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Zero point correction device of angular velocity sensor

An angular velocity sensor and acceleration sensor technology, which is used in measurement devices, velocity/acceleration/shock measurement, instruments, etc., can solve the problems of large and expensive angular velocity sensors, and achieve the effect of avoiding the accumulation of integration errors and having a simple structure.

Inactive Publication Date: 2011-07-06
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this angular velocity sensor is large, heavy and expensive

Method used

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  • Zero point correction device of angular velocity sensor
  • Zero point correction device of angular velocity sensor
  • Zero point correction device of angular velocity sensor

Examples

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Effect test

no. 1 example

[0022] figure 1 A structural block diagram of this embodiment is shown. The angular velocity sensor 10 is provided at a predetermined position in a moving body such as a robot, and detects the angular velocity of the moving body. For example, the angular velocity sensor 10 employs an xyz orthogonal coordinate system as a sensor coordinate system, and detects angular velocities about axes, ie, the x-axis, y-axis, and z-axis. The angular velocity sensor 10 outputs the detected angular velocity to the first comparator 12 .

[0023] The first comparator 12 compares the variation width (fluctuation width) of the input angular velocity with a predetermined range in magnitude. The predetermined range is set by the first setter 14 . The first setter 14 may set a fixed range as the predetermined range. like figure 1 As shown, it is also possible to provide a structure in which the range set by the register 16 is set as a predetermined range, and the user can set a desired range in...

no. 2 example

[0038] Figure 7 A structural block diagram of this embodiment is shown. exist figure 1 In the embodiment of the present invention, the angular velocity from the angular velocity sensor 10 is used for determination related to the stationary state of the robot. However, in the second embodiment, the acceleration from the acceleration sensor provided in the same robot is used for determination related to the stationary state.

[0039] The acceleration sensor 40 detects accelerations in robot axial directions, ie, x-axis, y-axis, and z-axis directions, and outputs the accelerations to the second comparator 42 .

[0040] The second comparator 42 compares the predetermined range set in the third setter 44 with the variation width of the acceleration in magnitude, and outputs the comparison result to the third comparator 48 . The predetermined range is set by the third setter 44 . The third giver 44 may set a fixed range as the predetermined range. like Figure 7 As shown, it ...

no. 3 example

[0043] Figure 8A and 8B A structural block diagram of this embodiment is shown. In the described embodiment, both angular velocity and acceleration are used as standstill related determinations.

[0044] Using angular velocity to determine structures at rest and figure 1 The structures shown are similar. However, the first comparator 12 outputs the comparison result to the combination comparator 50 instead of the static determiner 20 .

[0045] On the other hand, structures that use acceleration to determine a stationary state are the same as Figure 7 The structures shown are similar. However, the third comparator 48 outputs the comparison result to the combined comparator 50 instead of the static determiner 20 .

[0046] The combined comparator 50 inputs the comparison result from the first comparator 12 and the comparison result from the third comparator 48, if the two comparison results are within a certain range, then it is determined that the robot is in a station...

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Abstract

An angular sensor (10) is provided in a mobile body. A first setter (14) performs determination regarding the standstill state on the basis of whether or not the variation width of the angular speed is less than or equal to a predetermined value. A standstill determiner (20) determines whether or not the standstill state has continued beyond a determination time. An n-i sum-total averaging unit (34) calculates a sum-total average of (n-i) number of pieces of data obtained by excluding, from n number of pieces of data input during a period determined as a continuation of the standstill state, i number of pieces of data that are output immediately before the end timing of the period, and determines it as a zero-point offset. A zero-point corrector (36) performs the zero-point correction of the output value of the angular speed sensor (10), and outputs the corrected value to an output unit (28).

Description

technical field [0001] The present invention relates to an angular velocity sensor, in particular to the zero point correction of the angular velocity sensor arranged in a mobile body such as a robot. Background technique [0002] Acceleration sensors and yaw rate sensors are used for attitude control of moving bodies such as robots. When the three orthogonal axes are x-axis, y-axis and z-axis respectively, the acceleration in the direction of the axis is detected by three acceleration sensors, and the yaw rate about the axis is detected by three yaw rate sensors. The angle about the axis, or attitude angle (roll, pitch, and yaw), is obtained by time-integrating the output of the yaw rate sensor. [0003] Japanese Patent Application Publication No. 2004-268730 discloses a technique of attitude control by using acceleration data and attitude data output from a gyro sensor. [0004] However, since the attitude angle is established by the integration of the angular velocity, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
CPCG01P13/00G01C25/005
Inventor 杉原久义野野村裕藤吉基弘
Owner TOYOTA JIDOSHA KK
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