CN102959357B - Posture determination device - Google Patents
Posture determination device Download PDFInfo
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- CN102959357B CN102959357B CN201180032143.5A CN201180032143A CN102959357B CN 102959357 B CN102959357 B CN 102959357B CN 201180032143 A CN201180032143 A CN 201180032143A CN 102959357 B CN102959357 B CN 102959357B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
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- General Physics & Mathematics (AREA)
- User Interface Of Digital Computer (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
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- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention provides a kind of posture determination device, do not need complex calculations just simply can determine posture.The component of acceleration Gx to Gz of the first to the 3rd axis that export from 3-axis acceleration sensor (1), that be normalized inputs to the first to the 3rd detection unit (5 to 9).First detection unit (5) judges that the component Gx of the first axis is in Gx <-0.5,-0.5≤Gx < 0, which scope in 0≤Gx < 0.5 and 0.5≤Gx, second detection unit (7) judges that the component Gy of the second axis is in Gy <-0.5,-0.5≤Gy < 0, which scope in 0≤Gy < 0.5 and 0.5≤Gy, 3rd detection unit (9) judges that the component Gz of the 3rd axis is in Gz <-0.5,-0.5≤Gz < 0, which scope in 0≤Gz < 0.5 and 0.5≤Gz.The output of the first to the 3rd detection unit (5 to 9) inputs to posture determination portion (11), and posture determination portion (11) posture to the supporter being fixed with 3-axis acceleration sensor 1 judges.
Description
Technical field
The present invention relates to the posture determination device employing 3-axis acceleration sensor.
Background technology
Japanese Unexamined Patent Publication 2009-276282 publication discloses a kind of posture determination device, this posture determination device uses that detected by 3-axis acceleration sensor, under three orthogonal coordinate component of acceleration to carry out the angle of calculating apparatus, utilizes the angle calculated to carry out the posture of determining device self.
Prior art document
Patent documentation
Patent documentation 1: Japanese Unexamined Patent Publication 2009-276282 publication
Summary of the invention
The problem of invention for solving
The posture determination device employing 3-axis acceleration sensor is in the past in order to determine that posture needs complex calculations.Therefore, such as, when portable communication terminal device etc. uses posture determination device, the problem of generation is, the desired operand of determination of posture increases, and the burden of the CPU of portable communication terminal device significantly increases.
The object of the present invention is to provide a kind of posture determination device, it does not need complex calculations just simply can determine posture.
For the scheme of dealing with problems
Posture determination device of the present invention comprises: 3-axis acceleration sensor, the first to the 3rd detection unit and posture determination portion that supported body supports.3-axis acceleration sensor supported body supports, be that each axial component Gx, Gy and Gz of the first axle X, the second axle Y orthogonal with the first axle X and the three axle Z orthogonal with the first axle X and the second axle Y detects by the acceleration decomposition acting on supporter, carry out exporting and make each component Gx, Gy and Gz be the value of scope of-1≤Gx≤1 ,-1≤Gy≤1 and-1≤Gz≤1.First detection unit sets α as positive number, judge the component Gx of the first axis is in which scope in Gx <-α ,-α≤Gx < 0,0≤Gx < α and α≤Gx, exports result of determination by digital value.Second detection unit sets β as positive number, judge the component Gy of the second axis is in which scope in Gy <-β ,-β≤Gy < 0,0≤Gy < β and β≤Gy, exports result of determination by digital value.3rd detection unit sets γ as positive number, judges that the component Gz of the 3rd axis is as which scope in z <-γ ,-γ≤Gz < 0,0≤Gz < γ and γ≤Gz, exports result of determination by digital value.More specifically, the number that α, β are preferably identical with γ.Further practicality, α, β and γ are preferably 0.5.The combination of the result of determination of the digital value that posture determination portion determines based on the first to the 3rd detection unit, determines that acceleration of gravity acts on the acceleration of gravity direction of supporter, determines the posture of supporter according to acceleration of gravity direction.In the present invention, posture determination portion comprises: acceleration directional data storage part, be previously stored with the result that the first to the 3rd detection unit judges is shown combination, with the data of corresponding relation in acceleration of gravity direction acting on supporter; And search part, the combination of result of determination of the digital value that the first to the 3rd detection unit is judged as input, from the data retrieval being stored in acceleration directional data storage part corresponding with the combination of this result of determination, the acceleration of gravity direction that acts on supporter exporting.
According to the present invention, in 1 detection unit, export result of determination by 2 bit digital value.Therefore, the from first to the 3rd detection unit exports 2 × 3=6 position information.And, the combination result of determination that the from first to the 3rd detection unit exports being shown if obtain in advance, with the data of corresponding relation in acceleration of gravity direction acting on supporter, be then pre-stored in acceleration directional data storage part.And, the combination of the result of determination of the digital value that the first to the 3rd detection unit judges by search part, as input, also exports acceleration of gravity direction that is corresponding with the combination of this result of determination, that act on supporter from the data retrieval being stored in acceleration directional data storage part.By like this, based on input (6) and the less storage data of less quantity of information, do not need complex calculations, just can determine the posture of the device that 3-axis acceleration sensor is housed.
As long as the data being stored in acceleration directional data storage part illustrate the result that the first to the 3rd detection unit judges combination, with the data of corresponding relation in acceleration of gravity direction acting on supporter, which kind of pattern all can.Such as, when assuming the spheroid centered by the axle center of 3-axis acceleration sensor, spheroid can be carried out 4 deciles with the first virtual face parallel with the second axle with the first axle, spheroid is carried out 4 deciles with the second virtual face parallel with the 3rd axle with the second axle, spheroid is carried out 4 deciles with the 3rd virtual face parallel with the 3rd axle with the first axle, and 56 virtual regions divided on the surface of spheroid give identification marking.Then, the identification marking of the virtual region in the acceleration of gravity direction that also combination being positioned at the result judged by the first to the 3rd detection unit can be determined, the combination of result judged with the described first to the 3rd detection unit are mapped and are stored in acceleration directional data storage part.In this case, search part uses identification marking to export acceleration of gravity direction.By like this, the posture of the device being provided with posture determination device can be shown by 56 directional informations.If the information of this level, then increase the burden of the CPU of a lot of portable communication terminal device hardly.
Accompanying drawing explanation
Fig. 1 is the block diagram of the structure of an example of the embodiment that posture determination device of the present invention is shown.
Fig. 2 is the figure that the first to the 3rd axle is shown.
Fig. 3 illustrates when by when 3-axis acceleration sensor horizontal positioned and when making it tilt, under the sight line from X-Z axial plane and the sight line from X-Y axial plane, and the figure of the relation of 3-axis acceleration sensor and spheroid.
Fig. 4 is the figure that the example giving identification marking is shown.
Fig. 5 (A) and (B) be when illustrating that the output of the 3rd axle (Z axis) that the 3rd detection unit being stored in acceleration directional data storage part exports is the scope of 0.5≤Gz and be the scope of 0≤Gz < 0.5 when, be stored in the figure of the example of the numerical data of the pose information register in acceleration directional data storage part.
Fig. 6 (A) and (B), when illustrating that the output of the 3rd axle (Z axis) that the 3rd detection unit being stored in acceleration directional data storage part exports is the scope of-0.5≤Gz < 0 and Gz <-0.5, are stored in the figure of the example of the numerical data of the pose information register in acceleration directional data storage part.
Fig. 7 is the figure of the example of the imparting identification marking three-dimensionally showing Fig. 4.
Description of reference numerals
1 3-axis acceleration sensor
3 supporters
5 first detection units
7 second detection units
9 the 3rd detection units
11 posture determination portions
13 acceleration directional data storage parts
15 search part
Embodiment
Below, an example of the embodiment of the posture determination device that present invention will be described in detail with reference to the accompanying.Fig. 1 is the block diagram of the structure of an example of the embodiment that posture determination device of the present invention is shown.As shown in Figure 1, the posture determination device of present embodiment comprises 3-axis acceleration sensor 1 and supports the supporter 3 of 3-axis acceleration sensor 1.Herein, supporter 3 can be the housing that storage is fixed with 3-axis acceleration sensor, also can be the substrate being fixed with 3-axis acceleration sensor in addition, these housings or substrate the need equipment of posture determination device such relative to such as portable communication terminal device be fixed.So 3-axis acceleration sensor 1 detects the acceleration acting on this equipment.As shown in Figure 2, the acceleration decomposition acting on supporter 3 is each axial component (component of acceleration) Gx, Gy and Gz of the first axle X, the second axle Y orthogonal with the first axle X and the three axle Z orthogonal with the first axle X and the second axle Y and detects by 3-axis acceleration sensor 1.When the equipment that is used in the present embodiment is static, also can export the semiconductor acceleration sensor of the component of acceleration for detecting acceleration of gravity G.The 3-axis acceleration sensor 1 of present embodiment exports the detected value be normalized, and makes each component Gx, Gy and Gz be-1≤Gx≤1, the value of the scope of-1≤Gy≤1 and-1≤Gz≤1.
The first to the 3rd detection unit 5 to 9 is imported into from the component of acceleration Gx to Gz of the be normalized first to the 3rd axis of 3-axis acceleration sensor 1 output.First detection unit 5 sets α as positive number, judge the component Gx of the first axis is in which scope in Gx <-α ,-α≤Gx < 0,0≤Gx < α and α≤Gx, exports result of determination by digital value.In the present embodiment, specifically, 0.5 is adopted as α.So, first detection unit 5 specifically judges the component Gx of the first axis is in which scope in Gx <-0.5 ,-0.5≤Gx < 0,0≤Gx < 0.5 and 0.5≤Gx, exports result of determination by digital value.In addition, second detection unit 7 sets β as positive number, judge the component Gy of the second axis is in which scope in Gy <-β ,-β≤Gy < 0,0≤Gy < β and β≤Gy, exports result of determination by digital value.Specifically, 0.5 is adopted as β.So, second detection unit 7 specifically judges the component Gy of the second axis is in which scope in Gy <-0.5 ,-0.5≤Gy < 0,0≤Gy < 0.5 and 0.5≤Gy, exports result of determination by digital value.3rd detection unit 9 sets γ as positive number, judge the component Gz of the 3rd axis is in which scope in Gz <-γ ,-γ≤Gz < 0,0≤Gz < γ and γ≤Gz, exports result of determination by digital value.Specifically, 0.5 is adopted as γ.So, 3rd detection unit 9 specifically judges the component Gz of the 3rd axis is in which scope in Gz <-0.5 ,-0.5≤Gz < 0,0≤Gz < 0.5 and 0.5≤Gz, exports result of determination by digital value.
The output (result of determination) of the first to the 3rd detection unit 5 to 9 inputs to posture determination portion 11, and the posture of posture determination portion 11 to the supporter (or equipment) being fixed with 3-axis acceleration sensor 1 judges.In the present embodiment, the combination of the result of determination of the digital value that posture determination portion 11 judges based on the first to the 3rd detection unit 5 to 9, determine that acceleration of gravity G acts on the acceleration of gravity direction of supporter 3, determine the posture of supporter 3 according to acceleration of gravity direction.Posture determination portion 11 comprises acceleration directional data storage part 13, search part 15.Acceleration directional data storage part 13 prestore the result that the first to the 3rd detection unit 5 to 9 judges is shown combination, with the data of corresponding relation in acceleration of gravity direction acting on supporter 3.The combination of the result of determination of the digital value that the first to the 3rd detection unit 5 to 9 judges by search part 15, as input, also exports acceleration of gravity direction that is corresponding with the combination of this result of determination, that act on supporter 3 from the data retrieval being stored in acceleration directional data storage part 13.
As long as the data being stored in acceleration directional data storage part 13 illustrate the result that the first to the 3rd detection unit 5 to 9 judges combination, with the data of corresponding relation in acceleration of gravity direction acting on supporter 3, which kind of pattern all can.In the present embodiment, as shown in Figure 3 and Figure 4, when assuming the spheroid S using the axle center of 3-axis acceleration sensor 1 as center, spheroid S can be carried out 4 deciles with the first virtual face parallel with the second axle Y with the first axle X, spheroid S is carried out 4 deciles with the second virtual face parallel with the 3rd axle Z with the second axle Y, spheroid S is carried out 4 deciles with the 3rd virtual face parallel with the 3rd axle Z with the first axle X, the surface of spheroid S is divided into 56 virtual regions and adds identification marking (1 ~ 56).Fig. 3 illustrates when by when 3-axis acceleration sensor 1 horizontal positioned and when making it tilt, under the sight line from X-Z axial plane and the sight line from X-Y axial plane, and the figure of the relation of 3-axis acceleration sensor 1 and spheroid S.
Fig. 4 is the figure that the example giving identification marking is shown.In the diagram, the situation of scope being divided into acceleration of gravity G to be in G <-0.5 ,-0.5≤G < 0,0≤G < 0.5 and 0.5≤G is shown, the example of the identification marking that 56 virtual regions divided on the surface of spheroid S mark.And the identification marking of the virtual region in the acceleration of gravity direction that the combination being positioned at the result judged by the first to the 3rd detection unit determines by posture determination portion 11, the combination of result judged with the first to the 3rd detection unit are mapped and are stored in acceleration directional data storage part 13.
Fig. 5 (A) and (B) and Fig. 6 (A) and (B) illustrate the example of the numerical data of the pose information register be stored in acceleration directional data storage part 13.It is that to illustrate that the digital value of component Gz exports be that 0≤Gz < 0.5, Fig. 6 (A) illustrate that the digital value of component Gz exports as-0.5≤Gz < 0, Fig. 6 (B) illustrate that the digital value of component Gz exports the example for the numerical data when scope of Gz <-0.5 for 0.5≤Gz, Fig. 5 (B) that Fig. 5 (A) illustrates that the digital value of the component Gz of the 3rd axle (Z axis) that the 3rd detection unit 9 exports exports.The address digit of Fig. 5 (A) and (B) and Fig. 6 (A) and (B) is the address digit of pose information register.Pose information register has 8 passages being respectively with channel number D0 to D7.XSU to ZSL illustrates the data of output ~ the 3rd axle (Z axis) representing the first axle (X-axis) with 2 (bit).Such as when the output of the 3rd axle (Z axis) is 0.5≤Gz, represent with ZSU=0, ZSL=1, when the output of the 3rd axle (Z axis) is 0≤Gz < 0.5, represent with ZSU=0, ZSL=0, when the output of the 3rd axle (Z axis) is-0.5≤Gz < 0, represent with ZSU=1, ZSL=1, when the output of the 3rd axle (Z axis) is Gz <-0.5, represent with ZSU=1, ZSL=0.When the first and second axles (X, Y) axle, represent with 2 equally.In the present embodiment, XSU to ZSL is distributed respectively to D7 to D2.So the pose information register value of each address 2 system numbers of 8 represent.In addition, because D1 and D2 does not use, therefore value can be 0 also can be 1, also can be blank.And in the present embodiment, identification marking (CAL) moves right 2 and be scaled the value of 10 system numbers for making the pose information register value of each address.Specifically, such as, when address digit 1, make pose information register value move right 2, become " 010101 ", this value being scaled 21 of 10 system numbers becomes identification marking (CAL).This identification marking corresponds to the identification marking of giving 56 virtual regions divided on the surface of spheroid S, and the position in acceleration of gravity direction is shown.
Number in each figure of the bottom of Fig. 4 is equivalent to this identification marking.Fig. 7 illustrates the example three-dimensionally showing the identification marking shown in Fig. 4.
In the present embodiment, the combination of the result of determination XSU to ZSL of the digital value that the first to the 3rd detection unit 5 to 9 judges by search part 15 as input, from be stored in acceleration directional data storage part 13 this result of determination of data retrieval combination belonging to the identification marking (CAL) of address digit.Then, search part 15 uses identification marking (number of 1 ~ 56) to export acceleration of gravity direction.By like this, the posture of the equipment being provided with posture determination device can be shown by 56 directional informations.If the information of this level, then increase the burden of the CPU of a lot of portable communication terminal device hardly.
Utilizability in industry
According to the present invention, in 1 detection unit, export result of determination by 2 bit digital value.Therefore, the from first to the 3rd detection unit exports 2 × 3=6 position information.And, the combination result of determination that the from first to the 3rd detection unit exports being shown if obtain in advance, with the data of corresponding relation in acceleration of gravity direction acting on supporter, be then pre-stored in acceleration directional data storage part.And, the combination of the result of determination of the digital value that the first to the 3rd detection unit judges by search part, as input, also exports acceleration of gravity direction that is corresponding with the combination of this result of determination, that act on supporter from the data retrieval being stored in acceleration directional data storage part.By like this, based on input (6) and the less storage data of less quantity of information, do not need complex calculations, just can determine the posture of the device that 3-axis acceleration sensor is housed.
Claims (4)
1. a posture determination device, is characterized in that, comprising:
3-axis acceleration sensor, supported body supports, be that each axial component Gx, Gy and Gz of the first axle X, the second axle Y orthogonal with described first axle X and the three axle Z orthogonal with described first axle X and the second axle Y detects by the acceleration decomposition acting on described supporter, carrying out output makes each component Gx, Gy and Gz be-1≤Gx≤1, the value of the scope of-1≤Gy≤1 and-1≤Gz≤1;
First detection unit, if α is positive number, judge that the component Gx of described first axis is in Gx <-α ,-α≤Gx < 0, which scope in 0≤Gx < α and α≤Gx, exports result of determination by digital value;
Second detection unit, if β is positive number, judge the component Gy of described second axis is in which scope in Gy <-β ,-β≤Gy < 0,0≤Gy < β and β≤Gy, exports result of determination by digital value;
3rd detection unit, if γ is positive number, judge the component Gz of described 3rd axis is in which scope in Gz <-γ ,-γ≤Gz < 0,0≤Gz < γ and γ≤Gz, exports result of determination by digital value; And
Posture determination portion, the combination of the described result of determination of the digital value determined based on the described first to the 3rd detection unit, determine that acceleration of gravity acts on the acceleration of gravity direction of described supporter, determine the posture of described supporter according to described acceleration of gravity direction
Described posture determination portion comprises: acceleration directional data storage part, be previously stored with the result that the described first to the 3rd detection unit judges is shown combination, with the data of corresponding relation in described acceleration of gravity direction acting on described supporter; And search part, the combination of the result of determination of the digital value determined by the described first to the 3rd detection unit is as input, and the acceleration of gravity direction that act on described supporter corresponding with the combination of this result of determination from the described data retrieval being stored in described acceleration directional data storage part also exports.
2. posture determination device as claimed in claim 1, is characterized in that,
Described α, β and γ are identical numbers.
3. posture determination device as claimed in claim 2, is characterized in that,
Described α, β and γ are 0.5.
4. posture determination device as claimed in claim 3, is characterized in that,
Described posture determination portion is when assuming the spheroid using the axle center of described 3-axis acceleration sensor as center, described spheroid is carried out 4 deciles with the first virtual face parallel with the second axle with described first axle, described spheroid is carried out 4 deciles with the second virtual face parallel with the 3rd axle with described second axle, described spheroid is carried out 4 deciles with the 3rd virtual face parallel with the 3rd axle with described first axle, identification marking is given to 56 virtual regions divided on the surface of described spheroid, the described identification marking of the described virtual region in the described acceleration of gravity direction that the combination being positioned at the result judged according to the described first to the 3rd detection unit is determined, the combination of the result judged with the described first to the 3rd detection unit is mapped and is stored in described acceleration directional data storage part,
Described search part uses described identification marking to export described acceleration of gravity direction.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010149610 | 2010-06-30 | ||
| JP2010-149610 | 2010-06-30 | ||
| PCT/JP2011/065057 WO2012002494A1 (en) | 2010-06-30 | 2011-06-30 | Posture determination device |
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| Publication Number | Publication Date |
|---|---|
| CN102959357A CN102959357A (en) | 2013-03-06 |
| CN102959357B true CN102959357B (en) | 2015-11-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201180032143.5A Expired - Fee Related CN102959357B (en) | 2010-06-30 | 2011-06-30 | Posture determination device |
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| Country | Link |
|---|---|
| JP (1) | JP5161396B2 (en) |
| CN (1) | CN102959357B (en) |
| WO (1) | WO2012002494A1 (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1815141A (en) * | 2005-01-13 | 2006-08-09 | 株式会社日立制作所 | Pose checking method and program using double-axis magnetic sensor |
| CN101031803A (en) * | 2004-08-12 | 2007-09-05 | 旭化成电子材料元件株式会社 | Acceleration measuring device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3851406B2 (en) * | 1997-03-19 | 2006-11-29 | 本田技研工業株式会社 | Pedestrian speed / direction detector |
| JP2003329705A (en) * | 2002-05-13 | 2003-11-19 | Casio Comput Co Ltd | Method and apparatus for analyzing motion and program thereof |
| EP1867951B1 (en) * | 2005-03-28 | 2014-03-19 | Asahi Kasei EMD Corporation | Traveling direction measuring apparatus and traveling direction measuring method |
| JP5256846B2 (en) * | 2008-05-16 | 2013-08-07 | 住友電気工業株式会社 | Posture specifying device, moving direction specifying device, position specifying device, computer program, and posture specifying method |
-
2011
- 2011-06-30 WO PCT/JP2011/065057 patent/WO2012002494A1/en active Application Filing
- 2011-06-30 JP JP2012522693A patent/JP5161396B2/en active Active
- 2011-06-30 CN CN201180032143.5A patent/CN102959357B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101031803A (en) * | 2004-08-12 | 2007-09-05 | 旭化成电子材料元件株式会社 | Acceleration measuring device |
| CN1815141A (en) * | 2005-01-13 | 2006-08-09 | 株式会社日立制作所 | Pose checking method and program using double-axis magnetic sensor |
Also Published As
| Publication number | Publication date |
|---|---|
| JP5161396B2 (en) | 2013-03-13 |
| WO2012002494A1 (en) | 2012-01-05 |
| CN102959357A (en) | 2013-03-06 |
| JPWO2012002494A1 (en) | 2013-08-29 |
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