WO2019155686A1 - Control device, measurement device, ball, measurement system, control method, and program - Google Patents

Control device, measurement device, ball, measurement system, control method, and program Download PDF

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Publication number
WO2019155686A1
WO2019155686A1 PCT/JP2018/038167 JP2018038167W WO2019155686A1 WO 2019155686 A1 WO2019155686 A1 WO 2019155686A1 JP 2018038167 W JP2018038167 W JP 2018038167W WO 2019155686 A1 WO2019155686 A1 WO 2019155686A1
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Prior art keywords
acceleration
unit
acceleration sensor
correction
measurement
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PCT/JP2018/038167
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French (fr)
Japanese (ja)
Inventor
謙 三浦
東一 奥野
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アルプスアルパイン株式会社
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Publication of WO2019155686A1 publication Critical patent/WO2019155686A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups

Definitions

  • the present invention relates to a control device, a measurement device, a sphere, a measurement system, a control method, and a program.
  • acceleration generated in the device can be measured by an acceleration sensor mounted in the device.
  • a device that can correct an error in acceleration output from the acceleration sensor based on acceleration detected by the acceleration sensor when the device main body is in a stationary state.
  • Patent Document 1 relates to a pen-type input device, and determines a stationary state from a difference in magnitude between a combined acceleration vector detected by an acceleration sensor and gravitational acceleration, and accelerates when the stationary state is determined.
  • a technique for calculating the initial tilt angle of the pen axis based on the acceleration detected by the sensor is disclosed.
  • a control device is a control device for a measurement device including an acceleration sensor and a gyro sensor, and determines a stationary state of the measurement device based on an acceleration detected by the acceleration sensor. Based on a determination unit, a second determination unit that determines whether the stationary state of the measurement device is stable based on the acceleration detected by the acceleration sensor, and an angular velocity detected by the gyro sensor, Of the acceleration data continuously measured by the acceleration sensor, the third determination unit that determines whether or not the measurement device is in a non-rotating state is determined by the first determination unit to be in the stationary state. In addition, it is determined that the stationary state is stable by the second determination unit and that the non-rotation state is determined by the third determination unit. With the extraction section for extracting the acceleration, the acceleration extracted by the extraction unit, and an output unit for outputting as correction data of the acceleration sensor.
  • FIG. 1 is a diagram illustrating a system configuration of a measurement system 10 according to the first embodiment.
  • the measurement system 10 includes a ball 12, a smartphone 14, and a cloud server 16.
  • the ball 12 is used as a ball for ball games (for example, for baseball, soccer, golf, etc.), and when the ball 12 flies, the acceleration, angular velocity, and geomagnetism of the ball 12 are The measurement can be continuously performed by a measurement module 100 (see FIG. 2) provided inside the ball 12. Further, the ball 12 can wirelessly communicate with the smartphone 14, and can output each measurement data (acceleration, angular velocity, and geomagnetism) to the smartphone 14 through the wireless communication.
  • a measurement module 100 see FIG. 2
  • the ball 12 can wirelessly communicate with the smartphone 14, and can output each measurement data (acceleration, angular velocity, and geomagnetism) to the smartphone 14 through the wireless communication.
  • the smartphone 14 is a mobile terminal device possessed by the user.
  • the smartphone 14 can perform various operations (for example, a mode switching operation) on the ball 12 by wireless communication with the ball 12.
  • the smartphone 14 is wirelessly connected to a communication network 15 (for example, Wi-Fi, the Internet, etc.), and can communicate with the cloud server 16 via the communication network 15.
  • the smartphone 14 can transfer each measurement data (acceleration, angular velocity, and geomagnetism) acquired from the ball 12 to the cloud server 16.
  • the cloud server 16 can store each measurement data (acceleration, angular velocity, and geomagnetism) transferred from the smartphone 14 in a database.
  • the cloud server 16 can display each measurement data stored in the database, for example, on a display or use it for analysis such as how the ball 12 is rotated.
  • the cloud server 16 has a function as a “control device”. That is, when the ball 12 is in a use state by the user (that is, in a “normal operation mode” described later), the cloud server 16 determines a predetermined value out of the acceleration data continuously measured by the acceleration sensor 111. Acceleration that satisfies all three conditions can be extracted as correction data for the acceleration sensor 111.
  • the three predetermined conditions are that the measurement module 100 (that is, the ball 12) is stationary, that the measurement module 100 (that is, the ball 12) is stable, and that the measurement module 100 (that is, the ball 12) is stationary.
  • the ball 12) is in a non-rotating state.
  • the cloud server 16 calculates a correction value of the acceleration sensor 111 using the plurality of correction data extracted from the acceleration data, and uses the calculated correction value to output the acceleration output from the acceleration sensor 111. Can be corrected.
  • FIG. 2 is a diagram illustrating a schematic configuration of the ball 12 according to the first embodiment.
  • the ball 12 shown in FIG. 2 is an example of a “sphere” and has a spherical outer shape.
  • the ball 12 includes a measurement module 100, a pincushion layer 12A, and a skin layer 12B.
  • the measurement module 100 is an example of a “measurement device”.
  • the measurement module 100 is provided approximately at the center inside the ball 12.
  • the measurement module 100 includes a case 101 and a measurement circuit 102.
  • the case 101 has a spherical outer shape and is a hollow member formed from a relatively hard material (for example, a hard resin).
  • the measurement circuit 102 is a device that is fixedly disposed inside the case 101.
  • the measurement circuit 102 includes an acceleration sensor 111, a gyro sensor 112, a geomagnetic sensor 113, and the like mounted on a circuit board 102A.
  • the axial directions of these three axes are set in advance so that the X axis direction, the Y axis direction, and the Z axis direction are all predetermined directions.
  • the directions parallel to the surface of the circuit board 102A are defined as the X-axis direction and the Y-axis direction
  • the direction perpendicular to the surface of the circuit board 102A is defined as the Z-axis direction.
  • the acceleration sensor 111 and the gyro sensor 112 are the acceleration and angular velocity (that is, the acceleration generated in the ball 12) generated in the measurement module 100 for each of the three axes (X axis, Y axis, and Z axis) whose axial directions are defined in advance. , Angular velocity) can be detected.
  • the geomagnetic sensor 113 can detect geomagnetism for each of the three axes (X axis, Y axis, Z axis) whose axial directions are defined in advance.
  • the bobbin layer 12 ⁇ / b> A is provided outside the measurement module 100 so as to cover the outer surface of the measurement module 100.
  • the bobbin layer 12 ⁇ / b> A is formed by winding a plurality of yarns (for example, cotton yarn, wool yarn, rubber yarn) on the outer surface of the measurement module 100.
  • the skin layer 12B is a member that constitutes the outer surface of the ball 12, and is provided on the outer side of the bobbin layer 12A so as to cover the outer surface of the bobbin layer 12A.
  • the skin layer 12B is formed of a material such as leather (for example, cow leather, artificial leather, etc.).
  • FIG. 3 is a state transition diagram of the measurement module 100 according to the first embodiment.
  • the measurement module 100 has a “normal operation mode” and a “sleep mode”.
  • the “normal operation mode” is a mode in which measurement data (acceleration, angular velocity, and geomagnetism) can be measured and output.
  • the “sleep mode” is a mode that consumes less power than the “normal operation mode”. For example, in the “sleep mode”, all the operations of the measurement module 100 (except for the operation for starting the measurement module 100) are stopped.
  • the measurement module 100 when the measurement module 100 is in the “normal operation mode” and receives an instruction to switch to the “sleep mode” from the smartphone 14, the measurement module 100 switches to the “sleep mode”.
  • the measurement module 100 when the measurement module 100 is in the “sleep mode”, when a predetermined activation event is detected in the measurement module 100 (for example, when a predetermined operation is detected based on the output of each sensor, wireless power supply is performed.
  • the measurement module 100 is activated and then switches to the “normal operation mode”.
  • FIG. 4 is a diagram illustrating a hardware configuration of the measurement module 100 according to the first embodiment.
  • the measurement module 100 includes an acceleration sensor 111, a gyro sensor 112, a geomagnetic sensor 113, a microcomputer 114, a memory 115, a communication I / F (Inter Face) 116, and a battery 117.
  • these hardware components are mounted on the circuit board 102A (see FIG. 2), and are electrically connected to each other by wiring formed on the circuit board 102A.
  • the acceleration sensor 111 detects the acceleration generated in the measurement module 100 (that is, the ball 12) for each of the three axes defined in advance (X axis, Y axis, Z axis).
  • the acceleration detected by the acceleration sensor 111 is supplied to the microcomputer 114.
  • the acceleration sensor 111 for example, a strain gauge type acceleration sensor, a piezoresistive type acceleration sensor, a piezoelectric type acceleration sensor, or the like can be used.
  • the gyro sensor 112 detects an angular velocity generated in the measurement module 100 (that is, the ball 12) for each of the three predefined axes (X axis, Y axis, Z axis).
  • the angular velocity detected by the gyro sensor 112 is supplied to the microcomputer 114.
  • a vibration type gyro sensor, a capacitance type gyro sensor, or the like can be used as the gyro sensor 112 .
  • the geomagnetic sensor 113 detects the geomagnetism of each of three predefined axes (X axis, Y axis, Z axis).
  • the geomagnetism detected by the geomagnetic sensor 113 is supplied to the microcomputer 114.
  • a magnetoresistive sensor, a hall sensor, or the like can be used as the geomagnetic sensor 113.
  • the microcomputer 114 includes a processor, and the processor implements various functions included in the measurement module 100 by executing a program stored in the memory 115 or the like. For example, when the measurement module 100 is in the “normal operation mode”, the microcomputer 114 transmits each measurement data (acceleration, angular velocity, and geomagnetism) supplied from each sensor to the external information processing via the communication I / F 116. It has the function to output to an apparatus (for example, smart phone 14).
  • each measurement data acceleration, angular velocity, and geomagnetism
  • the memory 115 stores, for example, a program executed by the microcomputer 114 and various data used when the microcomputer 114 executes the program.
  • a RAM Random Access Memory
  • the memory 115 for example, a RAM (Random Access Memory) or the like can be used.
  • the communication I / F 116 controls communication with an external information processing apparatus (for example, the smartphone 14).
  • an external information processing apparatus for example, the smartphone 14.
  • BLE Bluetooth (registered trademark) Low Energy
  • Wi-Fi Wireless Fidelity
  • NFC Near Field Communication
  • USB Universal
  • USB Universal
  • the battery 117 supplies DC power to each part of the measurement module 100.
  • a primary battery for example, a silver oxide battery, a lithium battery, or the like
  • various secondary batteries for example, a lithium ion secondary battery, a lithium ion polymer secondary battery, a nickel hydrogen secondary battery, etc.
  • a lithium ion secondary battery for example, a lithium ion polymer secondary battery, a nickel hydrogen secondary battery, etc.
  • various secondary batteries for example, a lithium ion secondary battery, a lithium ion polymer secondary battery, a nickel hydrogen secondary battery, etc.
  • FIG. 5 is a diagram illustrating a functional configuration of the measurement system 10 according to the first embodiment.
  • the measurement module 100 includes a main control unit 300, an acceleration acquisition unit 301, an angular velocity acquisition unit 302, a geomagnetism acquisition unit 303, an instruction reception unit 304, a state switching unit 305, and an output unit 310. .
  • the main control unit 300 controls the entire processing by the measurement module 100.
  • the main control unit 300 controls the start of processing by the measurement module 100, the end of processing, repetition of processing, execution of processing by each functional unit, and the like.
  • the acceleration acquisition unit 301 acquires the acceleration output from the acceleration sensor 111. Specifically, the acceleration acquisition unit 301 acquires the acceleration of each of the three axes (X axis, Y axis, and Z axis) output from the acceleration sensor 111.
  • the angular velocity acquisition unit 302 acquires the angular velocity output from the gyro sensor 112. Specifically, the angular velocity acquisition unit 302 acquires the angular velocities of the three axes (X axis, Y axis, and Z axis) output from the gyro sensor 112.
  • angular velocity of the X axis means an angular velocity having the X axis as a rotation axis.
  • Y-axis angular velocity means an angular velocity with the Y-axis as a rotation axis
  • Z-axis angular velocity means an angular velocity with the Z-axis as a rotation axis.
  • the geomagnetism acquisition unit 303 acquires the geomagnetism output from the geomagnetic sensor 113. Specifically, the geomagnetism acquisition unit 303 acquires the geomagnetism of each of the three axes (X axis, Y axis, Z axis) output from the geomagnetic sensor 113.
  • the instruction receiving unit 304 receives various switching instructions (for example, a switching instruction to “sleep mode”) transmitted from the smartphone 14 via the communication I / F 116.
  • various switching instructions for example, a switching instruction to “sleep mode”
  • the state switching unit 305 switches the measurement module 100 to the “sleep mode” when the instruction receiving unit 304 receives an instruction to switch to the “sleep mode” when the measurement module 100 is in the “normal operation mode”.
  • the state switching unit 305 activates the measurement module 100 and then sets the measurement module 100 to “normal operation”. Switch to "Mode”.
  • the output unit 310 outputs each measurement data (acceleration, angular velocity, and geomagnetism) to the smartphone 14 when the measurement module 100 is in the “normal operation mode”. Specifically, the output unit 310 has the three axes (X axis, Y axis, Z axis) acquired by the acceleration acquisition unit 301, and the three axes (X axis, Y acquired by the angular velocity acquisition unit 302). Output to the smartphone 14 via the communication I / F 116, the angular velocities of each of the three axes (X axis, Y axis, Z axis) acquired by the geomagnetism acquisition unit 303. To do.
  • the smartphone 14 includes an instruction transmission unit 311, a reception unit 312, and a transfer unit 313.
  • the instruction transmission unit 311 transmits various switching instructions (for example, a switching instruction to “normal operation mode” and a switching instruction to “normal operation mode”) to the measurement module 100 via wireless communication with the measurement module 100. .
  • the instruction transmission unit 311 performs the end operation.
  • an instruction to switch to the “sleep mode” is transmitted to the measurement module 100.
  • the receiving unit 312 receives each measurement data (acceleration, angular velocity, and geomagnetism) output from the measurement module 100 via wireless communication with the measurement module 100.
  • the transfer unit 313 transfers the measurement data to the cloud server 16 via communication with the cloud server 16.
  • the cloud server 16 includes a reception unit 321, a storage unit 322, a first determination unit 306, a second determination unit 307, a third determination unit 308, an extraction unit 309, a correction value calculation unit 323, and a correction Part 324.
  • the receiving unit 321 receives each measurement data (acceleration, angular velocity, and geomagnetism) transmitted from the smartphone 14 via communication with the smartphone 14.
  • the storage unit 322 registers the measurement data. Thereby, the storage unit 322 stores a plurality of pieces of measurement data (acceleration, angular velocity, and geomagnetism).
  • the first determination unit 306 determines the stationary state of the measurement module 100 based on the acceleration data stored in the storage unit 322 (that is, acceleration detected by the acceleration sensor 111). Specifically, the first determination unit 306 determines that the measurement module 100 is in a stationary state when the combined acceleration vector of each of the three axes (X axis, Y axis, and Z axis) is approximately 1G. About 1G is within the range of 1G ⁇ ⁇ , for example.
  • ⁇ is a predetermined allowable error.
  • ⁇ is preferably adjusted to an appropriate value (for example, 10%) so that the stationary state of the measurement module 100 can be appropriately determined.
  • the combined vector of the accelerations of the three axes is W
  • the accelerations of the three axes are Wx, Wy, Wz.
  • the combined vector W can be obtained by ⁇ (Wx 2 + Wy 2 + Wz 2 ).
  • the second determination unit 307 determines whether or not the stationary state of the measurement module 100 is stable based on the acceleration data stored in the storage unit 322 (that is, the acceleration detected by the acceleration sensor 111). Specifically, when the difference between the latest acceleration and the moving average value of a predetermined number of accelerations before the latest acceleration is equal to or less than a predetermined first threshold, the second determination unit 307 determines the measurement module 100. Is determined to be stable.
  • the predetermined first threshold is preferably adjusted to an appropriate value so that it can be appropriately determined that the stationary state of the measurement module 100 is stable.
  • the third determination unit 308 determines whether or not the measurement module 100 is in a non-rotating state based on the angular velocity data stored in the storage unit 322 (that is, the angular velocity detected by the gyro sensor 112). Specifically, the third determination unit 308 determines that the measurement module 100 is in a non-rotating state when the angular velocities of the three axes (X axis, Y axis, and Z axis) are all equal to or less than a predetermined second threshold value. It is determined that The predetermined second threshold is preferably adjusted to an appropriate value so that the non-rotation state of the measurement module 100 can be appropriately determined.
  • the extraction unit 309 determines that the measurement module 100 is in a stationary state by the first determination unit 306 out of the acceleration data stored in the storage unit 322 (that is, acceleration data continuously measured by the acceleration sensor 111). And the acceleration when the second determination unit 307 determines that the stationary state of the measurement module 100 is stable and the third determination unit 308 determines that the measurement module 100 is in the non-rotating state. , And extracted as correction data for the acceleration sensor 111.
  • the correction value calculation unit 323 calculates the correction value of the acceleration sensor 111 based on the plurality of correction data extracted by the extraction unit 309.
  • the correction unit 324 corrects the acceleration data stored in the storage unit 322 using the correction value of the acceleration sensor 111 calculated by the correction value calculation unit 323.
  • the correction timing by the correction unit 324 may be any timing.
  • the correction unit 324 may read acceleration data from the storage unit 322 at a predetermined timing, correct the acceleration data, and then write the corrected acceleration to the storage unit 322 again.
  • the correction unit 324 may correct the acceleration data when the acceleration data is stored in the storage unit 322.
  • the correction unit 324 may correct the acceleration data when the acceleration data is read from the storage unit 322 and used in some application.
  • the above-described functions of the measurement module 100, the smartphone 14, and the cloud server 16 are, for example, a program stored in the memory in each of the measurement module 100, the smartphone 14, and the cloud server 16, by a processor (computer). It is realized by executing.
  • the program executed by the processor may be provided in a state of being introduced in advance into each of the measurement module 100, the smartphone 14, and the cloud server 16, or provided from the outside and stored in the measurement module 100, the smartphone 14, and the cloud server 16. You may make it introduce into each.
  • this program may be provided by an external storage medium (for example, a USB memory, a memory card, a CD-ROM, etc.), or provided by downloading from a server on a network (for example, the Internet, etc.). You may do it.
  • FIG. 6 is a diagram illustrating an example of a processing sequence performed by the measurement system 10 according to the first embodiment.
  • processing in the measurement system 10 from when the measurement module 100 is in the “sleep mode” until the cloud server 16 calculates the correction value of the acceleration sensor 111 will be described.
  • the state switching unit 305 activates the measurement module 100 in response to the occurrence of a predetermined activation event (step S601), the state switching unit 305 causes the measurement module 100 to execute “normal operation”.
  • the mode is switched to “mode” (step S602).
  • step S603 when each acquisition part (acceleration acquisition part 301, angular velocity acquisition part 302, geomagnetism acquisition part 303) acquires each measurement data (acceleration, angular velocity, and geomagnetism) (step S603), the output part 310 will be step S603. Each acquired measurement data is output to the smart phone 14 (step S604).
  • the transfer unit 313 transfers the measurement data to the cloud server 16 (step S606).
  • the accumulation unit 322 accumulates each measurement data (step S608).
  • step S603 the processing from step S603 to step S608 is performed.
  • the measurement data is stored in the storage unit 322.
  • the first determination unit 306 is based on the acceleration data stored in the storage unit 322, and the measurement module 100 is in a stationary state. Is determined (step S610).
  • the second determination unit 307 determines whether or not the stationary state of the measurement module 100 is stable based on the acceleration data stored in the storage unit 322 (step S611).
  • the third determination unit 308 determines whether or not the measurement module 100 is in the non-rotating state based on the angular velocity data stored in the storage unit 322 (step S612).
  • the extraction unit 309 determines that the measurement module 100 is in a stationary state in step S610 among the acceleration data stored in the storage unit 322, and the stationary state of the measurement module 100 is stabilized in step S611.
  • the acceleration when it is determined that the measurement module 100 is in the non-rotating state in step S612 is extracted as correction data for the acceleration sensor 111 (step S613).
  • the correction value calculation unit 323 calculates the correction value of the acceleration sensor 111 based on the plurality of correction data extracted in step S613 (step S614).
  • This correction value is stored in, for example, a memory included in the cloud server 16 and is then used by the correction unit 324 to correct acceleration data.
  • the correction unit 324 may correct the acceleration data before the acceleration data is stored in the storage unit 322, or correct the acceleration data after the acceleration data is stored in the storage unit 322. Good.
  • the occurrence factor of the predetermined correction value calculation process start event may be any, for example, when a predetermined user operation is performed, when a regular correction process start time comes, a predetermined amount of For example, when measurement data is accumulated in the accumulation unit 322.
  • FIG. 7 is a diagram for explaining a correction value calculation method by the correction value calculation unit 323 according to the first embodiment.
  • the correction value calculation unit 323 uses a plurality of correction data extracted by the extraction unit 309 as a composite vector 1G of accelerations of three axes (X axis, Y axis, Z axis) orthogonal to each other.
  • the center coordinate value of the virtual sphere is calculated using the data on the spherical surface of the virtual sphere as the radius.
  • the correction value calculation unit 323 corresponds to N correction data (m xi , m yi , m zi ) (corresponding to X-axis correction data, Y-axis correction data, and Z-axis correction data, respectively).
  • i is 1 to N
  • the center coordinate value (a, b, c) of the virtual sphere is calculated by the following determinant (1).
  • a 2 + b 2 + c 2 ⁇ r 2 ⁇ 2d.
  • correction value calculation unit 323 may calculate the center coordinate value of a virtual sphere that is likely to be the center using the least square method.
  • the correction unit 324 corrects the acceleration data output from the acceleration sensor 111 by subtracting the correction value of the acceleration data calculated by the correction value calculation unit 323 from the acceleration data output from the acceleration sensor 111. be able to.
  • FIG. 8 is a diagram illustrating an example of acceleration data measured by the acceleration sensor 111 according to the first embodiment.
  • FIG. 8 shows an example of acceleration data measured by the acceleration sensor 111 when the user throws the ball 12.
  • the vertical axis represents acceleration and the horizontal axis represents time.
  • the solid line represents the X-axis acceleration.
  • the broken line represents the Y-axis acceleration.
  • the alternate long and short dash line represents the Z-axis acceleration.
  • a bold line represents a combined vector of triaxial acceleration.
  • a period S1 represents acceleration when the user is in the set position.
  • the period S2 represents acceleration when the user is performing a pitching operation.
  • the period S3 represents the acceleration when the ball 12 is flying.
  • the measurement module 100 when the user is performing a pitching motion (period S2) and when the ball 12 is flying (period S3), the measurement module 100 has a relatively large acceleration. There are fluctuations.
  • the user when the user is in the set position (period S1), the movement of the ball 12 is suppressed, but the user's hand may move or the user may rotate the ball 12 in the hand.
  • the ball 12 is not completely in a stationary state, and therefore, the combined vector of the three-axis acceleration may slightly fluctuate in the vicinity of 1G.
  • the resultant vector of the three-axis acceleration may fluctuate due to noise generated in the acceleration sensor 111.
  • the cloud server 16 of the present embodiment automatically extracts the acceleration at this time from the acceleration data stored in the database (storage unit 322) as correction data for the acceleration sensor 111, and similarly extracts it. Based on the plurality of correction data, the correction value of the acceleration sensor 111 is calculated.
  • the cloud server 16 can calculate the correction value of the acceleration sensor 111 with high precision based on the extracted some correction data.
  • the acceleration output from the acceleration sensor 111 can be corrected without making the user aware of the stationary state. Can do. Therefore, according to the measurement system 10 of the first embodiment, for example, a usability problem that may occur in the prior art (for example, the operation of placing the ball 12 in a stationary state, which cannot be used immediately after the ball 12 is started) is troublesome. , Etc.) can be suppressed.
  • the center coordinate value of the virtual sphere is calculated using a plurality of correction data extracted from the acceleration data stored in the database (storage unit 322), A configuration is adopted in which a correction value of acceleration output from the acceleration sensor 111 is calculated based on the center coordinate value.
  • the measurement system 10 of the first embodiment corrects the acceleration measured by the acceleration sensor 111 at any time when the ball 12 faces in any direction when the ball 12 is completely stationary. Can be used as business data.
  • FIG. 9 is a diagram illustrating a comparative example of acceleration data measured by the acceleration sensor 111 according to the first embodiment.
  • FIG. 9A shows acceleration data measured by the acceleration sensor 111 before correction by the correction unit 324 (only data in which a combined vector of three-axis accelerations is approximately 1G).
  • FIG. 9B shows acceleration data measured by the acceleration sensor 111 after correction by the correction unit 324 (only data in which a combined vector of three-axis accelerations is approximately 1G).
  • the vertical axis represents acceleration and the horizontal axis represents the number of data.
  • the solid line represents the X-axis acceleration.
  • the broken line represents the Y-axis acceleration.
  • the alternate long and short dash line represents the Z-axis acceleration.
  • a bold line represents a combined vector of triaxial acceleration.
  • the combined vector of each of the three axes output from the acceleration sensor 111 is near 1G due to the influence of the error generated in the acceleration sensor 111.
  • relatively large variations have occurred.
  • FIG. 10 is a diagram illustrating a functional configuration of a measurement system 10A according to the second embodiment.
  • the measurement system 10 ⁇ / b> A is different from the measurement system 10 of the first embodiment in that the cloud server 16 is not provided and a smartphone 14 ⁇ / b> A is provided instead of the smartphone 14.
  • the smartphone 14A includes the storage unit 314, the first determination unit 306A, the second determination unit 307A, the third determination unit 308A, the extraction unit 309A, the correction value calculation unit 315, and the correction unit 316.
  • the storage unit 314, the first determination unit 306A, the second determination unit 307A, the third determination unit 308A, the extraction unit 309A, the correction value calculation unit 315, and the correction unit 316 are the storage unit 322 described in the first embodiment, The same as the first determination unit 306, the second determination unit 307, the third determination unit 308, the extraction unit 309, the correction value calculation unit 323, and the correction unit 324.
  • the smartphone 14A has a function as a “control device”, and each measurement data measured by the measurement module 100 is accumulated in the smartphone 14A (accumulation unit 314).
  • the stationary state of the measurement module 100 is determined by the smartphone 14A (first determination unit 306A).
  • whether or not the stationary state of the measurement module 100 is stable is determined by the smartphone 14A (second determination unit 307A).
  • whether or not the measurement module 100 is in the non-rotating state is determined by the smartphone 14A (third determination unit 308A).
  • correction data for the acceleration sensor 111 is extracted by the smartphone 14A (extraction unit 309A).
  • the correction value of the acceleration sensor 111 is calculated by the smartphone 14A (correction value calculation unit 315).
  • the acceleration output from the acceleration sensor 111 is corrected by the smartphone 14A (correction unit 316).
  • FIG. 11 is a diagram illustrating an example of a processing sequence performed by the measurement system 10A according to the second embodiment.
  • the state switching unit 305 activates the measurement module 100 in response to the occurrence of a predetermined activation event (step S1101), the state switching unit 305 causes the measurement module 100 to “normal operation”. The mode is switched to “mode” (step S1102).
  • step S1103 when each acquisition part (acceleration acquisition part 301, angular velocity acquisition part 302, geomagnetism acquisition part 303) acquires each measurement data (acceleration, angular velocity, and geomagnetism) (step S1103), the output part 310 will be step S1103. Each acquired measurement data is output to the smart phone 14A (step S1104).
  • the accumulation unit 314 accumulates each measurement data (step S1106).
  • step S1103 the measurement data is accumulated in the accumulation unit 314.
  • the first determination unit 306A changes the stationary state of the measurement module 100 based on the acceleration data stored in the storage unit 314. Determination is made (step S1108). Further, the second determination unit 307A determines whether the stationary state of the measurement module 100 is stable based on the acceleration data stored in the storage unit 314 (step S1109). Further, the third determination unit 308A determines whether or not the measurement module 100 is in a non-rotating state based on the angular velocity data stored in the storage unit 314 (step S1110).
  • the extraction unit 309A determines that the measurement module 100 is stationary in step S1108 among the acceleration data accumulated in the accumulation unit 314, and the stationary state of the measurement module 100 is stabilized in step S1109.
  • the acceleration when it is determined that the measurement module 100 is in the non-rotating state in step S1110 is extracted as correction data for the acceleration sensor 111 (step S1111).
  • the correction value calculation unit 315 calculates the correction value of the acceleration sensor 111 based on the plurality of correction data extracted in step S1111 (step S1112).
  • This correction value is stored in, for example, a memory included in the smartphone 14A, and then used by the correction unit 316 to correct acceleration data.
  • the correction unit 316 may correct the acceleration data before the acceleration data is stored in the storage unit 314, or correct the acceleration data after the acceleration data is stored in the storage unit 314. Good.
  • the occurrence factor of the predetermined correction value calculation process start event may be any, for example, when a predetermined user operation is performed, when a regular correction process start time comes, a predetermined amount of For example, when measurement data is accumulated in the accumulation unit 314.
  • the smartphone 14A can calculate the correction value of the acceleration sensor 111 with high accuracy based on the extracted plurality of correction data.
  • the acceleration output from the acceleration sensor 111 can be corrected without making the user aware of the stationary state. Can do. Therefore, according to the measurement system 10A of the second embodiment, for example, a usability problem that may occur in the prior art (for example, the operation of putting the ball 12 in a stationary state, which cannot be used immediately after the ball 12 is started) is troublesome. , Etc.) can be suppressed.
  • the center coordinate value of the virtual sphere is calculated using a plurality of correction data extracted from the acceleration data stored in the database (storage unit 314), A configuration is adopted in which a correction value of acceleration output from the acceleration sensor 111 is calculated based on the center coordinate value. Accordingly, the measurement system 10A according to the second embodiment corrects the acceleration measured by the acceleration sensor 111 at any time when the ball 12 faces in any direction when the ball 12 is completely stationary. Can be used as business data.
  • FIG. 12 is a diagram illustrating a functional configuration of a measurement system 10B according to the third embodiment.
  • the measurement system 10 ⁇ / b> B includes the cloud server 16, the measurement module 100 ⁇ / b> A instead of the measurement module 100, and the smartphone 14 ⁇ / b> B instead of the smartphone 14. Different from the measurement system 10.
  • the measurement module 100A includes a first determination unit 306B, a second determination unit 307B, a third determination unit 308B, an extraction unit 309B, an accumulation unit 331, a correction value calculation unit 332, and a correction unit 333. It has.
  • the first determination unit 306B, the second determination unit 307B, the third determination unit 308B, the extraction unit 309B, the storage unit 331, the correction value calculation unit 332, and the correction unit 333 are the first determination unit described in the first embodiment. Similar to 306, second determination unit 307, third determination unit 308, extraction unit 309, storage unit 322, correction value calculation unit 323, and correction unit 324.
  • the measurement module 100A (measurement circuit 102) has a function as a “control device”, and each measurement data measured by the measurement module 100A is the measurement module 100A (storage unit 331). Has been accumulating.
  • the stationary state of the measurement module 100A is determined by the measurement module 100A (first determination unit 306B).
  • the measurement module 100A (second determination unit 307B) determines whether or not the stationary state of the measurement module 100A is stable.
  • whether or not the measurement module 100A is in the non-rotating state is determined by the measurement module 100A (third determination unit 308B).
  • correction data for the acceleration sensor 111 is extracted by the measurement module 100A (extraction unit 309B).
  • the correction value of the acceleration sensor 111 is calculated by the measurement module 100A (correction value calculation unit 332).
  • the acceleration output from the acceleration sensor 111 is corrected by the measurement module 100A (correction unit 333).
  • FIG. 13 is a diagram illustrating an example of a processing sequence performed by the measurement system 10B according to the third embodiment.
  • the state switching unit 305 activates the measurement module 100A in response to the occurrence of a predetermined activation event (step S1301)
  • the state switching unit 305 activates the measurement module 100A as “normal operation”.
  • the mode is switched to “mode” (step S1302).
  • each acquisition part (acceleration acquisition part 301, angular velocity acquisition part 302, geomagnetism acquisition part 303) acquires each measurement data (acceleration, angular velocity, and geomagnetism) (step S1303)
  • the output part 310 will be step S1303.
  • Each acquired measurement data is output to the storage unit 331 (step S1304).
  • the storage unit 331 stores the measurement data (step S1305).
  • step S1303 the processing from step S1303 to step S1305 is performed.
  • the measurement data is accumulated in the accumulation unit 331.
  • the first determination unit 306B is in a stationary state of the measurement module 100A based on the acceleration data accumulated in the accumulation unit 331. Is determined (step S1307). Further, the second determination unit 307B determines whether or not the stationary state of the measurement module 100A is stable based on the acceleration data stored in the storage unit 331 (step S1308). Further, the third determination unit 308B determines whether or not the measurement module 100A is in a non-rotating state based on the angular velocity data stored in the storage unit 331 (step S1309).
  • the extraction unit 309B determines that the measurement module 100A is stationary in step S1307 among the acceleration data accumulated in the accumulation unit 331, and the stationary state of the measurement module 100A is stabilized in step S1308.
  • the acceleration when it is determined that the measurement module 100A is in the non-rotating state in step S1309 is extracted as correction data for the acceleration sensor 111 (step S1310).
  • the correction value calculation unit 332 calculates the correction value of the acceleration sensor 111 based on the plurality of correction data extracted in step S1310 (step S1311).
  • This correction value is stored in, for example, a memory included in the measurement module 100A, and is thereafter used by the correction unit 333 to correct acceleration data.
  • the correction unit 333 may correct the acceleration data before the acceleration data is stored in the storage unit 331, or correct the acceleration data after the acceleration data is stored in the storage unit 331. Good.
  • the occurrence factor of the predetermined correction value calculation process start event may be any, for example, when a predetermined user operation is performed, when a regular correction process start time comes, a predetermined amount of For example, when measurement data is accumulated in the accumulation unit 331.
  • the measurement module 100A can calculate the correction value of the acceleration sensor 111 with high accuracy based on the extracted plurality of correction data.
  • the acceleration output from the acceleration sensor 111 can be corrected without making the user aware of the stationary state. Can do. Therefore, according to the measurement system 10B of the third embodiment, for example, a usability problem that may occur in the prior art (for example, the operation of placing the ball 12 in a stationary state, which cannot be used immediately after the ball 12 is started) is troublesome. , Etc.) can be suppressed.
  • the center coordinate value of a virtual sphere is calculated using a plurality of correction data extracted from the acceleration data stored in the database (storage unit 331), A configuration is adopted in which a correction value of acceleration output from the acceleration sensor 111 is calculated based on the center coordinate value. Accordingly, the measurement system 10B of the third embodiment corrects the acceleration measured by the acceleration sensor 111 at any time when the ball 12 is in any direction when the ball 12 is completely stationary. Can be used as business data.
  • the measurement device (measurement modules 100 and 100A) of the present invention is provided on a sphere (ball 12) having a pincushion layer 12A, but the measurement device of the present invention is not limited to this. It may be provided on a sphere that does not have a pincushion layer, or on any device other than a sphere.
  • measurement module 100,100A employ
  • measurement module 100,100A is Alternatively, a configuration may be adopted in which, when it is determined that the stationary state has continued for a certain period of time based on the acceleration measured by the acceleration sensor 111, the mode is automatically switched to the sleep mode.
  • amendment of acceleration is employ
  • calculation of a correction value is performed in the cloud server 16.
  • the measurement module 100 may be configured to correct the acceleration by transmitting the correction value to the measurement module 100.
  • the measurement module 100A employs a configuration for performing correction value calculation and acceleration correction.
  • the present invention is not limited to this.
  • the measurement module 100A calculates correction values.
  • a configuration may be adopted in which acceleration correction is performed in the external information processing apparatus by transmitting the correction value to the external information processing apparatus that is the measurement data output destination.
  • accumulation of correction data, calculation of correction values, and correction of acceleration may be performed at least by any device in the system, and may be performed at any timing by any device in the system.
  • the output unit 310 of the measurement modules 100 and 100A may output each measurement data (acceleration, angular velocity, and geomagnetism) in real time (that is, for each data). Data may be accumulated in the memory 115 and output collectively at a predetermined timing.
  • the acceleration sensor 111 itself may correct the acceleration sensor 111 by supplying the acceleration sensor 111 with the correction value of the acceleration sensor 111. That is, the acceleration sensor 111 itself may output the corrected acceleration.

Abstract

This control device for a measurement device comprising an acceleration sensor and gyro sensor comprises: a first determination unit for identifying a stationary state of a measurement device on the basis of acceleration detected by the acceleration sensor; a second determination unit for determining whether the stationary state of the measurement device is stable on the basis of the acceleration detected by the acceleration sensor; a third determination unit for determining whether the measurement device is in a non-rotating state on the basis of angular velocity detected by the gyro sensor; an extraction unit for extracting, from acceleration data continuously measured by the acceleration sensor, acceleration when the measurement device was determined to be in a stationary state, the stationary state was determined to be stable, and the measurement device was determined to be in a non-rotating state; and an output unit for outputting the acceleration extracted by the extraction unit as correction data for the acceleration sensor.

Description

制御装置、計測装置、球体、計測システム、制御方法、およびプログラムControl device, measurement device, sphere, measurement system, control method, and program
　本発明は、制御装置、計測装置、球体、計測システム、制御方法、およびプログラムに関する。 The present invention relates to a control device, a measurement device, a sphere, a measurement system, a control method, and a program.
　従来、各種機器において、当該機器の内部に実装された加速度センサにより、当該機器に生じた加速度を計測できるようになっている。このような機器の中には、機器本体が静止状態にあるときに加速度センサによって検出された加速度に基づいて、加速度センサから出力される加速度の誤差を補正できるようになっているものがある。 Conventionally, in various devices, acceleration generated in the device can be measured by an acceleration sensor mounted in the device. Among such devices, there is a device that can correct an error in acceleration output from the acceleration sensor based on acceleration detected by the acceleration sensor when the device main body is in a stationary state.
　例えば、下記特許文献１には、ペン型入力装置に関し、加速度センサが検出した加速度の合成ベクトルと重力加速度との大きさの差から静止状態を判定し、静止状態と判定されているときに加速度センサが検出した加速度を基に、ペン軸の初期傾斜角を演算する技術が開示されている。 For example, Patent Document 1 below relates to a pen-type input device, and determines a stationary state from a difference in magnitude between a combined acceleration vector detected by an acceleration sensor and gravitational acceleration, and accelerates when the stationary state is determined. A technique for calculating the initial tilt angle of the pen axis based on the acceleration detected by the sensor is disclosed.
特開平１０－３１５５３号公報Japanese Patent Laid-Open No. 10-31553
　しかしながら、上記特許文献１の技術では、ペン軸の初期傾斜角を演算するために、ペン型入力装置が起動している状態で、ユーザが意識的にペン型入力装置を静止状態にする必要がある。このため、上記特許文献１の技術では、例えば、ペン型入力装置を起動後すぐに使用することができない、ペン型入力装置を静止状態にする操作が煩わしい、等、ユーザビリティの問題が生じ得る。そこで、ユーザに静止状態を意識させることなく、加速度センサから出力される加速度の補正を可能にすることが求められている。 However, in the technique of the above-mentioned Patent Document 1, in order to calculate the initial tilt angle of the pen axis, the user needs to consciously put the pen type input device in a stationary state while the pen type input device is activated. is there. For this reason, with the technique of the said patent document 1, the problem of usability may arise, for example, the operation which makes a pen type input device a stationary state cannot be used immediately after starting a pen type input device. Therefore, it is required to enable correction of acceleration output from the acceleration sensor without making the user aware of the stationary state.
　一実施形態の制御装置は、加速度センサとジャイロセンサとを備えた計測装置用の制御装置であって、前記加速度センサによって検知された加速度に基づいて、前記計測装置の静止状態を判定する第１判定部と、前記加速度センサによって検知された加速度に基づいて、前記計測装置の静止状態が安定しているか否かを判断する第２判定部と、前記ジャイロセンサによって検知された角速度に基づいて、前記計測装置が無回転状態であるか否かを判定する第３判定部と、前記加速度センサによって継続的に計測された加速度データのうち、前記第１判定部によって前記静止状態であると判定され、且つ、前記第２判定部によって前記静止状態が安定していると判定され、且つ、前記第３判定部によって前記無回転状態であると判定されたときの前記加速度を抽出する抽出部と、前記抽出部によって抽出された前記加速度を、前記加速度センサの補正用データとして出力する出力部とを有する。 A control device according to an embodiment is a control device for a measurement device including an acceleration sensor and a gyro sensor, and determines a stationary state of the measurement device based on an acceleration detected by the acceleration sensor. Based on a determination unit, a second determination unit that determines whether the stationary state of the measurement device is stable based on the acceleration detected by the acceleration sensor, and an angular velocity detected by the gyro sensor, Of the acceleration data continuously measured by the acceleration sensor, the third determination unit that determines whether or not the measurement device is in a non-rotating state is determined by the first determination unit to be in the stationary state. In addition, it is determined that the stationary state is stable by the second determination unit and that the non-rotation state is determined by the third determination unit. With the extraction section for extracting the acceleration, the acceleration extracted by the extraction unit, and an output unit for outputting as correction data of the acceleration sensor.
　一実施形態によれば、ユーザに静止状態を意識させることなく、加速度センサから出力される加速度の補正を可能にすることができる。 According to one embodiment, it is possible to correct the acceleration output from the acceleration sensor without making the user aware of the stationary state.
第１実施形態に係る計測システムのシステム構成を示す図である。It is a figure which shows the system configuration | structure of the measurement system which concerns on 1st Embodiment. 第１実施形態に係るボールの概略構成を示す図である。It is a figure which shows schematic structure of the ball | bowl which concerns on 1st Embodiment. 第１実施形態に係る計測モジュールの状態遷移図である。It is a state transition diagram of the measurement module which concerns on 1st Embodiment. 第１実施形態に係る計測モジュールのハードウェア構成を示す図である。It is a figure which shows the hardware constitutions of the measurement module which concerns on 1st Embodiment. 第１実施形態に係る計測システムの機能構成を示す図である。It is a figure which shows the function structure of the measurement system which concerns on 1st Embodiment. 第１実施形態に係る計測システムによる処理シーケンスの一例を示す図である。It is a figure which shows an example of the processing sequence by the measurement system which concerns on 1st Embodiment. 第１実施形態に係る補正値算出部による補正値の算出方法を説明するための図である。It is a figure for demonstrating the calculation method of the correction value by the correction value calculation part which concerns on 1st Embodiment. 第１実施形態に係る加速度センサによって計測された加速度データの一例を示す図である。It is a figure which shows an example of the acceleration data measured by the acceleration sensor which concerns on 1st Embodiment. 第１実施形態に係る加速度センサによって計測された加速度データの比較例を示す図である。It is a figure which shows the comparative example of the acceleration data measured by the acceleration sensor which concerns on 1st Embodiment. 第１実施形態に係る加速度センサによって計測された加速度データの比較例を示す図である。It is a figure which shows the comparative example of the acceleration data measured by the acceleration sensor which concerns on 1st Embodiment. 第２実施形態に係る計測システムの機能構成を示す図である。It is a figure which shows the function structure of the measurement system which concerns on 2nd Embodiment. 第２実施形態に係る計測システムによる処理シーケンスの一例を示す図である。It is a figure which shows an example of the process sequence by the measurement system which concerns on 2nd Embodiment. 第３実施形態に係る計測システムの機能構成を示す図である。It is a figure which shows the function structure of the measurement system which concerns on 3rd Embodiment. 第３実施形態に係る計測システムによる処理シーケンスの一例を示す図である。It is a figure which shows an example of the process sequence by the measurement system which concerns on 3rd Embodiment.
　〔第１実施形態〕
　以下、図面を参照して、第１実施形態について説明する。この第１実施形態では、クラウドサーバ１６において、補正用データの抽出、補正値の算出、および加速度の補正を行う例を説明する。 [First Embodiment]
The first embodiment will be described below with reference to the drawings. In the first embodiment, an example in which correction data extraction, correction value calculation, and acceleration correction are performed in the cloud server 16 will be described.
　（計測システム１０のシステム構成）
　図１は、第１実施形態に係る計測システム１０のシステム構成を示す図である。図１に示すように、計測システム１０は、ボール１２、スマートフォン１４、およびクラウドサーバ１６を備えている。 (System configuration of measurement system 10)
FIG. 1 is a diagram illustrating a system configuration of a measurement system 10 according to the first embodiment. As shown in FIG. 1, the measurement system 10 includes a ball 12, a smartphone 14, and a cloud server 16.
　ボール１２は、例えば、球技用（例えば、野球用、サッカー用、ゴルフ用等）のボールとして用いられ、当該ボール１２が飛球した際に、当該ボール１２における加速度、角速度、および地磁気を、当該ボール１２の内部に設けられた計測モジュール１００（図２参照）によって継続的に計測できるようになっている。また、ボール１２は、スマートフォン１４と無線通信が可能であり、当該無線通信により、各計測データ（加速度、角速度、および地磁気）を、スマートフォン１４へ出力することができるようになっている。 For example, the ball 12 is used as a ball for ball games (for example, for baseball, soccer, golf, etc.), and when the ball 12 flies, the acceleration, angular velocity, and geomagnetism of the ball 12 are The measurement can be continuously performed by a measurement module 100 (see FIG. 2) provided inside the ball 12. Further, the ball 12 can wirelessly communicate with the smartphone 14, and can output each measurement data (acceleration, angular velocity, and geomagnetism) to the smartphone 14 through the wireless communication.
　スマートフォン１４は、ユーザが所持する携帯端末装置である。例えば、スマートフォン１４は、ボール１２との無線通信により、ボール１２に対する各種操作（例えば、モード切り替え操作）を行うことができる。また、スマートフォン１４は、通信ネットワーク１５（例えば、Ｗｉ－Ｆｉ、インターネット等）に無線接続し、当該通信ネットワーク１５を介して、クラウドサーバ１６との通信が可能である。これにより、スマートフォン１４は、ボール１２から取得した各計測データ（加速度、角速度、および地磁気）を、クラウドサーバ１６へ転送することができる。 The smartphone 14 is a mobile terminal device possessed by the user. For example, the smartphone 14 can perform various operations (for example, a mode switching operation) on the ball 12 by wireless communication with the ball 12. The smartphone 14 is wirelessly connected to a communication network 15 (for example, Wi-Fi, the Internet, etc.), and can communicate with the cloud server 16 via the communication network 15. Thereby, the smartphone 14 can transfer each measurement data (acceleration, angular velocity, and geomagnetism) acquired from the ball 12 to the cloud server 16.
　クラウドサーバ１６は、スマートフォン１４から転送された各計測データ（加速度、角速度、および地磁気）をデータベースに蓄積することができる。また、クラウドサーバ１６は、データベースに蓄積された各計測データを、例えば、ディスプレイに表示させたり、ボール１２がどのように回転したか、等の分析に用いたりすることができる。 The cloud server 16 can store each measurement data (acceleration, angular velocity, and geomagnetism) transferred from the smartphone 14 in a database. In addition, the cloud server 16 can display each measurement data stored in the database, for example, on a display or use it for analysis such as how the ball 12 is rotated.
　このように構成された本実施形態の計測システム１０において、クラウドサーバ１６は、「制御装置」としての機能を有する。すなわち、クラウドサーバ１６は、ボール１２がユーザによる使用状態にあるとき（すなわち、後述する「通常動作モード」にあるとき）に、加速度センサ１１１によって継続的に計測された加速度データのうち、所定の３つの条件を全て満たす加速度を加速度センサ１１１の補正用データとして抽出することができる。所定の３つの条件とは、計測モジュール１００（すなわち、ボール１２）が静止状態であること、計測モジュール１００（すなわち、ボール１２）の静止状態が安定していること、および、計測モジュール１００（すなわち、ボール１２）が無回転状態であること、である。そして、クラウドサーバ１６は、加速度データから抽出された複数の補正用データを用いて、加速度センサ１１１の補正値を算出して、算出された補正値を用いて、加速度センサ１１１から出力される加速度を補正することができる。 In the measurement system 10 of the present embodiment configured as described above, the cloud server 16 has a function as a “control device”. That is, when the ball 12 is in a use state by the user (that is, in a “normal operation mode” described later), the cloud server 16 determines a predetermined value out of the acceleration data continuously measured by the acceleration sensor 111. Acceleration that satisfies all three conditions can be extracted as correction data for the acceleration sensor 111. The three predetermined conditions are that the measurement module 100 (that is, the ball 12) is stationary, that the measurement module 100 (that is, the ball 12) is stable, and that the measurement module 100 (that is, the ball 12) is stationary. The ball 12) is in a non-rotating state. Then, the cloud server 16 calculates a correction value of the acceleration sensor 111 using the plurality of correction data extracted from the acceleration data, and uses the calculated correction value to output the acceleration output from the acceleration sensor 111. Can be corrected.
　（ボール１２の概略構成）
　図２は、第１実施形態に係るボール１２の概略構成を示す図である。図２に示すボール１２は、「球体」の一例であり、球状の外形をなしている。図２に示すように、ボール１２は、計測モジュール１００と、糸巻層１２Ａと、表皮層１２Ｂとを備えている。 (Schematic configuration of the ball 12)
FIG. 2 is a diagram illustrating a schematic configuration of the ball 12 according to the first embodiment. The ball 12 shown in FIG. 2 is an example of a “sphere” and has a spherical outer shape. As shown in FIG. 2, the ball 12 includes a measurement module 100, a pincushion layer 12A, and a skin layer 12B.
　計測モジュール１００は、「計測装置」の一例である。計測モジュール１００は、ボール１２の内部における略中心に設けられている。計測モジュール１００は、ケース１０１と、計測回路１０２とを備えて構成されている。ケース１０１は、球状の外形をなしており、比較的硬質な素材（例えば、硬質樹脂等）から形成される中空状の部材である。計測回路１０２は、ケース１０１の内部に固定的に配置される装置である。計測回路１０２は、回路基板１０２Ａ上に加速度センサ１１１、ジャイロセンサ１１２、および地磁気センサ１１３等が搭載されている。 The measurement module 100 is an example of a “measurement device”. The measurement module 100 is provided approximately at the center inside the ball 12. The measurement module 100 includes a case 101 and a measurement circuit 102. The case 101 has a spherical outer shape and is a hollow member formed from a relatively hard material (for example, a hard resin). The measurement circuit 102 is a device that is fixedly disposed inside the case 101. The measurement circuit 102 includes an acceleration sensor 111, a gyro sensor 112, a geomagnetic sensor 113, and the like mounted on a circuit board 102A.
　計測モジュール１００においては、Ｘ軸方向、Ｙ軸方向、およびＺ軸方向が、いずれも所定の方向となるように、これら３軸（Ｘ軸，Ｙ軸，Ｚ軸）の各々の軸方向が予め定義されている。例えば、回路基板１０２Ａの表面と平行な方向を、Ｘ軸方向およびＹ軸方向とし、回路基板１０２Ａの表面と垂直な方向を、Ｚ軸方向として、これらの軸方向が予め定義される。そして、加速度センサ１１１，ジャイロセンサ１１２は、予め軸方向が定義された３軸（Ｘ軸，Ｙ軸，Ｚ軸）の各々について、計測モジュール１００に生じる加速度，角速度（すなわち、ボール１２に生じる加速度，角速度）を、検知することができるようになっている。また、地磁気センサ１１３は、予め軸方向が定義された３軸（Ｘ軸，Ｙ軸，Ｚ軸）の各々について、地磁気を、検知することができるようになっている。 In the measurement module 100, the axial directions of these three axes (X axis, Y axis, Z axis) are set in advance so that the X axis direction, the Y axis direction, and the Z axis direction are all predetermined directions. Is defined. For example, the directions parallel to the surface of the circuit board 102A are defined as the X-axis direction and the Y-axis direction, and the direction perpendicular to the surface of the circuit board 102A is defined as the Z-axis direction. The acceleration sensor 111 and the gyro sensor 112 are the acceleration and angular velocity (that is, the acceleration generated in the ball 12) generated in the measurement module 100 for each of the three axes (X axis, Y axis, and Z axis) whose axial directions are defined in advance. , Angular velocity) can be detected. The geomagnetic sensor 113 can detect geomagnetism for each of the three axes (X axis, Y axis, Z axis) whose axial directions are defined in advance.
　糸巻層１２Ａは、計測モジュール１００の外表面を覆うように、計測モジュール１００の外側に設けられている。糸巻層１２Ａは、計測モジュール１００の外表面に対して、糸（例えば、綿糸、毛糸、ゴム糸等）が多重に巻かれることによって形成される。表皮層１２Ｂは、ボール１２の外表面を構成する部材であり、糸巻層１２Ａの外表面を覆うように、糸巻層１２Ａの外側に設けられている。表皮層１２Ｂは、例えば、革（例えば、牛革、人工皮革等）等の素材によって形成される。 The bobbin layer 12 </ b> A is provided outside the measurement module 100 so as to cover the outer surface of the measurement module 100. The bobbin layer 12 </ b> A is formed by winding a plurality of yarns (for example, cotton yarn, wool yarn, rubber yarn) on the outer surface of the measurement module 100. The skin layer 12B is a member that constitutes the outer surface of the ball 12, and is provided on the outer side of the bobbin layer 12A so as to cover the outer surface of the bobbin layer 12A. The skin layer 12B is formed of a material such as leather (for example, cow leather, artificial leather, etc.).
　（計測モジュール１００の状態遷移）
　図３は、第１実施形態に係る計測モジュール１００の状態遷移図である。図３に示すように、計測モジュール１００は、「通常動作モード」および「スリープモード」を有する。「通常動作モード」は、各計測データ（加速度、角速度、および地磁気）の計測および出力が可能なモードである。「スリープモード」は、「通常動作モード」よりも消費電力が低いモードである。例えば、「スリープモード」では、計測モジュール１００の全ての動作（但し、計測モジュール１００を起動させるための動作を除く）が停止する。 (State transition of measurement module 100)
FIG. 3 is a state transition diagram of the measurement module 100 according to the first embodiment. As shown in FIG. 3, the measurement module 100 has a “normal operation mode” and a “sleep mode”. The “normal operation mode” is a mode in which measurement data (acceleration, angular velocity, and geomagnetism) can be measured and output. The “sleep mode” is a mode that consumes less power than the “normal operation mode”. For example, in the “sleep mode”, all the operations of the measurement module 100 (except for the operation for starting the measurement module 100) are stopped.
　例えば、計測モジュール１００は、「通常動作モード」にあるとき、スマートフォン１４から、「スリープモード」への切り替え指示を受信すると、「スリープモード」に切り替わる。また、例えば、計測モジュール１００は、「スリープモード」にあるとき、当該計測モジュール１００において所定の起動イベント（例えば、各センサの出力に基づいて所定の動作が検出された場合、無線による電力供給を受けて内部回路が起動した場合、等）が発生すると、当該計測モジュール１００を起動した後、「通常動作モード」に切り替わる。 For example, when the measurement module 100 is in the “normal operation mode” and receives an instruction to switch to the “sleep mode” from the smartphone 14, the measurement module 100 switches to the “sleep mode”. In addition, for example, when the measurement module 100 is in the “sleep mode”, when a predetermined activation event is detected in the measurement module 100 (for example, when a predetermined operation is detected based on the output of each sensor, wireless power supply is performed. When the internal circuit is activated and the like is generated, the measurement module 100 is activated and then switches to the “normal operation mode”.
　（計測モジュール１００のハードウェア構成）
　図４は、第１実施形態に係る計測モジュール１００のハードウェア構成を示す図である。図４に示すように、計測モジュール１００は、加速度センサ１１１、ジャイロセンサ１１２、地磁気センサ１１３、マイコン１１４、メモリ１１５、通信Ｉ／Ｆ（Inter Face）１１６、およびバッテリ１１７を備えている。計測モジュール１００において、これらのハードウェアは、回路基板１０２Ａ（図２参照）上に実装され、回路基板１０２Ａ上に形成された配線によって、互いに電気的に接続される。 (Hardware configuration of measurement module 100)
FIG. 4 is a diagram illustrating a hardware configuration of the measurement module 100 according to the first embodiment. As shown in FIG. 4, the measurement module 100 includes an acceleration sensor 111, a gyro sensor 112, a geomagnetic sensor 113, a microcomputer 114, a memory 115, a communication I / F (Inter Face) 116, and a battery 117. In the measurement module 100, these hardware components are mounted on the circuit board 102A (see FIG. 2), and are electrically connected to each other by wiring formed on the circuit board 102A.
　加速度センサ１１１は、予め定義された３軸（Ｘ軸，Ｙ軸，Ｚ軸）の各々について、計測モジュール１００（すなわち、ボール１２）に生じる加速度を検知する。加速度センサ１１１によって検知された加速度は、マイコン１１４へ供給される。加速度センサ１１１としては、例えば、ひずみゲージ型加速度センサ、ピエゾ抵抗型加速度センサ、圧電型加速度センサ等を用いることができる。 The acceleration sensor 111 detects the acceleration generated in the measurement module 100 (that is, the ball 12) for each of the three axes defined in advance (X axis, Y axis, Z axis). The acceleration detected by the acceleration sensor 111 is supplied to the microcomputer 114. As the acceleration sensor 111, for example, a strain gauge type acceleration sensor, a piezoresistive type acceleration sensor, a piezoelectric type acceleration sensor, or the like can be used.
　ジャイロセンサ１１２は、予め定義された３軸（Ｘ軸，Ｙ軸，Ｚ軸）の各々について、計測モジュール１００（すなわち、ボール１２）に生じる角速度を検知する。ジャイロセンサ１１２によって検知された角速度は、マイコン１１４へ供給される。ジャイロセンサ１１２としては、例えば、振動式ジャイロセンサ、静電容量式ジャイロセンサ等を用いることができる。 The gyro sensor 112 detects an angular velocity generated in the measurement module 100 (that is, the ball 12) for each of the three predefined axes (X axis, Y axis, Z axis). The angular velocity detected by the gyro sensor 112 is supplied to the microcomputer 114. As the gyro sensor 112, for example, a vibration type gyro sensor, a capacitance type gyro sensor, or the like can be used.
　地磁気センサ１１３は、予め定義された３軸（Ｘ軸，Ｙ軸，Ｚ軸）の各々の地磁気を検知する。地磁気センサ１１３によって検知された地磁気は、マイコン１１４へ供給される。地磁気センサ１１３としては、例えば、磁気抵抗効果センサ、ホールセンサ等を用いることができる。 The geomagnetic sensor 113 detects the geomagnetism of each of three predefined axes (X axis, Y axis, Z axis). The geomagnetism detected by the geomagnetic sensor 113 is supplied to the microcomputer 114. As the geomagnetic sensor 113, for example, a magnetoresistive sensor, a hall sensor, or the like can be used.
　マイコン１１４は、プロセッサを備えており、当該プロセッサが、メモリ１１５等に記憶されているプログラムを実行することにより、計測モジュール１００が備える各種機能を実現する。例えば、マイコン１１４は、計測モジュール１００が「通常動作モード」にあるとき、各センサから供給された各計測データ（加速度、角速度、および地磁気）を、通信Ｉ／Ｆ１１６を介して、外部の情報処理装置（例えば、スマートフォン１４）へ出力する機能を有する。 The microcomputer 114 includes a processor, and the processor implements various functions included in the measurement module 100 by executing a program stored in the memory 115 or the like. For example, when the measurement module 100 is in the “normal operation mode”, the microcomputer 114 transmits each measurement data (acceleration, angular velocity, and geomagnetism) supplied from each sensor to the external information processing via the communication I / F 116. It has the function to output to an apparatus (for example, smart phone 14).
　メモリ１１５は、例えば、マイコン１１４が実行するプログラム、マイコン１１４がプログラムを実行する際に用いる各種データを記憶する。メモリ１１５としては、例えば、ＲＡＭ（Random Access Memory）等を用いることができる。 The memory 115 stores, for example, a program executed by the microcomputer 114 and various data used when the microcomputer 114 executes the program. As the memory 115, for example, a RAM (Random Access Memory) or the like can be used.
　通信Ｉ／Ｆ１１６は、外部の情報処理装置（例えば、スマートフォン１４）との通信を制御する。例えば、本実施形態では、通信Ｉ／Ｆ１１６による通信方式として、比較的低消費電力な無線通信方式である、ＢＬＥ（Bluetooth（登録商標） Low Energy）を用いている。但し、これに限らず、通信Ｉ／Ｆ１１６による通信方式として、その他の各種無線通信方式（例えば、Ｗｉ－Ｆｉ、ＮＦＣ（Near Field Communication）等）、または、各種有線通信方式（例えば、ＵＳＢ（Universal Serial Bus）等）を用いるようにしてもよい。 The communication I / F 116 controls communication with an external information processing apparatus (for example, the smartphone 14). For example, in the present embodiment, BLE (Bluetooth (registered trademark) Low Energy), which is a wireless communication method with relatively low power consumption, is used as a communication method using the communication I / F 116. However, the present invention is not limited to this, and other various wireless communication methods (for example, Wi-Fi, NFC (Near Field Communication), etc.) or various wired communication methods (for example, USB (Universal) are used as communication methods by the communication I / F 116. Serial Bus) etc. may be used.
　バッテリ１１７は、計測モジュール１００の各部へ直流電力を供給する。例えば、本実施形態では、バッテリ１１７として、一次電池（例えば、酸化銀電池、リチウム電池等）を用いている。但し、これに限らず、バッテリ１１７として、各種二次電池（例えば、リチウムイオン二次電池、リチウムイオンポリマー二次電池、ニッケル水素二次電池等）を用いるようにしてもよい。 The battery 117 supplies DC power to each part of the measurement module 100. For example, in the present embodiment, a primary battery (for example, a silver oxide battery, a lithium battery, or the like) is used as the battery 117. However, the present invention is not limited to this, and various secondary batteries (for example, a lithium ion secondary battery, a lithium ion polymer secondary battery, a nickel hydrogen secondary battery, etc.) may be used as the battery 117.
　（計測システム１０の機能構成）
　図５は、第１実施形態に係る計測システム１０の機能構成を示す図である。 (Functional configuration of measurement system 10)
FIG. 5 is a diagram illustrating a functional configuration of the measurement system 10 according to the first embodiment.
　＜計測モジュール１００の機能構成＞
　図５に示すように、計測モジュール１００は、主制御部３００、加速度取得部３０１、角速度取得部３０２、地磁気取得部３０３、指示受信部３０４、状態切替部３０５、および出力部３１０を備えている。 <Functional Configuration of Measurement Module 100>
As shown in FIG. 5, the measurement module 100 includes a main control unit 300, an acceleration acquisition unit 301, an angular velocity acquisition unit 302, a geomagnetism acquisition unit 303, an instruction reception unit 304, a state switching unit 305, and an output unit 310. .
　主制御部３００は、計測モジュール１００による処理全体を制御する。例えば、主制御部３００は、計測モジュール１００による処理の開始、処理の終了、処理の繰り返し、各機能部による処理の実行等を制御する。 The main control unit 300 controls the entire processing by the measurement module 100. For example, the main control unit 300 controls the start of processing by the measurement module 100, the end of processing, repetition of processing, execution of processing by each functional unit, and the like.
　加速度取得部３０１は、加速度センサ１１１から出力された加速度を取得する。具体的には、加速度取得部３０１は、加速度センサ１１１から出力された、３軸（Ｘ軸，Ｙ軸，Ｚ軸）の各々の加速度を取得する。 The acceleration acquisition unit 301 acquires the acceleration output from the acceleration sensor 111. Specifically, the acceleration acquisition unit 301 acquires the acceleration of each of the three axes (X axis, Y axis, and Z axis) output from the acceleration sensor 111.
　角速度取得部３０２は、ジャイロセンサ１１２から出力された角速度を取得する。具体的には、角速度取得部３０２は、ジャイロセンサ１１２から出力された、３軸（Ｘ軸，Ｙ軸，Ｚ軸）の各々の角速度を取得する。なお、本書において、「Ｘ軸の角速度」とは、Ｘ軸を回転軸とする角速度を意味する。同様に、「Ｙ軸の角速度」とは、Ｙ軸を回転軸とする角速度を意味し、「Ｚ軸の角速度」とは、Ｚ軸を回転軸とする角速度を意味する。 The angular velocity acquisition unit 302 acquires the angular velocity output from the gyro sensor 112. Specifically, the angular velocity acquisition unit 302 acquires the angular velocities of the three axes (X axis, Y axis, and Z axis) output from the gyro sensor 112. In this document, “angular velocity of the X axis” means an angular velocity having the X axis as a rotation axis. Similarly, “Y-axis angular velocity” means an angular velocity with the Y-axis as a rotation axis, and “Z-axis angular velocity” means an angular velocity with the Z-axis as a rotation axis.
　地磁気取得部３０３は、地磁気センサ１１３から出力された地磁気を取得する。具体的には、地磁気取得部３０３は、地磁気センサ１１３から出力された、３軸（Ｘ軸，Ｙ軸，Ｚ軸）の各々の地磁気を取得する。 The geomagnetism acquisition unit 303 acquires the geomagnetism output from the geomagnetic sensor 113. Specifically, the geomagnetism acquisition unit 303 acquires the geomagnetism of each of the three axes (X axis, Y axis, Z axis) output from the geomagnetic sensor 113.
　指示受信部３０４は、スマートフォン１４から送信された、各種切り替え指示（例えば、「スリープモード」への切り替え指示）を、通信Ｉ／Ｆ１１６を介して受信する。 The instruction receiving unit 304 receives various switching instructions (for example, a switching instruction to “sleep mode”) transmitted from the smartphone 14 via the communication I / F 116.
　状態切替部３０５は、計測モジュール１００が「通常動作モード」にあるとき、指示受信部３０４によって「スリープモード」への切り替え指示が受信されると、当該計測モジュール１００を「スリープモード」に切り替える。 The state switching unit 305 switches the measurement module 100 to the “sleep mode” when the instruction receiving unit 304 receives an instruction to switch to the “sleep mode” when the measurement module 100 is in the “normal operation mode”.
　また、状態切替部３０５は、計測モジュール１００が「スリープモード」にあるとき、当該計測モジュール１００において所定の起動イベントが発生すると、当該計測モジュール１００を起動した後、当該計測モジュール１００を「通常動作モード」に切り替える。 In addition, when the measurement module 100 is in the “sleep mode” and a predetermined activation event occurs in the measurement module 100, the state switching unit 305 activates the measurement module 100 and then sets the measurement module 100 to “normal operation”. Switch to "Mode".
　出力部３１０は、計測モジュール１００が「通常動作モード」にあるとき、各計測データ（加速度、角速度、および地磁気）を、スマートフォン１４へ出力する。具体的には、出力部３１０は、加速度取得部３０１によって取得された３軸（Ｘ軸，Ｙ軸，Ｚ軸）の各々の加速度、角速度取得部３０２によって取得された３軸（Ｘ軸，Ｙ軸，Ｚ軸）の各々の角速度、および、地磁気取得部３０３によって取得された３軸（Ｘ軸，Ｙ軸，Ｚ軸）の各々の地磁気を、通信Ｉ／Ｆ１１６を介して、スマートフォン１４へ出力する。 The output unit 310 outputs each measurement data (acceleration, angular velocity, and geomagnetism) to the smartphone 14 when the measurement module 100 is in the “normal operation mode”. Specifically, the output unit 310 has the three axes (X axis, Y axis, Z axis) acquired by the acceleration acquisition unit 301, and the three axes (X axis, Y acquired by the angular velocity acquisition unit 302). Output to the smartphone 14 via the communication I / F 116, the angular velocities of each of the three axes (X axis, Y axis, Z axis) acquired by the geomagnetism acquisition unit 303. To do.
　＜スマートフォン１４の機能構成＞
　図５に示すように、スマートフォン１４は、指示送信部３１１、受信部３１２、および転送部３１３を備える。 <Functional configuration of smartphone 14>
As illustrated in FIG. 5, the smartphone 14 includes an instruction transmission unit 311, a reception unit 312, and a transfer unit 313.
　指示送信部３１１は、計測モジュール１００との無線通信を介して、計測モジュール１００へ各種切り替え指示（例えば、「通常動作モード」への切り替え指示、「通常動作モード」への切り替え指示）を送信する。 The instruction transmission unit 311 transmits various switching instructions (for example, a switching instruction to “normal operation mode” and a switching instruction to “normal operation mode”) to the measurement module 100 via wireless communication with the measurement module 100. .
　例えば、スマートフォン１４において、所定のアプリが起動された状態で、入力装置を用いた所定の終了操作（例えば、「終了」ボタンの押下操作）が行われると、指示送信部３１１は、その終了操作に応じて、「スリープモード」への切り替え指示を、計測モジュール１００へ送信する。 For example, when a predetermined end operation (for example, pressing operation of the “end” button) using the input device is performed on the smartphone 14 in a state where a predetermined application is activated, the instruction transmission unit 311 performs the end operation. In response to this, an instruction to switch to the “sleep mode” is transmitted to the measurement module 100.
　受信部３１２は、計測モジュール１００との無線通信を介して、計測モジュール１００から出力された各計測データ（加速度、角速度、および地磁気）を受信する。 The receiving unit 312 receives each measurement data (acceleration, angular velocity, and geomagnetism) output from the measurement module 100 via wireless communication with the measurement module 100.
　転送部３１３は、受信部３１２によって各計測データ（加速度、角速度、および地磁気）が受信されると、当該各計測データを、クラウドサーバ１６との通信を介して、クラウドサーバ１６へ転送する。 When the receiving unit 312 receives the measurement data (acceleration, angular velocity, and geomagnetism), the transfer unit 313 transfers the measurement data to the cloud server 16 via communication with the cloud server 16.
　＜クラウドサーバ１６の機能構成＞
　図５に示すように、クラウドサーバ１６は、受信部３２１、蓄積部３２２、第１判定部３０６、第２判定部３０７、第３判定部３０８、抽出部３０９、補正値算出部３２３、および補正部３２４を備える。 <Functional configuration of cloud server 16>
As illustrated in FIG. 5, the cloud server 16 includes a reception unit 321, a storage unit 322, a first determination unit 306, a second determination unit 307, a third determination unit 308, an extraction unit 309, a correction value calculation unit 323, and a correction Part 324.
　受信部３２１は、スマートフォン１４との通信を介して、スマートフォン１４から送信された各計測データ（加速度、角速度、および地磁気）を受信する。 The receiving unit 321 receives each measurement data (acceleration, angular velocity, and geomagnetism) transmitted from the smartphone 14 via communication with the smartphone 14.
　蓄積部３２２は、受信部３２１によって各計測データ（加速度、角速度、および地磁気）が受信される毎に、当該各計測データが登録される。これにより、蓄積部３２２は、複数の各計測データ（加速度、角速度、および地磁気）が蓄積されることとなる。 Each time the measurement data (acceleration, angular velocity, and geomagnetism) is received by the reception unit 321, the storage unit 322 registers the measurement data. Thereby, the storage unit 322 stores a plurality of pieces of measurement data (acceleration, angular velocity, and geomagnetism).
　第１判定部３０６は、蓄積部３２２に蓄積されている加速度データ（すなわち、加速度センサ１１１によって検知された加速度）に基づいて、計測モジュール１００の静止状態を判定する。具体的には、第１判定部３０６は、３軸（Ｘ軸，Ｙ軸，Ｚ軸）の各々の加速度の合成ベクトルが略１Ｇである場合、計測モジュール１００が静止状態にあると判定する。略１Ｇとは、例えば、１Ｇ±αの範囲内である。但し、αは、所定の許容誤差である。αは、計測モジュール１００の静止状態を適切に判定できるように、適切な値（例えば、１０％）に調整されることが好ましい。なお、３軸（Ｘ軸，Ｙ軸，Ｚ軸）の各々の加速度の合成ベクトルをＷとし、３軸（Ｘ軸，Ｙ軸，Ｚ軸）の各々の加速度を、Ｗｘ,Ｗｙ，Ｗｚとする場合、合成ベクトルＷは、√（Ｗｘ２＋Ｗｙ２＋Ｗｚ２）によって求めることができる。 The first determination unit 306 determines the stationary state of the measurement module 100 based on the acceleration data stored in the storage unit 322 (that is, acceleration detected by the acceleration sensor 111). Specifically, the first determination unit 306 determines that the measurement module 100 is in a stationary state when the combined acceleration vector of each of the three axes (X axis, Y axis, and Z axis) is approximately 1G. About 1G is within the range of 1G ± α, for example. Here, α is a predetermined allowable error. α is preferably adjusted to an appropriate value (for example, 10%) so that the stationary state of the measurement module 100 can be appropriately determined. Note that the combined vector of the accelerations of the three axes (X axis, Y axis, Z axis) is W, and the accelerations of the three axes (X axis, Y axis, Z axis) are Wx, Wy, Wz. In this case, the combined vector W can be obtained by √ (Wx 2 + Wy 2 + Wz 2 ).
　第２判定部３０７は、蓄積部３２２に蓄積されている加速度データ（すなわち、加速度センサ１１１によって検知された加速度）に基づいて、計測モジュール１００の静止状態が安定しているか否かを判断する。具体的には、第２判定部３０７は、最新の加速度と、当該最新の加速度以前の所定数の加速度の移動平均値との差が、所定の第１の閾値以下である場合、計測モジュール１００の静止状態が安定していると判定する。所定の第１の閾値は、計測モジュール１００の静止状態が安定していることを適切に判定できるように、適切な値に調整されることが好ましい。 The second determination unit 307 determines whether or not the stationary state of the measurement module 100 is stable based on the acceleration data stored in the storage unit 322 (that is, the acceleration detected by the acceleration sensor 111). Specifically, when the difference between the latest acceleration and the moving average value of a predetermined number of accelerations before the latest acceleration is equal to or less than a predetermined first threshold, the second determination unit 307 determines the measurement module 100. Is determined to be stable. The predetermined first threshold is preferably adjusted to an appropriate value so that it can be appropriately determined that the stationary state of the measurement module 100 is stable.
　第３判定部３０８は、蓄積部３２２に蓄積されている角速度データ（すなわち、ジャイロセンサ１１２によって検知された角速度）に基づいて、計測モジュール１００が無回転状態であるか否かを判定する。具体的には、第３判定部３０８は、３軸（Ｘ軸，Ｙ軸，Ｚ軸）の各々の角速度が、いずれも所定の第２の閾値以下である場合、計測モジュール１００が無回転状態であると判定する。所定の第２の閾値は、計測モジュール１００の無回転状態を適切に判定できるように、適切な値に調整されることが好ましい。 The third determination unit 308 determines whether or not the measurement module 100 is in a non-rotating state based on the angular velocity data stored in the storage unit 322 (that is, the angular velocity detected by the gyro sensor 112). Specifically, the third determination unit 308 determines that the measurement module 100 is in a non-rotating state when the angular velocities of the three axes (X axis, Y axis, and Z axis) are all equal to or less than a predetermined second threshold value. It is determined that The predetermined second threshold is preferably adjusted to an appropriate value so that the non-rotation state of the measurement module 100 can be appropriately determined.
　抽出部３０９は、蓄積部３２２に蓄積されている加速度データ（すなわち、加速度センサ１１１によって継続的に計測された加速度データ）のうち、第１判定部３０６によって計測モジュール１００が静止状態にあると判定され、且つ、第２判定部３０７によって計測モジュール１００の静止状態が安定していると判定され、且つ、第３判定部３０８によって計測モジュール１００が無回転状態であると判定されたときの加速度を、加速度センサ１１１の補正用データとして抽出する。 The extraction unit 309 determines that the measurement module 100 is in a stationary state by the first determination unit 306 out of the acceleration data stored in the storage unit 322 (that is, acceleration data continuously measured by the acceleration sensor 111). And the acceleration when the second determination unit 307 determines that the stationary state of the measurement module 100 is stable and the third determination unit 308 determines that the measurement module 100 is in the non-rotating state. , And extracted as correction data for the acceleration sensor 111.
　補正値算出部３２３は、抽出部３０９によって抽出された複数の補正用データに基づいて、加速度センサ１１１の補正値を算出する。 The correction value calculation unit 323 calculates the correction value of the acceleration sensor 111 based on the plurality of correction data extracted by the extraction unit 309.
　補正部３２４は、補正値算出部３２３によって算出された加速度センサ１１１の補正値を用いて、蓄積部３２２に蓄積されている加速度データを補正する。なお、補正部３２４による補正タイミングは、如何なるタイミングであってもよい。例えば、補正部３２４は、所定のタイミングで、蓄積部３２２から加速度データを読み出して、当該加速度データを補正した後、当該補正後の加速度を、再度蓄積部３２２に書き込むようにしてもよい。また、例えば、補正部３２４は、加速度データが蓄積部３２２に蓄積されるときに、当該加速度データを補正するようにしてもよい。また、例えば、補正部３２４は、加速度データが蓄積部３２２から読み出されて、何らかのアプリケーションで使用されるときに、当該加速度データを補正するようにしてもよい。 The correction unit 324 corrects the acceleration data stored in the storage unit 322 using the correction value of the acceleration sensor 111 calculated by the correction value calculation unit 323. The correction timing by the correction unit 324 may be any timing. For example, the correction unit 324 may read acceleration data from the storage unit 322 at a predetermined timing, correct the acceleration data, and then write the corrected acceleration to the storage unit 322 again. For example, the correction unit 324 may correct the acceleration data when the acceleration data is stored in the storage unit 322. For example, the correction unit 324 may correct the acceleration data when the acceleration data is read from the storage unit 322 and used in some application.
　なお、上記した計測モジュール１００、スマートフォン１４、およびクラウドサーバ１６の各機能は、例えば、計測モジュール１００、スマートフォン１４、およびクラウドサーバ１６の各々において、メモリに記憶されたプログラムを、プロセッサ（コンピュータ）が実行することにより実現される。プロセッサが実行するプログラムは、予め計測モジュール１００、スマートフォン１４、およびクラウドサーバ１６の各々に導入された状態で提供されてもよく、外部から提供されて計測モジュール１００、スマートフォン１４、およびクラウドサーバ１６の各々に導入されるようにしてもよい。後者の場合、このプログラムは、外部記憶媒体（例えば、ＵＳＢメモリ、メモリカード、ＣＤ－ＲＯＭ等）によって提供されてもよく、ネットワーク（例えば、インターネット等）上のサーバからダウンロードすることによって提供されるようにしてもよい。 The above-described functions of the measurement module 100, the smartphone 14, and the cloud server 16 are, for example, a program stored in the memory in each of the measurement module 100, the smartphone 14, and the cloud server 16, by a processor (computer). It is realized by executing. The program executed by the processor may be provided in a state of being introduced in advance into each of the measurement module 100, the smartphone 14, and the cloud server 16, or provided from the outside and stored in the measurement module 100, the smartphone 14, and the cloud server 16. You may make it introduce into each. In the latter case, this program may be provided by an external storage medium (for example, a USB memory, a memory card, a CD-ROM, etc.), or provided by downloading from a server on a network (for example, the Internet, etc.). You may do it.
　（計測システム１０による処理シーケンスの一例）
　図６は、第１実施形態に係る計測システム１０による処理シーケンスの一例を示す図である。図６に示す例では、計測システム１０において、計測モジュール１００が「スリープモード」にある状態から、クラウドサーバ１６が加速度センサ１１１の補正値を算出するまでの処理について説明する。 (Example of processing sequence by measurement system 10)
FIG. 6 is a diagram illustrating an example of a processing sequence performed by the measurement system 10 according to the first embodiment. In the example illustrated in FIG. 6, processing in the measurement system 10 from when the measurement module 100 is in the “sleep mode” until the cloud server 16 calculates the correction value of the acceleration sensor 111 will be described.
　まず、計測モジュール１００において、所定の起動イベントが発生したことに応じて、状態切替部３０５が、当該計測モジュール１００を起動すると（ステップＳ６０１）、状態切替部３０５が、計測モジュール１００を「通常動作モード」に切り替える（ステップＳ６０２）。 First, in the measurement module 100, when the state switching unit 305 activates the measurement module 100 in response to the occurrence of a predetermined activation event (step S601), the state switching unit 305 causes the measurement module 100 to execute “normal operation”. The mode is switched to “mode” (step S602).
　そして、各取得部（加速度取得部３０１、角速度取得部３０２、地磁気取得部３０３）が、各計測データ（加速度、角速度、および地磁気）を取得すると（ステップＳ６０３）、出力部３１０が、ステップＳ６０３で取得された各計測データを、スマートフォン１４へ出力する（ステップＳ６０４）。 And when each acquisition part (acceleration acquisition part 301, angular velocity acquisition part 302, geomagnetism acquisition part 303) acquires each measurement data (acceleration, angular velocity, and geomagnetism) (step S603), the output part 310 will be step S603. Each acquired measurement data is output to the smart phone 14 (step S604).
　スマートフォン１４において、受信部３１２が、計測モジュール１００から出力された各計測データを受信すると（ステップＳ６０５）、転送部３１３が、当該各計測データを、クラウドサーバ１６へ転送する（ステップＳ６０６）。 In the smartphone 14, when the receiving unit 312 receives each measurement data output from the measurement module 100 (step S605), the transfer unit 313 transfers the measurement data to the cloud server 16 (step S606).
　クラウドサーバ１６において、受信部３２１が、スマートフォン１４から転送された各計測データを受信すると（ステップＳ６０７）、蓄積部３２２が、当該各計測データを蓄積する（ステップＳ６０８）。 In the cloud server 16, when the reception unit 321 receives each measurement data transferred from the smartphone 14 (step S607), the accumulation unit 322 accumulates each measurement data (step S608).
　計測システム１０においては、各センサ（加速度センサ１１１、ジャイロセンサ１１２、および地磁気センサ１１３）によって各計測データ（加速度、角速度、および地磁気）が計測される毎に、ステップＳ６０３からステップＳ６０８までの処理が実行され、その都度、蓄積部３２２に各計測データが蓄積されることとなる。 In the measurement system 10, every time measurement data (acceleration, angular velocity, and geomagnetism) is measured by each sensor (acceleration sensor 111, gyro sensor 112, and geomagnetic sensor 113), the processing from step S603 to step S608 is performed. Each time, the measurement data is stored in the storage unit 322.
　その後、クラウドサーバ１６において、所定の補正値算出処理開始イベントが発生すると（ステップＳ６０９）、第１判定部３０６が、蓄積部３２２に蓄積されている加速度データに基づいて、計測モジュール１００の静止状態を判定する（ステップＳ６１０）。また、第２判定部３０７が、蓄積部３２２に蓄積されている加速度データに基づいて、計測モジュール１００の静止状態が安定しているか否かを判断する（ステップＳ６１１）。また、第３判定部３０８が、蓄積部３２２に蓄積されている角速度データに基づいて、計測モジュール１００が無回転状態であるか否かを判定する（ステップＳ６１２）。 After that, when a predetermined correction value calculation process start event occurs in the cloud server 16 (step S609), the first determination unit 306 is based on the acceleration data stored in the storage unit 322, and the measurement module 100 is in a stationary state. Is determined (step S610). In addition, the second determination unit 307 determines whether or not the stationary state of the measurement module 100 is stable based on the acceleration data stored in the storage unit 322 (step S611). Further, the third determination unit 308 determines whether or not the measurement module 100 is in the non-rotating state based on the angular velocity data stored in the storage unit 322 (step S612).
　さらに、抽出部３０９が、蓄積部３２２に蓄積されている加速度データのうち、ステップＳ６１０で計測モジュール１００が静止状態にあると判定され、且つ、ステップＳ６１１で計測モジュール１００の静止状態が安定していると判定され、且つ、ステップＳ６１２で計測モジュール１００が無回転状態であると判定されたときの加速度を、加速度センサ１１１の補正用データとして抽出する（ステップＳ６１３）。 Further, the extraction unit 309 determines that the measurement module 100 is in a stationary state in step S610 among the acceleration data stored in the storage unit 322, and the stationary state of the measurement module 100 is stabilized in step S611. The acceleration when it is determined that the measurement module 100 is in the non-rotating state in step S612 is extracted as correction data for the acceleration sensor 111 (step S613).
　そして、補正値算出部３２３が、ステップＳ６１３で抽出された複数の補正用データに基づいて、加速度センサ１１１の補正値を算出する（ステップＳ６１４）。この補正値は、例えば、クラウドサーバ１６が備えるメモリに記憶され、その後、補正部３２４によって、加速度データの補正に用いられる。例えば、補正部３２４は、加速度データが蓄積部３２２に蓄積される前に、当該加速度データを補正してもよく、加速度データが蓄積部３２２に蓄積された後に、当該加速度データを補正してもよい。 Then, the correction value calculation unit 323 calculates the correction value of the acceleration sensor 111 based on the plurality of correction data extracted in step S613 (step S614). This correction value is stored in, for example, a memory included in the cloud server 16 and is then used by the correction unit 324 to correct acceleration data. For example, the correction unit 324 may correct the acceleration data before the acceleration data is stored in the storage unit 322, or correct the acceleration data after the acceleration data is stored in the storage unit 322. Good.
　なお、所定の補正値算出処理開始イベントの発生要因は、如何なるものであってもよいが、例えば、所定のユーザ操作がなされたとき、定期的な補正処理開始時期が到来したとき、所定量の計測データが蓄積部３２２に蓄積されたとき、等が挙げられる。 The occurrence factor of the predetermined correction value calculation process start event may be any, for example, when a predetermined user operation is performed, when a regular correction process start time comes, a predetermined amount of For example, when measurement data is accumulated in the accumulation unit 322.
　（補正値算出部３２３による補正値の算出方法）
　図７は、第１実施形態に係る補正値算出部３２３による補正値の算出方法を説明するための図である。図７に示すように、補正値算出部３２３は、抽出部３０９によって抽出された複数の補正用データを、互いに直交する３軸（Ｘ軸，Ｙ軸，Ｚ軸）の加速度の合成ベクトル１Ｇを半径とする仮想的な球の球面上のデータとして用いて、仮想的な球の中心座標値を算出する。 (Correction value calculation method by the correction value calculation unit 323)
FIG. 7 is a diagram for explaining a correction value calculation method by the correction value calculation unit 323 according to the first embodiment. As shown in FIG. 7, the correction value calculation unit 323 uses a plurality of correction data extracted by the extraction unit 309 as a composite vector 1G of accelerations of three axes (X axis, Y axis, Z axis) orthogonal to each other. The center coordinate value of the virtual sphere is calculated using the data on the spherical surface of the virtual sphere as the radius.
　例えば、補正値算出部３２３は、Ｎ個の補正用データ（ｍｘｉ，ｍｙｉ，ｍｚｉ）（それぞれ、Ｘ軸の補正用データ，Ｙ軸の補正用データ，Ｚ軸の補正用データに相当する。但し、ｉは、１～Ｎである。）を用いて、下記行列式（１）により、仮想的な球の中心座標値（ａ，ｂ，ｃ）を算出する。但し、ａ２＋ｂ２＋ｃ２－ｒ２＝－２ｄとする。 For example, the correction value calculation unit 323 corresponds to N correction data (m xi , m yi , m zi ) (corresponding to X-axis correction data, Y-axis correction data, and Z-axis correction data, respectively). Where i is 1 to N), and the center coordinate value (a, b, c) of the virtual sphere is calculated by the following determinant (1). However, it is assumed that a 2 + b 2 + c 2 −r 2 = −2d.
Figure JPOXMLDOC01-appb-M000001
Figure JPOXMLDOC01-appb-M000001
　なお、補正値算出部３２３は、最小二乗法を用いて、尤も中心らしい仮想的な球の中心座標値を算出するようにしてもよい。 Note that the correction value calculation unit 323 may calculate the center coordinate value of a virtual sphere that is likely to be the center using the least square method.
　そして、補正値算出部３２３は、算出された中心座標値（ａ，ｂ，ｃ）と、所定の中心座標値（Ｘ，Ｙ，Ｚ）＝（０，０，０）との差分値を、加速度センサ１１１から出力される加速度データの補正値として算出する。加速度センサ１１１から出力される加速度データの誤差がなければ、算出される中心座標値（ａ，ｂ，ｃ）は、所定の中心座標値と同じ（Ｘ，Ｙ，Ｚ）＝（０，０，０）となる。一方、加速度センサ１１１から出力される加速度データの誤差がある場合、算出される中心座標値（ａ，ｂ，ｃ）は、所定の中心座標値（Ｘ，Ｙ，Ｚ）＝（０，０，０）に対して、誤差が加えられたものとなり、よって、当該誤差が、加速度データの補正値となる。したがって、補正部３２４は、加速度センサ１１１から出力される加速度データから、補正値算出部３２３によって算出された加速度データの補正値を減算することにより、加速度センサ１１１から出力される加速度データを補正することができる。 Then, the correction value calculation unit 323 calculates a difference value between the calculated center coordinate value (a, b, c) and a predetermined center coordinate value (X, Y, Z) = (0, 0, 0). It is calculated as a correction value for acceleration data output from the acceleration sensor 111. If there is no error in the acceleration data output from the acceleration sensor 111, the calculated center coordinate value (a, b, c) is the same as the predetermined center coordinate value (X, Y, Z) = (0, 0, 0). On the other hand, when there is an error in the acceleration data output from the acceleration sensor 111, the calculated center coordinate value (a, b, c) is a predetermined center coordinate value (X, Y, Z) = (0, 0, 0), an error is added. Therefore, the error becomes a correction value of acceleration data. Therefore, the correction unit 324 corrects the acceleration data output from the acceleration sensor 111 by subtracting the correction value of the acceleration data calculated by the correction value calculation unit 323 from the acceleration data output from the acceleration sensor 111. be able to.
　（加速度センサ１１１によって計測された加速度データの一例）
　図８は、第１実施形態に係る加速度センサ１１１によって計測された加速度データの一例を示す図である。図８では、ユーザがボール１２を投球した時に加速度センサ１１１によって計測された加速度データの一例を表している。なお、図８において、縦軸は加速度を表しており、横軸は時間を表している。 (Example of acceleration data measured by the acceleration sensor 111)
FIG. 8 is a diagram illustrating an example of acceleration data measured by the acceleration sensor 111 according to the first embodiment. FIG. 8 shows an example of acceleration data measured by the acceleration sensor 111 when the user throws the ball 12. In FIG. 8, the vertical axis represents acceleration and the horizontal axis represents time.
　また、図８において、実線は、Ｘ軸の加速度を表している。また、破線は、Ｙ軸の加速度を表している。また、一点鎖線は、Ｚ軸の加速度を表している。また、太線は、３軸の加速度の合成ベクトルを表している。 In FIG. 8, the solid line represents the X-axis acceleration. The broken line represents the Y-axis acceleration. Also, the alternate long and short dash line represents the Z-axis acceleration. A bold line represents a combined vector of triaxial acceleration.
　また、図８において、期間Ｓ１は、ユーザがセットポジションにあるときの加速度を表している。また、期間Ｓ２は、ユーザが投球動作を行っているときの加速度を表している。また、期間Ｓ３は、ボール１２が飛球しているときの加速度を表している。 In FIG. 8, a period S1 represents acceleration when the user is in the set position. The period S2 represents acceleration when the user is performing a pitching operation. The period S3 represents the acceleration when the ball 12 is flying.
　図８に示すように、ユーザが投球動作を行っているとき（期間Ｓ２）、および、ボール１２が飛球しているとき（期間Ｓ３）には、計測モジュール１００には、比較的大きな加速度の変動が生じている。 As shown in FIG. 8, when the user is performing a pitching motion (period S2) and when the ball 12 is flying (period S3), the measurement module 100 has a relatively large acceleration. There are fluctuations.
　一方、ユーザがセットポジションにあるとき（期間Ｓ１）には、ボール１２の動きは抑制されるが、ユーザの手が動いたり、ユーザが手の中でボール１２を回転させたりする場合があるため、ボール１２が完全に静止した状態とならず、よって、３軸の加速度の合成ベクトルが、１Ｇの近傍で僅かな変動する場合がある。また、加速度センサ１１１に生じるノイズによっても、３軸の加速度の合成ベクトルが、変動する場合がある。 On the other hand, when the user is in the set position (period S1), the movement of the ball 12 is suppressed, but the user's hand may move or the user may rotate the ball 12 in the hand. The ball 12 is not completely in a stationary state, and therefore, the combined vector of the three-axis acceleration may slightly fluctuate in the vicinity of 1G. In addition, the resultant vector of the three-axis acceleration may fluctuate due to noise generated in the acceleration sensor 111.
　但し、このような場合であっても、ユーザが意識することなく、ボール１２が完全に静止した状態（すなわち、３軸の加速度の合成ベクトルが略１Ｇとなるとき）が、瞬間的に生じる場合がある。本実施形態のクラウドサーバ１６は、このときの加速度を、加速度センサ１１１の補正用データとして、データベース（蓄積部３２２）に蓄積されている加速度データの中から自動的に抽出して、同様に抽出された複数の補正用データに基づいて、加速度センサ１１１の補正値を算出するのである。 However, even in such a case, the state in which the ball 12 is completely stationary (that is, when the combined vector of three-axis acceleration is approximately 1G) occurs instantaneously without the user being aware of it. There is. The cloud server 16 of the present embodiment automatically extracts the acceleration at this time from the acceleration data stored in the database (storage unit 322) as correction data for the acceleration sensor 111, and similarly extracts it. Based on the plurality of correction data, the correction value of the acceleration sensor 111 is calculated.
　これにより、第１実施形態の計測システム１０においては、データベース（蓄積部３２２）に蓄積されている加速度データの中から、ボール１２が完全に静止した状態のとき（すなわち、ボール１２が静止状態にあり、且つ、ボール１２の静止状態が安定しており、且つ、ボール１２が無回転状態にあるとき）に計測された加速度のみが、補正用データとして抽出されることとなる。そして、クラウドサーバ１６（補正値算出部３２３）は、抽出された複数の補正用データに基づいて、加速度センサ１１１の補正値を、高精度に算出することができる。 Thus, in the measurement system 10 of the first embodiment, when the ball 12 is completely stationary from the acceleration data accumulated in the database (accumulation unit 322) (that is, the ball 12 is stationary). Yes, and only the acceleration measured when the ball 12 is in a stationary state and the ball 12 is in a non-rotating state is extracted as correction data. And the cloud server 16 (correction value calculation part 323) can calculate the correction value of the acceleration sensor 111 with high precision based on the extracted some correction data.
　すなわち、第１実施形態の計測システム１０によれば、ユーザがボール１２を使用中のときに、ユーザに静止状態を意識させることなく、加速度センサ１１１から出力される加速度の補正を可能にすることができる。したがって、第１実施形態の計測システム１０によれば、例えば、従来技術において生じ得るユーザビリティの問題（例えば、ボール１２を起動後すぐに使用することができない、ボール１２を静止状態にする操作が煩わしい、等）の発生を抑制することができる。 That is, according to the measurement system 10 of the first embodiment, when the user is using the ball 12, the acceleration output from the acceleration sensor 111 can be corrected without making the user aware of the stationary state. Can do. Therefore, according to the measurement system 10 of the first embodiment, for example, a usability problem that may occur in the prior art (for example, the operation of placing the ball 12 in a stationary state, which cannot be used immediately after the ball 12 is started) is troublesome. , Etc.) can be suppressed.
　特に、第１実施形態の計測システム１０では、データベース（蓄積部３２２）に蓄積されている加速度データから抽出された複数の補正用データを用いて、仮想的な球の中心座標値を算出し、当該中心座標値に基づいて、加速度センサ１１１から出力される加速度の補正値を算出する構成を採用している。これにより、第１実施形態の計測システム１０は、ボール１２が完全に静止状態にあるとき、ボール１２が如何なる方向を向いていたとしても、そのときに加速度センサ１１１によって計測された加速度を、補正用データとして用いることができる。 In particular, in the measurement system 10 of the first embodiment, the center coordinate value of the virtual sphere is calculated using a plurality of correction data extracted from the acceleration data stored in the database (storage unit 322), A configuration is adopted in which a correction value of acceleration output from the acceleration sensor 111 is calculated based on the center coordinate value. As a result, the measurement system 10 of the first embodiment corrects the acceleration measured by the acceleration sensor 111 at any time when the ball 12 faces in any direction when the ball 12 is completely stationary. Can be used as business data.
　例えば、１回の投球によって得られる加速度データ毎に、１つの補正用データが抽出されると仮定すると、ユーザが１００回のボール１２の投球を行えば、１００個の補正用データが得られることにより、すなわち、加速度センサ１１１の補正値の算出を行うのに十分な量の補正用データが、比較的早期に得られることとなる。 For example, assuming that one piece of correction data is extracted for each piece of acceleration data obtained by one throw, if the user throws the ball 12 100 times, 100 pieces of correction data can be obtained. In other words, a sufficient amount of correction data for calculating the correction value of the acceleration sensor 111 can be obtained relatively early.
　（加速度センサ１１１の補正効果）
　図９は、第１実施形態に係る加速度センサ１１１によって計測された加速度データの比較例を示す図である。図９Ａは、補正部３２４による補正前の加速度センサ１１１によって計測された加速度データ（３軸の加速度の合成ベクトルが略１Ｇとなるもののみ）を示すものである。図９Ｂは、補正部３２４による補正後の加速度センサ１１１によって計測された加速度データ（３軸の加速度の合成ベクトルが略１Ｇとなるもののみ）を示すものである。 (Correction effect of acceleration sensor 111)
FIG. 9 is a diagram illustrating a comparative example of acceleration data measured by the acceleration sensor 111 according to the first embodiment. FIG. 9A shows acceleration data measured by the acceleration sensor 111 before correction by the correction unit 324 (only data in which a combined vector of three-axis accelerations is approximately 1G). FIG. 9B shows acceleration data measured by the acceleration sensor 111 after correction by the correction unit 324 (only data in which a combined vector of three-axis accelerations is approximately 1G).
　なお、図９Ａおよび図９Ｂにおいて、縦軸は加速度を表しており、横軸はデータ数を表している。また、図９Ａおよび図９Ｂにおいて、実線は、Ｘ軸の加速度を表している。また、破線は、Ｙ軸の加速度を表している。また、一点鎖線は、Ｚ軸の加速度を表している。また、太線は、３軸の加速度の合成ベクトルを表している。 In FIGS. 9A and 9B, the vertical axis represents acceleration and the horizontal axis represents the number of data. In FIGS. 9A and 9B, the solid line represents the X-axis acceleration. The broken line represents the Y-axis acceleration. Also, the alternate long and short dash line represents the Z-axis acceleration. A bold line represents a combined vector of triaxial acceleration.
　図９Ａに示すように、加速度センサ１１１の補正前では、加速度センサ１１１に生じた誤差の影響により、加速度センサ１１１から出力される３軸の各々の加速度の合成ベクトルが、いずれも１Ｇ近傍であるものの、比較的大きなばらつきが生じている。 As shown in FIG. 9A, before the correction of the acceleration sensor 111, the combined vector of each of the three axes output from the acceleration sensor 111 is near 1G due to the influence of the error generated in the acceleration sensor 111. However, relatively large variations have occurred.
　一方、図９Ｂに示すように、加速度センサ１１１の補正後では、加速度センサ１１１に生じた誤差が解消されたことにより、加速度センサ１１１から出力される３軸の各々の加速度の合成ベクトルが、比較的大きなばらつきが生じることなく、１Ｇ近傍で安定したものとなっている。 On the other hand, as shown in FIG. 9B, after the correction of the acceleration sensor 111, the error generated in the acceleration sensor 111 is eliminated, so that the combined vector of the three axes output from the acceleration sensor 111 is compared. It is stable in the vicinity of 1G without causing large variations.
　図９に示す比較例により、本実施形態で説明した補正用データの抽出方法、および、本実施形態で説明した加速度センサ１１１の補正方法が、効果的なものであることが明らかである。 From the comparative example shown in FIG. 9, it is clear that the correction data extraction method described in this embodiment and the acceleration sensor 111 correction method described in this embodiment are effective.
　〔第２実施形態〕
　次に、図１０および図１１を参照して、第２実施形態について説明する。この第２実施形態では、スマートフォン１４Ａにおいて、補正用データの抽出、補正値の算出、および加速度の補正を行う例を説明する。以下、第２実施形態に係る計測システム１０Ａに関し、第１実施形態に係る計測システム１０からの変更点について説明する。なお、計測システム１０Ａにおいて、計測システム１０と同様の構成については、計測システム１０と同様の符号を付すこととし、詳細な説明は省略する。 [Second Embodiment]
Next, a second embodiment will be described with reference to FIGS. 10 and 11. In the second embodiment, an example of performing correction data extraction, correction value calculation, and acceleration correction in the smartphone 14A will be described. Hereinafter, with respect to the measurement system 10A according to the second embodiment, changes from the measurement system 10 according to the first embodiment will be described. In the measurement system 10A, the same components as those of the measurement system 10 are denoted by the same reference numerals as those of the measurement system 10, and detailed description thereof is omitted.
　（計測システム１０Ａの機能構成）
　図１０は、第２実施形態に係る計測システム１０Ａの機能構成を示す図である。計測システム１０Ａは、クラウドサーバ１６を備えていない点、および、スマートフォン１４の代わりにスマートフォン１４Ａを備えている点で、第１実施形態の計測システム１０と異なる。 (Functional configuration of measurement system 10A)
FIG. 10 is a diagram illustrating a functional configuration of a measurement system 10A according to the second embodiment. The measurement system 10 </ b> A is different from the measurement system 10 of the first embodiment in that the cloud server 16 is not provided and a smartphone 14 </ b> A is provided instead of the smartphone 14.
　また、この第２実施形態では、スマートフォン１４Ａが、蓄積部３１４、第１判定部３０６Ａ、第２判定部３０７Ａ、第３判定部３０８Ａ、抽出部３０９Ａ、補正値算出部３１５、および補正部３１６を備えている。蓄積部３１４、第１判定部３０６Ａ、第２判定部３０７Ａ、第３判定部３０８Ａ、抽出部３０９Ａ、補正値算出部３１５、および補正部３１６は、第１実施形態で説明した、蓄積部３２２、第１判定部３０６、第２判定部３０７、第３判定部３０８、抽出部３０９、補正値算出部３２３、および補正部３２４と同様である。 In the second embodiment, the smartphone 14A includes the storage unit 314, the first determination unit 306A, the second determination unit 307A, the third determination unit 308A, the extraction unit 309A, the correction value calculation unit 315, and the correction unit 316. I have. The storage unit 314, the first determination unit 306A, the second determination unit 307A, the third determination unit 308A, the extraction unit 309A, the correction value calculation unit 315, and the correction unit 316 are the storage unit 322 described in the first embodiment, The same as the first determination unit 306, the second determination unit 307, the third determination unit 308, the extraction unit 309, the correction value calculation unit 323, and the correction unit 324.
　すなわち、この第２実施形態では、スマートフォン１４Ａが「制御装置」としての機能を有し、計測モジュール１００によって計測された各計測データが、スマートフォン１４Ａ（蓄積部３１４）に蓄積されるようになっている。また、この第２実施形態では、スマートフォン１４Ａ（第１判定部３０６Ａ）によって、計測モジュール１００の静止状態が判定されるようになっている。また、この第２実施形態では、スマートフォン１４Ａ（第２判定部３０７Ａ）によって、計測モジュール１００の静止状態が安定しているか否かが判定されるようになっている。また、この第２実施形態では、スマートフォン１４Ａ（第３判定部３０８Ａ）によって、計測モジュール１００が無回転状態であるか否かが判定されるようになっている。また、この第２実施形態では、スマートフォン１４Ａ（抽出部３０９Ａ）によって、加速度センサ１１１の補正用データが抽出されるようになっている。また、この第２実施形態では、スマートフォン１４Ａ（補正値算出部３１５）によって、加速度センサ１１１の補正値が算出されるようになっている。さらに、この第２実施形態では、スマートフォン１４Ａ（補正部３１６）によって、加速度センサ１１１から出力される加速度が補正されるようになっている。 That is, in the second embodiment, the smartphone 14A has a function as a “control device”, and each measurement data measured by the measurement module 100 is accumulated in the smartphone 14A (accumulation unit 314). Yes. In the second embodiment, the stationary state of the measurement module 100 is determined by the smartphone 14A (first determination unit 306A). In the second embodiment, whether or not the stationary state of the measurement module 100 is stable is determined by the smartphone 14A (second determination unit 307A). In the second embodiment, whether or not the measurement module 100 is in the non-rotating state is determined by the smartphone 14A (third determination unit 308A). In the second embodiment, correction data for the acceleration sensor 111 is extracted by the smartphone 14A (extraction unit 309A). In the second embodiment, the correction value of the acceleration sensor 111 is calculated by the smartphone 14A (correction value calculation unit 315). Furthermore, in the second embodiment, the acceleration output from the acceleration sensor 111 is corrected by the smartphone 14A (correction unit 316).
　（計測システム１０Ａによる処理シーケンスの一例）
　図１１は、第２実施形態に係る計測システム１０Ａによる処理シーケンスの一例を示す図である。 (Example of processing sequence by measurement system 10A)
FIG. 11 is a diagram illustrating an example of a processing sequence performed by the measurement system 10A according to the second embodiment.
　まず、計測モジュール１００において、所定の起動イベントが発生したことに応じて、状態切替部３０５が、当該計測モジュール１００を起動すると（ステップＳ１１０１）、状態切替部３０５が、計測モジュール１００を「通常動作モード」に切り替える（ステップＳ１１０２）。 First, in the measurement module 100, when the state switching unit 305 activates the measurement module 100 in response to the occurrence of a predetermined activation event (step S1101), the state switching unit 305 causes the measurement module 100 to “normal operation”. The mode is switched to “mode” (step S1102).
　そして、各取得部（加速度取得部３０１、角速度取得部３０２、地磁気取得部３０３）が、各計測データ（加速度、角速度、および地磁気）を取得すると（ステップＳ１１０３）、出力部３１０が、ステップＳ１１０３で取得された各計測データを、スマートフォン１４Ａへ出力する（ステップＳ１１０４）。 And when each acquisition part (acceleration acquisition part 301, angular velocity acquisition part 302, geomagnetism acquisition part 303) acquires each measurement data (acceleration, angular velocity, and geomagnetism) (step S1103), the output part 310 will be step S1103. Each acquired measurement data is output to the smart phone 14A (step S1104).
　スマートフォン１４Ａにおいて、受信部３１２が、計測モジュール１００から出力された各計測データを受信すると（ステップＳ１１０５）、蓄積部３１４が、当該各計測データを蓄積する（ステップＳ１１０６）。 In the smartphone 14A, when the reception unit 312 receives each measurement data output from the measurement module 100 (step S1105), the accumulation unit 314 accumulates each measurement data (step S1106).
　計測システム１０Ａにおいては、各センサ（加速度センサ１１１、ジャイロセンサ１１２、および地磁気センサ１１３）によって各計測データ（加速度、角速度、および地磁気）が計測される毎に、ステップＳ１１０３からステップＳ１１０６までの処理が実行され、その都度、蓄積部３１４に各計測データが蓄積されることとなる。 In the measurement system 10A, every time measurement data (acceleration, angular velocity, and geomagnetism) is measured by each sensor (acceleration sensor 111, gyro sensor 112, and geomagnetic sensor 113), processing from step S1103 to step S1106 is performed. Each time, the measurement data is accumulated in the accumulation unit 314.
　その後、スマートフォン１４Ａにおいて、所定の補正値算出処理開始イベントが発生すると（ステップＳ１１０７）、第１判定部３０６Ａが、蓄積部３１４に蓄積されている加速度データに基づいて、計測モジュール１００の静止状態を判定する（ステップＳ１１０８）。また、第２判定部３０７Ａが、蓄積部３１４に蓄積されている加速度データに基づいて、計測モジュール１００の静止状態が安定しているか否かを判断する（ステップＳ１１０９）。また、第３判定部３０８Ａが、蓄積部３１４に蓄積されている角速度データに基づいて、計測モジュール１００が無回転状態であるか否かを判定する（ステップＳ１１１０）。 Thereafter, when a predetermined correction value calculation process start event occurs in the smartphone 14A (step S1107), the first determination unit 306A changes the stationary state of the measurement module 100 based on the acceleration data stored in the storage unit 314. Determination is made (step S1108). Further, the second determination unit 307A determines whether the stationary state of the measurement module 100 is stable based on the acceleration data stored in the storage unit 314 (step S1109). Further, the third determination unit 308A determines whether or not the measurement module 100 is in a non-rotating state based on the angular velocity data stored in the storage unit 314 (step S1110).
　さらに、抽出部３０９Ａが、蓄積部３１４に蓄積されている加速度データのうち、ステップＳ１１０８で計測モジュール１００が静止状態にあると判定され、且つ、ステップＳ１１０９で計測モジュール１００の静止状態が安定していると判定され、且つ、ステップＳ１１１０で計測モジュール１００が無回転状態であると判定されたときの加速度を、加速度センサ１１１の補正用データとして抽出する（ステップＳ１１１１）。 Further, the extraction unit 309A determines that the measurement module 100 is stationary in step S1108 among the acceleration data accumulated in the accumulation unit 314, and the stationary state of the measurement module 100 is stabilized in step S1109. The acceleration when it is determined that the measurement module 100 is in the non-rotating state in step S1110 is extracted as correction data for the acceleration sensor 111 (step S1111).
　そして、補正値算出部３１５が、ステップＳ１１１１で抽出された複数の補正用データに基づいて、加速度センサ１１１の補正値を算出する（ステップＳ１１１２）。この補正値は、例えば、スマートフォン１４Ａが備えるメモリに記憶され、その後、補正部３１６によって、加速度データの補正に用いられる。例えば、補正部３１６は、加速度データが蓄積部３１４に蓄積される前に、当該加速度データを補正してもよく、加速度データが蓄積部３１４に蓄積された後に、当該加速度データを補正してもよい。 Then, the correction value calculation unit 315 calculates the correction value of the acceleration sensor 111 based on the plurality of correction data extracted in step S1111 (step S1112). This correction value is stored in, for example, a memory included in the smartphone 14A, and then used by the correction unit 316 to correct acceleration data. For example, the correction unit 316 may correct the acceleration data before the acceleration data is stored in the storage unit 314, or correct the acceleration data after the acceleration data is stored in the storage unit 314. Good.
　なお、所定の補正値算出処理開始イベントの発生要因は、如何なるものであってもよいが、例えば、所定のユーザ操作がなされたとき、定期的な補正処理開始時期が到来したとき、所定量の計測データが蓄積部３１４に蓄積されたとき、等が挙げられる。 The occurrence factor of the predetermined correction value calculation process start event may be any, for example, when a predetermined user operation is performed, when a regular correction process start time comes, a predetermined amount of For example, when measurement data is accumulated in the accumulation unit 314.
　この第２実施形態の計測システム１０Ａにおいても、データベース（蓄積部３１４）に蓄積されている複数の加速度データの中から、ボール１２が完全に静止した状態のとき（すなわち、ボール１２が静止状態にあり、且つ、ボール１２の静止状態が安定しており、且つ、ボール１２が無回転状態にあるとき）に計測された加速度のみが、補正用データとして抽出されることとなる。そして、スマートフォン１４Ａ（補正値算出部３１５）は、抽出された複数の補正用データに基づいて、加速度センサ１１１の補正値を、高精度に算出することができる。 Also in the measurement system 10A of the second embodiment, when the ball 12 is completely stationary from the plurality of acceleration data accumulated in the database (accumulation unit 314) (that is, the ball 12 is stationary). Yes, and only the acceleration measured when the ball 12 is in a stationary state and the ball 12 is in a non-rotating state is extracted as correction data. Then, the smartphone 14A (correction value calculation unit 315) can calculate the correction value of the acceleration sensor 111 with high accuracy based on the extracted plurality of correction data.
　すなわち、第２実施形態の計測システム１０Ａによれば、ユーザがボール１２を使用中のときに、ユーザに静止状態を意識させることなく、加速度センサ１１１から出力される加速度の補正を可能にすることができる。したがって、第２実施形態の計測システム１０Ａによれば、例えば、従来技術において生じ得るユーザビリティの問題（例えば、ボール１２を起動後すぐに使用することができない、ボール１２を静止状態にする操作が煩わしい、等）の発生を抑制することができる。 That is, according to the measurement system 10A of the second embodiment, when the user is using the ball 12, the acceleration output from the acceleration sensor 111 can be corrected without making the user aware of the stationary state. Can do. Therefore, according to the measurement system 10A of the second embodiment, for example, a usability problem that may occur in the prior art (for example, the operation of putting the ball 12 in a stationary state, which cannot be used immediately after the ball 12 is started) is troublesome. , Etc.) can be suppressed.
　特に、第２実施形態の計測システム１０Ａでは、データベース（蓄積部３１４）に蓄積されている加速度データから抽出された複数の補正用データを用いて、仮想的な球の中心座標値を算出し、当該中心座標値に基づいて、加速度センサ１１１から出力される加速度の補正値を算出する構成を採用している。これにより、第２実施形態の計測システム１０Ａは、ボール１２が完全に静止状態にあるとき、ボール１２が如何なる方向を向いていたとしても、そのときに加速度センサ１１１によって計測された加速度を、補正用データとして用いることができる。 In particular, in the measurement system 10A of the second embodiment, the center coordinate value of the virtual sphere is calculated using a plurality of correction data extracted from the acceleration data stored in the database (storage unit 314), A configuration is adopted in which a correction value of acceleration output from the acceleration sensor 111 is calculated based on the center coordinate value. Accordingly, the measurement system 10A according to the second embodiment corrects the acceleration measured by the acceleration sensor 111 at any time when the ball 12 faces in any direction when the ball 12 is completely stationary. Can be used as business data.
　〔第３実施形態〕
　次に、図１２および図１３を参照して、第３実施形態について説明する。この第３実施形態では、計測モジュール１００Ａにおいて、補正用データの抽出、補正値の算出、および加速度の補正を行う例を説明する。以下、第３実施形態に係る計測システム１０Ｂに関し、第１実施形態に係る計測システム１０からの変更点について説明する。なお、計測システム１０Ｂにおいて、計測システム１０と同様の構成については、計測システム１０と同様の符号を付すこととし、詳細な説明は省略する。 [Third Embodiment]
Next, a third embodiment will be described with reference to FIGS. 12 and 13. In the third embodiment, an example in which correction data extraction, correction value calculation, and acceleration correction are performed in the measurement module 100A will be described. Hereinafter, with respect to the measurement system 10 </ b> B according to the third embodiment, changes from the measurement system 10 according to the first embodiment will be described. In the measurement system 10B, the same components as those of the measurement system 10 are denoted by the same reference numerals as those of the measurement system 10, and detailed description thereof is omitted.
　（計測システム１０Ｂの機能構成）
　図１２は、第３実施形態に係る計測システム１０Ｂの機能構成を示す図である。計測システム１０Ｂは、クラウドサーバ１６を備えていない点、計測モジュール１００の代わりに計測モジュール１００Ａを備えている点、および、スマートフォン１４の代わりにスマートフォン１４Ｂを備えている点で、第１実施形態の計測システム１０と異なる。 (Functional configuration of measurement system 10B)
FIG. 12 is a diagram illustrating a functional configuration of a measurement system 10B according to the third embodiment. The measurement system 10 </ b> B includes the cloud server 16, the measurement module 100 </ b> A instead of the measurement module 100, and the smartphone 14 </ b> B instead of the smartphone 14. Different from the measurement system 10.
　また、この第３実施形態では、計測モジュール１００Ａが、第１判定部３０６Ｂ、第２判定部３０７Ｂ、第３判定部３０８Ｂ、抽出部３０９Ｂ、蓄積部３３１、補正値算出部３３２、および補正部３３３を備えている。第１判定部３０６Ｂ、第２判定部３０７Ｂ、第３判定部３０８Ｂ、抽出部３０９Ｂ、蓄積部３３１、補正値算出部３３２、および補正部３３３は、第１実施形態で説明した、第１判定部３０６、第２判定部３０７、第３判定部３０８、抽出部３０９、蓄積部３２２、補正値算出部３２３、および補正部３２４と同様である。 In the third embodiment, the measurement module 100A includes a first determination unit 306B, a second determination unit 307B, a third determination unit 308B, an extraction unit 309B, an accumulation unit 331, a correction value calculation unit 332, and a correction unit 333. It has. The first determination unit 306B, the second determination unit 307B, the third determination unit 308B, the extraction unit 309B, the storage unit 331, the correction value calculation unit 332, and the correction unit 333 are the first determination unit described in the first embodiment. Similar to 306, second determination unit 307, third determination unit 308, extraction unit 309, storage unit 322, correction value calculation unit 323, and correction unit 324.
　すなわち、この第３実施形態では、計測モジュール１００Ａ（計測回路１０２）が「制御装置」としての機能を有し、計測モジュール１００Ａによって計測された各計測データが、当該計測モジュール１００Ａ（蓄積部３３１）に蓄積されるようになっている。また、この第３実施形態では、計測モジュール１００Ａ（第１判定部３０６Ｂ）によって、計測モジュール１００Ａの静止状態が判定されるようになっている。また、この第３実施形態では、計測モジュール１００Ａ（第２判定部３０７Ｂ）によって、計測モジュール１００Ａの静止状態が安定しているか否かが判定されるようになっている。また、この第３実施形態では、計測モジュール１００Ａ（第３判定部３０８Ｂ）によって、計測モジュール１００Ａが無回転状態であるか否かが判定されるようになっている。また、この第３実施形態では、計測モジュール１００Ａ（抽出部３０９Ｂ）によって、加速度センサ１１１の補正用データが抽出されるようになっている。また、この第３実施形態では、計測モジュール１００Ａ（補正値算出部３３２）によって、加速度センサ１１１の補正値が算出されるようになっている。さらに、この第３実施形態では、計測モジュール１００Ａ（補正部３３３）によって、加速度センサ１１１から出力される加速度が補正されるようになっている。 That is, in the third embodiment, the measurement module 100A (measurement circuit 102) has a function as a “control device”, and each measurement data measured by the measurement module 100A is the measurement module 100A (storage unit 331). Has been accumulating. In the third embodiment, the stationary state of the measurement module 100A is determined by the measurement module 100A (first determination unit 306B). In the third embodiment, the measurement module 100A (second determination unit 307B) determines whether or not the stationary state of the measurement module 100A is stable. In the third embodiment, whether or not the measurement module 100A is in the non-rotating state is determined by the measurement module 100A (third determination unit 308B). In the third embodiment, correction data for the acceleration sensor 111 is extracted by the measurement module 100A (extraction unit 309B). In the third embodiment, the correction value of the acceleration sensor 111 is calculated by the measurement module 100A (correction value calculation unit 332). Furthermore, in the third embodiment, the acceleration output from the acceleration sensor 111 is corrected by the measurement module 100A (correction unit 333).
　（計測システム１０Ｂによる処理シーケンスの一例）
　図１３は、第３実施形態に係る計測システム１０Ｂによる処理シーケンスの一例を示す図である。 (Example of processing sequence by measurement system 10B)
FIG. 13 is a diagram illustrating an example of a processing sequence performed by the measurement system 10B according to the third embodiment.
　まず、計測モジュール１００Ａにおいて、所定の起動イベントが発生したことに応じて、状態切替部３０５が、当該計測モジュール１００Ａを起動すると（ステップＳ１３０１）、状態切替部３０５が、計測モジュール１００Ａを「通常動作モード」に切り替える（ステップＳ１３０２）。 First, in the measurement module 100A, when the state switching unit 305 activates the measurement module 100A in response to the occurrence of a predetermined activation event (step S1301), the state switching unit 305 activates the measurement module 100A as “normal operation”. The mode is switched to “mode” (step S1302).
　そして、各取得部（加速度取得部３０１、角速度取得部３０２、地磁気取得部３０３）が、各計測データ（加速度、角速度、および地磁気）を取得すると（ステップＳ１３０３）、出力部３１０が、ステップＳ１３０３で取得された各計測データを、蓄積部３３１へ出力する（ステップＳ１３０４）。これに応じて、蓄積部３３１が、当該各計測データを蓄積する（ステップＳ１３０５）。 And when each acquisition part (acceleration acquisition part 301, angular velocity acquisition part 302, geomagnetism acquisition part 303) acquires each measurement data (acceleration, angular velocity, and geomagnetism) (step S1303), the output part 310 will be step S1303. Each acquired measurement data is output to the storage unit 331 (step S1304). In response to this, the storage unit 331 stores the measurement data (step S1305).
　計測システム１０Ｂにおいては、各センサ（加速度センサ１１１、ジャイロセンサ１１２、および地磁気センサ１１３）によって各計測データ（加速度、角速度、および地磁気）が計測される毎に、ステップＳ１３０３からステップＳ１３０５までの処理が実行され、その都度、蓄積部３３１に各計測データが蓄積されることとなる。 In the measurement system 10B, every time measurement data (acceleration, angular velocity, and geomagnetism) is measured by each sensor (acceleration sensor 111, gyro sensor 112, and geomagnetic sensor 113), the processing from step S1303 to step S1305 is performed. Each time, the measurement data is accumulated in the accumulation unit 331.
　その後、計測モジュール１００Ａにおいて、所定の補正値算出処理開始イベントが発生すると（ステップＳ１３０６）、第１判定部３０６Ｂが、蓄積部３３１に蓄積されている加速度データに基づいて、計測モジュール１００Ａの静止状態を判定する（ステップＳ１３０７）。また、第２判定部３０７Ｂが、蓄積部３３１に蓄積されている加速度データに基づいて、計測モジュール１００Ａの静止状態が安定しているか否かを判断する（ステップＳ１３０８）。また、第３判定部３０８Ｂが、蓄積部３３１に蓄積されている角速度データに基づいて、計測モジュール１００Ａが無回転状態であるか否かを判定する（ステップＳ１３０９）。 Thereafter, when a predetermined correction value calculation process start event occurs in the measurement module 100A (step S1306), the first determination unit 306B is in a stationary state of the measurement module 100A based on the acceleration data accumulated in the accumulation unit 331. Is determined (step S1307). Further, the second determination unit 307B determines whether or not the stationary state of the measurement module 100A is stable based on the acceleration data stored in the storage unit 331 (step S1308). Further, the third determination unit 308B determines whether or not the measurement module 100A is in a non-rotating state based on the angular velocity data stored in the storage unit 331 (step S1309).
　さらに、抽出部３０９Ｂが、蓄積部３３１に蓄積されている加速度データのうち、ステップＳ１３０７で計測モジュール１００Ａが静止状態にあると判定され、且つ、ステップＳ１３０８で計測モジュール１００Ａの静止状態が安定していると判定され、且つ、ステップＳ１３０９で計測モジュール１００Ａが無回転状態であると判定されたときの加速度を、加速度センサ１１１の補正用データとして抽出する（ステップＳ１３１０）。 Further, the extraction unit 309B determines that the measurement module 100A is stationary in step S1307 among the acceleration data accumulated in the accumulation unit 331, and the stationary state of the measurement module 100A is stabilized in step S1308. The acceleration when it is determined that the measurement module 100A is in the non-rotating state in step S1309 is extracted as correction data for the acceleration sensor 111 (step S1310).
　そして、補正値算出部３３２が、ステップＳ１３１０で抽出された複数の補正用データに基づいて、加速度センサ１１１の補正値を算出する（ステップＳ１３１１）。この補正値は、例えば、計測モジュール１００Ａが備えるメモリに記憶され、その後、補正部３３３によって、加速度データの補正に用いられる。例えば、補正部３３３は、加速度データが蓄積部３３１に蓄積される前に、当該加速度データを補正してもよく、加速度データが蓄積部３３１に蓄積された後に、当該加速度データを補正してもよい。 Then, the correction value calculation unit 332 calculates the correction value of the acceleration sensor 111 based on the plurality of correction data extracted in step S1310 (step S1311). This correction value is stored in, for example, a memory included in the measurement module 100A, and is thereafter used by the correction unit 333 to correct acceleration data. For example, the correction unit 333 may correct the acceleration data before the acceleration data is stored in the storage unit 331, or correct the acceleration data after the acceleration data is stored in the storage unit 331. Good.
　なお、所定の補正値算出処理開始イベントの発生要因は、如何なるものであってもよいが、例えば、所定のユーザ操作がなされたとき、定期的な補正処理開始時期が到来したとき、所定量の計測データが蓄積部３３１に蓄積されたとき、等が挙げられる。 The occurrence factor of the predetermined correction value calculation process start event may be any, for example, when a predetermined user operation is performed, when a regular correction process start time comes, a predetermined amount of For example, when measurement data is accumulated in the accumulation unit 331.
　この第３実施形態の計測システム１０Ｂにおいても、データベース（蓄積部３３１）に蓄積されている加速度データの中から、ボール１２が完全に静止した状態のとき（すなわち、ボール１２が静止状態にあり、且つ、ボール１２の静止状態が安定しており、且つ、ボール１２が無回転状態にあるとき）に計測された加速度のみが、補正用データとして抽出されることとなる。そして、計測モジュール１００Ａ（補正値算出部３３２）は、抽出された複数の補正用データに基づいて、加速度センサ１１１の補正値を、高精度に算出することができる。 Also in the measurement system 10B of the third embodiment, from the acceleration data stored in the database (storage unit 331), when the ball 12 is completely stationary (that is, the ball 12 is stationary, In addition, only the acceleration measured when the ball 12 is in a stationary state and the ball 12 is in a non-rotating state is extracted as correction data. Then, the measurement module 100A (correction value calculation unit 332) can calculate the correction value of the acceleration sensor 111 with high accuracy based on the extracted plurality of correction data.
　すなわち、第３実施形態の計測システム１０Ｂによれば、ユーザがボール１２を使用中のときに、ユーザに静止状態を意識させることなく、加速度センサ１１１から出力される加速度の補正を可能にすることができる。したがって、第３実施形態の計測システム１０Ｂによれば、例えば、従来技術において生じ得るユーザビリティの問題（例えば、ボール１２を起動後すぐに使用することができない、ボール１２を静止状態にする操作が煩わしい、等）の発生を抑制することができる。 That is, according to the measurement system 10B of the third embodiment, when the user is using the ball 12, the acceleration output from the acceleration sensor 111 can be corrected without making the user aware of the stationary state. Can do. Therefore, according to the measurement system 10B of the third embodiment, for example, a usability problem that may occur in the prior art (for example, the operation of placing the ball 12 in a stationary state, which cannot be used immediately after the ball 12 is started) is troublesome. , Etc.) can be suppressed.
　特に、第３実施形態の計測システム１０Ｂでは、データベース（蓄積部３３１）に蓄積されている加速度データから抽出された複数の補正用データを用いて、仮想的な球の中心座標値を算出し、当該中心座標値に基づいて、加速度センサ１１１から出力される加速度の補正値を算出する構成を採用している。これにより、第３実施形態の計測システム１０Ｂは、ボール１２が完全に静止状態にあるとき、ボール１２が如何なる方向を向いていたとしても、そのときに加速度センサ１１１によって計測された加速度を、補正用データとして用いることができる。 In particular, in the measurement system 10B of the third embodiment, the center coordinate value of a virtual sphere is calculated using a plurality of correction data extracted from the acceleration data stored in the database (storage unit 331), A configuration is adopted in which a correction value of acceleration output from the acceleration sensor 111 is calculated based on the center coordinate value. Accordingly, the measurement system 10B of the third embodiment corrects the acceleration measured by the acceleration sensor 111 at any time when the ball 12 is in any direction when the ball 12 is completely stationary. Can be used as business data.
　以上、本発明の一実施形態について詳述したが、本発明はこれらの実施形態に限定されるものではなく、特許請求の範囲に記載された本発明の要旨の範囲内において、種々の変形又は変更が可能である。 The embodiments of the present invention have been described in detail above, but the present invention is not limited to these embodiments, and various modifications or changes can be made within the scope of the gist of the present invention described in the claims. It can be changed.
　例えば、上記各実施形態では、本発明の計測装置（計測モジュール１００，１００Ａ）が、糸巻層１２Ａを有する球体（ボール１２）に設けられているが、これに限らず、本発明の計測装置は、糸巻層を有しない球体、または、球体以外の如何なる器具に設けられてもよい。 For example, in each of the above-described embodiments, the measurement device ( measurement modules 100 and 100A) of the present invention is provided on a sphere (ball 12) having a pincushion layer 12A, but the measurement device of the present invention is not limited to this. It may be provided on a sphere that does not have a pincushion layer, or on any device other than a sphere.
　また、上記各実施形態では、計測モジュール１００，１００Ａが、外部から切り替え信号を受信したことをもって、スリープモードに切り替わる構成を採用しているが、これに限らず、例えば、計測モジュール１００，１００Ａは、加速度センサ１１１によって計測された加速度に基づいて、一定時間静止状態が継続したと判断したときに、自主的にスリープモードに切り替わる構成を採用してもよい。 Moreover, in each said embodiment, although the measurement module 100,100A employ | adopted the structure which switches to sleep mode when the switching signal was received from the outside, it is not restricted to this, For example, measurement module 100,100A is Alternatively, a configuration may be adopted in which, when it is determined that the stationary state has continued for a certain period of time based on the acceleration measured by the acceleration sensor 111, the mode is automatically switched to the sleep mode.
　また、上記第１実施形態では、クラウドサーバ１６において、補正値の算出と加速度の補正とを行う構成を採用しているが、これに限らず、例えば、クラウドサーバ１６において、補正値の算出を行い、当該補正値を計測モジュール１００に送信しておくことにより、計測モジュール１００において、加速度の補正を行う構成を採用してもよい。 Moreover, in the said 1st Embodiment, although the structure which performs calculation of a correction value and correction | amendment of acceleration is employ | adopted in the cloud server 16, it is not restricted to this, For example, calculation of a correction value is performed in the cloud server 16. The measurement module 100 may be configured to correct the acceleration by transmitting the correction value to the measurement module 100.
　また、上記第２実施形態では、スマートフォン１４Ａにおいて、補正値の算出と加速度の補正とを行う構成を採用しているが、これに限らず、例えば、スマートフォン１４Ａにおいて、補正値の算出を行い、当該補正値を計測モジュール１００に送信しておくことにより、計測モジュール１００において、加速度の補正を行う構成を採用してもよい。 Moreover, in the said 2nd Embodiment, although the structure which performs calculation of a correction value and correction | amendment of acceleration is employ | adopted in 14 A of smartphones, not only this but the calculation of a correction value is performed in 14 A of smartphones, A configuration in which acceleration correction is performed in the measurement module 100 by transmitting the correction value to the measurement module 100 may be employed.
　また、上記第３実施形態では、計測モジュール１００Ａにおいて、補正値の算出と加速度の補正とを行う構成を採用しているが、これに限らず、例えば、計測モジュール１００Ａにおいて、補正値の算出を行い、当該補正値を、計測データの出力先の外部の情報処理装置に送信することにより、外部の情報処理装置において、加速度の補正を行う構成を採用してもよい。 In the third embodiment, the measurement module 100A employs a configuration for performing correction value calculation and acceleration correction. However, the present invention is not limited to this. For example, the measurement module 100A calculates correction values. A configuration may be adopted in which acceleration correction is performed in the external information processing apparatus by transmitting the correction value to the external information processing apparatus that is the measurement data output destination.
　要するに、補正用データの蓄積、補正値の算出、および加速度の補正は、少なくともシステム内のいずれかの装置によって行われればよく、システム内の如何なる装置によって、如何なるタイミングで行われてもよい。 In short, accumulation of correction data, calculation of correction values, and correction of acceleration may be performed at least by any device in the system, and may be performed at any timing by any device in the system.
　また、上記各実施形態において、計測モジュール１００，１００Ａの出力部３１０は、各計測データ（加速度、角速度、および地磁気）を、リアルタイムに（すなわち、１データ毎に）出力してもよく、各計測データを、メモリ１１５に蓄積しておき、所定のタイミングでまとめて出力するようにしてもよい。 In the above embodiments, the output unit 310 of the measurement modules 100 and 100A may output each measurement data (acceleration, angular velocity, and geomagnetism) in real time (that is, for each data). Data may be accumulated in the memory 115 and output collectively at a predetermined timing.
　また、上記各実施形態において、加速度センサ１１１の補正値を、加速度センサ１１１へ供給することにより、加速度センサ１１１の補正を、加速度センサ１１１自身が行うようにしてもよい。すなわち、加速度センサ１１１自身が、補正後の加速度を出力するようにしてもよい。 In each of the above embodiments, the acceleration sensor 111 itself may correct the acceleration sensor 111 by supplying the acceleration sensor 111 with the correction value of the acceleration sensor 111. That is, the acceleration sensor 111 itself may output the corrected acceleration.
　本国際出願は、２０１８年２月９日に出願した日本国特許出願第２０１８－０２２４５６号に基づく優先権を主張するものであり、当該出願の全内容を本国際出願に援用する。 This international application claims priority based on Japanese Patent Application No. 2018-022456 filed on Feb. 9, 2018, the entire contents of which are incorporated herein by reference.
　１０，１０Ａ，１０Ｂ　計測システム
　１２　ボール（球体）
　１２Ａ　糸巻層
　１２Ｂ　表皮層
　１４，１４Ａ，１４Ｂ　スマートフォン（制御装置）
　１５　通信ネットワーク
　１６　クラウドサーバ（制御装置）
　１００，１００Ａ　計測モジュール（計測装置）
　１０１　ケース
　１０２　計測回路
　１０２Ａ　回路基板
　１１１　加速度センサ
　１１２　ジャイロセンサ
　１１３　地磁気センサ
　１１４　マイコン（制御装置）
　１１５　メモリ
　１１６　通信Ｉ／Ｆ
　１１７　バッテリ
　３００　主制御部
　３０１　加速度取得部
　３０２　角速度取得部
　３０３　地磁気取得部
　３０４　指示受信部
　３０５　状態切替部
　３０６，３０６Ａ，３０６Ｂ　第１判定部
　３０７，３０７Ａ，３０７Ｂ　第２判定部
　３０８，３０８Ａ，３０８Ｂ　第３判定部
　３０９，３０９Ａ，３０９Ｂ　抽出部
　３１０　出力部
　３１１　指示送信部
　３１２　受信部
　３１３　転送部
　３１４　蓄積部
　３１５　補正値算出部
　３１６　補正部
　３２１　受信部
　３２２　蓄積部
　３２３　補正値算出部
　３２４　補正部
　３３１　蓄積部
　３３２　補正値算出部
　３３３　補正部 10, 10A, 10B Measurement system 12 Ball (sphere)
12A Pincushion layer 12B Skin layer 14, 14A, 14B Smartphone (control device)
15 Communication network 16 Cloud server (control device)
100,100A Measuring module (measuring device)
DESCRIPTION OF SYMBOLS 101 Case 102 Measurement circuit 102A Circuit board 111 Acceleration sensor 112 Gyro sensor 113 Geomagnetic sensor 114 Microcomputer (control apparatus)
115 Memory 116 Communication I / F
117 battery 300 main control unit 301 acceleration acquisition unit 302 angular velocity acquisition unit 303 geomagnetism acquisition unit 304 instruction reception unit 305 state switching unit 306, 306A, 306B first determination unit 307, 307A, 307B second determination unit 308, 308A, 308B second 3 determination unit 309, 309A, 309B extraction unit 310 output unit 311 instruction transmission unit 312 reception unit 313 transfer unit 314 accumulation unit 315 correction value calculation unit 316 correction unit 321 reception unit 322 accumulation unit 323 correction value calculation unit 324 correction unit 331 accumulation Unit 332 correction value calculation unit 333 correction unit

Claims (13)

  1. 　加速度センサとジャイロセンサとを備えた計測装置用の制御装置であって、
    　前記加速度センサによって検知された加速度に基づいて、前記計測装置の静止状態を判定する第１判定部と、
    　前記加速度センサによって検知された加速度に基づいて、前記計測装置の静止状態が安定しているか否かを判断する第２判定部と、
    　前記ジャイロセンサによって検知された角速度に基づいて、前記計測装置が無回転状態であるか否かを判定する第３判定部と、
    　前記加速度センサによって継続的に計測された加速度データのうち、前記第１判定部によって前記静止状態であると判定され、且つ、前記第２判定部によって前記静止状態が安定していると判定され、且つ、前記第３判定部によって前記無回転状態であると判定されたときの前記加速度を抽出する抽出部と、
    　前記抽出部によって抽出された前記加速度を、前記加速度センサの補正用データとして出力する出力部と
    　を有することを特徴とする制御装置。     A control device for a measuring device including an acceleration sensor and a gyro sensor,
    A first determination unit for determining a stationary state of the measurement device based on the acceleration detected by the acceleration sensor;
    A second determination unit that determines whether or not a stationary state of the measurement device is stable based on the acceleration detected by the acceleration sensor;
    A third determination unit that determines whether or not the measurement device is in a non-rotating state based on the angular velocity detected by the gyro sensor;
    Of the acceleration data continuously measured by the acceleration sensor, the first determination unit determines that the stationary state is present, and the second determination unit determines that the stationary state is stable, And the extraction part which extracts the said acceleration when it determines with the said non-rotating state by the said 3rd determination part,
    An output unit that outputs the acceleration extracted by the extraction unit as correction data for the acceleration sensor.
  2. 　前記第１判定部は、
    　互いに直交する３軸の各々の前記加速度の合成ベクトルが略１Ｇである場合、前記計測装置が静止状態にあると判定する
    　ことを特徴とする請求項１に記載の制御装置。     The first determination unit includes:
    The control device according to claim 1, wherein the measurement device is determined to be in a stationary state when a combined vector of the accelerations of the three axes orthogonal to each other is approximately 1G.
  3. 　前記第２判定部は、
    　所定数の前記加速度の移動平均値に基づいて、前記計測装置の静止状態が安定していると判定する
    　ことを特徴とする請求項１または２に記載の制御装置。     The second determination unit includes
    The control device according to claim 1, wherein it is determined that the stationary state of the measurement device is stable based on a moving average value of the predetermined number of accelerations.
  4. 　前記第２判定部は、
    　最新の前記加速度と、当該最新の加速度以前の前記所定数の加速度の移動平均値との差が、所定の第１の閾値以下である場合、前記計測装置の静止状態が安定していると判定する
    　ことを特徴とする請求項３に記載の制御装置。     The second determination unit includes
    When the difference between the latest acceleration and the moving average value of the predetermined number of accelerations before the latest acceleration is equal to or less than a predetermined first threshold value, it is determined that the stationary state of the measuring device is stable The control device according to claim 3.
  5. 　前記第３判定部は、
    　互いに直交する３軸の各々の前記角速度が、いずれも所定の第２の閾値以下である場合、前記計測装置が無回転状態であると判定する
    　ことを特徴とする請求項１から４のいずれか一項に記載の制御装置。     The third determination unit includes:
    5. The measurement device is determined to be in a non-rotating state when the angular velocities of the three axes orthogonal to each other are all equal to or less than a predetermined second threshold value. The control device according to one item.
  6. 　前記出力部によって出力された前記補正用データを蓄積する蓄積部と、
    　前記蓄積部に蓄積された複数の前記補正用データに基づいて、前記加速度センサの補正値を算出する補正値算出部と、
    　前記補正値算出部によって算出された前記補正値を用いて、前記加速度センサから出力される加速度を補正する補正部と
    　をさらに備えることを特徴とする請求項１から５のいずれか一項に記載の制御装置。     An accumulation unit for accumulating the correction data output by the output unit;
    A correction value calculation unit that calculates a correction value of the acceleration sensor based on the plurality of correction data stored in the storage unit;
    The correction part which correct | amends the acceleration output from the said acceleration sensor using the said correction value calculated by the said correction value calculation part is further provided. These are characterized by the above-mentioned. Control device.
  7. 　前記補正値算出部は、
    　前記蓄積部に蓄積された複数の補正用データを、互いに直交する３軸の加速度の合成ベクトル１Ｇを半径とする仮想的な球の球面上のデータとして用いて、前記仮想的な球の中心座標値を算出し、算出された前記中心座標値と、所定の中心座標値との差分値を、前記補正値として算出する
    　ことを特徴とする請求項６に記載の制御装置。     The correction value calculation unit
    A plurality of correction data stored in the storage unit are used as data on a spherical surface of a virtual sphere having a radius of a combined vector 1G of three axes of accelerations orthogonal to each other, and the center coordinates of the virtual sphere are used. The control device according to claim 6, wherein a value is calculated, and a difference value between the calculated center coordinate value and a predetermined center coordinate value is calculated as the correction value.
  8. 　前記補正値算出部は、
    　最小二乗法を用いて、前記仮想的な球の中心座標値を算出する
    　ことを特徴とする請求項７に記載の制御装置。     The correction value calculation unit
    The control device according to claim 7, wherein a center coordinate value of the virtual sphere is calculated using a least square method.
  9. 　前記加速度センサと
    　前記ジャイロセンサと
    　請求項１から８のいずれか一項に記載の制御装置と
    　を備えることを特徴とする計測装置。     A measurement device comprising: the acceleration sensor; the gyro sensor; and the control device according to claim 1.
  10. 　請求項９に記載の計測装置を内部に有する
    　ことを特徴とする球体。     A sphere having the measuring device according to claim 9 inside.
  11. 　前記計測装置と、
    　請求項１から８のいずれか一項に記載の制御装置と、
    　を備えることを特徴とする計測システム。     The measuring device;
    A control device according to any one of claims 1 to 8;
    A measurement system comprising:
  12. 　加速度センサおよびジャイロセンサを備えた計測装置用の制御方法であって、
    　前記加速度センサによって検知された加速度に基づいて、前記計測装置の静止状態を判定する第１判定工程と、
    　前記加速度センサによって検知された加速度に基づいて、前記計測装置の静止状態が安定しているか否かを判断する第２判定工程と、
    　前記ジャイロセンサによって検知された角速度に基づいて、前記計測装置が無回転状態であるか否かを判定する第３判定工程と、
    　前記加速度センサによって継続的に計測された加速度データのうち、前記第１判定工程において前記静止状態であると判定され、且つ、前記第２判定工程において前記静止状態が安定していると判定され、且つ、前記第３判定工程において前記無回転状態であると判定されたときの前記加速度を抽出する抽出工程と、
    　前記抽出工程において抽出された前記加速度を、前記加速度センサの補正用データとして出力する出力工程と
    　を含むことを特徴とする制御方法。     A control method for a measuring device including an acceleration sensor and a gyro sensor,
    A first determination step of determining a stationary state of the measurement device based on the acceleration detected by the acceleration sensor;
    A second determination step of determining whether or not the stationary state of the measurement device is stable based on the acceleration detected by the acceleration sensor;
    A third determination step of determining whether or not the measurement device is in a non-rotating state based on the angular velocity detected by the gyro sensor;
    Of the acceleration data continuously measured by the acceleration sensor, it is determined in the first determination step that the stationary state is determined, and the second determination step is determined that the stationary state is stable, And the extraction process of extracting the acceleration when it is determined in the third determination process that the non-rotating state is present;
    An output step of outputting the acceleration extracted in the extraction step as correction data for the acceleration sensor.
  13. 　加速度センサおよびジャイロセンサを備えた計測装置用のプログラムであって、
    　コンピュータを、
    　前記加速度センサによって検知された加速度に基づいて、前記計測装置の静止状態を判定する第１判定部、
    　前記加速度センサによって検知された加速度に基づいて、前記計測装置の静止状態が安定しているか否かを判断する第２判定部、
    　前記ジャイロセンサによって検知された角速度に基づいて、前記計測装置が無回転状態であるか否かを判定する第３判定部、
    　前記加速度センサによって継続的に計測された加速度データのうち、前記第１判定部によって前記静止状態であると判定され、且つ、前記第２判定部によって前記静止状態が安定していると判定され、且つ、前記第３判定部によって前記無回転状態であると判定されたときの前記加速度を抽出する抽出部、および、
    　前記抽出部によって抽出された前記加速度を、前記加速度センサの補正用データとして出力する出力部
    　として機能させるためのプログラム。     A program for a measuring device including an acceleration sensor and a gyro sensor,
    Computer
    A first determination unit for determining a stationary state of the measurement device based on the acceleration detected by the acceleration sensor;
    A second determination unit configured to determine whether or not the stationary state of the measurement device is stable based on the acceleration detected by the acceleration sensor;
    A third determination unit that determines whether or not the measurement device is in a non-rotating state based on an angular velocity detected by the gyro sensor;
    Of the acceleration data continuously measured by the acceleration sensor, the first determination unit determines that the stationary state is present, and the second determination unit determines that the stationary state is stable, And the extraction part which extracts the said acceleration when it determines with the said non-rotating state by the said 3rd determination part, and
    A program for causing the acceleration extracted by the extraction unit to function as an output unit that outputs the data as correction data for the acceleration sensor.
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