodes on the side surfaces.

 On the other hand, the electrodes 70f, 70g, 70h, 70i of the first vibrating leg 52b are provided corresponding to the four surfaces around the vibrating leg, respectively.

[0035] That is, when the vibrating leg is configured using, for example, a quartz Z-cut plate, FIG. As shown in FIG. 4, the electrodes 70a, 70b, 70k, and 701 provided separately on the side surfaces of the second vibrating leg 52a and the third vibrating leg 52c contribute to vertical vibrations, respectively. Suitable for On the other hand, the electrodes 70e, 70f, 70g, and 70j provided on the entire sides of the vibrating legs 52a, 52b, and 52c contribute to horizontal vibration, making them suitable for driving and detection in the HS and HA modes. It can be said that.

 Note that various changes can be made to the circuit configuration of the oscillation circuit section. For example, a logic circuit for phase adjustment in a small range, an analog element such as L, C, R, etc., or a filter for amplifying the drive signal is installed at any circuit location. It ’s also good to go.

 [0036] Further, as the vibration operation of each mass body, the second vibration leg and the third vibration leg are opened and closed simultaneously with respect to the Y-axis direction, or the second vibration leg and the third vibration leg are It is preferable that the HA mode operation in which the first vibrating leg is displaced in the opposite direction simultaneously with the Y-axis direction is performed in a planar manner.

 The reason for this is that when the HS mode is used as the vibration mode, the detection mode in the X-axis direction is the V mode, the detection mode in the Y-axis direction is the T mode, and the detection mode in the Z-axis direction is the HA mode. This is because Coriolis can be detected with high sensitivity.

 That is, as shown in FIGS. 7A to 7D, in the angular velocity sensor (triple type),

 When an HS mode vibration operation is performed and an angular velocity is applied in the X-axis direction, a Coriolis force is generated in a predetermined direction, which is combined with the V mode vibration included in the vibration mode as a noise level. It is possible to detect a large value of Coriolis by resonating.

 [0038] Further, as shown in FIGS. 8 (a) to (d), when the angular velocity sensor (3-leg type) performs the vibration operation in the HS mode and the angular velocity is applied in the Y-axis direction, Coriolis is predetermined. When generated in the direction and coupled with the vibration of the T mode that is included in the vibration mode at the noise level, it is possible to resonate and detect a large value of Coriolis.

[0039] Furthermore, as shown in FIGS. 9 (a) to 9 (d), when the angular velocity sensor (tripod type) performs the vibration operation in the HS mode and the angular velocity acts in the Z-axis direction, When generated in a predetermined direction and coupled with the vibration of the HA mode included in the vibration mode at the noise level, it is possible to resonate and detect a large value of Coriolis. [0040] Even if the HA mode is used as the vibration mode, the detection mode in the X-axis direction is the T mode, the detection mode in the Y-axis direction is the V mode, and the detection mode in the Z-axis direction is HS. As a mode, Coriolis can be detected with high sensitivity.

 Furthermore, for example, when the T mode is adopted as the vibration mode, the detection mode in the X-axis direction can be detected as the HA mode, and the detection mode in the Y-axis direction can be detected as the HS mode. Therefore, it is difficult to detect Coriolica with high sensitivity because it matches the vibration direction.

[0041] 2. Data processing process

 The data processing process for acceleration data and angular velocity data will be described with reference to the flowchart of the data processing process shown in FIG.

 Further, in describing the powerful data processing steps, the correction method of the present embodiment is compared with the conventional correction method with reference to FIGS.

[0042] (1) Offset correction of acceleration data (autonomous adjustment correction)

 In Fig. 10, after measuring acceleration vector data G (G, G, G) using an acceleration sensor as shown by S1, offset correction of acceleration vector data as shown by S2

Perform (autonomous adjustment correction of acceleration data).

 In other words, the three-dimensional gravitational acceleration vector (G, G, G) measured using the acceleration sensor for the DUT, the original gravitational acceleration vector (G, G, G), and the offset vector (G , G, G). Then, the following formula (6) is established.

 [0043]

Gx 2 + Gy 2 tens Gz 2 = (Gxi - GxO) 2 + (Gyi - GyO) 2 + (Gzi - GzO) 2 = 9.8 2 [m / s 2] (6) [0044] Here, the acceleration vector data In general, the offset value changes relatively slowly, so the above measurement is repeated three times in a different direction of the object on which the acceleration sensor is mounted (for a relatively short time). When the number of measurements (i) = 1, 2, 3), the following formula (7) is established.

(7)

[0046] Therefore, there are three variables in Equation (6), and these are three-dimensional acceleration.

 When considered in degree space, it can be thought of as a sphere equation with a radius equal to gravitational acceleration.

 That is, gravity from point (G, G, G), point, G, G) and point (G, G, G)

 xl l zl x2 y2 z2 x3 y3 z3

 Of the two points at a distance corresponding to acceleration, one of the coordinate force acceleration sensor offset vector (G represents.

 Also measure another different gravitational acceleration vector (G, G, G)

 x4 y4 z4

 Even more accurate correction can be made by carrying out calibration (calibration by subtracting the measured value offset vector component) using an offset vector closer to the distance corresponding to the gravitational acceleration.

 Therefore, by measuring four or more points in different azimuths, it is possible to correct the offset of the acceleration sensor so that it becomes a more appropriate position in the measurement by the acceleration sensor of the object to be measured whose posture is often changed.

[0047] However, in the case of an object to be measured that does not change its posture if left unattended, or only performs rotational motion around the gravity vector around the sensor, as described above, the three different directions However, the offset correction of the acceleration sensor cannot be performed by measuring the acceleration.

 Therefore, in such a case, if the vector length of the static acceleration being measured in the acceleration sensor is also shifted by the gravitational acceleration force, the posture is forcibly changed three times and the measurement is performed as described above. It is preferable to control the object to be measured so that calibration is performed.

 [0048] As shown in Fig. 3, even if a large offset occurs in the sensor output, the DZA converter is forcibly offset so that the output of the amplifier A2 or the value Dc of the AZD converter is not saturated. Da and Db can be given.

In other words, since the actual output of the sensor is obtained as Da + Db + Dc, this value can be used to output the corrected value to the D / A converter as Dd or Dd – Dc. Therefore, even if the sensor offset changes due to a temperature drift or the like, the sensor is automatically corrected in a timely manner, so that it is possible to provide an acceleration sensor and an angular velocity sensor that always output a stable and correct value. [0049] (2) Correction of acceleration data gain (autonomous adjustment correction)

 Next, as shown by S3 in FIG. 10, gain correction of the acceleration vector data G (G, G, G) (autonomous adjustment correction of acceleration vector data) is performed.

 That is, when the measured three-dimensional gravity acceleration vector (G, G, G) is decomposed into the original gravity acceleration (G, G, G) and the offset output (G, G, G) of each axis, (8) yO

 Is established. A, A, and A are correct gains in the sensor amplifier.

[0050] 2 2

Gx 2 + Gy + Gz =

Ax (Gxi-GxO) + Ay (Gyi-GyO) + Az (Gzi-GzO) _ = 9.8 2 [m / s 2 ] (8)

[0051] Here, as in Equation (3), this time, in six different postures, by measuring the gravitational acceleration vector, six equations expressed by Equation (9) below are created. be able to.

 Solving this for the variables (A, A, A, G, G, G), the gain to be corrected and off

 ^ 0

 You can ask for a set. In other words, a more accurate acceleration value can be calculated from the gain and offset obtained.

 [0052]

Ax 2 (Gxl-GxO) 2 + Ay (Gyl-GyO) 2 + Az 2 (Gzl-GzO) 2 = 9.8 2 ,

Ax (Gx2-GxO) 2 + Ay 2 (Gy2-GyO) 2 + Az 2 (Gz2-GzO) 2 = 9.8 ^

Ax (Gx3-GxO) 2 + Ay 2 (Gy3-GyO) 2 + Az (Gz3-GzO) 2 = 9.8 2

, 2 9 9 (9) Ax (Gx4-GxO) 2 + Ay (Gy4-GyO) + Az (Gz4-GzO) = 9.8 2

Ax 2 (Gx5-GxO) 2 + Ay 2 (Gy5-GyO) + Az (Gz5-GzO) 2 = 9.8 ^

Ax 2 (Gx6-GxO) 2 + Ay 2 (Gy6-GyO) + Az 2 (Gz6-GzO) 2 = 9.8 ^

[0053] (3) Measurement of inclination angle of acceleration data force

 Next, when measuring the tilt angle from the acceleration data, as shown by S4 in FIG. 10, the measured object performs inertial movement from the corrected acceleration vector data G (G, G, G). Judgment of power or not.

In this case, if the following conditions 1) to 3) are satisfied, the measured object is in inertial motion. It can be judged.

1) Absolute value force of corrected acceleration vector data G e When the value is equal to the value of gravity acceleration or within the range of gravity acceleration + specified value (δ 1)

 2) Absolute value force of corrected acceleration vector data G If it does not change over time or is within the range of gravitational acceleration + predetermined value (δ 2)

 3) If there is no change in the angular velocity of the object to be measured, or if the angular velocity is within the range of the specified value (δ 3)

[0054] Next, when it is determined that the object to be measured has an inertial motion, as shown by S5 in FIG. 10, from the corrected acceleration vector data G (G, G, G), Determine the reference gravity beta G. In FIG. 10, as indicated by S6,

P P

 The initial value is stored as G and used when measuring the position of the object to be measured.

 S

[0055] On the other hand, if the absolute value of the corrected acceleration vector data G is significantly different from the value of the gravitational acceleration and is out of the range of the gravitational acceleration + predetermined value (δ), it is determined that the inertial motion is not performed. Then, as indicated by 5 in FIG. 10, the skew matrix (R (n)) represented by the following formula (4) or the modified skew matrix ((n) represented by the following formula (5) ), It is preferable to perform a reverse coordinate rotation process (dynamic process) of the acceleration vector G.

(In Equation (4), At is a minute time between measurements of the object to be measured.)

(In formula (5), At is a minute time between measurements of the object to be measured.)

 [0060] Next, as shown by S7 in FIG. 10, the reference gravity vector G is set to the current gravity vector.

 P

As shown in FIG. 10, the inclination angle (0, 0, 0) of the object to be measured is calculated as indicated by S8 in FIG. That is, when the Z-axis is in the vertical direction (opposite of the reference gravity vector G)

 P

 From the following equation (10), the tilt angle (Θ, 0, 0) of the object to be measured can be obtained. Here, the tilt angle 0 is an angle formed with the horizontal plane of the Y axis, and the tilt angle 0 is The angle between the X axis and the horizontal plane, and the tilt angle Θ is the angle between the Z axis and the vertical plane.

[0061] e y = SIII- 1 (G PX / | G P |) (10)

e z = c . s -G P No | G F

[0062] (4) Offset correction in angular velocity sensor

 Next, FIG. 10 illustrates offset correction of angular velocity data attached to the same location indicated by.

 The gain correction of the angular velocity data can be performed similarly. That is, in FIG. 10, the angular velocity data as shown by S ′ l is obtained, and it is subjected to LP filtering in the step shown by 2 to remove the high-frequency impact component (noise). Simple gain correction can be performed.

[0063] (4) Simple offset adjustment in one angular velocity sensor

 The simple offset adjustment of the angular velocities (ω, ω, ω) in the angular velocity sensor is as follows. Is obtained by removing

 [0064] (4)-Offset correction in 2 angular velocity sensor

 Next, along the steps indicated by ˜7 in FIG. 10, not only a simple offset adjustment in the angular velocity sensor but also an offset correction in the angular velocity sensor based on the difference value immediately before the initialization can be performed.

 In other words, as expressed by the following formula (11) and formula (12), the value obtained by dividing the elapsed time (T1 TO) from the previous calibration (T1 TO) is used as the difference immediately before initialization to offset the angular velocity sensor. It can be regarded as an error.

 [0065]

ΧιΧο ) / Τ1-ΤΟ (11) Accordingly, the offset correction of the angular velocity sensor can be performed by the following method from the values represented by the mathematical formulas (11) and (12) as well as the angular calibration.

 [0068] Α: First correction method

 If the magnitude of the reference gravity vector G does not change and is stable, the angular velocity (ω

 Ρ

 , Ω, ω) = (0, 0, 0) Adjust the offset.

 [0069] B: Second correction method

 If the magnitude and direction of the reference gravity vector G is stable without changing,

 P

 Is forcibly substituted into G, and the difference (G — G) at that time depends on the error of angular velocity (ω). C P c Ρ

 Therefore, it can be considered that only the time from the previous inertial motion detection (calibration at time TO) was accumulated.

Therefore, the new G) and

 , The difference from the tilt angle (0, 0, 0) at time T1 determined by the previous Gp

 xl yl zl

 From the minute, adjust the error of angular velocity (ω) and adjust the offset. Specifically, it is expressed by the equation (11) (Θ — Θ

 xl xO) Z (T1—TO) and (0 — θ) / (Τ1-Τ

 yl yO

 The offset of angular velocity (ω, ω) will be reduced by O).

 [0070] (5) Position measurement of angular velocity data force

 Next, a method for measuring the position from the angular velocity data will be described.

 Next, as shown by in FIG. 10, with respect to the rotation component of the object to be measured, the minute rotation angles (Δθ ′, Δθ ′, Δθ ′) can be obtained from the following equation (13). .

 [0071]

 A Q 'x = ∑ (ωχ + ωχβ; -Δ ^ —Έω t + ω β∑ ί

 Θ Θ 'y = ∑ (ωγ + ωγβ)-At = ∑ iy t + wye∑ lt (13)

Α Θ 'z = ∑ (ωζ + ωζβ) -At ωζβΣ ί

[0072] However, the minute rotation angles (Δ θ ', Δ θ', Δ 0,) include error integration of angular velocities (ω, ω) as shown in Equation (13). By setting the upper limit of time and discarding old data, correct processing can be performed. Therefore, the angle (Δ 0 ', Δ 0') It is preferable to always correct the integral constant.

 More specifically, in FIG. 10, the corrected acceleration vector data G (G, G, G) is used as indicated by arrows (dotted lines) directed to S3 to S'4 in FIG. As shown in S'4 to S'9 in FIG. 10, based on the inverse skew matrix (R (n) — of the following formula (1), the reference coordinate system represented by the following formula (3) Acceleration (A 1, A 2, A 3) can be calculated.

 xn yn zn

That is, in S, 4, the reference coordinates of the corrected acceleration vector data G (G, G, G) are reversely rotated based on the inverse skew matrix (R (n) -1 ).

 The corrected acceleration vector data G (G, G, G) and the measurement data G (G, G, G) are represented in the same manner for convenience.

(In Formula (1), At is a minute time between measurements of the object to be measured.)

[0076]

 (3)

[0077] (In Equation (3), G is the gravity on the reference coordinates at the start of measurement.

 It is acceleration. )

On the other hand, instead of the inverse skew matrix (R (n) — 1 ), the acceleration A (A of the ground coordinate system is based on the modified inverse skew matrix (IT (n) — 1 ) of the following equation (2). , A, A)

 Xn Yn Ζη

 It is also preferable to perform vector conversion by rotating the three-dimensional coordinate system. sinlro At)

-sin (c Ki At) (2)

(In Formula (2), At is a minute time between measurements of the object to be measured.)

[0081] Therefore, when data processing is performed with the inverse skew matrix (R (n) — 1 ), Fig. 11 (a)

As shown in (b), when the object to be measured (baseball bat for practice with a length of lm) is moved circularly, It can be understood that the start point (S) and the end point (T) of the circular movement are slightly shifted, but between them! It is relatively good! .

In addition, when data processing is performed using the deformed skew matrix (R '(η) " 1 ), as shown in Figs. 12 (a) to (b), when the measured object is moved circularly, the start point (S) and In addition, the end point (T) of the circular motion is almost the same, and even during that time, the trajectory of the object to be measured and the calculated position data show almost good agreement!

That is, it is understood that the position of the object to be measured can be measured with higher accuracy by using the inverse skew matrix (R (n) -1 ) or the modified inverse skew matrix (IT (n)-) in data processing.

 [0082] However, the measured object is in inertial motion, and the acceleration (A

, A, A), the motion acceleration (D, D

Xn Yn Ζη S Χη

, D) is not 0, or is greater than the predetermined value (δ 4)

Yn Zn

 Judging that the processing in gain is insufficient, it is preferable to correct the offset gain again with S ^ shown in Fig. 10.

 That is, if the reference gravity vector G (size and direction) is stable without changing,

 P

 Since the motion acceleration D should be 0, it is preferable to correct the angular velocity (ω) so that A = G using the inverse skew matrix (R (n) — etc.

 S

Therefore, in the calculation of the inverse skew matrix (R (n) — 1 ) etc., there is always an offset error (co xe, co ye, co ze) (ω χί, co yi, co zi). If so, the error expressed by the following equation (14) is accumulated.

As a result, even when the object to be measured is in inertia, A does not become zero. Therefore, in the following equation (14), the offset error (co xe, co ye, co ze) is solved, and the angular velocity (ω) is corrected based on it.

Next, the acceleration (A 1, A 2, A 3) of the reference coordinate system is calculated with

 Xn Yn Zn

Next, at, the initial value G of the gravitational acceleration is calculated from the calculated acceleration (A, A, A). Is taken to be the motion acceleration (D 1, D 2, D 3).

 Xn Yn Ζη

 Next, integrate the motion acceleration (D, D, D) with S ^, and calculate the velocity of the reference coordinate system xn Yn Zn

 Then, the speed is integrated with and the position of the object to be measured in the reference coordinate system is detected.

[0085] 6.Other

 (1) Power supply

 As shown in FIG. 1, the power source 22 is controlled by the power control semiconductor element 27 and is located inside the housing 12 of the motion capture 10 to operate the 6-axis sensor 16 and the wireless transmission module. I prefer that.

 However, it is also preferable that the power source 22 is electrically connected to the external terminal of the motion capture 10 and is isolated from the 6-axis sensor 16 and the like mounted inside the housing 12 of the motion capture 10.

 This is because the position of the object to be measured by the 6-axis sensor 16 can be detected with higher accuracy by eliminating the influence of the relatively heavy power supply 22.

 Further, the number of power supplies may be singular, but it is preferable to use a plurality of power supplies in order to achieve a weight balance.

 Furthermore, by adopting a secondary battery as a power source, it is possible not only to avoid problems such as disposal and reduce the impact on the environment, but also to allow external charging and replace the power source. Can be saved.

 In addition, it is preferable to provide a sleep function for extending the life of the power supply. That is, it is preferable to automatically turn off the power when the sensor does not detect the operation for a predetermined time, and turn on the power again by an impact or the like.

[0086] (2) Substrate

 Further, as shown in FIG. 2, it is preferable that the substrate on which the 6-axis sensor 16 (16a, 16b) is mounted is at least a rigid substrate 18a laminated on a flexible substrate 18b. In other words, it is preferable to use a composite substrate 18 ′ in which a rigid substrate 18 a is laminated on each of the upper and lower surfaces so as to sandwich the flexible substrate 18 b from above and below.

This is because the 6-axis sensor 16 is mounted on the rigid board 18a. This is because it can be easily and accurately mounted using one method or the like. Moreover, the rigid substrate 18a can guarantee the operation of the 6-axis sensor 16 and detect the position of the object to be measured with higher accuracy.

Further, as shown in FIGS. 2 and 13 (a) to (d), a plurality of rigid substrates 19a are stacked on the flexible substrate 18b, and the plurality of rigid substrates 19a are predetermined. It is preferable to use a composite substrate 19 ′ which is laminated at intervals.

 This is because the 6-axis sensor 16 is mounted on a relatively small rigid substrate 19a, so that it can be easily and accurately mounted using a solder reflow method or the like. Further, this is because the flexible board 18b exposed between the plurality of rigid boards 19a can be bent or deformed. Therefore, the degree of freedom in mounting and handling motion capture can be dramatically improved.

 FIGS. 13A to 13D show several embodiments of the composite substrate. For example, in the case of the composite substrate 1 ^ shown in FIG. 13 (a), the flexible substrate 18b exposed in a cross shape can be bent or deformed in the longitudinal direction or in the lateral direction.

 In addition, in the case of the composite substrate 1 ^ shown in Fig. 13 (b), a relatively large mounting area can be secured by using the flexible substrate 18b exposed diagonally, and it can be bent or deformed in an oblique direction. You can make it.

 In the case of the composite substrate 18 shown in FIG. 13 (c), the flexible substrate 18b exposed in a slit shape can be used to be deformed into a roll shape and wound.

 Further, in the case of the composite substrate 18 shown in FIG. 13 (d), it is possible to prevent the flexible substrate 18b exposed in a wavy shape from being excessively deformed when bent.

[0088] (3) Data transmission

 Further, as shown in FIG. 1 (a), it is preferable to provide a wireless transmission / reception module 26 and an antenna 24 for transmitting the obtained data to a computer provided outside the motion capture.

As shown in Fig. 1 (a), the chip antenna 24 for data communication with the outside is electrically connected to the wireless transmission / reception module 26. Preferred to exist ,. The reason for this is that when the board 18 and the board 19 positioned in the vertical direction are viewed in the vertical direction, if they are overlapped at the mounting location of the chip antenna 24, a radio wave interference will occur, which hinders data communication. This is because there may be cases. Therefore, it is preferable that the length of the substrate 18 positioned in the vertical direction is different from the length of the substrate 19 so that the chip antenna 24 is not overlapped at the mounting position.

[0089] (4) Compound motion capture

 In addition, the first motion capture and the second motion capture constitute a composite motion capture, each of which is placed at a distance from the object to be measured! It is preferable to calculate the relative position in the component part of the object to be measured from the position data by the first motion capture and the position data by the second motion capture.

 The reason for this is that with this configuration, even the relative position of the component to be measured can be detected with high accuracy, and further conditions of the sample can be estimated. is there.

 Therefore, the first and second motion captures are attached to the upper and lower arms of the hand, respectively, and the relative positions are calculated by detecting the positions of the upper and lower arms of the hand. This makes it possible to measure the bending angle of the upper and lower arms of the hand.

 In addition, as described above, the first motion capture is attached to a part of the vehicle, for example, a handle or a door, and the second motion capture is attached to the driver's body. (Relative angle (relative position of the component part)) can be calculated, so even in a moving vehicle, it can be used to estimate human movements in real time, to help prevent sleeping and grasp driving conditions, etc. Is also possible. Industrial applicability

[0090] According to the motion capillaries of the present invention, even if the object to be measured has a circular motion or a relatively rough sampling, a relatively small 6 Accurately measure the position, orientation, etc. of the measured object using an axis sensor and a predetermined data processing algorithm (3-axis batch rotation conversion technology based on minute angles obtained by integrating angular velocities) As well as making it easier to reduce the size and weight.

 [0091] For example, in the past, a rectangular motion captilla with a length (LI) of 10 cm, a width (L3) of 8 cm, and a thickness (L2) of about 2 cm has a length (LI) of 5 cm, a width (L3) of 4 cm, Thickness (L2) It can be a rectangular motion capillaries of about 1cm.

 Also, with regard to the weight of the motion capillaries, the conventional capacities of 500 g or more have improved the measurement accuracy and the ability to reduce the size of the sensor according to the motion capillaries of the present invention. About 300g, more preferably 10 ~: Light weight can be reduced to about LOOg

Accordingly, the motion capture of the present invention is applied to, for example, tennis rackets, table tennis rackets, notington rackets, baseball bats, golf clubs, automobiles, motorcycles, robots, mobile phones, watches, personal computers and the like. It is expected to be applied.

 More specifically, as shown in FIGS. 14 (a) to 14 (b), the motion capture 10 of the present invention is mounted inside the baseball bat 100 for practice, and the baseball battery for practice by the player 101 is used. The position can be detected during 100 swings. Therefore, the player 101 can refer to it as image information, and can contribute to the acquisition of an accurate bat swing in the player 101 as indicated by the track (K).

 In addition, the motion capture of the present invention is applied to skis and ski jumping athletes using the skis to measure aerial postures and flight trajectories, highlight blurring, etc., and superimpose them on TV images. By posing, it is expected to further impress viewers in fields such as ski competitions.

Claims

Claims A 6-axis sensor equipped with a 3-axis acceleration sensor that measures acceleration (G, G, G) of the object to be measured and a 3-axis angular velocity sensor that measures angular velocities (ω n yn ζη, ω, ω), respectively, A motion capture for detecting the position or orientation of the object to be measured, which is obtained from the output data of the three-axis acceleration sensor and the three-axis angular velocity sensor according to the following formula (1). Based on the matrix (R (n) -1) or the modified inverse skew matrix ((n) "1) expressed by the following formula (2), the reference coordinate system expressed by the following formula (3) is added. Mo Xn Yn Ζη capture capture, characterized in that it includes a data processing step for calculating velocities (A, A, A).
(In Formula (1), At is a minute time between measurements of the object to be measured.)
(In Formula (2), At is a minute time between measurements of the object to be measured.)
(3)
(In Equation (3), G is the gravity on the reference coordinates at the start of measurement.
 It is acceleration. )
 2. The acceleration of the reference coordinate system is an acceleration of a ground coordinate system.
The motion capture described in 1.
[3] The acceleration (A, A, A) of the reference coordinate system is calculated from the output data of the 3-axis acceleration sensor and 3-axis angular velocity sensor, and the measured object is based on the acceleration of the ground coordinate system.
 Xn Yn Zn
The position data of an object is calculated. The motion capture described.
 [4] The motor according to any one of claims 1 to 3, wherein the output data of the three-axis acceleration sensor is subjected to an offset correction process before the data processing step. Siyon Capucha.
 [5] The detection level is adjusted by applying a known adjustment voltage to the triaxial acceleration sensor and / or triaxial angular velocity sensor, or any one of the sensors. 5. The motion capture according to any one of items 4.
 [6] includes a first motion capture and a second motion capture, each of which is disposed at a position away from the object to be measured, and according to the first motion capture 6. The relative position in the component part of the object to be measured is calculated from the position data and the position data obtained by the second motion capillaries. The motion capture according to any one of the above.
 [7] In addition to the power supply, the power supply is electrically connected to the outside of the motion cap housing and is isolated from the 6-axis sensor mounted inside the motion cap housing. The motion capture according to any one of claims 1 to 6, wherein the motion capture is characterized by the above.
 [8] The six-axis sensor according to any one of claims 1 to 7, wherein the six-axis sensor is mounted on a rigid substrate laminated on a flexible substrate. Mothillon Capucha.
 [9] The eighth aspect of the invention is characterized in that a plurality of the rigid substrates are stacked on the flexible substrate, and the plurality of rigid substrates are stacked at a predetermined interval. The described motion capture.
 [10] A three-axis acceleration sensor that measures the acceleration (G, G, G) of the device under test and an angular velocity (ω
 n yn ζη
 , Ω, ω) to measure the xn ti ζζ
 A motion capture for detecting the position or orientation of a measurement object,
When it is determined from the output data of the 3-axis acceleration sensor and 3-axis angular velocity sensor that the object to be measured has non-inertial motion, the skew matrix (R) expressed by the following equation (4) (n)), or the deformed skew matrix (R '(n) ), And a data processing step for calculating a tilt angle from a reference gravity vector applied to the object to be measured.
(In Equation (4), At is a minute time between measurements of the object to be measured.)-Sm (d) At)
 /
Κ '(η) sm At J (5) c. s (<¾ At) cos ( y At)
(In Formula (5), At is a minute time between measurements of the object to be measured.)
PCT/JP2007/061323 2006-08-29 2007-06-05 Motion capture WO2008026357A1 (en)

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