JP2003279350A - Attitude sensor unit for detecting three-dimensional attitude of moving body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem that when an attitude is detected by using only a vibration-type gyro, a three-dimensional attitude is not detected as long as an absolute three-dimensional attitude is unknown, and that the attitude cannot be detected continuously for many hours due to a noise generated by the gyro and due to an accumulation of errors generated in a digital signal processing operation. <P>SOLUTION: In an attitude sensor unit, an output signal of the vibration-type gyro is combined with an output signal of an attitude sensor used to detect the absolute three-dimensional attitude, the absolute three-dimensional attitude in a detection start of the absolute three-dimensional attitude is detected, and the attitude is detected continuously for many hours. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sensor capable of detecting an absolute three-dimensional posture, which is mounted on a moving body system used in a field of gravity.

[0002]

2. Description of the Related Art Conventionally, a vibration gyro is arranged so as to detect angular velocities around three axes in a three-dimensional space, and the detected three-axis angular velocity values are numerically integrated to detect a relative three-dimensional posture. The attitude sensor unit that is used is commonly used. This was practically sufficient for detection of relative three-dimensional postures and continuous detection of postures in a short time.

However, as a key each axis of 0X ₀ Y ₀ Z ₀ coordinate system, the angle between the respective axes of their axes and 0XYZ coordinate system, i.e., when the detection of the absolute three-dimensional position, sensing start There is a drawback that the posture of the moving body cannot be detected unless the absolute three-dimensional posture at that time is known.

When the relative three-dimensional posture is detected by using only the vibration type gyro, the angular velocity value detected by the vibration type gyro is numerically integrated. However, it is digital from the noise generated by the vibration type gyro or an analog signal. Due to quantization error in signal processing such as conversion to signal,
Since the error value is also subject to the integration processing, there is a problem in normal detection of the posture due to the accumulation of errors during continuous detection for a long time.

As a remedy for this, there is a method of using a sensor that detects an absolute three-dimensional posture and has a small directivity of detection sensitivity. However, there is no sensor for realizing this method that detects an absolute posture with small directivity of detection sensitivity.

[0006]

The problem to be solved is that if the absolute three-dimensional posture at the start of detection of the absolute three-dimensional posture is unknown, the three-dimensional posture cannot be detected, and the accumulated error is accumulated. This is a point that cannot continuously detect the posture for a long time due to.

[0007]

According to the present invention, there are provided two vibrating gyros (22) and claim 1, claim 2, claim 3, claim 4, claim 5, and By combining the values of the three-dimensional posture sensor shown in claim 6, it is possible to detect the absolute three-dimensional posture at the start of detection of the absolute three-dimensional posture and the continuous detection of the posture for a long time. And

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Two vibrating gyros (22) are used for the purpose of detecting an absolute three-dimensional posture at the start of detection of an absolute three-dimensional posture and continuously detecting postures for a long time. It is realized by combining and mounting the three-dimensional posture sensors shown in claim 2, claim 3, claim 4, claim 5, claim 5, and claim 6.

[0009]

FIG. 3 is a system configuration diagram of an attitude sensor unit.

The signal processing unit 1 (7) is controlled by the microprocessor (20) and is always 28 of E1 to E28.
Each platinum electrode (3) is sampled, and the electric signal obtained as a result is converted into conduction / non-conduction information, that is, binary information in the signal processing unit 1 (7),
It is stored in the memory (21) of the microprocessor (20). Since the subject of the present invention is the signal processing algorithm, the description of the electric / electronic / computer system is omitted.

The 28 conduction / non-conduction (a) information stored in the memory (21) is stored in the previous 28 conduction / non-conduction (b) information through the same process. If it is compared with the information and the patterns of both are different, (a)
Since a certain three-dimensional posture can be detected from the information of, the judgment is made by the microprocessor (20).

The signal processing unit 2 (8) is controlled by the microprocessor (20) and constantly samples the three silicon semiconductor rod-shaped electrodes (4) e1 to e3, and the resulting analog electric signal is The signal processing unit 2 (8) converts the voltage value information into a digital signal, which is then stored in the memory (21) of the microprocessor (20). Since the subject of the present invention is the signal processing algorithm, the description of the electric / electronic / computer system is omitted.

The voltage value obtained by the signal processing unit 2 (8) is
The length of each silicon semiconductor rod-shaped electrode (9) immersed in the weak electrolytic solution is proportional to the length of the silicon semiconductor rod-shaped electrode (4) immersed in the weak electrolytic solution. By using the value of the length of each electrode immersed in the weak electrolytic solution, the three-dimensional tilt of the weak electrolytic solution surface (2) can be calculated, and as a result, the three-dimensional tilt angle of the spherical container (1), that is, , An absolute three-dimensional posture can be calculated.

28 platinum electrodes E3 to E28 (3),
By utilizing the three semiconductor silicon rod-shaped electrodes (4) of e1 to e3, the measurement range and the measurement sensitivity obtained by both formulas are mutually complemented, and a high sensitivity as an attitude sensor is secured. It greatly helps to reduce the directivity.

When the attitude sensor unit starts to detect the three-dimensional attitude, the angular momentum of each axis of the moving body is changed by the output value of the vibrating gyro (22) so that the weak electrolytic solution in the spherical container (1). When it is determined that the scattering does not occur, the three-dimensional posture is measured using the vibrating gyro (22), the 28 platinum electrode (3), and the silicon semiconductor rod-shaped electrode (4).

In the measurement of the three-dimensional posture within the measurable range only with the silicon semiconductor rod-shaped electrode (4),

The three-dimensional posture is measured by the method (1).

In the measurement of the three-dimensional posture in the range that can be measured only by the 28 platinum electrodes (3) E1 to E28, it is possible to measure only a fixed discrete posture, and the three-dimensional posture between the measurement points. The detection of is complemented by using a value obtained by performing numerical integration processing on the angular velocity value obtained from the vibration gyro (22).

When the attitude sensor unit starts to detect the three-dimensional attitude, the angular momentum of each axis of the moving body is changed by the output value of the vibrating gyro (22) so that the weak electrolytic solution in the spherical container (1). When it is determined that the scatters, the angular velocity value obtained from the vibration type gyro (22) is numerically integrated by using the three-dimensional posture value detected by the posture sensor before that as a numerical value. Detects 3D posture.

[0019]

As described above, a posture sensor capable of detecting an absolute three-dimensional posture and two vibrating gyros (22)
By combining the above, it becomes possible to detect the absolute three-dimensional posture at the time of starting the detection of the absolute three-dimensional posture, and it becomes possible to continuously detect the posture for a long time without accumulating errors. Such features are indispensable for an independent mobile body system and can be applied to an independent biped robot.

[Brief description of drawings]

FIG. 1 shows an electrode arrangement of a posture sensor.

FIG. 2 shows an electrode arrangement of a posture sensor.

FIG. 3 shows an angle to be measured by a posture sensor, and shows an angle that can be detected at the moment when the posture sensor is tilted and the platinum electrode E ₃ is immersed in the liquid surface.

FIG. 4 is an explanatory diagram showing a method of implementing the attitude sensor unit.

[Explanation of symbols]

1 spherical container 2 Weak electrolyte level 3 Platinum electrode 4 Silicon semiconductor rod electrode 5 Platinum base electrode 6 No. 1 electrode 7 Signal processing unit 1 8 Signal processing unit 2 9 differential amplifier 10 amplifiers 11 multiplier 12 encoder 13 Attitude sensor 14 Analog multiplexer 15 Smoothing circuit 16 Schmitt trigger circuit 17 Analog-to-digital converter 18 Digital signal output 19 Digital signal input 20 microprocessors 21 memory 22 Vibration type gyro

Claims (7)

[Claims] 1. A liquid surface (2) of a weak electrolyte contained in a spherical container (1) made of an insulating material, and platinum electrodes E1 to E28 (3) mounted on the spherical container (1). , And the three-dimensional posture angle of the spherical container (1) that can be uniquely determined from the three-dimensional relative positional relationship of the silicon semiconductor rod-shaped electrodes e1 to e3 (4), that is, the three-dimensional posture. 3D attitude sensor. 2. An axis parallel to the direction of gravity passing through the origin 0, with the center of the spherical container (1) as the origin 0 and the liquid surface as the XY plane with the X axis in the direction of the first platinum electrode (6). When the sensor coordinate system having Z axis as the Z-axis is defined as the left-handed coordinate system, as shown in FIG. 1, 28 platinum electrodes E1 to E28 (3),
3. The three-dimensional posture according to claim 1, wherein three silicon semiconductor rod electrodes (4) e1 to e3 are inserted in parallel with the Z axis at the positions of the vertices of an equilateral triangle when the Z axis is the center. Sensor. 3. An axis passing through the origin 0 and parallel to gravity is Z ₀ ,
When the Z-axis of the sensor coordinate system and Z ₀ match, the left-hand coordinate system is defined as an absolute coordinate system in which the axis that matches the X axis is the X ₀ axis and the axis that matches the Y axis is the Y ₀ axis When you do,
When the sensor is tilted as shown in, the angle between the absolute coordinate system having the common origin 0 and each axis of the sensor coordinate system is set as a detection target angle, and
The three-dimensional posture sensor according to claim 2. 4. A base platinum electrode (5) mounted as shown in FIG. 1 on a spherical container (1) and 28 of E1 to E28.
The three-dimensional posture is detected by utilizing a change in impedance between one platinum electrode (3) and three semiconductor silicon rod-shaped electrodes (4) e1 to e3. , Claim 2, and claim 3
Dimensional attitude sensor. 5. The signal processor 1 conducts or does not conduct a change in impedance between a base platinum electrode (5) mounted on a spherical container (1) and 28 platinum electrodes (3) E1 to E28. The constant inclination angle of the spherical container (1) is detected from 28 pieces of information of conduction and non-conduction by converting the information into information, and the constant inclination angle of the spherical container (1) is described. The three-dimensional posture sensor described. 6. The signal processor 2 uses the voltage information to represent the change in impedance between the base platinum electrode (5) mounted on the spherical container (1) and the three semiconductor silicon rod electrodes (4) e1 to e3. The three-dimensional attitude sensor according to claim 1, claim 2, claim 3, claim 4, or claim 5, wherein the tilt angle of the spherical container (1) is calculated from the converted value. . 7. The method according to claim 1, wherein the tilt angle of the spherical container (1) is detected, the method according to claim 2, the method according to claim 3, the method according to claim 4, the method according to claim 5, and the method according to claim 6. A three-dimensional posture of a moving body is detected by combining a three-dimensional posture sensor and two vibrating gyros (22) arranged so as to detect angular velocities around the X-axis and the Y-axis. Attitude sensor unit.