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Posture Estimation Method, Posture Estimation Device, And Movable Device

Pending Publication Date: 2022-08-18
SEIKO EPSON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Benefits of technology

[0007]A movable device includes the posture estimation device described above and a control device configured to con

Problems solved by technology

However, an inertial measurement unit equipped with an angular velocity sensor and an acceleration sensor has different X-axis, Y-axis, and Z-axis directions depending on mounting positions associated with an

Method used

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  • Posture Estimation Method, Posture Estimation Device, And Movable Device
  • Posture Estimation Method, Posture Estimation Device, And Movable Device
  • Posture Estimation Method, Posture Estimation Device, And Movable Device

Examples

Experimental program
Comparison scheme
Effect test

first embodiment

1. First Embodiment

1.1 Posture Estimation Device

[0014]First, a posture estimation device 1 according to the first embodiment will be described with reference to FIGS. 1 and 2.

[0015]As shown in FIG. 1, the posture estimation device 1 of the present embodiment includes a processing unit 20, ROM 30, RAM 40, and a recording medium 50 that are storage units, and a communication unit 60. The posture estimation device 1 estimates a posture of an object based on an output of an inertial measurement unit (IMU) 10. The posture estimation device 1 of the present embodiment may have a part of these components changed or removed or have another component added.

[0016]In the present embodiment, as shown in FIG. 1, the posture estimation device 1 is separated from the inertial measurement unit 10. Alternatively, the posture estimation device 1 may include the inertial measurement unit 10. The inertial measurement unit 10 and the posture estimation device 1 may be accommodated in one housing, and th...

second embodiment

2. Second Embodiment

2.1 Posture Estimation Method

[0054]Next, a posture estimation method according to the second embodiment will be described with reference to FIG. 4.

[0055]Compared to the posture estimation method of the first embodiment, the posture estimation method of the present embodiment is the same as the posture estimation method of the first embodiment except that the predetermined operation of the object includes a plurality of operations and the corresponding bias values BW, BA and the variance values PWW, PVV are stored in the ROM 30 according to types of the operations. Differences from the first embodiment described above will be mainly described, and the description of similar matters will be omitted.

[0056]The posture estimation method according to the second embodiment will be described with reference to FIG. 4.

[0057]As shown in FIG. 4, the posture estimation method according to the present embodiment includes a measurement step, a storage step, an initial value sel...

third embodiment

3. Third Embodiment

3.1 Movable Device

[0067]Next, a movable device 600 including the posture estimation device 1 according to the third embodiment will be described with reference to FIGS. 5 and 6.

[0068]The posture estimation device 1 of the above embodiment can be effectively used in posture control of a construction machine. FIGS. 5 and 6 show a hydraulic shovel that is an example of the construction machine as the movable device 600.

[0069]As shown in FIG. 5, in the movable device 600, a vehicle body includes a lower running body 612 and an upper revolving body 611 that is mounted to revolve above the lower running body 612. A work mechanism 620 is provided at a front portion of the upper revolving body 611. The work mechanism 620 includes a plurality of members that are pivotable in an up-and-down direction. A driver seat (not shown) is provided in the upper revolving body 611, and an operation device (not shown) for operating the members constituting the work mechanism 620 is pro...

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Abstract

A posture estimation method includes: measuring a bias value BW and a variance value PWW of an angular velocity sensor and a bias value BA and a variance value PVV of an acceleration sensor in a predetermined operation of an object and storing the measured values in a storage unit; reading the bias value BW, the variance value PWW, the bias value BA, and the variance value PVV from the storage unit and setting the read values as initial setting values during reset; and estimating a posture of the object using a Kalman filter from an output of the angular velocity sensor and an output of the acceleration sensor.

Description

[0001]The present application is based on, and claims priority from JP Application Serial Number 2021-021507, filed Feb. 15, 2021, the disclosure of which is hereby incorporated by reference herein in its entirety.BACKGROUND1. Technical Field[0002]The present disclosure relates to a posture estimation method, a posture estimation device, and a movable device.2. Related Art[0003]A device and a system are known in which an inertial measurement unit (IMU) is attached to an object and a position and a posture of the object are calculated using an output signal of the inertial measurement unit. Since the output signal of the inertial measurement unit has a bias error and an error also occurs in posture calculation, a method is proposed in which a Kalman filter is used to correct these errors and estimate an accurate posture of the object. For example, JP-A-2020-20631 describes a posture estimation method for estimating a posture of an object by correcting predicted posture information on...

Claims

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Application Information

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IPC IPC(8): E02F9/26E02F9/20
CPCE02F9/265E02F9/2029E02F9/264E02F3/437E02F3/434
Inventor YODA, KENTARO
Owner SEIKO EPSON CORP