JP6338268B2 - Electronic angle measuring instrument and angle measuring program - Google Patents
Electronic angle measuring instrument and angle measuring program Download PDFInfo
- Publication number
- JP6338268B2 JP6338268B2 JP2014051566A JP2014051566A JP6338268B2 JP 6338268 B2 JP6338268 B2 JP 6338268B2 JP 2014051566 A JP2014051566 A JP 2014051566A JP 2014051566 A JP2014051566 A JP 2014051566A JP 6338268 B2 JP6338268 B2 JP 6338268B2
- Authority
- JP
- Japan
- Prior art keywords
- axis
- point
- unit vector
- alpha
- axial
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000013598 vector Substances 0.000 claims description 35
- 238000012545 processing Methods 0.000 claims description 22
- 238000000034 method Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 description 22
- 230000006870 function Effects 0.000 description 9
- 238000004891 communication Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- RRLHMJHRFMHVNM-BQVXCWBNSA-N [(2s,3r,6r)-6-[5-[5-hydroxy-3-(4-hydroxyphenyl)-4-oxochromen-7-yl]oxypentoxy]-2-methyl-3,6-dihydro-2h-pyran-3-yl] acetate Chemical compound C1=C[C@@H](OC(C)=O)[C@H](C)O[C@H]1OCCCCCOC1=CC(O)=C2C(=O)C(C=3C=CC(O)=CC=3)=COC2=C1 RRLHMJHRFMHVNM-BQVXCWBNSA-N 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 210000001898 sternoclavicular joint Anatomy 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Landscapes
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Description
本発明は、電子測角器及びこれに使用する測角プログラムに関する。特に、空間上で離間した２直線の交叉する角度の測定を可能とする電子測角器と、当該電子測角器での測定角度を求めるためのプログラムに関する。 The present invention relates to an electronic angle measuring instrument and an angle measuring program used therefor. In particular, the present invention relates to an electronic angle measuring device capable of measuring an intersecting angle of two straight lines separated in space and a program for obtaining a measurement angle by the electronic angle measuring device.
従来から角度を容易に測定する道具として分度器が用いられている。かかる分度器は、専ら一平面にある２つの直線の成す角度を測定するために用いられている。 Conventionally, a protractor has been used as a tool for easily measuring an angle. Such a protractor is used exclusively for measuring the angle formed by two straight lines in one plane.
一方、建築構造物における柱と組木等における水平、垂直の管理、あるいは重量機器、精密機器等の設置の際の水平、垂直の管理のために、基準面（線）に対して成す角度を表示する電子傾斜計が用いられている。 On the other hand, the angle formed with respect to the reference plane (line) for horizontal and vertical management of pillars and braids in building structures, or horizontal and vertical management when installing heavy equipment, precision equipment, etc. An electronic inclinometer to display is used.
また、医療施設において、被験者の身体傾斜を測定する角計測器に関する技術が提案されている（特許文献１）。特許文献１に記載の技術は、身体の特定部位に当てられる２つの腕を備え、前記２つの腕の中間に、ジャイロセンサを有する角度計を備える。２つの腕を固定する支持部材を骨盤線と、左右の胸鎖関節を結ぶ直線に順次対応づけて、ジャイロセンサの出力である角速度を積分して、基準線を中心に回転角を特定して、被験者の回旋を測定する装置である。 Moreover, in a medical facility, the technique regarding the angle measuring device which measures a test subject's body inclination is proposed (patent document 1). The technique described in Patent Document 1 includes two arms applied to a specific part of the body, and includes an angle meter having a gyro sensor in the middle of the two arms. The support member that fixes the two arms is sequentially associated with the pelvic line and the straight line connecting the left and right sternoclavicular joints, the angular velocity that is the output of the gyro sensor is integrated, and the rotation angle is specified around the reference line A device for measuring the rotation of a subject.
上記電子傾斜計にあっては、専ら一直線の基準線と成す角度を測定するものである。さらに、特許文献１に記載の装置にあっては、基準線となる支持部材の両端に２つの腕を備え、中央に角度計を備えるものであり、装置が大型化され、特定の身体傾斜角の計測用に特化されている。 In the electronic inclinometer, an angle formed with a straight reference line is exclusively measured. Furthermore, in the apparatus described in Patent Document 1, two arms are provided at both ends of a support member serving as a reference line, and an angle meter is provided at the center. The apparatus is increased in size and has a specific body inclination angle. It is specialized for measuring.
したがって、空間上に離れた２軸の成す角度の計測を可能とし、しかも小型携帯可能の装置でかかる測定を可能とするものは、これまでに提案されていない。 Therefore, there has not been proposed so far that it is possible to measure an angle formed by two axes separated in space, and to enable such measurement with a small portable device.
よって、本願発明の目的は、第１に小型携帯可能で、空間上任意の２直線の成す角度を計測可能とする電子測角器を提供することにある。さらに、かかる小型携帯機器にインストールされて、電子測角器として空間上任意の２直線の成す角度を計測可能とするプログラムを提供することにある。 Accordingly, an object of the present invention is to provide an electronic angle measuring instrument that is firstly portable and capable of measuring an angle formed by two arbitrary straight lines in space. Another object of the present invention is to provide a program that can be installed in such a small portable device and can measure an angle formed by two straight lines in space as an electronic angle measuring device.
上記課題を解決するための本発明に従う電子測角器は、一の側面として、少なくとも、一の直線辺とディスプレイ面を有する筐体と、前記筐体内に、前記筐体の姿勢情報を出力するセンサと、前記センサにより出力される前記筐体の姿勢情報に基づき、２軸の成す角度を算出する処理手段を有する。前記処理手段は、前記筐体の一の直線辺が第１の軸に対応づけられるとき、前記センサの姿勢情報に基づき、前記第１の軸をＹ軸とした世界座標系を求め、前記センサは、前記筐体の一の直線辺が第２の軸に対応づけられるとき、前記第２の軸方向と、前記第２の軸上の一の点の、前記世界座標系における空間座標を計測し、前記処理手段は、前記第２の軸方向により第２の軸の直線の式を求めて、前記第２の軸の方向が、前記世界座標系のＸＹＺ各軸と平行であるか否かを判定し、前記第２の軸の方向が、前記世界座標系のＸＹＺ各軸と平行で無い場合、前記処理手段は、前記Ｙ軸に対応する第１の軸と前記第２の軸に直交する軸を算出し、さらに、前記処理手段は、前記第２の軸上の一の点と、これを前記第１の軸に投影した点を結ぶ直線を、前記第１の軸と前記第２の軸に直交する軸に射影して、前記第１の軸と第２の軸との距離を算出し、前記第１の軸と第２の軸を回転軸としたときの前記第１の軸と第２の軸の成す角度を算出することを特徴とする。 An electronic angle measuring instrument according to the present invention for solving the above-mentioned problems outputs, as one side, a housing having at least one straight side and a display surface, and posture information of the housing in the housing. A sensor and processing means for calculating an angle formed by the two axes based on the attitude information of the casing output by the sensor. The processing means obtains a world coordinate system having the first axis as a Y-axis based on attitude information of the sensor when one straight side of the housing is associated with the first axis, and the sensor Measures the spatial coordinates in the world coordinate system of the second axis direction and one point on the second axis when one linear side of the housing is associated with the second axis. The processing means obtains a linear equation of the second axis based on the second axis direction, and whether the direction of the second axis is parallel to the XYZ axes of the world coordinate system. If the direction of the second axis is not parallel to the XYZ axes of the world coordinate system, the processing means is orthogonal to the first axis and the second axis corresponding to the Y axis. In addition, the processing means directly connects one point on the second axis and a point projected on the first axis. Is projected onto an axis orthogonal to the first axis and the second axis, and a distance between the first axis and the second axis is calculated, and the first axis and the second axis are calculated. An angle formed between the first axis and the second axis when the rotation axis is used is calculated.
さらに、前記一の側面において、前記処理手段は、前記第１の軸と前記第２の軸に直交する軸は、前記第１の軸のベクトルと第２のベクトルとの外積により求めること特徴とする。 Further, in the one aspect, the processing means obtains an axis orthogonal to the first axis and the second axis by an outer product of the vector of the first axis and the second vector; To do.
また、前記一の側面において、前記処理手段は、前記第２の軸上の一の点と、これを前記第１の軸に投影した点を結ぶ直線ベクトルと前記第１の軸と前記第２の軸に直交する軸の単位ベクトルとの内積により、前記第１の軸と第２の軸との距離を算出することを特徴とする。 Further, in the one aspect, the processing means includes a linear vector that connects one point on the second axis, a point obtained by projecting the point on the first axis, the first axis, and the second axis. The distance between the first axis and the second axis is calculated by the inner product of the unit vector of the axis orthogonal to the axis.
さらにまた、前記一の側面において、前記ディスプレイ面に、前記算出された前記第１の軸と第２の軸との距離及び前記第１の軸と第２の軸の成す角度を表示することを特徴とする。 Still further, in the one aspect, displaying the calculated distance between the first axis and the second axis and the angle formed by the first axis and the second axis on the display surface. Features.
上記本発明の特徴構成により、空間上に離れた２軸の成す角度の計測を容易とする携帯可能の小型機器が提供される。これにより、建築関係、医療関係等において、広範囲の利用応用が可能である電子測角器が得られる。 With the above-described characteristic configuration of the present invention, a portable small device that facilitates measurement of an angle formed by two axes separated in space is provided. As a result, an electronic angle measuring instrument that can be used in a wide range of applications in architectural, medical, and the like can be obtained.
以下図面に従い、本発明原理に基づく電子測角器の実施例を説明する。なお、実施例説明は、本発明の理解のためであり、本発明の保護の範囲は、これら実施例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もの、及びこれに近似するものにも及ぶ。 Embodiments of an electronic angle measuring device based on the principle of the present invention will be described below with reference to the drawings. The description of the embodiments is for the purpose of understanding the present invention, and the scope of protection of the present invention is not limited to these embodiments, and what is described in the claims and approximates this. It extends to things.
図１は、本発明に従う電子測角器１の機器構成の一実施例概念図である。図１において、（Ａ）は機器正面図、（Ｂ）は側面図、及び（Ｃ）は上面図である。電子測角器は、少なくとも機器正面にタッチパネル機能を有するディスプレイ面１０を有し、少なくとも機器の一側面は直線状の辺１１（強調のため太線で表示している）を有する。 FIG. 1 is a conceptual diagram of an embodiment of the equipment configuration of an electronic angle measuring instrument 1 according to the present invention. In FIG. 1, (A) is a front view of the device, (B) is a side view, and (C) is a top view. The electronic angle measuring instrument has a display surface 10 having a touch panel function at least on the front surface of the device, and at least one side surface of the device has a straight side 11 (shown by a thick line for emphasis).
さらに、機器側面等には電子測角器１に電源を投入・遮断する図示しないパワースイッチが設けられる。 Further, a power switch (not shown) for turning on / off the power to the electronic angle measuring instrument 1 is provided on the side of the device.
電子測角器１の内部には、図２により説明する本発明の機能を実現する回路構成が実装されている。 図２は、かかる電子測角器１の回路構成の一実施例機能ブロックを示す図である。バス（ＢＵＳ）を通して、それぞれの機能ブロックが接続されている。 A circuit configuration for realizing the function of the present invention described with reference to FIG. FIG. 2 is a diagram showing an example functional block of the circuit configuration of the electronic angle measuring instrument 1. Each functional block is connected through a bus (BUS).
ＣＰＵ３は、処理手段であって、書込み、消去可能なＥＰＲＯＭ４に格納されるプログラムを実行して本発明に従う角度計測の演算処理を実行する。ＲＡＭ５は、ＣＰＵ２による演算過程のデータを一時保持するメモリである。 The CPU 3 is processing means, and executes an angle measurement calculation process according to the present invention by executing a program stored in the writable / erasable EPROM 4. The RAM 5 is a memory that temporarily holds data of a calculation process performed by the CPU 2.
ＣＰＵ３により演算処理されてディスプレイ２のディスプレイ面１０に表示する画像が描画されるビデオメモリ（ＶＲＡＭ）６を有し、ＶＲＡＭ６に描画された画像データは、ディスプレイ２に所定周期で読み出されてディスプレイ面１０上に表示される。 It has a video memory (VRAM) 6 in which an image processed by the CPU 3 and displayed on the display surface 10 of the display 2 is drawn, and image data drawn in the VRAM 6 is read to the display 2 at a predetermined cycle and displayed. Displayed on the surface 10.
また、ディスプレイ面１０は、静電容量を利用するタッチセンサが形成されており、インタフェース７を通して、タッチセンサで検知されるセンサ位置に対応する入力信号がＣＰＵ３に入力される。 Further, the display surface 10 is formed with a touch sensor using electrostatic capacity, and an input signal corresponding to a sensor position detected by the touch sensor is input to the CPU 3 through the interface 7.
内蔵センサ８は、種々の機能センサであり、本発明に対応して、機器の移動、傾き等を検知するための、ＭＥＭＳで形成されたジャイロや加速度センサを有する。 The built-in sensor 8 is a variety of functional sensors, and includes a gyroscope and an acceleration sensor formed of MEMS for detecting movement, inclination, and the like of the device in accordance with the present invention.
無線通信部９は、ＣＰＵ３による演算結果を送出する送信機能部である。ここで、電子測角器として専用の特定機器により構成しても良く、ＥＥＰＲＯＭ４に適宜プログラムのインストールが可能であって、且つ電話通信機能、インターネット通信機能を合わせ持つ機器として、いわゆるスマートフォンにより実現することも可能である。 The wireless communication unit 9 is a transmission function unit that sends out a calculation result by the CPU 3. Here, the electronic angle measuring device may be configured by a dedicated specific device, and the program can be appropriately installed in the EEPROM 4 and realized by a so-called smartphone as a device having both a telephone communication function and an Internet communication function. It is also possible.
後者の機能を有する場合は、無線通信部９は、かかる電話通信機能、インターネット通信機能を実現する機能部である。 In the case of having the latter function, the wireless communication unit 9 is a functional unit that realizes the telephone communication function and the Internet communication function.
図３は、図２に例示した構成例の電子測角器１の処理手順を説明する実施例動作フロー図である。 FIG. 3 is an operation flowchart for explaining the processing procedure of the electronic angle measuring instrument 1 having the configuration example illustrated in FIG.
以下、本発明に従う電子測角器１の処理動作をこの動作フローに対応して説明する。 Hereinafter, the processing operation of the electronic angle measuring instrument 1 according to the present invention will be described in correspondence with this operation flow.
[ステップＳ１]
電子測角器１の電源を投入し、あるいはスマートフォンにおいて、本発明の測角プログラムを起動すると、ＣＰＵ３により初期画面データが生成され、ＶＲＡＭ６に初期画面データが描画され、所定周期で読み出されて、ディスプレイ面１０に初期画面が表示される。
[Step S1]
When the electronic angle measuring instrument 1 is turned on or the angle measuring program of the present invention is started on the smartphone, the initial screen data is generated by the CPU 3, the initial screen data is drawn in the VRAM 6, and read out at a predetermined cycle. The initial screen is displayed on the display surface 10.
図４は、かかる初期画面の一例を表示する図であり、ディスプレイ面１０上にプログラムのアドバタイズ画像と計測開始を指示する計測開始ボタン２０が表示される。 FIG. 4 is a diagram for displaying an example of such an initial screen, and an advertisement image of the program and a measurement start button 20 for instructing measurement start are displayed on the display surface 10.
[ステップＳ２]
ディスプレイ面１０の初期画面に有する計測開始ボタン２０を測定者がタッチする。ディスプレイ面１０のタッチセンサはこれを検知してインタフェース７を通してＣＰＵ３に検知信号を送る。
[Step S2]
The measurer touches the measurement start button 20 on the initial screen of the display surface 10. The touch sensor on the display surface 10 detects this and sends a detection signal to the CPU 3 through the interface 7.
ＣＰＵ３は、前記検知信号を受けて、図６に示す計測スクリーンをディスプレイ２のディスプレイ面１０に表示させる。さらに、ＣＰＵ３は、内蔵センサ８を起動させる。 In response to the detection signal, the CPU 3 displays the measurement screen shown in FIG. 6 on the display surface 10 of the display 2. Further, the CPU 3 activates the built-in sensor 8.
内蔵センサ８は、図５に示すように、電子測角器１の起動時の姿勢を世界座標系として初期起動する。Ｙ軸方向に電子測角器１の長辺方向即ち、辺１１の方向が対応し、Ｘ軸方向に電子測角器１の短辺方向が対応づけられる。 As shown in FIG. 5, the built-in sensor 8 is initially activated with the attitude at the time of activation of the electronic angle measuring instrument 1 as the world coordinate system. The long side direction of the electronic angle measuring instrument 1, that is, the direction of the side 11, corresponds to the Y axis direction, and the short side direction of the electronic angle measuring instrument 1 corresponds to the X axis direction.
この世界座標系と電子測角器１の関係は、後に再設定が行われるために、ディスプレイ面１０上に表示される図６に示す計測スクリーンにおいて、計測数値は表示さない。図６に示すように、計測スクリーンには、基準設定ボタン５１及び計測ボタン５２の位置が表示される。 Since the relationship between the world coordinate system and the electronic angle measuring instrument 1 is reset later, the measurement numerical value is not displayed on the measurement screen shown in FIG. 6 displayed on the display surface 10. As shown in FIG. 6, the positions of the reference setting button 51 and the measurement button 52 are displayed on the measurement screen.
[ステップＳ３]
ここで、空間上の２つの軸、例えば柱と什器の辺との成す角度を求めようとするときは、柱と什器のそれぞれの辺をＡ軸、Ｂ軸として考える。計測者は、先ず電子測角器１の辺１１をＡ軸に沿って対応づける。この様子が、図７に示される。電子測角器１のディスプレイ面１０を計測者側に向けて、柱の辺線、即ちＡ軸に電子測角器１の辺１１を対応させる。
[Step S3]
Here, when it is going to obtain | require the angle which two axes | shafts in space, for example, the pillar and the side of a fixture, find, the sides of a pillar and a fixture are considered as an A axis and a B axis. The measurer first associates the side 11 of the electronic angle measuring instrument 1 along the A axis. This is shown in FIG. The display surface 10 of the electronic angle measuring instrument 1 is directed toward the measurer, and the side 11 of the electronic angle measuring instrument 1 is made to correspond to the side line of the column, that is, the A axis.
[ステップＳ４]
図８（Ａ）に示す様に電子測角器１の辺１１がＡ軸に対応づけられると内蔵センサ８は、Ａ軸をＹ軸として図８（Ｂ）に示す様に世界座標系（右手系ＸＹＺ座標系）データを生成する。計測者が、計測スクリーン（図６）における基準設定ボタン５１をタッチすると、図８（Ｂ）に示す様に、ＣＰＵ３は、内蔵センサ８の出力に基づき、Ａ軸をＹ軸として世界座標系を再設定し、ＲＡＭ５に再設定データが保持される。
[Step S4]
When the side 11 of the electronic angle measuring instrument 1 is associated with the A axis as shown in FIG. 8A, the built-in sensor 8 uses the world coordinate system (right hand) as shown in FIG. System XYZ coordinate system) data is generated. When the measurer touches the reference setting button 51 on the measurement screen (FIG. 6), as shown in FIG. 8B, the CPU 3 sets the world coordinate system with the A axis as the Y axis based on the output of the built-in sensor 8. The resetting data is held in the RAM 5.
[ステップＳ５]
ついで、計測者は、什器の縁辺であるＢ軸に電子測角器１の辺１１を対応づける。この様子が、図９に示される。
[Step S5]
Next, the measurer associates the side 11 of the electronic angle measuring instrument 1 with the B axis that is the edge of the fixture. This is shown in FIG.
[ステップＳ６]
図１０（Ａ）に示す様に、電子測角器１の辺１１がＢ軸に対応づけられると、機器内蔵センサ８は、Ｂ軸上の一点αの世界座標系の座標値を求め出力する。図では、点αは、電子測角器１の一頂角が対応している。
[Step S6]
As shown in FIG. 10A, when the side 11 of the electronic angle measuring instrument 1 is associated with the B axis, the device built-in sensor 8 calculates and outputs the coordinate value of the world coordinate system of one point α on the B axis. . In the figure, the point α corresponds to the apex angle of the electronic angle measuring instrument 1.
計測者が計測スクリーン（図６）における計測ボタン５２をタッチすると、ＣＰＵ３は、内蔵センサ８からの座標値を受け、世界座標系におけるＢ軸の直線の式を求める。 When the measurer touches the measurement button 52 on the measurement screen (FIG. 6), the CPU 3 receives the coordinate value from the built-in sensor 8 and obtains the formula of the B-axis straight line in the world coordinate system.
この時、Ｂ軸の方向ベクトル(Vector_B)は、内蔵センサ８のジャイロセンサの姿勢変化から与え、Ｂ軸上の点αは内蔵センサ８の３軸加速度計に基づく偏位の積算で与える。 At this time, the B-axis direction vector (Vector_B) is given from the attitude change of the gyro sensor of the built-in sensor 8, and the point α on the B-axis is given by the integration of displacement based on the triaxial accelerometer of the built-in sensor 8.
空間座標系のＸＹＺ各軸と平行で無い場合は、Ｂ軸の直線は次式のように与えられる。 When not parallel to the XYZ axes of the spatial coordinate system, the straight line of the B axis is given by the following equation.
図１０（Ｂ）は、上記式に対応して世界座標系（Ｘ、Ｙ、Ｚ）とＢ軸の直線との関係を示す図である。 FIG. 10B is a diagram showing the relationship between the world coordinate system (X, Y, Z) and the B-axis straight line corresponding to the above equation.
[ステップ７]
上記によりＢ軸の直線の式が求められると、図１１に示す様にＣＰＵ３は、Ｂ軸の方向をディスプレイ面１０の計測スクリーン上の表示エリア５３に、Ｘ軸、Ｙ軸、Ｚ軸に対応して各軸方向のベクトル値を表示する。これにより、ＸＹＺ各軸とＢ軸が平行であるかが識別可能である。 例えば、Ｘ軸、Ｚ軸方向ベクトルが０であれば、Ｙ軸に平行である。
[Step 7]
When the formula for the B-axis straight line is obtained as described above, the CPU 3 corresponds to the display area 53 on the measurement screen of the display surface 10 and the X-axis, Y-axis, and Z-axis as shown in FIG. The vector value in each axis direction is displayed. Thereby, it is possible to identify whether the XYZ axes and the B axis are parallel. For example, if the X-axis and Z-axis direction vectors are 0, they are parallel to the Y axis.
なお、この表示エリア５３のＢ軸のベクトル表示は、後に説明する表示エリア５４の距離算出と同時に表示するようにしてもよい。 The B-axis vector display in the display area 53 may be displayed simultaneously with the distance calculation of the display area 54 described later.
[ステップＳ８]
ＣＰＵ３は、Ｂ軸がＸＹＺ軸と平行な場合と平行で無い場合とを分ける。
[Step S8]
The CPU 3 separates the case where the B axis is parallel to the XYZ axis and the case where it is not parallel.
ステップＳ７で、Ｂ軸がＸ軸またはＺ軸と平行な場合は、求めるＡ軸（世界座標系Ｙ軸）とＢ軸の成す角度は９０度（直角）である。また、Ｙ軸と平行な場合は０度である。 If the B-axis is parallel to the X-axis or the Z-axis in step S7, the angle formed by the A-axis (world coordinate system Y-axis) and the B-axis is 90 degrees (right angle). Further, it is 0 degree when parallel to the Y axis.
一方、図１０（Ｂ）に示す様にＢ軸がＸＹＺ各軸のいずれにも平行でない場合、Ａ軸（世界座標系Ｙ軸：図８参照）とＢ軸に直交するＣ軸方向（図１３）を算出する。 On the other hand, as shown in FIG. 10B, when the B axis is not parallel to any of the XYZ axes, the A axis (world coordinate system Y axis: see FIG. 8) and the C axis direction orthogonal to the B axis (FIG. 13). ) Is calculated.
ここで、Ａ軸方向の単位ベクトル：Ａ→＝（０，１，０）、及びＢ軸方向の単位ベクトル：Ｂ→＝（Ｂｘ，Ｂｙ，Ｂｚ）である。このときＡ軸とＢ軸に直交するＣ軸の方向は、単位ベクトルＡ→と単位ベクトルＢ→の外積により求めることができる。 Here, the unit vector in the A-axis direction: A → = (0, 1, 0), and the unit vector in the B-axis direction: B → = (Bx, By, Bz). At this time, the direction of the C-axis orthogonal to the A-axis and the B-axis can be obtained by the outer product of the unit vector A 1 → and the unit vector B 2 → .
すなわち、Ａ→×Ｂ→＝（Ｂｚ，０，−Ｂｘ）
またここで、単位ベクトルＡ→と単位ベクトルＢ→のなす角度をθとすると、上記外積の大きさは以下のように表される。
That is, A → × B → = (Bz, 0, −Bx)
Here, if the angle formed by the unit vector A → and the unit vector B → is θ, the size of the outer product is expressed as follows.
｜Ａ→×Ｂ→｜＝｜Ａ→｜｜Ｂ→｜sinθ＝sinθ
上の２つの式から、 sinθ＝√（Ｂｘ2＋Ｂｚ2）である、これからＡ軸とＢ軸のなす角度θを求めることができる。
| A → × B → | = | A → || B → | sinθ = sinθ
From the above two equations, sin θ = √ (Bx 2 + Bz 2 ). From this, the angle θ formed by the A axis and the B axis can be obtained.
[ステップＳ９]
次にＣＰＵ３は、前記Ｂ軸の点αと、点αをＡ軸に投影した点α’の２点を結ぶ直線ＤをＣ軸に射影してＡ、Ｂ軸間の距離ｄを算出する。さらに、上記ステップＳ８で求められたＡ軸とＢ軸のなす角度θと、算出した距離ｄとを計測スクリーンの表示エリア５４（図１１）に表示する。
[Step S9]
Next, the CPU 3 calculates a distance d between the A and B axes by projecting a straight line D connecting the two points of the point B of the B axis and the point α ′ obtained by projecting the point α on the A axis to the C axis. Further, the angle θ formed between the A axis and the B axis obtained in step S8 and the calculated distance d are displayed in the display area 54 (FIG. 11) of the measurement screen.
ここで、図１３に示す、Ａ、Ｂ軸間の距離ｄの算出について更に説明する。 Here, the calculation of the distance d between the A and B axes shown in FIG. 13 will be further described.
Ｂ軸上の点：α→＝（ＸB，ＹB，ＺB）,Ａ軸上への投影点： α’→＝（０，ＹB，０）とすると、Ｃ軸方向の単位ベクトル： Ｃ→＝Ａ→×Ｂ→／sinθ＝（Ｂｚ，０，−Ｂｘ）／√（Ｂｘ2＋Ｂｚ2）で表される。 Point on the B axis: α → = (XB, YB, ZB), projection point on the A axis: α ′ → = (0, YB, 0), unit vector in the C axis direction: C → = A → × B → / sin θ = (Bz, 0, −Bx) / √ (Bx 2 + Bz 2 )
点αと点α’を結ぶベクトル： Ｄ→＝α→−α’→＝（ＸB，０，ＺB）であり、このときＡ軸とＢ軸間の距離ｄは、ベクトルＤ→と単位ベクトルＣ→の内積によって求められる。すなわち、
ｄ＝Ｄ→・Ｃ→＝（ＢｚＸB−ＢｘＺB）／√（Ｂｘ2＋Ｂｚ2）となる。
Vector connecting point α and point α ′: D → = α → −α ′ → = (XB, 0, ZB). At this time, the distance d between the A axis and the B axis is the vector D → and the unit vector C. It is calculated by the inner product of → . That is,
d = D → · C → = a (BzXB-BxZB) / √ ( Bx 2 + Bz 2).
以上説明したように、本発明にしたがう電子測角器は、空間上離間した２つ線の成す角度を容易に計測することが可能である。 As described above, the electronic angle measuring device according to the present invention can easily measure the angle formed by two lines separated in space.
さらに、本発明に従うプログラムをスマートフォンにインストールすることにより、容易に当該スマートフォンを電子測角器として使用することが可能である。 Furthermore, by installing the program according to the present invention on a smartphone, it is possible to easily use the smartphone as an electronic angle measuring device.
上記により、本発明の電子測角器を用いて、空間上の２軸の成す角度及び２軸間の距離を容易に計測することが可能であり、計測対象とする２軸は、何ら適用を制限されること無く建築、医療等広範囲の分野において使用が可能である。 From the above, it is possible to easily measure the angle between two axes in space and the distance between the two axes using the electronic angle measuring instrument of the present invention. Without being restricted, it can be used in a wide range of fields such as architecture and medical care.
また、通信機能を備えることにより、計測した角度データを遠隔値に送ることも可能である。 Further, by providing a communication function, the measured angle data can be sent to a remote value.
１ 電子測角器
２ ディスプレイ
３ ＣＰＵ
４ ＥＥＰＲＯＭ
５ ＲＡＭ
６ ＶＲＡＭ
７ インタフェース
８ 内蔵センサ
９ 無線通信部
１０ ディスプレイ面
１１ 電子測角器の直線辺
1 Electronic angle measuring device 2 Display 3 CPU
4 EEPROM
5 RAM
6 VRAM
7 Interface 8 Built-in sensor 9 Wireless communication unit 10 Display surface 11 Linear side of electronic angle measuring instrument
Claims (7)
前記筐体内に、前記筐体の姿勢情報を出力するセンサと、前記センサにより出力される前記筐体の姿勢情報に基づき、空間上の２軸の成す角度を算出する処理手段を有し、
前記処理手段は、前記筐体の一の直線辺が第１の軸に対応づけられるとき、前記センサの姿勢情報に基づき、前記第１の軸をＹ軸とした世界座標系を求め、
前記センサは、前記筐体の一の直線辺が第２の軸に対応づけられるとき、前記第２の軸方向と、前記第２の軸上の一の点の、前記世界座標系における空間座標を計測し、
前記処理手段は、前記第２の軸方向により第２の軸の直線の式を求めて、前記第２の軸方向が、前記世界座標系のＸＹＺ各軸と平行であるか否かを判定し、
前記第２の軸の方向が、前記世界座標系のＸＹＺ各軸と平行で無い場合、前記処理手段は、前記第１の軸との第２の軸の成す角度を算出する、
ことを特徴とする電子測角器。 A housing having at least one straight side and a display surface;
In the housing, there is a sensor that outputs posture information of the housing, and a processing unit that calculates an angle formed by two axes in space based on the posture information of the housing that is output by the sensor.
The processing means obtains a world coordinate system having the first axis as the Y axis based on the posture information of the sensor when one straight side of the housing is associated with the first axis.
The sensor has spatial coordinates in the world coordinate system of the second axis direction and one point on the second axis when one linear side of the housing is associated with a second axis. Measure
The processing means obtains an expression of a straight line of the second axis based on the second axis direction, and determines whether the second axis direction is parallel to the XYZ axes of the world coordinate system. ,
When the direction of the second axis is not parallel to the XYZ axes of the world coordinate system, the processing means calculates an angle formed by the second axis with the first axis.
An electronic angle measuring instrument.
前記処理手段は、
前記第１の軸方向の単位ベクトルと、前記第２の軸方向の単位ベクトルの外積により、前記第１の軸と第２の軸に直交する軸方向を求め、
さらに、前記第１の軸方向の単位ベクトルと前記第２の軸方向の単位ベクトルのなす角度を、前記第１の軸方向の単位ベクトルと、前記第２の軸方向の単位ベクトルとの外積により求める、
ことを特徴とする電子測角器。 In claim 1,
The processing means includes
An axial direction perpendicular to the first axis and the second axis is obtained by an outer product of the unit vector in the first axial direction and the unit vector in the second axial direction,
Further, an angle formed by the first axial unit vector and the second axial unit vector is determined by an outer product of the first axial unit vector and the second axial unit vector. Ask,
An electronic angle measuring instrument.
前記処理手段は、
前記第２の軸上の点αと、前記点αを前記第１の軸に投影した点α’の２点を結ぶ直線を前記第１の軸と第２の軸に直交する軸に射影して前記第１の軸と前記第２の軸との距離ｄを求める、この際、前記距離ｄを、
前記第１の軸と第２の軸に直交する軸の単位ベクトルと、前記第２の軸上の点αと前記点αを前記第１の軸に投影した点α’の２点を結ぶ直線の単位ベクトルの内積によって算出する、
ことを特徴とする電子測角器。 In claim 2,
The processing means includes
And the point alpha on the second shaft, projecting the point alpha to the axis orthogonal to said straight line connecting the two points first axis and the second axis of the first point projected in the axial alpha ' To determine a distance d between the first axis and the second axis , wherein the distance d is
A straight line connecting two points of the first axis and the unit vector of the axis perpendicular to the second axis, the second point the point on the axis alpha and the point alpha projected onto the first axis alpha ' Calculated by the inner product of unit vectors of
An electronic angle measuring instrument.
前記ディスプレイ面に、前記算出された前記第１の軸と第２の軸との距離及び前記第１の軸と第２の軸の成す角度を表示する、
ことを特徴とする電子測角器。 In any one of Claims 1 thru | or 3,
Displaying the calculated distance between the first axis and the second axis and the angle formed by the first axis and the second axis on the display surface;
An electronic angle measuring instrument.
前記処理手段により、前記筐体の一の直線辺が第１の軸に対応づけられるとき、前記センサの姿勢情報に基づき、前記第１の軸をＹ軸とした世界座標系を求める工程と、
前記センサにより、前記筐体の一の直線辺が第２の軸に対応づけられるとき、前記第２の軸方向と、前記第２の軸上の一の点の、前記世界座標系における空間座標を計測する工程と、
前記処理手段により、前記第２の軸方向により第２の軸の直線の式を求めて、前記第２の軸の方向が、前記世界座標系のＸＹＺ各軸と平行であるか否かを判定し、前記第２の軸の方向が、前記世界座標系のＸＹＺ各軸と平行で無い場合、前記第１の軸と、前記第２の軸の成す角度を算出する工程を実行させる、
ことを特徴とするプログラム。 Based on at least one casing having a straight side and a display surface, a sensor that outputs the attitude information of the casing in the casing, and the attitude information of the casing that is output by the sensor. have a processing means for calculating the angle, a program stored in a memory which is provided in an electronic goniometer measuring the angle between the two axes in space,
Obtaining a world coordinate system with the first axis as the Y axis based on the attitude information of the sensor when the processing means associates one linear side of the housing with the first axis;
When one linear side of the housing is associated with the second axis by the sensor, the spatial coordinates in the world coordinate system of the second axis direction and one point on the second axis The process of measuring
The processing means obtains a straight line equation of the second axis from the second axis direction, and determines whether the direction of the second axis is parallel to the XYZ axes of the world coordinate system. When the direction of the second axis is not parallel to the XYZ axes of the world coordinate system, a step of calculating an angle formed by the first axis and the second axis is executed.
A program characterized by that.
前記処理手段により、
前記第１の軸方向の単位ベクトルと、前記第２の軸方向の単位ベクトルの外積により、前記第１の軸と第２の軸に直交する軸方向を求める工程と、
さらに、前記第１の軸方向の単位ベクトルと前記第２の軸方向の単位ベクトルのなす角度を、前記第１の軸方向の単位ベクトルと、前記第２の軸方向の単位ベクトルとの外積により求める工程を実行させる、
ことを特徴とするプログラム。 In claim 5,
By the processing means,
Obtaining an axial direction orthogonal to the first axis and the second axis by an outer product of the unit vector in the first axial direction and the unit vector in the second axial direction;
Further, an angle formed by the first axial unit vector and the second axial unit vector is determined by an outer product of the first axial unit vector and the second axial unit vector. Execute the desired process,
A program characterized by that.
前記処理手段により、
前記第２の軸上の点αと、前記点αを前記第１の軸に投影した点α’の２点を結ぶ直線を前記第１の軸と第２の軸に直交する軸に射影して前記第１の軸と前記第２の軸との距離ｄを求めさせる、この際、前記距離ｄを、
前記第１の軸と第２の軸に直交する軸の単位ベクトルと、前記第２の軸上の点αと前記点αを前記第１の軸に投影した点α’の２点を結ぶ直線の単位ベクトルの内積によって算出させる、
ことを特徴とするプログラム。 In claim 6,
By the processing means,
And the point alpha on the second shaft, projecting the point alpha to the axis orthogonal to said straight line connecting the two points first axis and the second axis of the first point projected in the axial alpha ' To determine a distance d between the first axis and the second axis , wherein the distance d is
A straight line connecting two points of the first axis and the unit vector of the axis perpendicular to the second axis, the second point the point on the axis alpha and the point alpha projected onto the first axis alpha ' Calculated by the inner product of unit vectors of
A program characterized by that.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014051566A JP6338268B2 (en) | 2014-03-14 | 2014-03-14 | Electronic angle measuring instrument and angle measuring program |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014051566A JP6338268B2 (en) | 2014-03-14 | 2014-03-14 | Electronic angle measuring instrument and angle measuring program |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2015175697A JP2015175697A (en) | 2015-10-05 |
| JP6338268B2 true JP6338268B2 (en) | 2018-06-06 |
Family
ID=54255016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2014051566A Active JP6338268B2 (en) | 2014-03-14 | 2014-03-14 | Electronic angle measuring instrument and angle measuring program |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP6338268B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112857302B (en) * | 2019-11-28 | 2022-02-11 | 中国商用飞机有限责任公司 | Angle measuring method and method for drawing angle line |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE29522352U1 (en) * | 1995-12-12 | 2002-07-18 | Prüftechnik Dieter Busch AG, 85737 Ismaning | Position measuring probe for the mutual alignment of bodies |
| JP3394979B2 (en) * | 1998-05-12 | 2003-04-07 | 学校法人立命館 | Method and apparatus for measuring joint angle |
| US8462109B2 (en) * | 2007-01-05 | 2013-06-11 | Invensense, Inc. | Controlling and accessing content using motion processing on mobile devices |
-
2014
- 2014-03-14 JP JP2014051566A patent/JP6338268B2/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| JP2015175697A (en) | 2015-10-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| TWI647595B (en) | Body posture detection system, wearable device and method | |
| KR100533106B1 (en) | Attitude error compensation system of fluxgate and method thereof | |
| US20070287911A1 (en) | Method and device for navigating and positioning an object relative to a patient | |
| US8614670B2 (en) | Input device and data processing system | |
| CN102997913B (en) | For determining method and the device of gestures of object | |
| JP4967858B2 (en) | Calibration method and apparatus between camera and robot | |
| WO2008068542A1 (en) | Auto-calibration method for sensors and auto-calibrating sensor arrangement | |
| JP4590511B2 (en) | Electronic compass | |
| JP2015085475A (en) | Information processing unit, and information processing method | |
| JP5640716B2 (en) | Information processing apparatus and information processing system | |
| US20150286279A1 (en) | Systems and methods for guiding a user during calibration of a sensor | |
| JP2019078560A (en) | Gyro sensor offset correcting device, offset correction program, and pedestrian autonomous navigation device | |
| JP2016033473A (en) | Position calculation method and position calculation device | |
| US20150084897A1 (en) | System and method for five plus one degree-of-freedom (dof) motion tracking and visualization | |
| CN110101388A (en) | A kind of portable backbone measuring instrument and method based on MIMU | |
| JP5870656B2 (en) | Trajectory calculation device and trajectory calculation method | |
| JPH11211474A (en) | Attitude angle detecting device | |
| JP6338268B2 (en) | Electronic angle measuring instrument and angle measuring program | |
| JP2016002445A (en) | Surgical instrument position attitude measuring apparatus | |
| US20170242051A1 (en) | Gyroscope-free orientation measurement using accelerometers and magnetometer | |
| KR20090106767A (en) | Apparatus and method for pointing in three dimensions | |
| JP2009186244A (en) | Tilt angle estimation system, relative angle estimation system, and angular velocity estimation system | |
| JPH10267651A (en) | Method and instrument for measuring inclination | |
| JP2013185898A (en) | State estimation device | |
| TW201024684A (en) | System and method for measuring tilt using lowest degrees of freedom of accelerometer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20170224 |
|
| A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20171213 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20180206 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20180330 |
|
| TRDD | Decision of grant or rejection written | ||
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20180424 |
|
| A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20180507 |
|
| R150 | Certificate of patent or registration of utility model |
Ref document number: 6338268 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |