Rotation detection device, method and program

Abstract

To provide a rotation detection device, etc. with which it is possible to detect a more accurate angle of rotation of a rotor.SOLUTION: A rotation detection device pertaining to an embodiment comprises: an angular velocity sensor which is attached to a rotor that rotationally moves and is constituted so as to detect an angular velocity of the rotor; and at least one processor which is constituted so as to exercise control based on the angular speed detected by the angular velocity sensor. The least one processor is constituted so as to execute a process for calculating a first angle of the rotor before rotational operation is exerted on the rotor on the basis of the angular velocity sensor and a second angle of the rotor after the rotational operation is exerted.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The present invention relates to a rotation detection device, a method, and a program for detecting the rotation angle of a rotating body undergoing rotational motion. [Background technology]

[0002] There is known a device that is attached to a rotating body that rotates around an axis, such as a hinged door, and detects the rotation angle of the rotating body based on the acceleration detected by an acceleration sensor and the distance from the acceleration sensor to a hinge that defines the rotation axis of the rotating body. For example, Patent Document 1 discloses a device that detects the rotation angle of the rotating body using an acceleration sensor in this way. However, such a device may not be able to detect the accurate rotation angle of the rotating body by using the acceleration sensor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2016-534331 Summary of the Invention [Problem to be solved by the invention]

[0004] The present embodiment has been made in light of the above-mentioned background, and has an object to provide a rotation detection device and the like that can detect a rotation angle of a rotating body more accurately. [Means for solving the problem]

[0005] In order to solve the problems described above, a rotation detection device according to an embodiment includes an angular velocity sensor attached to a rotating body performing rotational motion and configured to detect the angular velocity of the rotating body, and at least one processor configured to perform control based on the angular velocity detected by the angular velocity sensor, and the at least one processor is configured to perform processing to calculate a first angle of the rotating body before a rotational operation is performed on the rotating body and a second angle of the rotating body after the rotational operation is performed based on the angular velocity sensor.

[0006] In addition, a method according to an embodiment is a method carried out in a computer including an angular velocity sensor attached to a rotating body performing rotational motion and configured to detect the angular velocity of the rotating body, and at least one processor configured to perform control based on the angular velocity detected by the angular velocity sensor, by the at least one processor executing predetermined instruction commands, and includes a step of calculating a first angle of the rotating body before a rotational operation is performed on the rotating body and a second angle of the rotating body after the rotational operation is performed based on the angular velocity sensor.

[0007] In addition, the program of the embodiment causes a computer including an angular velocity sensor attached to a rotating body performing rotational motion and configured to detect the angular velocity of the rotating body, and at least one processor configured to perform control based on the angular velocity detected by the angular velocity sensor to function as a processor configured to perform processing to calculate a first angle of the rotating body before a rotational operation is performed on the rotating body, and a second angle of the rotating body after the rotational operation is performed, based on the angular velocity sensor. Effect of the Invention

[0008] According to this embodiment, it is possible to provide a rotation detection device or the like that can detect the rotation angle of a rotating body more accurately. [Brief description of the drawings]

[0009]

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[0010] [First embodiment] A first embodiment of the present disclosure will be described with reference to the accompanying drawings. In addition, common components and processes in the drawings are given the same reference symbols. In addition, hereinafter, openings provided as entrances and exits on the walls of a residence, openings in a home refrigerator, and keyboards in notebook PCs, etc., which are opened and closed by a door or covered or exposed by a lid, may be collectively referred to as openings. In addition, hereinafter, objects that rotate around a rotation axis, such as these doors and lids, are collectively referred to as rotating bodies. In addition, the rotation axis of a rotating body does not necessarily have to be one, and objects that rotate around multiple axes are also included in the rotating body. In addition, the angular velocity of rotation is described as the rotation angular velocity, and the angle of rotation is described as the rotation angle.

[0011] In addition, n is a positive integer, and i is an integer from 1 to n. In addition, both a state in which the opening is open and a state in which the rotor closes the opening are collectively referred to as an open state. In addition, both a state in which the opening is closed and a state in which the rotor closes the opening are collectively referred to as a closed state. In addition, in the following description, there is no substantial difference between "less than" and "less than" and between "more than" and "greater than".

[0012] 1. Overview of the System According to the Present Disclosure For example, openings through which people enter and exit, such as the entrances and exits of houses, automobiles, and animal breeding rooms, are generally opened and closed by hinged doors that rotate about an axis perpendicular to the floor. Also, openings of home appliances, such as side-opening refrigerators and side-opening microwave ovens, are also opened and closed by hinged doors that rotate about an axis perpendicular to the floor.

[0013] On the other hand, for example, a portion such as a document glass (platen glass) arranged on the top surface of a copier is covered or exposed by a cover or an automatic document feeder (ADF) that rotates on an axis horizontal to the floor. Also, for example, the keyboard portion of a notebook PC has a display arranged on the surface facing the keyboard portion when closed, and is opened and closed by a cover that rotates on an axis horizontal to the floor. As described above, openings of various objects are opened and closed by rotating bodies such as doors and covers that rotate around an axis. Note that, although it has been described here that the rotation is around an axis horizontal to the floor, it is of course not limited to this. For example, the axis may be in a twisted position other than horizontal to the floor surface.

[0014] If doors for opening and closing the entrance to a residence, a door for opening and closing the entrance to an animal breeding room, a door for opening and closing the opening of a refrigerator, etc. are left open against the will of the user, various problems such as theft, escape of animals, and spoilage of refrigerated items may occur. Therefore, it is very important to detect whether such openings are closed by a rotating body such as a door or in a closed state without being closed. The rotation detection device 100 according to the embodiment described below is configured to accurately detect whether an opening is closed by a rotating body or in an open state without being closed, based on the angle of the rotating body.

[0015] 2. System 1 Configuration Fig. 1 is a diagram illustrating a configuration of a system 1 including a rotation detection device 100 according to an embodiment. As shown in Fig. 1, the system 1 includes the rotation detection device 100 and an external device 200. For example, the external device 200 includes a home appliance device, a monitoring camera (security camera), an administrator terminal device of an administrator who manages a facility in which the rotating body 20 is installed, a user terminal device of a user who uses the rotating body 20, a vehicle including a door as the rotating body 20, a storage container including a lid as the rotating body 20, and a locking / unlocking control device that uses the rotation detection device 100 to control locking and unlocking (locking and unlocking) of a key attached to the rotating body 20, or a combination thereof.

[0016] The rotation detection device 100, the home appliance device, the administrator terminal device, the user terminal device, the locking / unlocking control device, etc. may be connected to each other via a network including wired communication lines and wireless communication lines such as the Internet so that they can transmit and receive information to each other. Hereinafter, the home appliance device, the administrator terminal device, the user terminal device, and the locking / unlocking control device may be collectively referred to as the external device 200. The rotation detection device 100 and the external device 200 may be configured as an integrated unit or as separate units.

[0017] 3. Configuration of the rotation detection device 100 Fig. 2A is a block diagram showing an example of the configuration of the rotation detection device 100 according to the embodiment shown in Fig. 1. Note that the rotation detection device 100 does not need to include all of the components shown in Fig. 2A, and may have a configuration in which some components are omitted, or may include other components.

[0018] 2A, the rotation detection device 100 includes a memory 111 including a RAM, a ROM, a non-volatile memory, an HDD, etc., a processor 112 including a CPU, etc., a communication interface (communication IF) 114, and an angular velocity sensor 115. These components are electrically connected to each other via control lines and data lines. The memory 111 may also include a database, an external storage device, etc., connected via the communication interface 114, etc. In other words, the rotation detection device 100 is a computer equipped with the angular velocity sensor 115 in addition to the memory 111, the processor 112, and the communication interface 114.

[0019] The memory 111 includes a RAM, a ROM, a non-volatile memory, and a HDD, and functions as a storage unit. The memory 111 stores instructions for executing the application and the OS according to the present disclosure as a program. Such a program is loaded by the processor 112 from a recording medium or a network into the memory 111 via the communication interface 114 and executed.

[0020] In addition, in the present disclosure, the memory 111 (particularly the RAM) is temporarily used to write and read data while the above programs are being executed by the processor 112.

[0021] In addition, in the present disclosure, the memory 111 stores a program that causes the memory 111 to function as a processor configured to calculate a first angle of the rotating body 20 before a rotation operation is performed on the rotating body 20 based on the angular velocity sensor 115, and a second angle of the rotating body 20 after the rotation operation is performed, and detect that the rotating body 20 is in an open state based on the first angle, the second angle, and a predetermined threshold value.

[0022] Processor 112 is composed of a CPU (microcomputer) and functions as a control unit for controlling other components connected thereto based on various programs stored in memory 111. Processor 112 may be composed of a single CPU or multiple CPUs.

[0023] Also, in the present disclosure, the processor 112 executes a program for calculating a first angle of the rotating body 20 before a rotation operation is performed on the rotating body 20 based on the angular velocity sensor 115, and a second angle of the rotating body 20 after the rotation operation is performed, and detecting that the rotating body 20 is in an open state based on the first angle, the second angle, and a predetermined threshold value.

[0024] The communication interface 114 functions as a communication unit that performs processes such as modulation and demodulation in order to transmit and receive programs and various information used in the rotation detection device 100 to and from, for example, a PC, a server device (not shown), etc. The communication interface 114 communicates with the PC, the server device, etc. according to the above-mentioned wireless communication method or a known wired communication method. In the present disclosure, the rotation detection device 100 transmits information such as whether the opening is in a closed state or an open state to the PC or the server device, etc. via the communication interface 114.

[0025] The communication interface 114 also communicates with the external device 200 connected via a network. The communication with the external device via the communication interface 114 includes transmission of a control signal to a home appliance that is placed in a facility such as a residence to which the rotation detection device 100 is attached and is controlled in response to detection of the closed or open state of the rotating body 20 such as a door by the rotation detection device 100, and reception of a signal from the home appliance. The communication with the external device also includes transmission and reception of information with an administrator terminal device of an administrator who manages the facility such as a residence in which the rotating body such as a door is installed. The communication with the external device also includes transmission and reception of information with a user terminal device of a user who manually operates and rotates the rotating body 20 such as a door. The communication with the external device also includes transmission and reception of information with a locking / unlocking control device that controls locking and unlocking of the rotating body 20 using the rotation detection device 100.

[0026] The angular velocity sensor 115 is attached to the rotating body 20 undergoing rotational motion, and functions as a detection unit for detecting the angular velocity of the rotating body 20. Such an angular velocity sensor 115 is, for example, a gyro sensor. Three mutually orthogonal axes Xas, Yas, and Zas are set in advance in the angular velocity sensor 115. The angular velocity sensor 115 is started from a stopped state under the control of the processor 112 to an operating state, and consumes power to detect the rotation angular velocity of the rotation detection device 100. ω The angular velocity sensor 115 detects the rotation angular velocity of the rotation detection device 100 under the control of the processor 112 and outputs the detected value to the processor 112. ω The detection of the current state stops and the device enters a stopped state in which it does not consume power.

[0027] 4. Configuration of the external device 200 Fig. 2B is a block diagram showing an example of the configuration of the portion related to information processing in the external device 200 shown in Fig. 1. Note that the external device 200 does not need to include all of the components shown in Fig. 2A, and it is possible to adopt a configuration in which some are omitted, or other components can be added. Also, hereinafter, "portion related to information processing in the external device 200" will be abbreviated to "external device 200".

[0028] 2B, the external device 200 includes a memory 211, a processor 212, a display 213, a communication interface 214 including a communication processing circuit 215 and an antenna, and an input interface 216 including a touch panel 217 and hard keys 218. These components are electrically connected to each other via control lines and data lines. The touch panel 217 and the hard keys 218 may be installed outside the external device 200 and connected via the input interface 216, or may be included in the external device 200 and connected via the input interface 216.

[0029] The processor 212 is composed of a CPU and its peripheral circuits, and performs processing to function as a control unit that controls other connected components based on various programs stored in the memory 211. Specifically, the processor 212 reads out from the memory 211 a program for processing a signal received from the rotation detection device 100 and a program for executing the OS, and executes the program. In this embodiment, the processor 212 performs processing to receive a signal indicating whether the rotating body 20 is in an open state or a closed state from the rotation detection device 100 via the communication interface 214. The processor 212 also notifies the user of the external device 200 whether the rotating body 20 is in an open state or a closed state by displaying an image on the display 213 and outputting an audio signal from a speaker built into the display 213.

[0030] Processor 212 also performs processing such as receiving operations performed by a user on touch panel 217 and hard keys 218 via input interface 216 and transmitting information indicating the received operations to rotation detection device 100 via communication interface 214. Processor 212 may be configured with a single CPU or multiple CPUs. Processor 212 may also be configured by appropriately combining other types of processors, such as a GPU specialized for image processing.

[0031] The memory 211 is composed of a ROM, a RAM, a non-volatile memory, a HDD, etc., and functions as a storage unit. The ROM stores instructions for executing the application and the OS according to this embodiment as a program. The RAM is a memory used for writing and reading data while the program stored in the ROM is being processed by the processor 212. The non-volatile memory is a memory into which data is written and read by the execution of the program, and the data written therein is stored even after the execution of the program has ended.

[0032] In this embodiment, the memory 211 stores a program for processing to receive a signal indicating whether the rotating body 20 is in an open state or a closed state from the rotation detection device 100 via the communication interface 214, and a program for processing to notify the user of the external device 200 whether the rotating body 20 is in an open state or a closed state by displaying an image on the display 213 and outputting an audio signal from a speaker built into the display 213. Although not particularly shown in the figure, the memory 211 may be connected to a removable storage medium, a database, or the like via the input interface 216.

[0033] The communication interface 214 functions as a communication unit that transmits and receives information to and from an external device other than the remotely installed rotation detection device 100 and the external device 200 via the communication processing circuit 215 and an antenna. The communication processing circuit 215 executes a program for executing information processing according to this embodiment, and processes for transmitting and receiving information indicating the open or closed state of the rotating body 20 to and from the external device 200.

[0034] The communication processing circuit 215 performs processing based on a wideband wireless communication system such as the LTE system, but can also perform processing based on a system related to narrowband wireless communication such as wireless LAN such as IEEE802.11 or Bluetooth (registered trademark). Also, wired communication can be used instead of or in addition to wireless communication.

[0035] The input interface 216 is connected to the touch panel 217 and the hard keys 218 by wire or wirelessly, and examples of the input interface 216 that functions as an input / output unit for inputting and outputting various information include various types such as a serial port, a parallel port, and a USB. In addition, when connected wirelessly (for example, Bluetooth (registered trademark)), it is also possible to share the same function as the communication interface 214.

[0036] Components such as a touch panel 117 and a hard key 218 are connected to the external device 200 via an input interface 216. Note that the external device 200 may or may not include these components.

[0037] The touch panel 217 is disposed so as to cover the display 213, for example, and outputs information on position coordinates corresponding to image data displayed by the display 213 to the processor 212. Known touch panel methods can be used, such as a resistive film method, a capacitive coupling method, and an ultrasonic surface acoustic wave method. In this embodiment, the touch panel 217 detects a swipe operation or a tap operation on each icon or the like displayed on the display 213 by a pointer. Then, it is detected that an input related to the speed of movement has been made according to the detected tap operation. Note that, although the input interface 216 provided in the external device 200 is used in this embodiment, it is also possible to use an input interface 216 connected wirelessly or by wire to a main body including the processor 212, etc.

[0038] The hard keys 218 include mechanical switches, buttons, and the like, and receive operations by a user of the external device 200 and output the operations to the processor 212 .

[0039] Display 213 has a built-in speaker and functions as a display unit that displays the image information stored in memory 211 and the open or closed state of rotating body 20 received from rotation detection device 100 in response to an instruction from processor 212. Display 213 is configured, for example, from a liquid crystal display or an organic EL display.

[0040] 5. Method for detecting the open and closed states of the rotor 20 3A and 3B are first and second diagrams illustrating an example of the rotation detection device 100 attached to a rotating body 20 such as a door of a house or a home appliance, a lid of a notebook PC, etc. In addition, in Fig. 3A and Fig. 3B, a rotating body 20 having a rectangular and thin shape is illustrated, and a direction parallel to a short side of a rectangular face of the rotating body 20 is set as an X direction, a direction parallel to a long side of a rectangular face of the rotating body 20 is set as a Z direction, and a direction perpendicular to both the X direction and the Z direction is set as a Y direction.

[0041] That is, an X, Y, Z coordinate system can be defined for the rotating body 20, as shown in Figures 3A and 3B. As shown in Figure 3B, a hinge 22 having a rotation axis parallel to the Z axis is attached to the rotating body 20, and the rotating body 20 can rotate around the axis of the hinge 22. When the rotating body 20 is a door at the entrance of a house, the hinge 22 fixes the door to the entrance, and when a user manually pushes the door to rotate it, the hinge 22 rotates the door around its axis.

[0042] Next, the rotation angular velocity detected by the angular velocity sensor 115 ω From, rotation angle θ and its size | θ Hereinafter, the processor 112 controls the angular velocity sensor 115 to calculate the rotational angular velocity | of the rotating body 20 during the time periods t0 to ti-1 and ti to tn at each time interval Δt. ω Here, for example, Δt is 50 ms, and the time T between t0 and tn is 10 seconds.

[0043] The angular velocity detected by the angular velocity sensor 115 at time ti when a time Δt×i has elapsed since time t0. ωi is the component around each of the axes Xas, Yas, and Zas ω iX, ω iY, ω Therefore, the angular velocity detected by the angular velocity sensor 115 at time ti is ω i is expressed as a vector. ω i=( ω iX, ω iY, ω iZ). Similarly, the rotation angle of the rotating body 20 at time ti can be expressed as θ i also has components around the axes Xas, Yas, and Zas. θ iX, θ iY, θ Since it includes iZ, we use a vector: θ i=( θ iX, θ iY, θ iZ).

[0044] 3A and 3B show X, Y, and Z coordinate axes that are perpendicular to each other. However, the directions of the X, Y, and Z coordinate axes are unrelated to, and usually do not coincide with, the directions of the Xas, Yas, and Zas axes set in the angular velocity sensor 115 of the rotation detection device 100 described above. Therefore, even when the rotating body 20 rotates around the Z axis, the angular velocity detected by the angular velocity sensor 115 at time ti ω i is the component of angular velocity around the Zas axis ω Not only iZ, but also ingredients ω iX, ω iY, ω iZ.

[0045] In this case, the rotation angle of the rotating body 20 at time ti after the start of detection of the angular velocity of the rotating body 20 θ The value of i is the rotation angle of the rotating body 20 at time ti-1. θ i-1 plus the angular velocity ωi detected at time ti multiplied by the time interval Δt θ i-1+Δt× ωi That is, θi = θ i-1+Δt× ω i, and therefore this valueθ i is the rotational angular velocity of the rotor 20 ω is approximately equal to the time integral value from t0 to ti.

[0046] Rotation angle of the rotating body 20 at time ti θ Component of i around the Xas axis θ iX is the rotation angle of the rotating body 20 at time ti-1 θ Ingredients of i-1 θ i-1X, the angular velocity detected at time i and the time interval Δt ω Components of i ω Multiplication value of ix Δt × ω It is the value added with ix. In other words, θ iX= θ i-1X+Δt× ω ix, and this value θ iX is the angular velocity of the rotating body 20 during the time period t0 to ti. ω Component around the Xas axis ω Approximately equal to the time integral of x.

[0047] Similarly, the rotation angle of the rotating body 20 at time ti θ Component of i around the Yas axis θ iY is the rotation angle of the rotating body 20 at time ti-1 θ Ingredients of i-1 θ i-1Y, the angular velocity detected at time i and the time interval Δt ω Components of i ω This is the value obtained by adding the multiplication value Δt×θix of iY. θ iY= θ i-1Y+Δt× ω iY, and this value θ iY is the rotational angular velocity of the rotating body 20 during the time period t0 to ti ω Component around the Yas axis ω Approximately equal to the time integral of Y.

[0048] Similarly, the rotation angle of the rotor 20 around the Zas axis at time ti θ Components of i θ iZ is the rotation angle of the rotating body 20 at time ti-1 θ Ingredients of i-1 θi-1Z, the time interval Δt and the angular velocity detected at time i ω Components of i ω Multiplication value Δt with iZ × ω It is the value added with ix. In other words, θ iZ= θ i-1Z+Δt× ω iZ, and this value θ iZ is the angular velocity of the rotating body 20 during the time period t0 to ti. ω Component around the Zas axis ω Approximately equal to the time integral of Z.

[0049] Also, the rotation angle of the rotating body 20 at time ti θ Size of i | θ i| is a vector ( θ iX, θ iY, θ iZ), that is, | θ i |=( θ iX2, θ iY2, θ As described above, the angular velocity sensor 115 detects the rotational angular velocity of the rotating body 20 at time ti. ω Each time i is detected, the processor 112 calculates the rotation angle of the rotor 20 at time ti. θ Size of i | θ We can calculate |i|.

[0050] 4A to 4C are first to third diagrams illustrating the movement of the rotating body 20, which is in the normal position in the closed state, as it rotates in response to a rotation operation to the open state, and then returns to the normal position to the closed state. FIG. 5 shows the rotation angle of the rotating body 20 detected by the rotation detection device 100 when the rotating body 20 moves as shown in FIG. 4A to FIG. 4C. θ For convenience of illustration, the rotation angle of the rotor 20 is shown in FIG. θ Of these, only the rotation angle around the Zas axis is shown, and the rotation angles around the Xas and Yas axes are omitted. A case will be described in which the rotor 20, which was in the normal position as shown in Figure 4A, is rotated to the position shown in Figure 4B by a rotation operation, and is then returned to the normal position as shown in Figure 4C by a further rotation operation.

[0051] In this case, as shown in FIG. 5, the rotation angle of the rotor 20 θ is the origin of the rotation angle in the state at time t0 shown in FIG. 4A. θ When the rotation angle of the rotor 20 moves from the point o on the dotted line 220 and exceeds the range of the preset threshold value 227, it is determined that the rotor 20 is in the open state. θ When the rotating body 20 is closed by performing a rotation operation from the state shown in FIG. 4B and is returned to the normal position as shown in FIG. 4C, the rotation angle of the rotating body 20 θ moves along the dotted line 221 and reaches the origin θ Rotation angles within the range from o to the threshold value 228 that gives the normal range θ Leading to b.

[0052] Even when the rotating body 20 is returned to the normal position from the open state, the rotation angle θ b is the origin θ The angular velocity sensor 115 does not necessarily overlap with 0, and an error occurs because the angular velocity sensor 115 has an error or the angular velocity sensor 115 does not have an angular velocity ω When detecting the rotation angle, the size of the rotation angle may be affected by disturbances and noise. θ As shown in FIG. 5, the magnitude of the rotation angle of the rotor 20, | θ When | exceeds the threshold value 227, the rotation detection device 100 can detect that the rotor 20 is in the open state. θ When | is within a range equal to or less than the threshold value 228, the rotation detection device 100 can detect that the rotating body 20 is in the closed state.

[0053] 6A to 6C are diagrams illustrating the movement of the rotating body 20, which is not in the normal position in the closed state, as it rotates in response to a rotation operation to the open state, and then returns to the normal position to the closed state. FIG. 7 shows the rotation angle of the rotating body 20 detected by the rotation detection device 100 when the rotating body 20 moves as shown in FIG. 6A to FIG. 6C. θ6A is a diagram illustrating an example of the above. As shown by the solid line in Fig. 6A, the rotating body 20 may not be in the normal position shown by the dotted line in the closed state due to reasons such as the user not properly closing the rotating body 20. A case will be described in which the rotating body 20 is rotated from this position to the position shown by the solid line in Fig. 6B by a rotation operation to enter the open state, and is then further rotated to return to the normal position as shown by the solid line in Fig. 6C.

[0054] In this case, as shown in FIG. θ is the origin of the rotation angle in the state shown by the solid line in Figure 6A. θ When the rotation angle of the rotor 20 moves from 0 (first angle) along the dotted line 222 and exceeds the range of the threshold value 227, it can be determined that the rotor 20 is in the open state. Furthermore, the rotor 20 is rotated at a rotation angle of the rotor 20 at the widest open state, which is indicated by the solid line in FIG. 6B. θ When the rotating body 20 is closed by rotating it from the state shown by the solid line in FIG. 6B and returned to the normal position shown by the solid line in FIG. 6C, the rotation angle of the rotating body 20 θ moves along the dotted line 223 and passes through the range given by the threshold 228 without reaching the origin. θ Rotation angle outside the range given by o to threshold 228 θ d, and an offset 224 may occur.

[0055] The offset 224 occurs because, even though the rotating body 20 has returned to the normal position as shown by the solid line in Fig. 6C, the rotating body 20 was not in the normal position before the rotation operation as shown by the solid line in Fig. 6A. In such a case, the rotation detection device 100 detects the rotation angle of the rotating body 20 as if the rotating body 20 had rotated beyond the normal position as shown by the dotted line in Fig. 6C. θ Therefore, if no measures are taken, the rotation angle of the rotor 20 will be calculated as .0001 even if the rotor 20 is actually in the normal position in the closed state. θ However, this does not fall within the range given by the threshold value 228. In such a case, the rotation detection device 100 cannot detect that the rotor 20 has entered the closed state by using only the threshold value 228.

[0056] 8 is a diagram illustrating vectors 225 and 226 used in detecting the open and closed states of the rotor 20 by the rotation detector 100 shown in FIG. 2A. In order to solve such a problem, the rotation detector 100 first detects the rotation angle of the rotor 20. θ The rotation angle when exceeds the threshold value 227 θ op (second angle) vector 225(=( θ opX, θ opY, θ opZ); θ op) is stored. Furthermore, at the timing when it can be determined that the rotation of the rotating body 20 has ended, the rotation detection device 100 stores the origin of the rotation of the rotating body 20. θ o to rotation angle θ d(=( θ dX, θ dY, θ dZ)) to vector 226(=( θ dX- θ oX, θ dY- θ oY, θ dZ- θ Calculate the angle θ.

[0057] Furthermore, the rotation detection device 100 calculates the inner product (=( θ opX,×( θ dX- θ oX), θ opY× (θ dY- θ oY), θ opZ×( θ dZ -θoZ))). When this inner product is a negative value, that is, when the difference in direction between vector 225 and vector 226 is within a range of 90° to 270°, rotation detection device 100 detects that rotating body 20 has reached the closed state. For example, when rotating body 20 is likely to rotate 90° or more, such as a door or a lid of a notebook PC, detecting the closed state of rotating body 20 in this manner is particularly effective. Note that, although the cases where threshold value 227 and threshold value 228 are different are illustrated in Figs. 5, 7, and 8, these threshold values ​​may be the same. Furthermore, threshold value 228 can be optimized within a range in which its magnitude does not exceed threshold value 227.

[0058] In this way, the closed state of the rotor 20 can be detected by using the magnitude of the vector 226 and the dot product value of the vectors 225 and 226 in combination. By using the dot product value, it is possible to reliably detect that the rotor 20 has changed from an open state to a closed state even when the rotor 20 has not been opened or closed from a normal position. Furthermore, by using the dot product value to detect the closed state, the rotation detection device 100 can detect that the rotor 20 has changed to a closed state without accurate information on the timing at which the rotor 20 started to rotate. Similarly, the rotation detection device 100 can detect whether the rotor 20 is in an open state or a closed state even if the rotation angles of the rotor 20 in the open state and the closed state are not known in advance.

[0059] 6. Processing of the Rotation Detection Device 100 Hereinafter, processing S10 of the rotation detection device 100 will be described with reference to Fig. 9. Fig. 9 is a diagram showing a processing flow of the rotation detection device 100 shown in Fig. 2A. In step S100 shown in Fig. 9, the rotation detection device 100 starts the angular velocity sensor 115 and starts processing to detect whether the rotating body 20 is in an open state or a closed state.

[0060] In step S102, the rotation detection device 100 finally detects the rotation angular velocity of the rotating body 20. ωAfter measuring i, the rotation detection device 100 judges whether a predetermined time interval Δt (for example, 50 ms) has elapsed. If the time Δt has elapsed, the rotation detection device 100 proceeds to the process of S104, and if not, the process remains at S102.

[0061] In step S104, the rotation detection device 100 controls the angular velocity sensor 115 to detect the rotation angular velocity of the rotating body 20. ω Measure i and measure the rotational angular velocity ω Accept i.

[0062] In step S106, the rotation detection device 100 is at the origin when S106 is performed for the first time. θ 0, time interval Δt and rotation angular velocity ω The multiplied value of 1 is added. When S106 is performed for the second or subsequent times, the rotation angle of the rotating body 20 calculated up to that point is θ i-1, rotational angular velocity ω The rotational angular velocity is calculated by multiplying i by the time interval Δt and adding it. ω The time integral between t0 and ti is the rotation angle θ Calculate as i.

[0063] In step S108, the rotation detection device 100 detects the rotation angle θ Size of i | θ It is determined whether i| is equal to or greater than the threshold value 227 shown in FIGS. θ If i| is equal to or greater than the threshold value 227 (Y), the rotation detection device 100 proceeds to processing in S110, and if i| is less than the threshold value 227 (N), the rotation detection device 100 proceeds to processing in S116.

[0064] In step S110, the rotation detection device 100 calculates the vector 225 ( θ op) has already been stored. θ If the op has already been stored (Y), the process returns to S102, and if it has not yet been stored (N), the process proceeds to S112.

[0065] In step S112, the rotation detection device 100 detects that the rotating body 20 is in the open state, and transmits information indicating this to an external device outside the rotation detection device 100 via the communication interface 114. The external device of the rotation detection device 100 that receives this information performs processing such as notifying a manager of the rotating body 20, etc., that the rotating body 20 is in the open state.

[0066] In step S114, the rotation detection device 100 detects the rotation angle calculated in the process of S106. θ i is the rotation angle θ The process returns to step S102.

[0067] In step S116, the rotation detection device 100 detects the rotation angle shown in FIG. θ Calculate the dot product of vector 225 indicating op and vector 226, and then calculate the rotation angle θ The rotation detection device 100 calculates the magnitude of the vector 226 of d when the calculated inner product value is negative or when the rotation angle θ If the vector 226 of d is equal to or smaller than the threshold value 228 (Y), the process proceeds to step S118. If the calculated inner product value is not negative, or if the rotation angle θ If the vector 226 of d is greater than the threshold value 228 (N), the process proceeds to S122.

[0068] In step S118, if the calculated inner product value is negative or the rotation angle θ It is determined whether the state where vector 226 of d is equal to or smaller than threshold value 228 continues for a predetermined fixed time, for example, 0.5 s (= Δt (50 ms) × 10) or more. When this state continues for the fixed time or more (Y), rotation detection device 100 determines that rotation of rotating body 20 has ended and reached a stable state, and proceeds to processing of S120.

[0069] In step S120, the rotation detection device 100 detects that the rotating body 20 is in the closed state, and transmits information indicating this to an external device via the communication interface 114. The external device of the rotation detection device 100 that receives this information performs processing such as notifying the manager of the facility in which the rotating body 20 is installed that the rotating body 20 is in the closed state.

[0070] In step S122, the rotation detection device 100 determines whether or not a predetermined time T, for example, 10 s (= Δt (50 ms) × 200), which is a sufficiently long time for opening and closing the rotor 20, has elapsed since the process of S100 was executed. If the time T has elapsed (Y), the rotation detection device 100 proceeds to the process of S124, and if not (N), the rotation detection device 100 returns to the process of S102.

[0071] In step S124, the rotation detection device 100 cannot detect whether the rotating body 20 is in the open state or the closed state, and determines that some kind of error has occurred. Furthermore, the rotation detection device 100 transmits error information indicating the occurrence of the error to the external device 200 via the communication interface 114.

[0072] The external device 200 may be a home appliance, for example, a refrigerator, and the rotating body 20 may be its door. In this case, when the refrigerator receives information indicating the open state of the door from the rotation detection device 100 continuously for several minutes, for example, the refrigerator performs processing such as outputting an alarm indicating that the door has been left open.

[0073] Alternatively, the external device 200 may be a home appliance installed inside a building, such as a lighting device, and the rotating body 20 may be an entrance door to the building. When the external device 200 receives information from the rotation detection device 100 that the door has been opened, the rotating body 20 turns on the lighting device, and when the external device 200 receives information that the door has been closed, the rotating body 20 turns off the lighting device.

[0074] Alternatively, the external device 200 may be a surveillance camera, and the rotating body 20 may be a door at an entrance to be monitored. In this case, the surveillance camera photographs the entrance to be monitored when the information indicating the open state of the door received from the rotation detection device 100 changes to information indicating the closed state, and when the opposite change occurs, and captures and stores an image of a person who opens or closes the door.

[0075] Moreover, the external device 200 may be a combination of an administrator terminal device and a surveillance camera, and the rotating body 20 may be a door of a building managed by the administrator. The administrator terminal device outputs an alarm to the administrator when information indicating the closed state of the door received from the rotation detection device 100 changes to information indicating an open state, and when the opposite change occurs. Furthermore, when information indicating the closed state of the door received from the rotation detection device 100 changes to information indicating an open state, and when the opposite change occurs, the surveillance camera takes an image of the door of the building. Furthermore, the administrator terminal device displays an image of the vicinity of the door taken by the surveillance camera to the administrator.

[0076] Also, the external device 200 may be a user terminal device, and the rotating body 20 may be a door of the user's car. The user terminal device detects an abnormality when it does not receive information from the rotation detection device 100 indicating that the rotating body 20 is in a closed state, even though the user has started the engine of the car or closed the door. Then, it outputs an alarm to inform the user that the door of the car is in a so-called "half-open" state.

[0077] The external device 200 may be a locking / unlocking control device, and the rotating body 20 may be a door of a house or the like. In this case, when the door is not locked even though the rotation detection device 100 detects that the door is closed, the locking / unlocking control device automatically controls and locks the door.

[0078] In step S126, the rotation detection device 100 stops the operation of the angular velocity sensor 115 and ends the process. Although Fig. 9 shows a case where the closed state of the rotor 20 is detected using both the threshold value 228 and the dot product value, the closed state of the rotor 20 can also be detected using either the threshold value 228 or the dot product value. Furthermore, when the angular velocity sensor 115 is used to detect the open and closed states of the rotor 20, it is less susceptible to disturbances than when these states are detected by attaching a magnet or the like to the rotor 20. Furthermore, the effort of attaching an accessory such as a magnet to the rotor 20 is eliminated.

[0079] For example, in the technology shown in the above Patent Document 1, the rotation speed of the rotating body is integrated to convert it into a rotation speed, and the rotation speed is further integrated to obtain the rotation angle of the door. Therefore, in such a device, the integral calculation is repeated twice, so the detected rotation angle of the rotating body is easily affected by errors and noise contained in the output of the acceleration sensor. Furthermore, in such a device, it is not possible to accurately detect whether the opening through which the rotating body opens and closes is in an open state or a closed state. However, according to the process shown in FIG. 9, even if the rotation angle of the rotating body 20 is not accurately known, the closed state and the open state of the rotating body 20 can be accurately detected. Furthermore, according to the process shown in FIG. 9, erroneous detection that the rotating body 20 is in an open state even when the rotating body 20 is actually in a closed state is prevented. Furthermore, according to the process shown in FIG. 9, even if errors due to disturbances such as noise and the process for obtaining an integral value are accumulated, it is possible to accurately detect that the rotating body 20 has entered a closed state. Furthermore, according to the process shown in FIG. 9, it is possible to accurately detect the open state and the closed state of the rotating body 20 whose steady state is not in a closed state.

[0080] [Second embodiment] A second embodiment will be described below in which the rotation detection device 100 is applied to a door lock attached to an entrance of a house or the like. The autolock control device 5 described as the second embodiment is an example of an external device 200. When the autolock control device 5 detects that the door is locked after a certain time has passed since the door was opened, it automatically controls the door lock to lock it. In general, autolock devices are used to strengthen security by restricting people from entering a room from outside.

[0081] 10A and 10B are first and second diagrams showing an auto-lock device 4 attached to the lock of a door 3 at the entrance of a house, etc. As shown in Fig. 10A and Fig. 10B, the door 3 rotates around the axis of the hinge 22 when manually pushed by the user, similar to the rotating body 20 shown in Fig. 3A and Fig. 3B.

[0082] The auto-locking device 4 is attached to a support 43 for a key (not shown) that is originally attached to the outside of the door 3 so as to engage with the thumb turn (not shown) of the key, but at a position that does not interfere with the doorknob 42. The auto-locking device 4 has a main body case 40. The rotation detection device 100 and the auto-locking control device 5 shown in Fig. 11 are housed in the main body case 40.

[0083] Fig. 11 is a block diagram showing an example of the configuration of the autolock control device 5 that is housed in the main body case 40 of the autolock device 4 shown in Fig. 10A and Fig. 10B and controls the key of the door 3 to lock and unlock (lock and unlock). As shown in Fig. 11, the autolock control device 5 includes a control interface (control IF) 500, a motor 504, a motor drive circuit 502, and a rotation angle sensor 506.

[0084] The control interface 500 is electrically connected to each component of the rotation detection device 100 via a control line and a data line. The control interface 500 receives information that the door 3 is in an open or closed state from the rotation detection device 100, and outputs a control signal to the motor drive circuit 502. The control interface 500 also receives the rotation angle of the thumb turn of the key detected by the rotation angle sensor 506 and transmits it to the rotation detection device 100. With these components, the autolock control device 5 functions as a locking / unlocking control device that controls the locking and unlocking of the door 3. In other words, the autolock control device 5 functions as an external device 200 that receives communication of the detection result of the open or closed state from the rotation detection device 100 and locks or unlocks the door.

[0085] The motor drive circuit 502 drives and rotates the motor 504 according to a control signal input from the control interface 500. The motor 504 is connected to a thumb turn of the key via a member so as to rotate the thumb turn of the key. When driven by the motor drive circuit 502, the motor 504 rotates the thumb turn of the key to set the key in an unlocked or locked state. The rotation angle sensor 506 detects the rotation angle of the thumb turn of the key and outputs it to the rotation detection device 100 via the control interface 500.

[0086] The process S14 of the autolock controller 5 will be described below. Figure 12 is a diagram showing the process flow of the autolock controller 5 shown in Figure 11. In step 140 shown in Figure 12, the control interface 500 of the autolock controller 5 receives the output signal of the rotation angle sensor 506. If the output signal of the rotation angle sensor 506 indicates rotation of the thumb turn (Y), the autolock controller 5 proceeds to the process of S142, and if it does not indicate rotation (N), it remains in the process of S140.

[0087] In step S142, the control interface 500 of the autolock control device 5 transmits information indicating that the thumb turn has been rotated to the rotation detection device 100. Upon receiving this information, the rotation detection device 100 activates the angular velocity sensor 115. The control interface 500 causes the rotation detection device 100 to detect whether the door 3 has entered an open or closed state. Upon receiving information indicating that the door 3 has entered an open or closed state from the rotation detection device 100, the autolock control device 5 proceeds to processing of S144.

[0088] In step S144, the control interface 500 determines whether or not the closed state of the door 3 has been detected. If the closed state of the door 3 has been detected (Y), the autolock control device 5 proceeds to processing of S150, and if not (N), the autolock control device 5 proceeds to processing of S146. Specifically, in S120 of Fig. 9, information indicating that the rotating body is in the closed state is sent from the rotation detection device 100 to the autolock control device 5, and the autolock control device 5 determines whether or not the information has been received.

[0089] In step S146, the control interface 500 determines whether or not the open state of the door 3 has been detected. Specifically, in S112 of Fig. 9, information indicating that the rotating body is in the open state is sent from the rotation detection device 100 to the autolock control device 5, and the autolock control device 5 determines whether or not the information has been received. If the open state of the door 3 has been detected (Y), the autolock control device 5 proceeds to the process of S148, and if not (N), the autolock control device 5 returns to the process of S144.

[0090] In step S148, the control interface 500 transmits to the rotation detection device 100 information indicating that the door 3 is open and therefore cannot be locked.

[0091] In step S150, the control interface 500 outputs a control signal to the motor drive circuit 502 to drive the motor 504. The motor 504 driven by the motor drive circuit 502 rotates, causing the thumb turn of the key for the door 3 to rotate in the locking direction, thereby locking the door.

[0092] In step S152, the control interface 500 transmits information indicating that the process has ended to the rotation detection device 100. Upon receiving this information, the rotation detection device 100 stops the angular velocity sensor 115.

[0093] The processing of the autolock control device 5 shown in Fig. 12 ensures that the door 3 is locked by the autolock device 4, improving the security of a residence or the like equipped with an autolock device 4. Furthermore, according to the processing shown in Fig. 12, the start of rotation of the door 3 can be detected by the rotation of the thumb turn, so the start and stop of the angular velocity sensor 115 can be timely and easily controlled compared to the processing shown in Fig. 9. Note that, although Fig. 12 shows a case where the autolock control device 5 locks the door, the autolock control device 5 can also unlock the door by appropriately modifying the processing.

[0094] [Third embodiment] A third embodiment will be described below. The external device 200 may be the surveillance camera 45 shown in Figs. 10A and 10B. The surveillance camera 45 captures and monitors an image of the door 3. For example, the rotation detection device 100 transmits information indicating that the rotating body is in an open state or information indicating that the rotating body is in a closed state to the surveillance camera 45 in S112 and S120 of Fig. 9. By receiving the information, the surveillance camera 45 starts capturing images at the timing when it receives information indicating that the door 3 is in a closed state. Also, the surveillance camera 45 starts capturing images at the timing when it receives information indicating that the door 3 is in an open state. In this way, the rotation detection device 100 controls the surveillance camera 45, so that it is possible to identify a person who opens and closes the door 3 and to further improve the security of the facility to be monitored.

[0095] [Fourth embodiment] A fourth embodiment will be described below. In the first to third embodiments, the rotation detection device 100 is used to detect whether the rotating body 20 is in an open state or a closed state, and to lock and unlock the door by the autolock control device 5 using the rotation detection device 100. However, the rotation detection device 100 has a wider range of uses. For example, when the rotation detection device 100 detects an open state of the rotating body 20 such as a door of a house (S112 in FIG. 9), it transmits information indicating that the rotating body 20 is in an open state to a lighting device or an air conditioner, which is one of the external devices 200. The lighting device or the air conditioner that receives the information controls the lighting or the air conditioner to be turned on. Conversely, when the rotation detection device 100 detects a closed state of the rotating body 20 such as a door of a house (S120 in FIG. 9), it transmits information indicating that the rotating body 20 is in a closed state to the lighting device or the air conditioner. The lighting device or the air conditioner that receives the information controls the lighting or the air conditioner to be turned off. In this way, by using the detection result of the rotation detection device 100 in the home appliance, it is possible to prevent the home appliance from being forgotten to be turned off and to maintain an appropriate indoor environment.

[0096] Furthermore, when the rotation detection device 100 detects that the rotating body 20, such as the door of the delivery box, is open (S112 in FIG. 9), it transmits information indicating that the rotating body 20 is open to the manager terminal device of the delivery box, which is one of the external devices 200. The manager terminal device that receives the information notifies the manager that the delivery box has been used. In this way, by using the detection result of the rotation detection device 100 for the delivery box, smooth management of the delivery box is possible.

[0097] [Fifth embodiment] A fifth embodiment will be described below. For example, when the resident of the residence is not at home, people other than the resident, such as a housekeeping service, a delivery service, or a cleaning service, may be invited into the residence. In such a case, the rotation detection device 100 is installed at the entrance of the residence. のBy using this for a door, it is possible to accurately inform the resident of the residence of whether the door has been opened or closed. Specifically, the rotation detection device 100 transmits information indicating that the door, which is the rotating body 20, is in an open or closed state (S112 or S120 in FIG. 9) to the resident's terminal device. Also, as in the third embodiment, the information is transmitted to a surveillance camera installed on the door. This makes it possible to quickly know that someone other than the resident has opened or closed the door, and also to understand the actions of people other than the resident. Also, in the field of so-called intelligent houses and smart homes, it is possible to transmit to the resident's terminal device a message that the door has been locked or unlocked by someone other than the resident who has been authenticated in advance. This allows the resident to know that the door has been locked or unlocked. と However, by further receiving information from the rotation detection device 100, higher security can be achieved.

[0098] [Sixth embodiment] The sixth embodiment will be described below. The external device 200 may be a terminal device of the management department of a company. When the external device 200 is a terminal device of the management department of a company, a door installed at the entrance of an office building or space of the company, the terminal device, and an IC card system that can uniquely identify each employee of the company are combined. At this time, by receiving information indicating that the door, which is the rotating body 20, is in an open or closed state (S112 or S120 in FIG. 9) from the rotation detection device 100 arranged on the door, the time when each employee opened and closed the door of the office, etc. can be accurately detected and stored. Therefore, by combining and linking the autolock control device 5 and the IC card system, an entrance and exit management system that can accurately manage the entry and exit times of employees of the company can be realized.

[0099] [Variations] As described above, the rotation detection device 100 and its application device can be used for various applications other than the applications exemplified above. For example, the rotation detection device 100 can detect the opening and closing of a door of a device mounted on an aircraft or the like and notify the crew and maintenance personnel, thereby improving the safety of transportation equipment such as aircraft. Alternatively, the rotation detection device 100 and its application device can be applied to the lid of a storage container as a rotating body and can notify surrounding workers that the lid of the storage container is in an open state. By configuring the rotation detection device 100 and its application device in this way, leakage of a drug in the storage container can be prevented.

[0100] The processes and procedures according to the present disclosure may be implemented using the apparatus explicitly described in the embodiments. に The processes and procedures described herein may be realized not only by a program, but also by software, hardware, or a combination of these. Specifically, the processes and procedures described herein may be realized by implementing logic corresponding to the processes in a medium such as an integrated circuit, a volatile memory, a non-volatile memory, a magnetic disk, or an optical storage device. In addition, the processes and procedures described herein may be realized by implementing the processes and procedures as a computer program. れ The present invention can be executed by various types of computers including terminal devices and server devices.

[0101] The processes and procedures described herein as being executed by a single device, software, component, and / or module may be executed by multiple devices, multiple software, multiple components, and / or multiple modules. Also, various information described herein as being stored in a single memory and storage device may be stored in multiple memories included in a single device or multiple memories distributed across multiple devices. Furthermore, the software and hardware described herein may be realized by integrating them into fewer components or by decomposing them into more components.

[0102] Although the embodiment of the present invention has been described, this embodiment is presented as an example and is not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the present invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0103] 1 system, 100 rotation detection device, 111 memory, 112 processor, 114 communication interface, 115 angular velocity sensor, 20 rotating body, 200 external device, 22 hinge, 225, 226 vector, 227, 228 threshold, 3 door, 4 auto-lock device, 40 main body case, 42 doorknob, 43 support, 44 thumb turn, 45 surveillance camera, 5 auto-lock control device, 500 control interface, 502 motor drive circuit, 504 motor, 506 rotation angle sensor

Claims

1. An angular velocity sensor attached to a rotating body performing a rotational motion and configured to detect an angular velocity of the rotating body, and at least one processor configured to perform control based on the angular velocity detected by the angular velocity sensor, The at least one processor: A rotation detection device configured to perform processing to calculate a first rotation angle at any time while a rotation operation is performed in a direction to open the rotor from the origin of the rotation angle based on the angular velocity sensor, and a second rotation angle at any time while a rotation operation is performed in a closing direction opposite to the opening direction after the rotation operation is performed.

2. 2. The rotation detection device of claim 1, wherein the at least one processor is configured to perform processing to detect that the rotating body is in at least one of an open state and a closed state based on the first rotation angle, the second rotation angle, and a predetermined threshold value.

3. A rotation detection device as described in Claim 2, wherein the at least one processor is configured to perform processing to store a first vector at the time when the magnitude of the first rotation angle exceeds a first threshold.

4. The rotation detection device according to claim 3 , wherein the rotating body is detected to be in a closed state when the magnitude of the second rotation angle is equal to or smaller than the first threshold value, that is, equal to or smaller than the second threshold value.

5. The at least one processor calculates a second vector of the second rotation angle at any time; If the dot product of the first vector and the second vector is negative, a closed state is detected. The rotation detection device according to claim 4, configured to perform processing for:

6. A method for controlling an angular velocity of a rotating body by executing a predetermined instruction command in a computer including an angular velocity sensor attached to the rotating body and configured to detect an angular velocity of the rotating body, and at least one processor configured to perform control based on the angular velocity detected by the angular velocity sensor, the method comprising: The method includes a step of calculating a first rotation angle at any time point while a rotation operation is performed in a direction to open the rotor from an origin of the rotation angle based on the angular velocity sensor, and a second rotation angle at any time point while a rotation operation is performed in a closing direction opposite to the opening direction after the rotation operation is performed.

7. A computer including an angular velocity sensor attached to a rotating body that rotates and configured to detect an angular velocity of the rotating body, and at least one processor configured to perform control based on the angular velocity detected by the angular velocity sensor, a processor configured to perform a process of calculating a first rotation angle at any time point while a rotation operation is performed in a direction from the origin of the rotation angle to open the rotor based on the angular velocity sensor, and a second rotation angle at any time point while a rotation operation is performed in a direction opposite to the opening direction after the rotation operation is performed, program.

Images