WO2012002494A1

WO2012002494A1 - Posture determination device

Info

Publication number: WO2012002494A1
Application number: PCT/JP2011/065057
Authority: WO
Inventors: 克行荻原; 寛明中林
Original assignee: 北陸電気工業株式会社
Priority date: 2010-06-30
Filing date: 2011-06-30
Publication date: 2012-01-05
Also published as: CN102959357A; JP5161396B2; CN102959357B; JPWO2012002494A1

Abstract

Disclosed is a posture determination device that can easily determine posture without complicated calculations. Acceleration compositions (Gx to Gz) in normalized first to third axes directions output from a three-axis acceleration sensor (1) are input into first to third judgment units (5 to 9). The first judgment unit (5) judges which of the following ranges the first axis direction component (Gx) is in: Gx< -0.5, -0.5≦Gx<0, 0≦Gx<0.5, or 0.5≦Gx. The second judgment unit (7) judges which of the following ranges the second axis direction component (Gy) is in: Gy< -0.5, -0.5≦Gy<0, 0≦Gy<0.5, or 0.5≦Gy. The third judgment unit (9) judges which of the following ranges the third axis direction component (Gz) is in: Gz< -0.5, -0.5≦Gz<0, 0≦Gz<0.5, or 0.5≦Gz. Outputs from the first to third judgment units (5 to 9) are input into the posture determination unit (11) and the posture determination unit (11) judges the posture of a supporting body to which the three-axis acceleration sensor (1) is fixed.

Description

Posture identification device

The present invention relates to a posture identifying device using a three-axis acceleration sensor.

Japanese Patent Application Laid-Open No. 2009-276282 discloses an attitude specifying device that calculates an angle of a device using acceleration components in orthogonal three-dimensional coordinates detected by a three-axis acceleration sensor, and specifies the posture of the device itself based on the calculated angle. It is disclosed.

JP 2009-276282 A

A conventional posture specifying device using a three-axis acceleration sensor requires a complicated calculation to specify the posture. Therefore, for example, when the posture specifying device is used for a mobile communication terminal device or the like, the amount of calculation required for specifying the posture increases, causing a problem that the load on the CPU of the mobile communication terminal device increases remarkably.

An object of the present invention is to provide an attitude specifying device that can easily specify an attitude without requiring complicated calculation.

The posture specifying apparatus of the present invention includes a triaxial acceleration sensor supported by a support, first to third determination units, and a posture specifying unit. The triaxial acceleration sensor is supported by a support, and the acceleration acting on the support is expressed by a first axis X, a second axis Y orthogonal to the first axis X, a first axis X, and a second axis. The components Gx, Gy and Gz of the third axis Z orthogonal to Y are decomposed and detected, and the components Gx, Gy and Gz are −1 ≦ Gx ≦ 1, −1 ≦ Gy ≦ 1 and It outputs so that it may become the value of the range of -1 <= Gz <= 1. The first determination unit sets α as a positive number, and the first axial component Gx is in any range of Gx <−α, −α ≦ Gx <0, 0 ≦ Gx <α, and α ≦ Gx. Judgment is made and the judgment result is output as a digital value. The second determination unit sets β as a positive number, and the second axial component Gy is in any range of Gy <−β, −β ≦ Gy <0, 0 ≦ Gy <β, and β ≦ Gy. Judgment is made and the judgment result is output as a digital value. The third determination unit sets γ as a positive number and the component Gz in the third axial direction falls within any of the ranges of Gz <−γ, −γ ≦ Gz <0, 0 ≦ Gz <γ, and γ ≦ Gz. Judgment is made and the judgment result is output as a digital value. More specifically, α, β and γ are preferably the same number. Further practically, α, β and γ are preferably 0.5. The posture specifying unit determines the gravitational acceleration direction in which the gravitational acceleration acts on the support based on the combination of the determination results of the digital values determined by the first to third determination units, and the posture of the support from the gravitational acceleration direction. Is identified. In the present invention, the posture specifying unit stores an acceleration direction data storage unit that stores data indicating a correspondence relationship between a combination of results determined by the first to third determination units in advance and the gravitational acceleration direction acting on the support; From the data stored in the acceleration direction data storage unit, the gravitational acceleration direction acting on the support corresponding to the combination of the determination results is input using the combination of the determination results of the digital values determined by the first to third determination units. And a search unit for searching and outputting.

According to the present invention, one determination unit outputs a determination result as a 2-bit digital value. Therefore, information of 2 bits × 3 = 6 bits is output from the first to third determination units. In advance, data indicating a correspondence relationship between the combination of the determination results output from the first to third determination units and the gravitational acceleration direction acting on the support is acquired and stored in the acceleration direction data storage unit. Keep it. The search unit receives as input the combination of the determination results of the digital values determined by the first to third determination units, and stores the gravitational acceleration direction acting on the support corresponding to the combination of the determination results in the acceleration direction data storage unit. Search and output from stored data. In this way, it is possible to specify the posture of the device on which the three-axis acceleration sensor is mounted without requiring a complicated calculation based on a small amount of information input (6 bits) and a small amount of stored data. it can.

As long as the data stored in the acceleration direction data storage unit is data indicating the correspondence between the combination of the results determined by the first to third determination units and the gravitational acceleration direction acting on the support, any format and It may be content. For example, assuming a sphere centered on the axial center of the triaxial acceleration sensor, the sphere is divided into four equal parts by a first virtual plane parallel to the first and second axes, and the sphere is divided into the second axis and The sphere is divided into four equal parts by a second imaginary plane parallel to the third axis, and the sphere is divided into four equal parts by a third imaginary plane parallel to the first axis and the third axis. 56 are assigned identification codes. The identification code of the virtual region located in the direction of gravitational acceleration determined by the combination of results determined by the first to third determination units is associated with the combination of results determined by the first to third determination units, and the acceleration You may memorize | store in a direction data memory | storage part. In this case, the search unit outputs the gravitational acceleration direction using the identification code. In this way, the orientation of the device on which the orientation specifying device is mounted can be indicated by 56 direction information. With this level of information, the burden on the CPU in many mobile communication terminal devices is hardly increased.

It is a block diagram which shows the structure of an example of embodiment of the attitude | position identification apparatus of this invention. It is a figure which shows the 1st thru | or 3rd axis | shaft. It is a figure which shows the relationship between a triaxial acceleration sensor and a spherical body from the viewpoint from an XZ-axis plane and the viewpoint from an XY-axis plane, when the triaxial acceleration sensor is placed horizontally and tilted. . It is a figure which shows the example of provision of an identification code. (A) and (B) are the cases where the output of the third axis (Z axis) output by the third determination unit stored in the acceleration direction data storage unit is in the range of 0.5 ≦ Gz, and 0 ≦ Gz It is a figure which shows the example of the digital data memorize | stored in the attitude | position information register | resistor in an acceleration direction data storage part, when it exists in the range of <0.5. (A) and (B) are outputs of the third axis (Z-axis) output by the third determination unit stored in the acceleration direction data storage unit when −0.5 ≦ Gz <0 and Gz <−0. FIG. 6 is a diagram illustrating an example of digital data stored in an attitude information register in an acceleration direction data storage unit in a range of 5; It is the figure which displayed the example of provision of the identification code of FIG. 4 in three dimensions.

Hereinafter, an example of an embodiment of the posture specifying device of the present invention will be described in detail with reference to the drawings. FIG. 1 is a block diagram showing a configuration of an example of an embodiment of a posture identifying device of the present invention. As shown in FIG. 1, the posture specifying device of the present embodiment includes a triaxial acceleration sensor 1 and a support 3 that supports the triaxial acceleration sensor 1. Here, the support 3 may be a casing in which the triaxial acceleration sensor is housed and fixed, or may be a substrate on which the triaxial acceleration sensor is fixed. These casing or substrate may be, for example, a portable communication terminal device. It is fixed with respect to the apparatus which requires such an attitude | position identification apparatus. Therefore, the triaxial acceleration sensor 1 detects the acceleration acting on this device. As shown in FIG. 2, the three-axis acceleration sensor 1 is configured such that the acceleration acting on the support 3 is a first axis X, a second axis Y that is orthogonal to the first axis X, a first axis X, and a second axis. Are detected by being decomposed into components (acceleration components) Gx, Gy, and Gz in the axial direction of the third axis Z that is orthogonal to the axis Y. In this embodiment, a semiconductor acceleration sensor that can output an acceleration component for detecting the gravitational acceleration G even when the device is stationary is used. The triaxial acceleration sensor 1 according to the present embodiment is normalized so that the components Gx, Gy, and Gz are in the range of −1 ≦ Gx ≦ 1, −1 ≦ Gy ≦ 1, and −1 ≦ Gz ≦ 1. The detected value is output.

The normalized first to third axial acceleration components Gx to Gz output from the triaxial acceleration sensor 1 are input to the first to third determination units 5 to 9. The first determination unit 5 sets α as a positive number, and the first axial component Gx has any range of Gx <−α, −α ≦ Gx <0, 0 ≦ Gx <α, and α ≦ Gx. And the determination result is output as a digital value. In the present embodiment, specifically, 0.5 is adopted as α. Therefore, the first determination unit 5 specifically determines that the first axial component Gx has Gx <−0.5, −0.5 ≦ Gx <0, 0 ≦ Gx <0.5, and 0. The range of 5 ≦ Gx is determined, and the determination result is output as a digital value. The second determination unit 7 sets β as a positive number, and the second axial component Gy is any of Gy <−β, −β ≦ Gy <0, 0 ≦ Gy <β, and β ≦ Gy. It is determined whether it is within the range and the determination result is output as a digital value. Specifically, 0.5 is adopted as β. Therefore, the second determination unit 7 specifically determines that the second axial component Gy has Gy <−0.5, −0.5 ≦ Gy <0, 0 ≦ Gy <0.5, and 0. The range of 5 ≦ Gy is determined, and the determination result is output as a digital value. The third determination unit 9 sets γ as a positive number, and the third axial component Gz has any range of Gz <−γ, −γ ≦ Gz <0, 0 ≦ Gz <γ, and γ ≦ Gz. And the determination result is output as a digital value. Specifically, 0.5 is adopted as γ. Therefore, the third determination unit 9 specifically determines that the third axial component Gz has Gz <−0.5, −0.5 ≦ Gz <0, 0 ≦ Gz <0.5, and 0. The range of 5 ≦ Gz is determined, and the determination result is output as a digital value.

Outputs (determination results) of the first to third determination units 5 to 9 are input to the posture specifying unit 11, and the posture specifying unit 11 determines the posture of the support (or device) to which the three-axis acceleration sensor 1 is fixed. judge. In the present embodiment, the posture specifying unit 11 is based on the combination of the determination results of the digital values determined by the first to third determination units 5 to 9, and the gravitational acceleration direction in which the gravitational acceleration G acts on the support 3. And the posture of the support 3 is specified from the direction of gravitational acceleration. The posture specifying unit 11 includes an acceleration direction data storage unit 13 and a search unit 15. The acceleration direction data storage unit 13 stores data indicating a correspondence relationship between a combination of results determined by the first to third determination units 5 to 9 and the gravitational acceleration direction acting on the support 3 in advance. The search unit 15 receives the combination of the determination results of the digital values determined by the first to third determination units 5 to 9, and determines the gravitational acceleration direction acting on the support 3 corresponding to the determination result combination as the acceleration direction. The data stored in the data storage unit 13 is searched and output.

If the data stored in the acceleration direction data storage unit 13 is data indicating the correspondence between the combination of results determined by the first to third determination units 5 to 9 and the direction of gravity acceleration acting on the support 3, Any format and content may be used. In the present embodiment, as shown in FIGS. 3 and 4, assuming a sphere S centered on the axial center of the triaxial acceleration sensor 1, the sphere S is represented by a first axis X and a second axis Y. The sphere S is divided into four equal parts by a second virtual surface parallel to the second axis Y and the third axis Z, and the sphere S is divided into the first axis X. Then, the surface of the sphere S is divided into four equal parts by a third virtual plane parallel to the third axis Z, and identification codes (1 to 56) are attached. FIG. 3 shows that the triaxial acceleration sensor 1 and the sphere S are viewed from the viewpoint from the XZ axis plane and from the XY axis plane when the triaxial acceleration sensor 1 is horizontally placed and tilted. It is a figure which shows the relationship.

FIG. 4 is a diagram showing an example of giving an identification code. In FIG. 4, the sphere S is divided into cases where the gravitational acceleration G is in the ranges of G <−0.5, −0.5 ≦ G <0, 0 ≦ G <0.5 and 0.5 ≦ G. The example of the identification code | symbol attached | subjected to 56 virtual regions divided into the surface of is shown. Then, the posture specifying unit 11 is a combination of the results of the first to third determination units determining the identification code of the virtual region located in the gravitational acceleration direction determined by the combination of the results of the determinations of the first to third determination units. And stored in the acceleration direction data storage unit 13.

5A and 5B and FIGS. 6A and 6B show examples of digital data stored in the attitude information register in the acceleration direction data storage unit 13. 5A shows that the digital value output of the third axis (Z axis) component Gz output by the third determination unit 9 is 0.5 ≦ Gz, and FIG. 5B shows the digital value of the component Gz. The output is 0 ≦ Gz <0.5, FIG. 6A shows the digital value output of the component Gz is −0.5 ≦ Gz <0, and FIG. 6B shows the digital value output of the component Gz is Gz. An example of digital data in the case of <−0.5 is shown. The address numbers in FIGS. 5A and 5B and FIGS. 6A and 6B are the address numbers of the attitude information register. The attitude information register has eight channels assigned channel numbers D0 to D7, respectively. XSU to ZSL indicate data in which the output from the first axis (X axis) to the third axis (Z axis) are expressed by 2 bits. For example, when the output of the third axis (Z axis) is 0.5 ≦ Gz, it is expressed as ZSU = 0, ZSL = 1, and the output of the third axis (Z axis) is 0 ≦ Gz <0. .5 is expressed by ZSU = 0, ZSL = 0, and when the output of the third axis (Z-axis) is −0.5 ≦ Gz <0, it is expressed by ZSU = 1, ZSL = 1. When the output of the third axis (Z axis) is Gz <−0.5, it is expressed as ZSU = 1 and ZSL = 0. Similarly, the first and second axes (X, Y) are represented by 2 bits. In the present embodiment, XSU to ZSL are assigned to D7 to D2, respectively. Therefore, the attitude information register value of each address is expressed by an 8-bit binary number. Since D1 and D2 are not used, the value may be 0, 1 or blank. In this embodiment, the identification code (CAL) is a value obtained by shifting the attitude information register value of each address to the right by 2 bits and converting it to a decimal number. Specifically, in the case of address number 1, for example, when the attitude information register value is shifted to the right by 2 bits, “010101” is obtained, and 21 obtained by converting this value into a decimal number is the identification code (CAL). . This identification code corresponds to the identification code assigned to the 56 virtual regions divided on the surface of the sphere S, and indicates the position in the direction of gravity acceleration.

The number in each figure in the lower part of FIG. 4 corresponds to this identification code. FIG. 7 shows an example in which the identification code shown in FIG. 4 is displayed three-dimensionally.

In the present embodiment, the search unit 15 receives the combination of the digital value determination results XSU to ZSL determined by the first to third determination units 5 to 9, and identifies the address number to which the combination of the determination results belongs. The code (CAL) is searched from the data stored in the acceleration direction data storage unit 13. Then, the search unit 15 outputs the gravitational acceleration direction using an identification code (numbers 1 to 56). In this way, the orientation of the device on which the orientation specifying device is mounted can be indicated by 56 direction information. With this level of information, the burden on the CPU in many mobile communication terminal devices is hardly increased.

DESCRIPTION OF SYMBOLS 1 Triaxial acceleration sensor 3 Support body 5 1st determination part 7 2nd determination part 9 3rd determination part 11 Posture determination part 13 Acceleration direction data storage part 15 Search part

Claims

The acceleration that is supported by the support and acts on the support is orthogonal to the first axis X, the second axis Y orthogonal to the first axis X, the first axis X, and the second axis Y. The components Gx, Gy, and Gz are detected by being decomposed into the respective axial components Gx, Gy, and Gz of the third axis Z, and -1 ≦ Gx ≦ 1, −1 ≦ Gy ≦ 1, and −1 ≦ A triaxial acceleration sensor that outputs a value in a range of Gz ≦ 1,
It is determined whether the first axial component Gx is in a range of Gx <−0.5, −0.5 ≦ Gx <0, 0 ≦ Gx <0.5, and 0.5 ≦ Gx. A first determination unit that outputs a determination result as a digital value;
It is determined whether the second axial component Gy is in a range of Gy <−0.5, −0.5 ≦ Gy <0, 0 ≦ Gy <0.5, and 0.5 ≦ Gy. A second determination unit that outputs the determination result as a digital value;
It is determined whether the third axial component Gz is in a range of Gz <−0.5, −0.5 ≦ Gz <0, 0 ≦ Gz <0.5, and 0.5 ≦ Gz. A third determination unit that outputs the determination result as a digital value;
Based on the combination of the determination results of the digital values determined by the first to third determination units, a gravitational acceleration direction acting on the support is determined, and the posture of the support is determined from the gravitational acceleration direction. A posture identifying unit for identifying
The posture specifying unit is an acceleration direction data storage unit storing data indicating a correspondence relationship between a combination of results determined by the first to third determination units and the gravity acceleration direction acting on the support; The combination of the determination results of the digital values determined by the first to third determination units is input, and the gravitational acceleration direction acting on the support corresponding to the combination of the determination results is stored in the acceleration direction data storage unit. And a retrieval unit that retrieves and outputs from the data.
The acceleration that is supported by the support and acts on the support is orthogonal to the first axis X, the second axis Y orthogonal to the first axis X, the first axis X, and the second axis Y. The components Gx, Gy, and Gz are detected by being decomposed into the respective axial components Gx, Gy, and Gz of the third axis Z, and -1 ≦ Gx ≦ 1, −1 ≦ Gy ≦ 1, and −1 ≦ A triaxial acceleration sensor that outputs a value in a range of Gz ≦ 1,
With α being a positive number, it is determined whether the first axial component Gx is in a range of Gx <−α, −α ≦ Gx <0, 0 ≦ Gx <α, and α ≦ Gx. A first determination unit that outputs a determination result as a digital value;
With β as a positive number, it is determined whether the second axial component Gy is in a range of Gy <−β, −β ≦ Gy <0, 0 ≦ Gy <β, and β ≦ Gy. A second determination unit that outputs a determination result as a digital value;
It is determined whether the third axial component Gz is in a range of Gz <−γ, −γ ≦ Gz <0, 0 ≦ Gz <γ and γ ≦ Gz, where γ is a positive number. A third determination unit that outputs the determination result as a digital value;
Based on the combination of the determination results of the digital values determined by the first to third determination units, a gravitational acceleration direction acting on the support is determined, and the posture of the support is determined from the gravitational acceleration direction. A posture identifying unit for identifying
The posture specifying unit receives a combination of an acceleration direction data storage unit that stores the data in advance and a digital value determination result determined by the first to third determination units, and corresponds to the combination of the determination results. A posture identifying apparatus comprising: a search unit that searches and outputs the gravitational acceleration direction acting on the support from the data stored in the acceleration direction data storage unit.
The posture specifying unit divides the sphere into four equal parts by a first virtual plane parallel to the first and second axes, assuming a sphere centered on the axial center of the triaxial acceleration sensor, The sphere is divided into four equal parts by a second imaginary plane parallel to the second axis and the third axis, and the sphere is divided into four parts by a third imaginary plane parallel to the first axis and the third axis. The virtual regions located in the direction of gravitational acceleration determined by the combination of the results determined by the first to third determination units are provided with identification codes for 56 virtual regions equally divided into the surface of the sphere. The identification code of the region is stored in the acceleration direction data storage unit in association with the combination of results determined by the first to third determination units,
The posture specifying apparatus according to claim 1, wherein the search unit outputs the gravitational acceleration direction using the identification code.
The posture specifying device according to claim 2, wherein α, β, and γ are the same number.
The posture specifying device according to claim 4, wherein α, β, and γ are 0.5.