JP6109834B2 - 3軸磁気センサに基づいて要素の位置を決定するシステム - Google Patents
3軸磁気センサに基づいて要素の位置を決定するシステム Download PDFInfo
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- JP6109834B2 JP6109834B2 JP2014533918A JP2014533918A JP6109834B2 JP 6109834 B2 JP6109834 B2 JP 6109834B2 JP 2014533918 A JP2014533918 A JP 2014533918A JP 2014533918 A JP2014533918 A JP 2014533918A JP 6109834 B2 JP6109834 B2 JP 6109834B2
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- Transmission And Conversion Of Sensor Element Output (AREA)
Description
(a)薬物を収容するリザーバと、リザーバから薬物を放出する薬物放出機構部と、リザーバまたは特定の薬物投与器具に収容されている特定の薬物タイプに関する情報を表現する識別子とを備える少なくとも1つの薬物投与器具と、そして、(b)薬物投与器具の1台ずつに着脱自在に搭載され、放出手段によってリザーバから放出された薬物の量に関連する特性を表現するデータを捕捉する電子制御式捕捉システムと、識別子から情報を捕捉する電子制御式手段と、所定の識別子に対して捕捉されたデータに基づいてリザーバから放出された薬物の量の記録簿を作成するために適合している記録手段と、を備える捕捉組立体とを備える。
がシステムの公称幾何学的形状を有している場を表すと仮定する。
を次式:
[1]
によって推定することが可能である。式中、mは、所定の位置nの双極子モーメントベクトルであり、rは、磁石とセンサkとの間の距離ベクトルであり、rは、磁石とセンサkとの間の距離である。
が定義される。
Bext 一様背景場
Δx, Δy 公称モデルと相対的な磁石位置の半径方向オフセット
Δz 公称モデルと相対的な磁石位置の軸方向オフセット
Δm 公称磁石強度からの偏差
Δφ 回転方向オフセット
Δψ チルトオフセット
に含まれている。
このアルゴリズムがプロセッサに記憶される可能性がある定数表を利用することであり、すなわち、コード表は、
、
および
で構成されている。このアルゴリズムは、フェイルセーフ措置として使用される可能性がある指標を提供し、すなわち、当てはめの品質は、
と、残差のサイズ
とから推定される可能性がある。明らかにされた列ベクトルEは、選択された偏差パラメータの実施例に過ぎない。
本実施例では、上記アルゴリズムは、24個の軸方向変位と、磁石位置を監視する3台のリング搭載型センサとを伴うシステムに応用される。
は、近傍位置が実際の位置と重なり合うことを回避するために±7°の範囲内に制限される。さらに、磁石位置の機械的制約についての知識が位置を推定するとき候補を除外するためにこの時点でさらに応用される可能性がある。
が乗じられ、公称モデルに加算され、公称モデルの更新版を与える。このモデルと測定センサ値との間の残差が導出される。これらは、公称モデルの更新版と測定値との間の残差を表す表4および図7に例示されている。
センサ2最大振幅:(S2Max−S2Min)/2
最大振幅:センサ1 最大値
センサ1利得:1
センサ2利得:センサ1最大振幅/センサ2最大振幅(>1)
センサ1オフセット:センサ1最大振幅−センサ1最大値
センサ2オフセット:センサ2最大振幅−センサ2最大値
点線:磁石からの寄与分
2点鎖線:地球磁場
破線:センサから結果として得られたベクトル
長−短線:結果として得られたベクトルのX成分
長−長:結果として得られたベクトルのZ成分
実線:結果として得られた差分ベクトル
点線は、距離/方向を表現する
実線は、振幅を表現する(距離の減少に伴って増加する)
である図9に示されるように、近傍センサの平行軸の値の値から減算される。
2台の軸方向に配置されたセンサを伴う図1に対応するモデルに対して、ピストンロッドが0〜150°まで回転させられ、測定が7.5°の回転毎に行われた。以下の表1および2に一覧化された測定は、Honeywell HMC5883L 3軸マグネトセンサを使用する実験用セットアップを使用して行われた。これに基づいて、各測定角度(および直線)位置に対する全ての異なるベクトルの全ての軸値の表は、その後、動作範囲全体に対してセットアップされ、システムに記憶される可能性がある。このような表の実施例は、表1に表されている。
1. (a)−薬物を収容するリザーバと、
−上記リザーバから薬物を放出する薬物放出機構部と
−上記リザーバに収容された特定の薬物タイプまたは特定の薬物投与器具の情報を表現する識別子611、711、811と、
を備える薬物投与器具610、710、810と、
(b)上記薬物投与器具に着脱自在に搭載可能であり、
−上記放出手段によって上記リザーバから放出された薬物の量に関連している特性を表現するデータを捕捉する電子制御式捕捉システムと、
−前記識別子から情報を捕捉する電子制御式手段603、703、803と、
−所定の識別子に対して作成される記録簿であり、捕捉されたデータに基づいて上記リザーバから放出された薬物の量の記録簿を作成するために適合している記録手段と、
を備える捕捉組立体601、701、801と、
を備える薬物投与システム。
Claims (11)
- 各センサが、相互に垂直に配置された3本の軸に対応する磁場を測定するために適合している1台以上のセンサを備えるセンサ組立体(4)と、
回転方向運動が軸方向運動と所定の関係を有している所定の軸に対応する前記軸方向運動と前記回転方向運動との組み合わせによって前記センサ組立体と相対的に運動させられるために適合している可動要素(2)と、
前記可動要素に搭載され、この可動要素と一緒に運動する磁石(3)であり、前記センサ組立体と相対的に、前記磁石、ひいては前記可動要素の前記軸方向運動および前記回転方向運動の両方に対応して変化し、それによって、各センサと相対的に一意に変化する空間磁場を発生させるように構成されている磁石(3)と、
測定値に基づいて前記可動要素の軸方向位置を決定するように構成されているプロセッサ手段(5)と
を備え、
前記プロセッサ手段は、前記測定値に基づいて、
前記可動要素の初期軸方向位置を決定し、
前記可動要素の回転位置を決定し、そして、
前記可動要素の補正された軸方向位置を計算するように適合し、この計算は、前記決定された初期軸方向位置、前記決定された回転方向位置、および前記回転運動と前記軸方向運動との間の前記所定の関係に基づいている、システム。 - 前記センサ組立体は1個以上のリングとして構成され、各リングは前記所定の軸の周りに置かれている2台以上のセンサから成る、請求項1に記載のシステム。
- 前記磁石は、誘導磁石である、請求項1または2に記載のシステム。
- 前記可動要素は、前記可動要素とさらなる要素との間のねじ込み関係に対応して運動させられる、請求項1から3のいずれか一項に記載のシステム。
- 軸方向に変位可能なピストンおよび出口(122)を備える薬物のためのリザーバまたはリザーバを受け入れる手段(121)と、
前記リザーバから薬物を放出し、放出動作中に前記軸方向運動と回転方向運動との組み合わせを実行し、それによって、搭載されたリザーバの前記ピストンを軸方向に運動させるねじ込みピストンロッドの形をした前記可動要素を備える薬物放出機構部と、
を備える薬物投与器具(120)を備える、請求項1から4のいずれか一項に記載のシステム。 - 前記センサ組立体(307)およびプロセッサ手段(302)が配置され、前記薬物投与器具を所定の位置で受け入れるように構成され、前記ピストンロッドの前記軸方向位置の2回の連続的な決定に基づいて放出された薬物の投与量のサイズを計算するように構成されている測定ユニット(301、401)を備える、請求項5に記載のシステム。
- 前記測定ユニットは、搭載されたリザーバの前記出口(122)を覆うために前記薬物投与器具上の搭載位置に置かれたときに前記放出された薬物の投与量のサイズを計算するために適合しているキャップユニットの形をしている、請求項6に記載のシステム。
- 前記センサ組立体およびプロセッサ手段が配置され、測定ユニット(101、201)およびキャップユニット(110、210)を備える測定組立体を備え、
前記測定ユニットは、前記センサ組立体(107、207)と、前記センサ組立体が前記ピストンロッドと相対的な所定の位置にある状態で前記測定ユニットが前記薬物投与器具に搭載されることを可能にする連結手段(108、208)とを備え、
前記キャップユニットは、搭載されたリザーバの前記出口(122)を覆うために前記薬物投与器具または前記測定ユニットに着脱自在に搭載されるように構成されている、
請求項5に記載のシステム。 - 計算された薬物の投与量を表示するために前記プロセッサ手段によって制御されるディスプレイ(114、204、304)を備える、請求項5から8のいずれか一項に記載のシステム。
- 前記薬物投与器具は、前記リザーバに収容された特定の薬物タイプまたは特定の薬物投与器具の情報を表現する識別子をさらに備え、
前記測定ユニットは、
前記識別子から情報を捕捉する手段と、
所定の識別子に対して作成される記録であり、薬物の計算投与量に基づいて前記リザーバから放出された薬物の量の記録を作成するために適合している記録手段と、
をさらに備える、
請求項6から9のいずれか一項に記載のシステム。 - 前記識別子は、色である、バーコードの形をしている、または、導電性要素のパターンの形をしている、請求項10に記載のシステム。
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EP11184280.3 | 2011-10-07 | ||
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US (1) | US10155090B2 (ja) |
EP (1) | EP2763722B1 (ja) |
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WO2013050535A2 (en) | 2013-04-11 |
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