WO2012002494A1 - Dispositif de détermination de posture - Google Patents

Dispositif de détermination de posture Download PDF

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Publication number
WO2012002494A1
WO2012002494A1 PCT/JP2011/065057 JP2011065057W WO2012002494A1 WO 2012002494 A1 WO2012002494 A1 WO 2012002494A1 JP 2011065057 W JP2011065057 W JP 2011065057W WO 2012002494 A1 WO2012002494 A1 WO 2012002494A1
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WO
WIPO (PCT)
Prior art keywords
axis
determination
unit
determined
support
Prior art date
Application number
PCT/JP2011/065057
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English (en)
Japanese (ja)
Inventor
克行 荻原
寛明 中林
Original Assignee
北陸電気工業株式会社
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.)
Filing date
Publication date
Application filed by 北陸電気工業株式会社 filed Critical 北陸電気工業株式会社
Priority to CN201180032143.5A priority Critical patent/CN102959357B/zh
Priority to JP2012522693A priority patent/JP5161396B2/ja
Publication of WO2012002494A1 publication Critical patent/WO2012002494A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation

Definitions

  • 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.
  • 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 first determination unit sets ⁇ as a positive number, and the first axial component Gx is in any range of Gx ⁇ , ⁇ ⁇ Gx ⁇ 0, 0 ⁇ Gx ⁇ , and ⁇ ⁇ Gx. Judgment is made and the judgment result is output as a digital value.
  • the second determination unit sets ⁇ as a positive number, and the second axial component Gy is in any range of Gy ⁇ , ⁇ ⁇ Gy ⁇ 0, 0 ⁇ Gy ⁇ , and ⁇ ⁇ Gy. Judgment is made and the judgment result is output as a digital value.
  • the third determination unit sets ⁇ as a positive number and the component Gz in the third axial direction falls within any of the ranges of Gz ⁇ , ⁇ ⁇ Gz ⁇ 0, 0 ⁇ Gz ⁇ , and ⁇ ⁇ Gz. Judgment is made and the judgment result is output as a digital value. More specifically, ⁇ , ⁇ and ⁇ are preferably the same number. Further practically, ⁇ , ⁇ and ⁇ 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.
  • 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.
  • 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.
  • any format and It may be content.
  • 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
  • the search unit outputs the gravitational acceleration direction using the identification code.
  • 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.
  • FIG. 1 It is a block diagram which shows the structure of an example of embodiment of the attitude
  • 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.
  • FIG. 1 is a block diagram showing a configuration of an example of an embodiment of a posture identifying device of the present invention.
  • 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.
  • 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
  • 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.
  • 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.
  • Gx, Gy, and Gz in the axial direction of the third axis Z that is orthogonal to the axis Y.
  • 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 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 ⁇ as a positive number, and the first axial component Gx has any range of Gx ⁇ , ⁇ ⁇ Gx ⁇ 0, 0 ⁇ Gx ⁇ , and ⁇ ⁇ Gx. And the determination result is output as a digital value.
  • 0.5 is adopted as ⁇ . 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 ⁇ as a positive number, and the second axial component Gy is any of Gy ⁇ , ⁇ ⁇ Gy ⁇ 0, 0 ⁇ Gy ⁇ , and ⁇ ⁇ 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 ⁇ . 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 ⁇ as a positive number, and the third axial component Gz has any range of Gz ⁇ , ⁇ ⁇ Gz ⁇ 0, 0 ⁇ Gz ⁇ , and ⁇ ⁇ Gz. And the determination result is output as a digital value. Specifically, 0.5 is adopted as ⁇ . 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • subjected to 56 virtual regions divided into the surface of is shown.
  • 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.
  • 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
  • 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
  • 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.
  • the first and second axes (X, Y) are represented by 2 bits.
  • 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.
  • 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.
  • 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.
  • FIG. 7 shows an example in which the identification code shown in FIG. 4 is displayed three-dimensionally.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)
  • Navigation (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

L'invention concerne un dispositif de détermination de posture qui peut facilement déterminer une posture sans effectuer de calculs compliqués. Des compositions d'accélération (Gx à Gz) dans des première à troisième directions d'axe émises par un capteur d'accélération à trois axes (1) sont entrées dans des première à troisième unités d'évaluation (5 à 9). La première unité d'évaluation (5) détermine celle des plages suivantes dans laquelle se trouve l'élément de première direction d'axe (Gx) : Gx<-0,5, -0,5≦Gx<0, 0≦Gx<0,5 ou 0,5≦Gx. La deuxième unité d'évaluation (7) détermine celle des plages suivantes dans laquelle se trouve l'élément de deuxième direction d'axe (Gy) : Gy<-0,5, -0,5≦Gy<0, 0≦Gy<0,5 ou 0,5≦Gy. La troisième unité d'évaluation (9) détermine celle des plages suivantes dans laquelle se trouve l'élément de troisième direction d'axe (Gz) : Gz<-0,5, -0,5≦Gz<0, 0≦Gz<0,5 ou 0,5≦Gz. Les sorties provenant des première à troisième unités d'évaluation (5 à 9) sont entrées dans l'unité de détermination de posture (11) et cette dernière (11) détermine la posture d'un corps de support auquel est fixé le capteur d'accélération à trois axes (1).
PCT/JP2011/065057 2010-06-30 2011-06-30 Dispositif de détermination de posture WO2012002494A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201180032143.5A CN102959357B (zh) 2010-06-30 2011-06-30 姿势确定装置
JP2012522693A JP5161396B2 (ja) 2010-06-30 2011-06-30 姿勢特定装置

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Application Number Priority Date Filing Date Title
JP2010-149610 2010-06-30
JP2010149610 2010-06-30

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10260055A (ja) * 1997-03-19 1998-09-29 Honda Motor Co Ltd 歩行者用移動速度・方向検出装置
JP2003329705A (ja) * 2002-05-13 2003-11-19 Casio Comput Co Ltd 運動解析方法、装置、及びプログラム
JP2009276282A (ja) * 2008-05-16 2009-11-26 Sumitomo Electric Ind Ltd 姿勢特定装置、移動方位特定装置、位置特定装置、コンピュータプログラム及び姿勢特定方法

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006016671A1 (fr) * 2004-08-12 2006-02-16 Asahi Kasei Emd Corporation Dispositif de mesure d'accélération
JP4552658B2 (ja) * 2005-01-13 2010-09-29 日立金属株式会社 ２軸磁気センサを用いた姿勢検知方法およびそのプログラム
CN101151508B (zh) * 2005-03-28 2012-01-04 旭化成电子材料元件株式会社 行进方向计测装置和行进方向计测方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10260055A (ja) * 1997-03-19 1998-09-29 Honda Motor Co Ltd 歩行者用移動速度・方向検出装置
JP2003329705A (ja) * 2002-05-13 2003-11-19 Casio Comput Co Ltd 運動解析方法、装置、及びプログラム
JP2009276282A (ja) * 2008-05-16 2009-11-26 Sumitomo Electric Ind Ltd 姿勢特定装置、移動方位特定装置、位置特定装置、コンピュータプログラム及び姿勢特定方法

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JP5161396B2 (ja) 2013-03-13
CN102959357A (zh) 2013-03-06
JPWO2012002494A1 (ja) 2013-08-29
CN102959357B (zh) 2015-11-25

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