WO2019112158A1 - Appareil de correction d'erreur de capteur utilisant un capteur d'articulation et procédé de correction - Google Patents

Appareil de correction d'erreur de capteur utilisant un capteur d'articulation et procédé de correction Download PDF

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Publication number
WO2019112158A1
WO2019112158A1 PCT/KR2018/011621 KR2018011621W WO2019112158A1 WO 2019112158 A1 WO2019112158 A1 WO 2019112158A1 KR 2018011621 W KR2018011621 W KR 2018011621W WO 2019112158 A1 WO2019112158 A1 WO 2019112158A1
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WIPO (PCT)
Prior art keywords
sensor
joint
unit
angle
sensor unit
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PCT/KR2018/011621
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English (en)
Korean (ko)
Inventor
황희선
박성호
김종찬
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한국로봇융합연구원
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Publication of WO2019112158A1 publication Critical patent/WO2019112158A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches

Definitions

  • the present invention relates to a sensor error correction device using a joint sensor, a correction method, and a training system to which such an error correction device is applied.
  • Inertial Navigation System is a system that can determine the position, speed and posture of a moving object or a moving object in a reference navigation coordinate system without external assistance by using the inertial physical quantity measured by two basic sensors of gyro and accelerometer The accuracy and error of the system are affected by various factors.
  • the cause of the error can largely be divided into a hardware aspect and a software aspect.
  • the hardware aspect is mainly caused by the inherent sensor error such as the bias or misalignment error of the inertial measurement device.
  • the noise included in the measurement of the sensor signal or the A / D converter Quantization error and non-aligned mounting when mounting an inertial measurement device on a moving object.
  • a gimbal type inertial navigation system (Gimballed) is used to mount an inertial sensor such as a gyro and an accelerometer on a stabilized platform and to determine the current position, attitude, and speed using an inertial measurement amount such as angular velocity and acceleration from the inertial sensor.
  • inertial sensor such as a gyro and an accelerometer
  • an inertial measurement amount such as angular velocity and acceleration from the inertial sensor.
  • trapdown INS which is a mechanical device instead of a mechanical device, is dependent on the motion of an aircraft, and therefore, inertia measurement
  • the device must consider the inertia measurement device error for the gyro effect before it is applied to the inertial navigation system.
  • an error model is established through an error modeling process, and an error correction test is performed to estimate the respective error coefficients constituting the error model .
  • a device capable of generating three-axis rotational motion and three-axis linear motion is required.
  • a 3-axis motion table that has three degrees of freedom and can provide a constant angular velocity and precise attitude for each axis is used in the error correction test of the inertial measurement device.
  • an angular velocity sensor such as a gyro sensor is practically error-free, and drift occurs over time, making it difficult to obtain reliable information. Therefore, there is a problem that an angle value measured in real time must be calibrated.
  • the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide a joint sensor capable of measuring a joint angle in real-
  • An object of the present invention is to provide an error correction method and apparatus capable of correcting an error of an angular velocity sensor or an acceleration sensor attached to a body.
  • a first object of the present invention is to provide a sensor error correcting apparatus, comprising: a first inertial sensor unit provided on one side of a first supporting unit for measuring in real time a first measured value, which is an angle of the first supporting unit; A second inertial sensor unit provided on one side of a second support part, one end of which is connected to the other end of the first support part through a joint part, to measure a second measured value, which is an angle of the second support part, in real time; A joint sensor mounted on the joint unit for measuring in real time a third measured value that is a joint angle between the first and second supports; And a correcting unit correcting at least one of the first inertial sensor unit and the second inertial sensor unit based on a third measured value measured by the joint sensor. Can be achieved as a correction device.
  • the correction unit may calculate the joint angle based on the first measurement value measured by the first inertia sensor unit and the second measurement value measured by the second inertia sensor unit, And corrects at least one of the inertial sensor unit and the second inertial sensor unit.
  • the first inertial sensor unit and the second inertial sensor unit may be constituted by at least one of an angular velocity sensor and an acceleration sensor.
  • the angular velocity sensor, the acceleration sensor, and the joint sensor may be three-axis sensors.
  • the first support portion is an upper arm of a human body and the second support portion is a lower arm of a human body and the joint portion is an elbow or the first support portion is an upper leg of a human body, And the joint portion is a knee.
  • a second object of the present invention is to provide a sensor error correcting method in which a first inertial sensor unit is mounted on one side of a first support unit and a second inertia sensor unit is mounted on one side of a second support unit having one end connected to the other end of the first support unit through a joint, Mounting a tube sensor part and mounting a joint sensor on the joint part;
  • the first inertial sensor unit measures in real time a first measured value that is an angle of the first support unit and a second measured value that is an angle of the second support unit in the second inertial sensor unit in real time, Measuring, in real time, a third measured value, which is a joint angle between the first support portion and the second support portion;
  • a correction unit configured to calculate a joint angle based on the first measurement value measured by the first inertia sensor unit and the second measurement value measured by the second inertia sensor unit, And correcting at least one of the inertial sensor unit and the second inertial sensor unit based on
  • the correcting may include correcting the second inertial sensor unit while comparing the second standard value stored in the database with the second measured value while changing the angle of the second support relative to the joint unit. Correcting the joint sensor while comparing the standard joint angle data stored in the database with the third measured value while changing the joint angle based on the joint portion of the first support portion or the second support portion; And correcting the first inertial sensor unit based on the second measured value measured by the second inertial sensor unit and the third measured value measured by the corrected joint sensor, .
  • a third object of the present invention is to provide a training system, comprising: a sensor error correcting device using a joint sensor according to the first object; A receiving unit that receives measurement data measured by the first inertial sensor unit, the second inertial sensor unit, and the joint sensor of the error correction device; A motion detector for calculating motion information data according to the joint angle and the amount of exercise based on the measurement data received from the receiving unit; And a motion analyzer for analyzing a movement motion and a posture based on the motion information data.
  • the apparatus for correcting sensor error using the joint sensor may be implemented as a training system.
  • a joint sensor capable of measuring a joint angle in real time attached to a body joint
  • the angular velocity sensor, the acceleration sensor, and the like can be corrected.
  • FIG. 1 is a configuration diagram of a sensor error correction apparatus according to an embodiment of the present invention
  • FIG. 2 is a diagram schematically illustrating a relationship between a first measured value, a second measured value, and a third measured value according to an embodiment of the present invention
  • FIG. 3 is a plan view of a joint sensor according to an embodiment of the present invention.
  • FIG. 4 is a plan view of a sensor unit and an FPCB connection unit according to an embodiment of the present invention
  • FIG. 5 is a cross-sectional view of a plurality of U-shaped sensor sections patterned on a flexible substrate according to an embodiment of the present invention
  • FIG. 6 is a plan view in which a plurality of U-shaped sensor portions are patterned on a flexible substrate according to an embodiment of the present invention
  • FIG. 7 is a cross-sectional view of the sensor unit with the FPCB attached to the end thereof in FIG. 5;
  • FIG. 8 is a plan view of the FPCB mounted on the end of the sensor unit in FIG. 6,
  • FIG. 9 is a cross-sectional view of the connector in FIG. 7,
  • Fig. 10 is a cross-sectional view of the connector with a connector connected to the connector in Fig. 8;
  • FIG. 11 is a plan view of a multi-axis joint sensor according to another embodiment of the present invention.
  • FIG. 12 is a perspective view illustrating a first gyro sensor in an upper arm, a second gyro sensor in a lower arm, an arm in which a joint sensor is attached to an elbow,
  • FIG. 13 is a view showing a bridge in which a first gyro sensor is mounted on a leg and a joint sensor is provided on a second gyro sensor knee
  • FIG. 14 is a flowchart of a sensor error correction method using a joint sensor according to an embodiment of the present invention.
  • FIG. 15 is a configuration diagram of a training system to which a sensor error correction apparatus according to an embodiment of the present invention is applied,
  • 16 is a flowchart of a training information providing method using a training system to which a sensor error correcting apparatus according to an embodiment of the present invention is applied,
  • FIG. 17 illustrates an application example of a training system according to an embodiment of the present invention.
  • the present invention relates to an apparatus for correcting errors between sensors. More particularly, the present invention relates to an apparatus and method for correcting an angular velocity sensor and an acceleration sensor such as a gyro sensor using a joint sensor (30).
  • a sensor error correction apparatus 1 is a block diagram of a sensor error correction apparatus 1 according to an embodiment of the present invention.
  • a sensor error correction apparatus 1 includes a first inertial sensor unit 10, a second inertial sensor unit 20, a correction unit 40, a joint sensor 30), and the like.
  • the first inertial sensor unit 10 is mounted on one side of the first supporting unit 2 and the first inertial sensor unit 10 is rotatably supported on the first supporting unit 2 and the second supporting unit 3, And is configured to measure in real time a first measured value that is an angle of the first support portion (2).
  • the second inertia sensor unit 20 is provided at one side of the second support unit 3 connected to the other end of the first support unit 2 through the joint unit 4, And measures the second measured value in an angle in real time.
  • the joint sensor 30 is mounted on the joint portion 4 to measure a third measurement value in real time, which is a joint angle between the first support portion 2 and the second support portion 3.
  • the correction unit 40 corrects an error of at least one of the first inertial sensor unit 10 and the second inertial sensor unit 20 based on the third measured value measured by the joint sensor 30.
  • the first inertial sensor unit 10 and the second inertial sensor unit 20 may be constituted by at least one of an angular velocity sensor, an acceleration sensor, and a gyro sensor.
  • FIG. 2 schematically shows a relationship between a first measured value, a second measured value and a third measured value according to an embodiment of the present invention.
  • the correction unit 40 calculates the joint angle based on the first measured value measured by the first inertial sensor unit 10 and the second measured value measured by the second inertial sensor unit 20, The error of at least one of the first inertial sensor unit 10 and the second inertial sensor unit 20 is corrected
  • the first inertial sensor unit 10 measures a first measured value? 1, which is an angle of the first supporting unit 2.
  • the second inertia sensor unit 20 measures a second measurement value? 2, which is the angle of the second support member 3.
  • the joint sensor 30 measures the joint angle? 3 (third measured value), which is an angle between the first support portion 2 and the second support portion 3.
  • the joint angle based on the first measured value and the second measured value can be defined by the following equation (1).
  • the second measured value and the third measured value is defined by the following equation (2).
  • the second inertial sensor unit 20 when the second inertial sensor unit 20 is to be corrected, the first inertial sensor unit 10 is corrected by the correction method according to the related art, And the second inertial sensor unit 20 can be corrected based on the measured third measured value.
  • the first inertial sensor unit 10 is corrected by the correction method according to the related art, And the second inertial sensor unit 20 can be corrected based on the measured third measured value.
  • the first inertial sensor unit 10, the second inertial sensor unit 20, and the joint sensor 30 may be three-axis sensors. That is, the first inertial sensor unit 10 measures the angles of the first support unit 2 in the X, Y, and Z directions in real time, and the second inertial sensor unit 20 measures the angles in the X, Y, And the joint sensor 30 may be configured to measure joint angles in the X, Y, and Z directions.
  • the X-direction angle of the first inertial sensor unit 10 or the second inertial sensor unit 20 can be corrected based on the X-direction joint angle measurement value of the joint sensor 30, It is possible to correct the Y-direction angle of the first inertial sensor unit 10 or the second inertial sensor unit 20 based on the Y-direction joint angle measurement value of the joint sensor 30, The angle of the first inertial sensor unit 10 or the second inertial sensor unit 20 in the Z direction can be corrected.
  • FIG. 3 is a plan view of a joint sensor 30 according to an embodiment of the present invention.
  • FIG. 4 is a plan view of a connection part between the sensor unit 32 and the FPCB 35 according to the embodiment of the present invention.
  • the joint sensor 30 is composed of an elastic joint sensor and includes a flexible substrate 31, a sensor unit 32, an FPCB 35 having an electrode portion 36, 37), and the like.
  • the sensor unit 32 is provided on the flexible substrate 31 and has elasticity.
  • the sensor unit 32 may be composed of a plurality of sensor units 33, and each of the sensor units 33 has a U-shape. That is, the end portions 34 are directed to the same one side and the other side is bent.
  • one side of the FPCB 35 is connected to the end portion 34 of the sensor unit 32 in a surface contact manner, And the electrode unit 36 provided inside the sensor unit 32 is connected to the end of the sensor unit 32.
  • the flexible film 37 is adhered to cover the sensor unit 32 and the FPCB 35.
  • the sensor unit 32 can be composed of a plurality of U-shaped sensor portions 33, and the ends of the U-shaped sensor portion 33 are connected to the electrode portions 36 of the FPCB 35, And each of the end portions 34 of the U-shaped sensor portion 33 is in surface contact with one side of the FPCB 35.
  • a connector 38 is provided at the other end of the plurality of electrode units 36 to enable detachable connection with the communication board 39.
  • the FPCB 35 is attached to the end portion 34 of the sensor unit 32 in a surface contact manner, the durability against the tension can be improved.
  • the U-shaped sensor portion 33 So that the communication board 39 can be connected in one direction, which enables miniaturization.
  • a flexible substrate 31 having elasticity is prepared and a plurality of sensor units 33 having a U-shaped pattern are patterned on the flexible substrate 31 to fabricate the sensor unit 32 on the flexible substrate 31 .
  • 5 is a cross-sectional view of a plurality of U-shaped sensor portions 33 patterned on a flexible substrate 31 according to an embodiment of the present invention.
  • 6 is a plan view of a plurality of U-shaped sensor portions 33 patterned on a flexible substrate 31 according to an embodiment of the present invention. 6, a plurality of U-shaped sensor portions 33 are patterned on the flexible substrate 31, and all the end portions 34 of the U-shaped sensor portion 33 are oriented in one direction Able to know.
  • FIG. 7 is a cross-sectional view of the FPCB 35 attached to the end portion 34 of the sensor unit 32 in FIG.
  • FIG. 8 is a plan view of the FPCB 35 attached to the end portion 34 of the sensor unit 32 in FIG.
  • a plurality of electrode units 36 are formed in the FPCB 35.
  • the electrode unit 36 is connected to the sensor unit 33 and the FPCB 35 is crossed with the sensor unit 32, (35). 7 and 8, it is understood that the other end of the electrode portion 36 of the FPCB 35 is coupled to the connector 38. Then, the flexible film 37 is attached to cover the FPCB 35 and the sensor unit 32.
  • Fig. 9 is a cross-sectional view of the connector 38 connected to the communication board 39 in Fig. 10 is a cross-sectional view of the connector 38 connected to the communication board 39 in FIG.
  • the manufactured elastic joint sensor 30 is attached to the joints of the elbows, knees, wrists, and ankles of the human body, and the joint angle is calculated by measuring the resistance change value in real time.
  • the sensor unit 32 may include a first heat sensor unit 33-1 and a second heat sensor unit 33-2.
  • the first thermal sensor unit 33-1 is for measuring the joint angle in the first direction
  • the second thermal sensor unit 33-2 is for measuring the joint angle in the second direction. Therefore, according to another embodiment of the present invention, it is possible to calculate the joint angle with respect to the multi-axis direction.
  • the first sensor unit 33-1 is composed of a plurality of U-shaped sensor units whose longitudinal direction is arranged in the first direction
  • the second sensor unit 33-2 is composed of a plurality of U- And a plurality of U-shaped sensor portions arranged in a second direction intersecting the first direction.
  • the end portions 34 of the first and second sensor units 33-1 and 33-2 are in surface contact with the FPCB 35, respectively.
  • the aforementioned first inertial sensor unit 10 includes a triaxial single gyro sensor, a second inertial sensor unit 20 Can be applied to the upper arm 2 and the 3-fiducial two-gyro sensor 20 can be attached to the lower arm 3 by using a 3-fiducial 2-gyro sensor.
  • the three-focal one-gyro sensor 10 can be attached to the upper leg 2, and the three-focal two-gyro sensor 20 can be attached to the lower leg 3.
  • FIG. 12 is a diagram showing an example in which the first gyro sensor 10 is attached to the upper arm 2, the second gyro sensor 20 is attached to the lower arm 3, and the joint sensor 30 is attached to the elbow 4 according to the embodiment of the present invention.
  • the state of the arm in the state of being. 13 shows a first gyro sensor 10 on the upper leg 2, a second gyro sensor 20 on the lower leg 3 and a leg provided with a joint sensor 30 on the knee 4 .
  • the position of the wrist can be calculated on the assumption that the arm length is known.
  • the gyro sensors 10 and 20 have large errors and drift over time, making it difficult to obtain reliable information. Therefore, there arises a problem that the angular values emitted from the first and second gyro sensors 10 and 20 must be calibrated in real time. For this purpose, there is a method of imposing a contraint on the angle value.
  • the value of the second gyro sensor 20 in the lower arm based on the value of the first gyro sensor 10 in the upper arm Correcting through the corrector 40 to satisfy a constraint allows a more accurate wrist position portion to be calculated.
  • the angular value of the second gyro sensor 20 mounted on the lower arm can be calculated more accurately.
  • the actual angle of the elbow can be measured through the joint sensor 30. That is, by attaching the joint sensor 30 to the elbow or the knee, the angle value of the second gyro sensor 20 can be more accurately corrected.
  • FIG. 14 is a flowchart illustrating a method of correcting a sensor error using the joint sensor 30 according to an embodiment of the present invention.
  • the first gyro sensor 10 is mounted on one side of the upper arm 2
  • the second gyro sensor 20 is mounted on one side of the lower arm 3
  • the joint sensor 30 is mounted on the elbow 4 (S1).
  • the angle of the upper arm 2 is measured in real time by the first gyro sensor 10 and the angle of the lower arm 3 is measured by the second gyro sensor 20 in real time.
  • the joint angle is measured in real time (S2). Then, based on these measured values, motion data is analyzed by calculating the position and trajectory of the wrist (S3).
  • the corrector 40 calculates the joint angle based on the value measured by the first gyro sensor 10 and the value measured by the second gyro sensor 20, At least one of the first gyro sensor 10 and the second gyro sensor 20 is corrected by comparing the measured value with the joint sensor 30. [ That is, the first gyro sensor 10 or the second gyro sensor 20 is corrected based on the third measurement value, which is the joint angle measured by the joint sensor 30, through the relationship of Equation (2).
  • the first gyro sensor 10 is first determined by the previously disclosed method (S5). For example, while the shoulder is fixed, the value measured by the first gyro sensor 10 and the actual angle value, for example, the value stored in the database 50, are calculated while slowly changing the angle of the upper arm 2 with respect to the shoulder. 1 standard angle data and the value measured by the first gyro sensor 10, the first gyro sensor 10 is corrected.
  • the second gyro sensor 20 is calibrated based on the value measured by the first gyro sensor 10 and the value measured by the joint sensor 30 (S6).
  • the motion data analysis is continued through the values measured by the first gyro sensor 10, the second gyro sensor 20 and the joint sensor 30 .
  • FIG. 15 is a block diagram of a training system to which a sensor error correction apparatus according to an embodiment of the present invention is applied.
  • FIG. 16 is a flowchart illustrating a method of providing training information using a training system to which a sensor error correction apparatus according to an embodiment of the present invention is applied.
  • FIG. 17 illustrates an example of application of the training system according to an embodiment of the present invention. It is.
  • the training system 100 to which the sensor error correcting apparatus using the joint sensor 30 according to the embodiment of the present invention is applied includes the first inertial sensor unit 10 and the second inertial sensor unit A motion estimating unit for calculating motion information data based on the joint angle and the amount of exercise based on the measurement data received from the receiving unit 110, A recognition unit 120, and a motion analysis unit 130 for analyzing the motion and posture based on the motion information data.
  • the first inertial sensor unit 10 and the second inertial sensor unit 20 are connected to the first support unit 2 via the joint 4 And the second support portion 3, respectively.
  • the first inertial sensor unit 10 measures the angle and position of the first supporting unit 2 in real time and the second inertial sensor unit 20 measures the angle and position of the second supporting unit 3 in real time ,
  • the joint sensor (30) measures the joint angle in accordance with the movement of the joint (4) in real time.
  • the receiving unit 110 receives measurement data in real time (S10).
  • S10 measurement data in real time
  • the motion detector 120 calculates motion information data on the joint angle, the joint motion range, and the angular velocity based on the measurement data received by the receiver through the communication board 39 (S20). That is, the motion detection unit 120 receives the values measured by the joint sensors 30 and 10 and the first and second inertial sensor units 10 and 20 including an acceleration sensor, an angular velocity sensor, a gyro sensor, It becomes possible to collect exercise information on the movement.
  • the motion analyzer 130 analyzes the motion and posture based on the motion information data generated by the motion detector 120 (S30).
  • standard motion information data on the standard joint angle, the amount of exercise, and the exercise attitude according to the type of exercise are DB and stored.
  • the motion analyzer 130 generates training information by comparing and analyzing the standard exercise information data and the measured exercise information data.
  • the information informing unit 131 guides the user to the training information, which is the comparative analysis data analyzed by the motion analyzer 130 (S40)
  • the motion notification unit 120, the motion analysis unit 130, the database 50, the correction unit 40, and the information notification unit 131 are provided in the user terminal .
  • the display unit 132 may be configured to display the measured motion information data, standard motion information data, and comparison analysis data on the screen according to an instruction and display the same to a user.

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Abstract

La présente invention concerne un appareil de correction d'erreur de capteur qui utilise un capteur d'articulation, un procédé de correction et un système d'apprentissage qui utilise un tel dispositif de correction d'erreur. Plus spécifiquement, un appareil de correction d'erreur de capteur est un dispositif de correction d'erreur de capteur inertiel, qui comprend : une première unité de capteur inertiel qui est disposée sur un côté d'une première unité de support et mesure, en temps réel, une première valeur mesurée, à savoir l'angle de la première unité de support ; une seconde unité de capteur inertiel qui est disposée sur une seconde unité de support et dont une extrémité latérale est reliée à une autre extrémité latérale de la première unité de support par l'intermédiaire d'une unité d'articulation, afin de mesurer, en temps réel, une deuxième valeur mesurée, à savoir l'angle de la seconde unité de support ; un capteur d'articulation qui est monté sur l'unité d'articulation et qui mesure en temps réel une troisième valeur mesurée, à savoir l'angle d'articulation entre la première unité de support et la seconde unité de support ; et une unité de correction qui corrige au moins l'une de la première unité de capteur inertiel et de la seconde unité de capteur inertiel sur la base de la troisième valeur mesurée, mesurée au niveau du capteur d'articulation.
PCT/KR2018/011621 2017-12-08 2018-10-01 Appareil de correction d'erreur de capteur utilisant un capteur d'articulation et procédé de correction WO2019112158A1 (fr)

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WO2021074852A1 (fr) * 2019-10-18 2021-04-22 Mclaren Applied Technologies Limited Détermination de capteur
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US11337649B2 (en) 2016-10-31 2022-05-24 Zipline Medical, Inc. Systems and methods for monitoring physical therapy of the knee and other joints
US11849415B2 (en) 2018-07-27 2023-12-19 Mclaren Applied Technologies Limited Time synchronisation
US11898874B2 (en) 2019-10-18 2024-02-13 Mclaren Applied Technologies Limited Gyroscope bias estimation
US11992334B2 (en) 2022-04-15 2024-05-28 Zipline Medical, Inc. Systems and methods for monitoring physical therapy of the knee and other joints

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KR102096922B1 (ko) * 2019-10-30 2020-04-03 (주)나이스엔테크 액화 가스가 저장된 고압용기의 잔량측정기 및 이를 장착한 고압용기의 관리시스템
KR102472035B1 (ko) * 2020-10-28 2022-11-29 (주)비씨디이엔씨 스태빌라이저를 구비한 짐벌 장치

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