Displacement measuring device and display method

Abstract

To provide a displacement measuring device with which it is possible to detect the coordinate of a prescribed region of the object to be measured.SOLUTION: Provided is a displacement measuring device comprising: a sensor signal acquisition unit for acquiring a first signal based on the signal outputted from a first inertia sensor arranged in a first portion of a prescribed region of the object to be measured and a second signal based on the signal outputted from a second inertia sensor arranged in a second portion of the prescribed region; a displacement calculation unit for calculating the displacement of the first inertia sensor and the displacement of the second inertia sensor; an azimuth calculation unit for calculating the azimuth of the first inertia sensor and the azimuth of the second inertia sensor; and a coordinate calculation unit for calculating the coordinate of the first portion on the basis of the displacement and azimuth of the first inertia sensor and calculating the coordinate of the second portion on the basis of the displacement and azimuth of the second inertia sensor.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a displacement measuring device and a display method. [Background technology]

[0002] Patent Document 1 describes a data logger for racing vehicles that has the function of measuring data such as the speed, engine RPM, throttle opening, and acceleration of a racing vehicle in chronological order while it is running, and the function of displaying this data in chronological order, and that has a data comparison means for comparing data for each lap, a display means for displaying data for the running position on the circuit, and a data detection means for detecting the lean angle and cornering radius of the vehicle body.The data logger described in Patent Document 1 can display various pieces of information for each lap of the racing vehicle in an overlapping manner, and also enables the display of distance-series data, making it possible to identify the running position on the circuit and accurately detect the lean angle and cornering radius of the vehicle body. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-318216 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the data logger described in Patent Document 1 cannot detect the coordinates of each part of a racing vehicle. [Means for solving the problem]

[0005] One aspect of the displacement measuring device according to the present invention is a sensor signal acquisition unit that acquires a first signal based on a signal output from a first inertial sensor that is disposed in a first portion of a predetermined part of the object to be measured, and a second signal based on a signal output from a second inertial sensor that is disposed in a second portion of the predetermined part that is different from the first portion; a displacement calculation unit that calculates a displacement of the first inertial sensor based on a third signal that is based on the first signal, and calculates a displacement of the second inertial sensor based on a fourth signal that is based on the second signal; an orientation calculation unit that calculates an orientation of the first inertial sensor based on the third signal and calculates an orientation of the second inertial sensor based on the fourth signal; a coordinate calculation unit that calculates coordinates of the first portion based on the displacement of the first inertial sensor and the orientation of the first inertial sensor, and calculates coordinates of the second portion based on the displacement of the second inertial sensor and the orientation of the second inertial sensor; Includes.

[0006] One aspect of the display method according to the present invention is to a sensor signal acquiring step of acquiring a first signal based on a signal output from a first inertial sensor arranged in a first portion of a predetermined part of the object to be measured, and a second signal based on a signal output from a second inertial sensor arranged in a second portion of the predetermined part different from the first portion; a displacement calculation step of calculating a displacement of the first inertial sensor based on a third signal based on the first signal, and calculating a displacement of the second inertial sensor based on a fourth signal based on the second signal; Calculating the orientation of the first inertial sensor based on the third signal and an orientation calculation step of calculating an orientation of the second inertial sensor based on the a coordinate calculation step of calculating coordinates of the first portion based on the displacement of the first inertial sensor and the orientation of the first inertial sensor, and calculating coordinates of the second portion based on the displacement of the second inertial sensor and the orientation of the second inertial sensor; a relative displacement amount calculation step of calculating a relative displacement amount of the second portion with respect to the first portion based on the coordinates of the first portion and the coordinates of the second portion; a display step of displaying an object based on the amount of relative displacement; Includes. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram for explaining an outline of a displacement measurement system for a measurement object. [Figure 2] FIG. 2 is a diagram showing an example of the arrangement of a plurality of inertial sensors 3. [Figure 3] FIG. 2 is a diagram showing an example of the arrangement of a plurality of inertial sensors 3. [Figure 4] FIG. 1 is a diagram showing an example of the configuration of a displacement measuring device according to a first embodiment. [Figure 5] FIG. 10 is a diagram showing the relationship between the local coordinate system of the inertial sensor, the local coordinate system of the virtual sensor, and the system coordinate system. [Figure 6] FIG. 4 is a diagram showing an example of reference coordinate data. [Figure 7] FIG. 10 is a diagram showing an example of rotation matrix data. [Figure 8] FIG. 10 is a diagram showing an example of sensor data. [Figure 9] FIG. 10 is a diagram showing an example of virtual sensor data. [Figure 10] FIG. 10 is a diagram showing an example of displacement data. [Figure 11] FIG. 4 is a diagram showing an example of direction data. [Figure 12] FIG. 4 is a diagram showing an example of coordinate data. [Figure 13] FIG. 3 is a flowchart showing the procedure of displacement measurement by the displacement measuring device of the first embodiment. [Figure 14] FIG. 4 is a flowchart showing another procedure for displacement measurement by the displacement measuring device of the first embodiment. [Figure 15] FIG. 1 is a flowchart showing the procedure for offline analysis. [Figure 16] FIG. 10 is a flowchart showing the procedure of displacement measurement by the displacement measuring device of the second embodiment. [Figure 17]FIG. 1 is a flowchart showing the procedure for online analysis. [Figure 18] FIG. 1 is a diagram showing an example of the configuration of a display system. [Figure 19] FIG. 2 is a diagram showing the configuration of a displacement measuring device included in the display system. [Figure 20] FIG. 4 is a flowchart showing the procedure of the display method according to the present embodiment. [Figure 21] FIG. 10 is a flowchart showing the procedure of a display information generating step. [Figure 22] FIG. 2 is a diagram showing an example of the arrangement of a displacement measuring device, a plurality of inertial sensors, an imaging unit, and a vehicle information collecting device mounted on a vehicle. [Figure 23] FIG. 10 is a diagram showing an example of display information. [Figure 24] FIG. 10 is a diagram showing an example of display information. [Figure 25] FIG. 10 is a diagram showing an example of display information. [Figure 26] FIG. 10 is a diagram showing an example of display information. DETAILED DESCRIPTION OF THE INVENTION

[0008] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Note that the embodiments described below do not unduly limit the content of the present invention as defined in the claims. Furthermore, not all of the configurations described below are necessarily essential components of the present invention.

[0009] 1. Displacement measurement device 1-1. First embodiment 1-1-1. Overview of the displacement measurement system using displacement measurement devices FIG. 1 is a diagram for explaining an outline of a displacement measurement system for a measurement object using a displacement measurement device 1 of this embodiment.

[0010] 1, the vehicle 4a, which is the object to be measured 4, is a racing car. However, the object to be measured 4 may be a moving body other than the vehicle 4a, such as an airplane or a ship, or may be a stationary structure such as a bridge or a building.

[0011] As shown in FIG. 1, a displacement measuring device 1 and a plurality of inertial sensors 3 are mounted on a vehicle 4a.

[0012] In this embodiment, the inertial sensor 3 is an inertial measurement unit (IMU) having an acceleration sensor and an angular velocity sensor. However, the inertial sensor 3 may be, for example, an acceleration sensor or an angular velocity sensor.

[0013] The displacement measurement device 1 acquires a first signal based on a signal output from a first inertial sensor of the plurality of inertial sensors 3 that is disposed in a first portion of a predetermined location on the vehicle 4a, and a second signal based on a signal output from a second inertial sensor of the plurality of inertial sensors 3 that is disposed in a second portion of the predetermined location that is different from the first portion. For example, the first signal may be a digital signal output from the first inertial sensor, or a digital signal obtained by amplifying and A / D (Analog to Digital) converting an analog signal output from the first inertial sensor. Similarly, for example, the second signal may be a digital signal output from a second inertial sensor, or a digital signal obtained by amplifying and A / D converting an analog signal output from the second inertial sensor.

[0014] The predetermined part may be, for example, a front suspension FS, a rear suspension RS, a front wing FW, a rear wing RW, etc. The predetermined part may also be a floor panel, a power unit, a transmission, etc., which are not shown in FIG.

[0015] Furthermore, the displacement measurement device 1 calculates the displacement of the first inertial sensor based on the acquired first signal, and calculates the displacement of the second inertial sensor based on the acquired second signal. Furthermore, the displacement measurement device 1 calculates the orientation of the first inertial sensor based on the first signal, and calculates the orientation of the second inertial sensor based on the second signal. Then, the displacement measurement device 1 calculates the coordinates of the first part based on the displacement of the first inertial sensor and the orientation of the first inertial sensor, and calculates the coordinates of the second part based on the displacement of the second inertial sensor and the orientation of the second inertial sensor.

[0016] In particular, in this embodiment, the displacement measuring device 1 acquires a first signal and a second signal during a predetermined period while the vehicle 4a is traveling, and after the predetermined period ends, calculates the displacement of the first inertial sensor and the displacement of the second inertial sensor, calculates the orientation of the first inertial sensor and the orientation of the second inertial sensor, and further calculates the coordinates of the first part and the coordinates of the second part.

[0017] Furthermore, the displacement measuring device 1 may calculate the amount of relative displacement of the second portion with respect to the first portion based on the coordinates of the first portion and the coordinates of the second portion. This amount of relative displacement corresponds to the amount of deformation of a predetermined portion of the vehicle 4a.

[0018] Furthermore, the displacement measuring device 1 may generate driving condition information, which is information relating to the driving condition of the vehicle 4a, based on the calculated relative displacement amount of each part of the vehicle 4a. The driving condition information may include, for example, a deformation amount histogram showing the distribution of the deformation amount of each part of the vehicle 4a, the accumulated fatigue level of each part of the vehicle 4a, etc.

[0019] 2 is a diagram showing an example of the arrangement of multiple inertial sensors 3 on the front suspension FS, and is a perspective view of the front suspension FS viewed from above. In the example of FIG. 2, 12 inertial sensors 3, namely, inertial sensors 3a to 3l, are arranged on the front suspension FS.

[0020] The inertial sensor 3a is disposed near the base of the right upper arm of the front suspension FS, and the inertial sensors 3b and 3c are disposed near the two ends of the right upper arm, respectively.

[0021] Inertial sensor 3d is disposed near the base of the right lower arm of front suspension FS, and inertial sensors 3e and 3f are disposed near the two ends of the right lower arm, respectively.

[0022] Inertial sensor 3g is disposed near the base of the left upper arm of front suspension FS, and inertial sensors 3h and 3i are disposed near the two ends of the left upper arm, respectively.

[0023] Inertial sensor 3j is disposed near the base of the left lower arm of front suspension FS, and inertial sensors 3k and 3l are disposed near the two ends of the left lower arm, respectively.

[0024] The displacement measurement device 1 acquires signals output from each of the 12 inertial sensors 3a to 3l during a predetermined period. Then, after the predetermined period ends, the displacement measurement device 1 calculates the coordinates of each of the 12 inertial sensors 3a to 3l. For example, the displacement measurement device 1 calculates the displacement and orientation of the inertial sensor 3a based on the signal output from the inertial sensor 3a, and calculates the coordinates of the area where the inertial sensor 3a is located based on the calculated displacement and orientation of the inertial sensor 3a. Similarly, the displacement measurement device 1 calculates the displacement and orientation of the inertial sensor 3b based on the signal output from the inertial sensor 3b, and calculates the coordinates of the area where the inertial sensor 3b is located based on the calculated displacement and orientation of the inertial sensor 3b. Similarly, the displacement measurement device 1 calculates the displacement and orientation of the inertial sensor 3c based on the signal output from the inertial sensor 3c, and calculates the coordinates of the area where the inertial sensor 3c is located based on the calculated displacement and orientation of the inertial sensor 3c.

[0025] Similarly, the displacement measuring device 1 calculates the displacement and orientation of each of the inertial sensors 3d to 3l based on the signals output from each of the inertial sensors 3d to 3l, and calculates the coordinates of the area where each of the inertial sensors 3d to 3l is located based on the calculated displacement and orientation of each of the inertial sensors 3d to 3l.

[0026] Furthermore, the displacement measurement device 1 may calculate the amount of relative displacement of the portion where inertial sensor 3b is located relative to the portion where the reference inertial sensor 3a is located, based on the coordinates of the portion where inertial sensor 3a is located and the coordinates of the portion where inertial sensor 3b is located. This amount of relative displacement corresponds to the amount of deformation of the front arm of the right upper arm. Similarly, the displacement measurement device 1 may calculate the amount of relative displacement of the portion where inertial sensor 3c is located relative to the portion where the reference inertial sensor 3a is located, based on the coordinates of the portion where inertial sensor 3a is located and the coordinates of the portion where inertial sensor 3c is located. This amount of relative displacement corresponds to the amount of deformation of the rear arm of the right upper arm.

[0027] Similarly, the displacement measuring device 1 determines the coordinates of the portion where the inertial sensor 3d is disposed and the coordinates of the portion where the inertial sensor 3d is disposed. The relative displacement amounts of the portions where the inertial sensors 3e and 3f are disposed relative to the portion where the reference inertial sensor 3d is disposed may be calculated based on the coordinates of the portions where the inertial sensors 3e and 3f are disposed. These relative displacement amounts correspond to the deformation amounts of the front arm and the rear arm of the right lower arm.

[0028] Similarly, the displacement measurement device 1 may calculate the relative displacement of the portions where the inertial sensors 3h and 3i are located relative to the portion where the reference inertial sensor 3g is located, based on the coordinates of the portion where the inertial sensor 3g is located and the coordinates of the portions where the inertial sensors 3h and 3i are located. These relative displacement amounts correspond to the deformation amounts of the front arm and the rear arm of the left upper arm.

[0029] Similarly, the displacement measurement device 1 may calculate the relative displacement of the portions where the inertial sensors 3k and 3l are located relative to the portion where the reference inertial sensor 3j is located, based on the coordinates of the portion where the inertial sensor 3j is located and the coordinates of the portions where the inertial sensors 3k and 3l are located. These relative displacement amounts correspond to the deformation amounts of the front arm and the rear arm of the left lower arm.

[0030] The front suspension FS is an example of a "predetermined portion." The inertial sensor 3a is an example of a "first inertial sensor," and the two inertial sensors 3b and 3c are each an example of a "second inertial sensor." The portion where the inertial sensor 3a is arranged is an example of a "first portion," and the portions where the two inertial sensors 3b and 3c are arranged are each an example of a "second portion."

[0031] Furthermore, the inertial sensor 3d is another example of a “first inertial sensor,” and the two inertial sensors 3e and 3f are each another example of a “second inertial sensor.” Furthermore, the portion where the inertial sensor 3d is arranged is another example of a “first portion,” and the portions where the two inertial sensors 3e and 3f are arranged are each another example of a “second portion.”

[0032] Furthermore, the inertial sensor 3g is another example of a “first inertial sensor,” and each of the two inertial sensors 3h and 3i is another example of a “second inertial sensor.” Furthermore, the portion where the inertial sensor 3g is arranged is another example of a “first portion,” and each of the portions where the two inertial sensors 3h and 3i are arranged is another example of a “second portion.”

[0033] Furthermore, the inertial sensor 3j is another example of a “first inertial sensor,” and each of the two inertial sensors 3k and 3l is another example of a “second inertial sensor.” Furthermore, the portion where the inertial sensor 3j is arranged is another example of a “first portion,” and each of the portions where the two inertial sensors 3k and 3l are arranged is another example of a “second portion.”

[0034] 3 is a plan view of the rear suspension RS as viewed from below, showing an example of the arrangement of multiple inertial sensors 3 relative to the rear suspension RS. In the example of FIG. 3, twelve inertial sensors 3, namely inertial sensors 3m to 3x, are arranged on the rear suspension RS.

[0035] Inertial sensor 3m is disposed near the base of the right upper arm of rear suspension RS, and inertial sensors 3n and 3o are disposed near the two ends of the right upper arm, respectively.

[0036] Inertia sensor 3p is disposed near the base of the right lower arm of rear suspension RS, and inertia sensors 3q and 3r are disposed near the two ends of the right lower arm, respectively.

[0037] The inertial sensor 3s is disposed near the base of the left upper arm of the rear suspension RS, and the inertial sensors 3t and 3u are disposed near the two ends of the left upper arm, respectively.

[0038] Inertia sensor 3v is located near the base of the left lower arm of rear suspension RS, and inertia sensors 3w and 3x are located near the two tips of the left lower arm, respectively.

[0039] Since this is the same as that explained with reference to FIG. 2, the explanation will be omitted, but the displacement measuring device 1 calculates the coordinates of the portions where the inertial sensors 3m to 3x are arranged.

[0040] Furthermore, the displacement measurement device 1 may calculate the amount of relative displacement of the portion where the inertial sensor 3n is located relative to the portion where the reference inertial sensor 3m is located, based on the coordinates of the portion where the inertial sensor 3m is located and the coordinates of the portion where the inertial sensor 3n is located. This amount of relative displacement corresponds to the amount of deformation of the front arm of the right upper arm. Similarly, the displacement measurement device 1 may calculate the amount of relative displacement of the portion where the inertial sensor 3o is located relative to the portion where the reference inertial sensor 3m is located, based on the coordinates of the portion where the inertial sensor 3m is located and the coordinates of the portion where the inertial sensor 3o is located. This amount of relative displacement corresponds to the amount of deformation of the rear arm of the right upper arm.

[0041] Similarly, the displacement measurement device 1 may calculate the relative displacement of the portions where the inertial sensors 3q and 3r are located relative to the portion where the reference inertial sensor 3p is located, based on the coordinates of the portion where the inertial sensor 3p is located and the coordinates of the portions where the inertial sensors 3q and 3r are located. These relative displacement amounts correspond to the deformation amounts of the front and rear arms of the right lower arm.

[0042] Similarly, the displacement measurement device 1 may calculate the amount of relative displacement of the portions where the inertial sensors 3t and 3u are located relative to the portion where the reference inertial sensor 3s is located, based on the coordinates of the portion where the inertial sensor 3s is located and the coordinates of the portions where the inertial sensors 3t and 3u are located. These relative displacement amounts correspond to the amount of deformation of the front arm and the rear arm of the left upper arm.

[0043] Similarly, the displacement measurement device 1 may calculate the relative displacement of the portions where the inertial sensors 3w and 3x are located relative to the portion where the reference inertial sensor 3v is located, based on the coordinates of the portion where the inertial sensor 3v is located and the coordinates of the portions where the inertial sensors 3w and 3x are located. These relative displacement amounts correspond to the deformation amounts of the front arm and the rear arm of the left lower arm.

[0044] The rear suspension RS is an example of a "predetermined portion." The inertial sensor 3m is an example of a "first inertial sensor," and the two inertial sensors 3n and 3o are each an example of a "second inertial sensor." The portion where the inertial sensor 3m is arranged is an example of a "first portion," and the portions where the two inertial sensors 3n and 3o are arranged are each an example of a "second portion."

[0045] Furthermore, the inertial sensor 3p is another example of a “first inertial sensor,” and the two inertial sensors 3q and 3r are each another example of a “second inertial sensor.” Furthermore, the portion where the inertial sensor 3p is arranged is another example of a “first portion,” and the portions where the two inertial sensors 3q and 3r are arranged are each another example of a “second portion.”

[0046] Furthermore, the inertial sensor 3s is another example of a “first inertial sensor,” and each of the two inertial sensors 3t and 3u is another example of a “second inertial sensor.” Furthermore, the portion where the inertial sensor 3s is arranged is another example of a “first portion,” and each of the portions where the two inertial sensors 3t and 3u are arranged is another example of a “second portion.”

[0047] Furthermore, the inertial sensor 3v is another example of a “first inertial sensor,” and each of the two inertial sensors 3w and 3x is another example of a “second inertial sensor.” Furthermore, the portion where the inertial sensor 3v is arranged is another example of a “first portion,” and each of the portions where the two inertial sensors 3w and 3x are arranged is another example of a “second portion.”

[0048] 1-1-2.Configuration of displacement measurement device Fig. 4 is a diagram showing an example of the configuration of the displacement measuring device 1 of the first embodiment. As shown in Fig. 4, the displacement measuring device 1 includes a processing circuit 100, a memory circuit 110, N analog front ends (AFEs) 120, an operation unit 130, and a communication unit 140. N is a predetermined integer equal to or greater than 2. Note that the displacement measuring device 1 may be configured such that some of the components shown in Fig. 4 are omitted or modified, or other components are added.

[0049] The signals output from the N inertial sensors 3 are input to N analog front ends 120. The analog front ends 120 perform amplification and A / D conversion on the signals output from the inertial sensors 3, and output digital signals.

[0050] The processing circuit 100 executes a displacement measurement program 111 stored in the memory circuit 110, acquires digital signals output from each of the N analog front ends 120, and performs processing to calculate the coordinates of the first and second portions of each part of the object to be measured 4 and the relative displacement amount of the second portion with respect to the first portion based on the acquired digital signals. The processing circuit 100 may also generate driving situation information regarding the driving situation of the vehicle 4a based on the relative displacement amount of each portion. In addition, the processing circuit 100 performs various processes in response to operation signals from the operation unit 130, processes to control the communication unit 140 for data communication with the external device 5, etc. The processing circuit 100 is realized by, for example, a CPU (Central Processing Unit) or a DSP (Digital Signal Processor).

[0051] By executing the displacement measurement program 111, the processing circuit 100 functions as a sensor signal acquisition unit 101, a calibration unit 102, a displacement calculation unit 103, an orientation calculation unit 104, a coordinate calculation unit 105, a relative displacement amount calculation unit 106, and a traveling situation information generation unit 107. In other words, the displacement measurement device 1 includes the sensor signal acquisition unit 101, the calibration unit 102, the displacement calculation unit 103, the orientation calculation unit 104, the coordinate calculation unit 105, the relative displacement amount calculation unit 106, and the traveling situation information generation unit 107.

[0052] The sensor signal acquisition unit 101 acquires N digital signals output from the N analog front ends 120 .

[0053] The calibration unit 102 calculates N rotation matrices R1 to R N Each of the N digital signals acquired by the sensor signal acquisition unit 101 is converted into a signal output from each of the N virtual sensors using the above formula.

[0054] FIG. 5 is a diagram showing the relationship between the local coordinate system of the nth inertial sensor 3, the local coordinate system of the nth virtual sensor, and the system coordinate system. n is an arbitrary integer between 1 and N. As shown in FIG. 5, the local coordinate system of the nth inertial sensor 3 is defined by the x-axis, y-axis, and z-axis. The local coordinate system of the nth virtual sensor is defined by the x-axis, y-axis, and z-axis. img axis, y img axis and z img The system coordinate system is an absolute coordinate system whose orientation does not change relative to the earth's surface, and is defined by the X, Y, and Z axes. In the initial state of the displacement measurement device 1, that is, at time t=0 when measurement starts, the position of the nth virtual sensor coincides with the position of the nth inertial sensor 3. In other words, at time t=0, the coordinates of the nth inertial sensor 3 and the nth virtual sensor coincide in the system coordinate system, and are both (Xn(0), Yn(0), Zn(0)). In addition, at time t=0, the local coordinate system of the nth virtual sensor coincides with the system coordinate system. That is, x img The direction of the axis coincides with the direction of the X axis, and the y img The direction of the axis coincides with the direction of the Y axis, and the z img The direction of the axis coincides with the direction of the Z axis.

[0055] When the coordinates and orientation of the nth inertial sensor 3 change with the passage of time t, the coordinates and orientation of the local coordinate system of the nth virtual sensor also change. However, regardless of time t, the relationship between the local coordinates of the nth inertial sensor 3 and the local coordinates of the nth virtual sensor is a constant rotation matrix R nThat is, the calibration unit 102 converts a digital signal based on a signal output from the n-th inertial sensor 3 at an arbitrary time t into a rotation matrix R n By multiplying the signal by , the signal is converted into a digital signal based on the signal output from the nth virtual sensor at time t.

[0056] 4, the displacement calculation unit 103 calculates the displacement of each of the N inertial sensors 3 based on each of the N digital signals converted by the calibration unit 102. Specifically, for any integer n between 1 and N, the displacement calculation unit 103 double integrates the acceleration signal included in the nth digital signal to calculate an nth displacement vector, which is the displacement of the nth inertial sensor 3.

[0057] The orientation calculation unit 104 calculates the orientation of each of the N inertial sensors 3 based on each of the N digital signals converted by the calibration unit 102. Specifically, for any integer n between 1 and N, the orientation calculation unit 104 integrates the angular velocity signal included in the nth digital signal to calculate an nth orientation difference vector, which is the difference in the orientation of the nth inertial sensor 3, and calculates an nth orientation vector, which is the orientation of the nth inertial sensor 3, based on the nth orientation difference vector. For example, the orientation calculation unit 104 calculates the nth orientation vector at time t+Δt using the nth orientation vector at time t and the nth orientation difference vector at time t+Δt. The nth orientation vector is a unit vector that indicates the orientation of the nth virtual sensor in the system coordinate system.

[0058] The coordinate calculation unit 105 calculates the coordinates of the portion in the system coordinate system where the nth inertial sensor 3 is located, based on the nth displacement vector calculated by the displacement calculation unit 103 and the nth orientation vector calculated by the orientation calculation unit 104, for any integer n between 1 and N.

[0059] The relative displacement amount calculation unit 106 calculates the amount of relative displacement of a second portion with respect to a first portion of one or more predetermined parts of the vehicle 4a, based on the coordinates of the portion where the N inertial sensors 3 are arranged, calculated by the coordinate calculation unit 105. For example, the relative displacement amount calculation unit 106 may calculate, as the amount of relative displacement of the second portion with respect to the first portion, the difference between the coordinate of the second portion at time t and the coordinate of the second portion at time t + Δt and the difference between the coordinate of the first portion at time t and the coordinate of the first portion at time t + Δt.

[0060] For example, when a first inertial sensor 3 is arranged in a first portion of a predetermined location of a vehicle 4a, and a second inertial sensor 3 is arranged in a second portion different from the first portion of the predetermined location, the processing circuit 100 calculates the relative displacement amount of the second portion with respect to the first portion as follows:

[0061] First, the sensor signal acquisition unit 101 acquires a first signal based on a signal output from the first inertial sensor 3 and a second signal based on a signal output from the second inertial sensor 3 arranged in the second portion. The first signal is a digital signal output from the first analog front end 120, and the second signal is a digital signal output from the second analog front end 120.

[0062] Next, the calibration unit 102 converts the first signal into a third signal output from the first virtual sensor using the first rotation matrix R1, and converts the second signal into a fourth signal output from the second virtual sensor using the second rotation matrix R2. The third signal is a signal based on the first signal, and the fourth signal is a signal based on the second signal. In the initial state of the displacement measurement device 1, the position of the first virtual sensor coincides with the position of the first inertial sensor 3, and the local coordinate system of the first virtual sensor coincides with the system coordinate system. Also, in the initial state of the displacement measurement device 1, the position of the second virtual sensor coincides with the position of the second inertial sensor 3, and the local coordinate system of the second virtual sensor coincides with the system coordinate system.

[0063] Next, the displacement calculation unit 103 calculates the displacement of the first inertial sensor 3 based on the third signal, and calculates the displacement of the second inertial sensor 3 based on the fourth signal. Specifically, the displacement calculation unit 103 double integrates the acceleration signal included in the third signal to calculate a first displacement vector, which is the displacement of the first inertial sensor 3. Furthermore, the displacement calculation unit 103 double integrates the acceleration signal included in the fourth signal to calculate a second displacement vector, which is the displacement of the second inertial sensor 3.

[0064] Next, the orientation calculation unit 104 calculates the orientation of the first inertial sensor 3 based on the third signal, and calculates the orientation of the second inertial sensor 3 based on the fourth signal. Specifically, the orientation calculation unit 104 integrates the angular velocity signal included in the third signal to calculate a first orientation difference vector which is the difference in the orientation of the first inertial sensor 3, and calculates a first orientation vector which is the orientation of the first inertial sensor 3 based on the first orientation difference vector which is the difference in the orientation. Furthermore, the orientation calculation unit 104 integrates the angular velocity signal included in the fourth signal to calculate a second orientation difference vector which is the difference in the orientation of the second inertial sensor 3, and calculates the second orientation vector which is the orientation of the second inertial sensor 3 based on the second orientation difference vector which is the difference in the orientation.

[0065] Next, the coordinate calculation unit 105 calculates the coordinates of a first portion of the predetermined part based on a first displacement vector that is the displacement of the first inertial sensor 3 and a first orientation vector that is the orientation of the first inertial sensor 3. Furthermore, the coordinate calculation unit 105 calculates the coordinates of a second portion of the predetermined part based on a second displacement vector that is the displacement of the second inertial sensor 3 and a second orientation vector that is the orientation of the second inertial sensor 3.

[0066] Finally, the relative displacement amount calculation unit 106 calculates the relative displacement amount of the second portion of the predetermined part relative to the first portion, based on the coordinates of the first portion and the coordinates of the second portion.

[0067] In particular, in this embodiment, the sensor signal acquisition unit 101 acquires a first signal and a second signal during a predetermined period. Then, after the predetermined period ends, the calibration unit 102 converts the first signal into a third signal and the second signal into a fourth signal, the displacement calculation unit 103 calculates the displacement of the first inertial sensor 3 and the displacement of the second inertial sensor 3, the orientation calculation unit 104 calculates the orientation of the first inertial sensor 3 and the orientation of the second inertial sensor 3, the coordinate calculation unit 105 calculates the coordinates of the first portion and the coordinates of the second portion, and the relative displacement calculation unit 106 calculates the amount of relative displacement of the second portion with respect to the first portion.

[0068] The driving condition information generating unit 107 may generate driving condition information, which is information relating to the driving condition of the vehicle 4a, based on the relative displacement of each part of the vehicle 4a calculated by the relative displacement calculating unit 106. The driving condition information may include, for example, a deformation amount histogram showing the distribution of the deformation amounts of each part of the vehicle 4a, the accumulated fatigue level of each part of the vehicle 4a, etc.

[0069] For example, the driving status information generating unit 107 may define an elastic body model for each part of the vehicle 4a in which the positions of the multiple inertial sensors 3 are mesh lattice points, and generate a deformation amount histogram showing the relative displacement amount of each mesh lattice point. The relative displacement amount of each lattice point is, for example, the relative displacement amount of each part calculated by the relative displacement amount calculating unit 106. Furthermore, the driving status information generating unit 107 may calculate the cumulative fatigue level of each part by calculating displacement energy from the relative displacement amount of each lattice point and integrating the value of the displacement energy raised to the kth power.

[0070] The memory circuitry 110 has a ROM (Read Only Memory) and a RAM (Random Access Memory), both not shown. The ROM stores various programs such as the displacement measurement program 111 and predetermined data, while the RAM is used as a working area for the processing circuitry 100 and stores programs and data read from the ROM, data input from the operation unit 130, data generated by the processing circuitry 100, and the like.

[0071] In this embodiment, the memory circuitry 110 stores a displacement measurement program 111, reference coordinate data 112, rotation matrix data 113, sensor data 114, virtual sensor data 115, displacement data 116, orientation data 117, coordinate data 118, and the like.

[0072] The reference coordinate data 112 is data having the initial coordinates of the portion of the vehicle 4a where the N inertial sensors 3 are arranged. An example of the reference coordinate data 112 is shown in Fig. 6. As shown in Fig. 6, the reference coordinate data 112 is the X-coordinate X of the portion of the vehicle 4a where the n-th inertial sensor 3 is arranged at time t = 0 for each integer n between 1 and N. n (0), Y coordinate Y n (0) and Z coordinate Z n (0).

[0073] The rotation matrix data 113 includes N rotation matrices R1 to R2 that transform the local coordinate systems of the N inertial sensors 3 into the local coordinate systems of the N virtual sensors. N 7 shows an example of the rotation matrix data 113. As shown in FIG. 7, the rotation matrix data 113 is a rotation matrix R that transforms the local coordinate system of the nth inertial sensor 3 into the local coordinate system of the nth virtual sensor for each integer n between 1 and N. n It has.

[0074] The sensor data 114 is time-series data of N digital signals output from N analog front-ends 120, acquired by the sensor signal acquisition unit 101. An example of the sensor data 114 is shown in Fig. 8. As shown in Fig. 8, the sensor data 114 is a time-series data of acceleration data a' included in the n-th digital signal for each integer n between 1 and N. n (t) and angular velocity data g' n (t) Time t=0~t end Acceleration data a' at time t n (t) is the x-axis acceleration value ax' n (t), y-axis acceleration value ay' n (t), z-axis acceleration value az' n(t), and angular velocity data g' at time t n (t) is the x-axis angular velocity value gx' n (t), y-axis angular velocity value gy' n (t) and z-axis angular velocity value gz' n (t)

[0075] The virtual sensor data 115 is time-series data of N digital signals converted by the calibration unit 102. An example of the virtual sensor data 115 is shown in Fig. 9. As shown in Fig. 9, the virtual sensor data 115 is obtained by converting the acceleration data a n (t) and angular velocity data g n (t) Time t=0~t end Acceleration data a at time t n ( t) is the x-axis acceleration value ax n (t), y-axis acceleration value ay n (t), z-axis acceleration value az n (t), and angular velocity data g n (t) is the x-axis angular velocity value gx n (t), y-axis angular velocity value gy n (t) and z-axis angular velocity value gz n (t)

[0076] The displacement data 116 is time-series data of the displacements of the N inertial sensors 3 calculated by the displacement calculation unit 103. An example of the displacement data 116 is shown in Fig. 10. As shown in Fig. 10, the displacement data 116 is a displacement vector d n (t) Time t=0~t end +Δt contains the time series data. The displacement vector d at time t n (t) is x img Axial displacement dx n (t), y img Axial displacement dy n (t), z img Axial displacement dz n (t)

[0077] The orientation data 117 is time-series data of the orientations of the N inertial sensors 3 calculated by the orientation calculation unit 104. An example of the orientation data 117 is shown in Fig. 11. As shown in Fig. 11, the orientation data 117 is a time-series data of the orientations of the n-th inertial sensor 3, which is an orientation vector r n (t) Time t=0~t end +Δt time series data. Orientation vector r at time t n (t) is the direction of the X axis, rX n (t), Y-axis direction rY n (t), Z-axis direction rZ n (t)

[0078] The coordinate data 118 is time-series data of the coordinates of the portion of the vehicle 4a where the N inertial sensors 3 are arranged, calculated by the coordinate calculation unit 105. An example of the coordinate data 118 is shown in Fig. 12. As shown in Fig. 12, the coordinate data 118 is the X-coordinate X of the portion of the vehicle 4a where the n-th inertial sensor 3 is arranged, for each integer n between 1 and N. n (t), Y coordinate Y n (t) and Z coordinate Z n (t) Time t=0~t end Includes time series data for +Δt.

[0079] The operation unit 130 is an input device configured with operation keys, button switches, etc., and outputs an operation signal to the processing circuit 100 in response to an operation by a user.

[0080] The communication unit 140 performs various controls to establish data communication between the processing circuit 100 and the external device 5. For example, the communication unit 140 may transmit the driving situation information generated by the processing circuit 100 to the external device 5, and the external device 5 may receive the driving situation information and display it on a display unit.

[0081] It should be noted that at least a part of the processing circuit 100 may be realized by dedicated hardware. Furthermore, the displacement measuring device 1 may be a single device, or may be configured by multiple devices.

[0082] 1-1-3. Displacement measurement procedure FIG. 13 is a flowchart showing the procedure of displacement measurement by the displacement measuring device 1 of the first embodiment.

[0083] 13, first, in step S1, the displacement measuring device 1 acquires reference coordinate data 112 and stores it in the memory circuit 110. For example, the displacement measuring device 1 may acquire the reference coordinate data 112 generated by a desired measuring device actually measuring the positions of N inertial sensors 3.

[0084] Furthermore, in step S2, the displacement measurement device 1 acquires rotation matrix data 113 and stores it in the memory circuitry 110. For example, the displacement measurement device 1 may acquire rotation matrix data 113 generated by a desired measuring device actually measuring the orientations of N inertial sensors 3.

[0085] Next, in step S3, the displacement measuring device 1 sets the time t=0.

[0086] Next, in a sensor signal acquisition step S4 , the sensor signal acquisition unit 101 acquires signals from the N inertial sensors 3 and stores them in the storage circuit 110 as part of the sensor data 114 .

[0087] Time t is t end Until this is the case (N in step S5), the displacement measuring device 1 sets the time t=t+Δt (step S6) and repeats steps S3 and S4.

[0088] And time t is t end If this is the case (Y in step S5), in step S7, the displacement measuring device 1 end Offline analysis is performed using sensor data 114 containing data from N inertial sensors 3 acquired during a period.

[0089] 14 is a flowchart showing another procedure for displacement measurement by the displacement measurement device 1 of the first embodiment. In FIG. 14, the same steps as in FIG. 13 are assigned the same reference numerals. In the procedure shown in FIG. 13, the displacement measurement device 1 acquires data from N inertial sensors 3 at times t=0 to t end 14, the displacement measuring device 1 acquires data from the N inertial sensors 3 at times t=0 to t end Steps S1 and S2 are performed after this period. Each of the processes in steps S1 to S7 in the procedure shown in Fig. 14 is the same as each of the processes in steps S1 to S7 in the procedure shown in Fig. 13, and therefore a description thereof will be omitted.

[0090] Fig. 15 is a flowchart showing the procedure of the offline analysis in step S7 in Fig. 13 or 14. As shown in Fig. 15, first, in step S101, the displacement measuring device 1 sets the time t=0 and the number n=1.

[0091] Next, in step S102, the orientation calculation unit 104 calculates the orientation vector r n For example, the orientation calculation unit 104 initializes the orientation vector r n (0)=(rX n (0),rY n (0),rZ n (0)) is initialized to the unit vector (1,0,0) in the X-axis direction, and the orientation data 117 is updated.

[0092] Next, in the calibration step S103, the calibration unit 102 calculates the rotation matrix R n Using the acceleration data a' n (t) and angular velocity data g' n (t) is the acceleration data a n (t) and angular velocity data g n Convert to (t).

[0093] Next, in the displacement calculation step S104, the displacement calculation unit 103 calculates the acceleration data a n (t) is double integrated to obtain the displacement vector d n Calculate (t+Δt).

[0094] Next, in the direction calculation step S105, the direction calculation unit 104 calculates the angular velocity data g n (t) is integrated to obtain the azimuth difference vector Δr n (t+Δt) is calculated, and the orientation vector r n (t) is the azimuth difference vector Δr n Add (t+Δt) to the orientation vector r n Calculate (t+Δt).

[0095] Next, in the coordinate calculation step S106, the coordinate calculation unit 105 calculates the coordinate (X n (t), Y n (t), Z n (t)), displacement vector d n (t+Δt) and orientation vector r n Using (t+Δt), the coordinates (X n (t+Δt),Y n (t+Δt),Z n (t+Δt)

[0096] Time t is t end Until this is the case (N in step S107), the displacement measuring device 1 sets the time t=t+Δt (step S108) and repeats steps S103 to S106.

[0097] Time t is t end If the number n is equal to or greater than this (Y in step S107), then if the number n is not N (Y in step S108), 109N), in step S110, the displacement measuring device 1 sets the time t=0 and the number n=n+1, and performs steps S102 to S108 again.

[0098] Then, when the number n becomes N (Y in step S109), in a relative displacement amount calculation step S111, the relative displacement amount calculation unit 106 calculates the relative displacement amount of the second portion of each part of the vehicle 4a with respect to the first portion using the coordinate data 118.

[0099] Finally, in a driving situation information generating step S112, the driving situation information generating unit 107 generates driving situation information using the relative displacement amounts of the respective parts of the vehicle 4a.

[0100] 1-1-4.Effects As described above, the displacement measurement device 1 of the first embodiment calculates the displacement and orientation of the first inertial sensor 3 based on the signal output from the first inertial sensor 3, and calculates the displacement and orientation of the second inertial sensor 3 based on the signal output from the second inertial sensor 3. The first inertial sensor 3 is disposed in a first portion of a predetermined portion of the vehicle 4a, and the second inertial sensor 3 is disposed in a second portion of the predetermined portion. Therefore, the displacement measurement device 1 of the first embodiment can calculate the coordinates of the first portion of the predetermined portion based on the displacement and orientation of the first inertial sensor 3, and calculate the coordinates of the second portion of the predetermined portion based on the displacement and orientation of the second inertial sensor 3. Furthermore, the displacement measurement device 1 of the first embodiment calculates not only the coordinates of the first portion of the predetermined portion but also the coordinates of the second portion, so that the position of the predetermined portion can be calculated with high accuracy.

[0101] Furthermore, according to the displacement measuring device 1 of the first embodiment, the amount of deformation of a predetermined part of the vehicle 4a can be calculated by calculating the amount of relative displacement of the second part with respect to the first part of the predetermined part.

[0102] Furthermore, according to the displacement measuring device 1 of the first embodiment, by virtually matching the local coordinate system of each inertial sensor 3 with the system coordinate system in the initial state, it is possible to calculate coordinates in the system coordinate system.

[0103] Furthermore, according to the displacement measuring device 1 of the first embodiment, coordinates are calculated after a predetermined period for acquiring the output signals of each inertial sensor 3 has ended, so that the calculations required for calculating the coordinates can be batch processed, thereby reducing the calculation load during measurement.

[0104] 1-2. Second embodiment In the following, for the displacement measuring device 1 of the second embodiment, components similar to those of the first embodiment are given the same symbols, explanations that overlap with those of the first embodiment are omitted or simplified, and the differences from the first embodiment are mainly described.

[0105] The configuration of the displacement measuring device 1 of the second embodiment is the same as that shown in FIG. 4, and therefore is not shown in the figure.

[0106] The displacement measuring device 1 of the second embodiment acquires a first signal and a second signal during a predetermined period while the vehicle 4a is traveling, and calculates the displacement of the first inertial sensor and the displacement of the second inertial sensor before the predetermined period ends, calculates the orientation of the first inertial sensor and the orientation of the second inertial sensor, and further calculates the coordinates of a first part and a second part of a predetermined portion of the vehicle 4a.

[0107] Specifically, the sensor signal acquisition unit 101 acquires a first signal and a second signal during a predetermined period. Then, before the predetermined period ends, the calibration unit 102 acquires the first signal and the second signal. The first signal is converted into a third signal, and the second signal is converted into a fourth signal; the displacement calculation unit 103 calculates the displacement of the first inertial sensor 3 and the displacement of the second inertial sensor 3; the orientation calculation unit 104 calculates the orientation of the first inertial sensor 3 and the orientation of the second inertial sensor 3; the coordinate calculation unit 105 calculates the coordinates of the first part and the coordinates of the second part; and the relative displacement calculation unit 106 calculates the relative displacement of the second part with respect to the first part.

[0108] Other configurations and functions of the displacement measuring device 1 of the second embodiment are the same as those of the first embodiment, and therefore description thereof will be omitted.

[0109] FIG. 16 is a flowchart showing the procedure of displacement measurement by the displacement measuring device 1 of the second embodiment.

[0110] 16, first, in step S11, the displacement measuring device 1 acquires reference coordinate data 112 and stores it in the memory circuit 110. For example, the displacement measuring device 1 may acquire the reference coordinate data 112 generated by a desired measuring device actually measuring the positions of N inertial sensors 3.

[0111] Furthermore, in step S12, the displacement measurement device 1 acquires rotation matrix data 113 and stores it in the memory circuitry 110. For example, the displacement measurement device 1 may acquire rotation matrix data 113 generated by a desired measuring device actually measuring the orientations of N inertial sensors 3.

[0112] Next, in step S13, the displacement measuring device 1 sets the time t=0.

[0113] Next, in step S14, the orientation calculation unit 104 calculates the orientation vector r n For example, the orientation calculation unit 104 initializes the orientation vector r n (0)=(rX n (0),rY n (0),rZ n (0)) is initialized to the unit vector (1,0,0) in the X-axis direction, and the orientation data 117 is updated.

[0114] Next, in a sensor signal acquisition step S15, the sensor signal acquisition unit 101 acquires signals from the N inertial sensors 3 and stores them in the storage circuit 110 as part of the sensor data 114.

[0115] Next, in step S16, the displacement measuring device 1 performs online analysis using the data from the N inertial sensors 3 acquired in step S15.

[0116] Time t is t end Until this is the case (N in step S17), the displacement measuring device 1 sets the time t=t+Δt (step S18) and repeats steps S15 and S16.

[0117] Fig. 17 is a flowchart showing the procedure of the online analysis in step S16 in Fig. 16. As shown in Fig. 17, first, in step S201, the displacement measuring device 1 sets the number n=1.

[0118] Next, in the calibration step S202, the calibration unit 102 calculates the rotation matrix R n Using the acceleration data a' n (t) and angular velocity data g' n (t) is the acceleration data a n (t) and angular velocity data g n Convert to (t).

[0119] Next, in the displacement calculation step S203, the displacement calculation unit 103 calculates the acceleration data a n (t) is double integrated to obtain the displacement vector d n Calculate (t+Δt).

[0120] Next, in the direction calculation step S204, the direction calculation unit 104 calculates the angular velocity data g n (t) Integrating the azimuth difference vector Δr n (t+Δt) is calculated, and the orientation vector r n (t) is the azimuth difference vector Δr n Add (t+Δt) to the orientation vector r n Calculate (t+Δt).

[0121] Next, in the coordinate calculation step S205, the coordinate calculation unit 105 calculates the coordinate (X n (t), Y n (t), Z n (t)), displacement vector d n (t+Δt) and orientation vector r n Using (t+Δt), the coordinates (X n (t+Δt),Y n (t+Δt),Z n (t+Δt)

[0122] If the number n is not N (N in step S206), in step S207, the displacement measuring device 1 sets the number n to n+1, and performs steps S202 to S205 again.

[0123] Then, when the number n becomes N (Y in step S206), in a relative displacement amount calculation step S208, the relative displacement amount calculation unit 106 calculates the relative displacement amount of the second portion of each part of the vehicle 4a with respect to the first portion using the coordinate data 118.

[0124] Finally, in a driving situation information generating step S209, the driving situation information generating unit 107 generates driving situation information using the relative displacement amounts of the respective parts of the vehicle 4a.

[0125] According to the displacement measurement device 1 of the second embodiment described above, it is possible to calculate coordinates in real time during a predetermined period of time during which the output signals of the inertial sensors 3 are acquired. In addition, the displacement measurement device 1 of the second embodiment has the same effects as the displacement measurement device 1 of the first embodiment.

[0126] 2.Display method The display method of this embodiment will be described below, with the same components as those in the above-described embodiments being assigned the same reference numerals.

[0127] 2-1. Display system configuration Fig. 18 is a diagram showing an example of the configuration of a display system for performing the display method of this embodiment. In the example of Fig. 18, in a display system 200, a displacement measuring device 1, a plurality of inertial sensors 3, and an imaging unit 7 are mounted on each of a plurality of vehicles 4a, which are measurement targets 4. Furthermore, a vehicle information collecting device 8 may be mounted on each of the plurality of vehicles 4a.

[0128] The displacement measuring device 1 acquires signals output from a plurality of inertial sensors 3 while the vehicle 4a is traveling. Then, the displacement measuring device 1 calculates the amount of relative displacement between the first portion and the second portion of each part of the vehicle 4a based on the acquired signals, and calculates various index values ​​based on the amount of relative displacement of each part of the vehicle 4a. The displacement measuring device 1 may also calculate index values ​​based on vehicle information collected by the vehicle information collecting device 8 while the vehicle 4a is traveling. The displacement measuring device 1 may also acquire video captured by the imaging unit 7 while the vehicle 4a is traveling. Then, the displacement measuring device 1 transmits the calculated various index values ​​and the acquired video to the display information generating device 210.

[0129] The display information generating device 210 acquires various index values ​​and images from the displacement measuring device 1 mounted on each vehicle 4a, and generates display information including an object indicating at least one index value. Since the index value is calculated based on the displacement amount of the vehicle 4a, the object indicating the index value is an object based on the relative displacement amount of a predetermined part of the vehicle 4a.

[0130] Furthermore, the display information generating device 210 may generate display information in which the object is superimposed on an image acquired from a displacement measuring device 1 mounted on one of the vehicles 4a. Then, the display information generating device 210 transmits the generated display information to the display device 220. The display device 220 receives the display information and displays it on a display unit (not shown).

[0131] The number of displacement measuring devices 1, the number of inertial sensors 3, the number of imaging units 7, and the number of vehicle information collecting devices 8 mounted on each vehicle 4a is not particularly limited.

[0132] Fig. 19 is a diagram showing the configuration of a displacement measuring device 1 included in a display system 200. In Fig. 19, the same components as those in Fig. 4 are denoted by the same reference numerals. As shown in Fig. 19, similar to the first or second embodiment described above, the displacement measuring device 1 includes a processing circuit 100, a memory circuit 110, a plurality of analog front ends 120, an operation unit 130, and a communication unit 140. Note that the displacement measuring device 1 may be configured such that some of the components in Fig. 19 are omitted or modified, or other components are added.

[0133] In this embodiment, the processing circuit 100 executes a displacement measurement program 111 stored in the memory circuit 110, thereby functioning as a sensor signal acquisition unit 101, a calibration unit 102, a displacement calculation unit 103, an orientation calculation unit 104, a coordinate calculation unit 105, a relative displacement amount calculation unit 106, a driving situation information generation unit 107, an image acquisition unit 151, a vehicle information acquisition unit 152, and an index value calculation unit 153. That is, the displacement measurement device 1 includes the sensor signal acquisition unit 101, the calibration unit 102, the displacement calculation unit 103, an orientation calculation unit 104, a coordinate calculation unit 105, a relative displacement amount calculation unit 106, a driving situation information generation unit 107, an image acquisition unit 151, a vehicle information acquisition unit 152, and an index value calculation unit 153.

[0134] The functions of the sensor signal acquisition unit 101, the calibration unit 102, the displacement calculation unit 103, the orientation calculation unit 104, the coordinate calculation unit 105, the relative displacement amount calculation unit 106, and the driving situation information generation unit 107 are the same as those of the first or second embodiment, and therefore their description will be omitted.

[0135] The video acquisition unit 151 acquires video from the imaging unit 7 .

[0136] The vehicle information acquisition unit 152 acquires vehicle information such as the traveling speed and engine speed of the vehicle 4a from the vehicle information collection device 8.

[0137] The index value calculation unit 153 calculates the values ​​of various indexes based on the relative displacement of each part of the vehicle 4a calculated by the relative displacement amount calculation unit 106. The index value calculation unit 153 may also calculate the index values ​​based on the vehicle information acquired by the vehicle information acquisition unit 152.

[0138] The functions of the memory circuit 110, the multiple analog front ends 120, the operation unit 130, and the communication unit 140 are the same as those of the first or second embodiment described above, and therefore description thereof will be omitted. In particular, in this embodiment, the communication unit 140 transmits various index values ​​generated by the index value calculation unit 153 to the display information generating device 210.

[0139] It should be noted that at least a part of the processing circuit 100 may be realized by dedicated hardware. Furthermore, the displacement measuring device 1 may be a single device, or may be configured by multiple devices.

[0140] 2-2. Display procedure FIG. 20 is a flowchart showing the procedure of the display method of this embodiment.

[0141] 20, first, in step S21, the displacement measurement device 1 mounted on each vehicle 4a acquires the reference coordinate data 112 and stores it in the memory circuit 110. For example, the displacement measurement device 1 may acquire the reference coordinate data 112 generated by a desired measuring device actually measuring the positions of N inertial sensors 3.

[0142] In step S22, the displacement measurement device 1 mounted on each vehicle 4a acquires the rotation matrix data 113 and stores it in the memory circuit 110. For example, the displacement measurement device 1 may acquire the rotation matrix data 113 generated by a desired measuring device actually measuring the orientations of the N inertial sensors 3.

[0143] Next, in step S23, the displacement measuring device 1 mounted on each vehicle 4a sets the time t=0.

[0144] Next, in step S24, the orientation calculation unit 104 of the displacement measurement device 1 mounted on each vehicle 4a calculates the orientation vector r n For example, the orientation calculation unit 104 initializes the orientation vector r n (0)=(rX n (0),rY n (0),rZ n (0)) is initialized to the unit vector (1,0,0) in the X-axis direction, and the orientation data 117 is updated.

[0145] Next, in a sensor signal acquisition step S25, the sensor signal acquisition unit 101 of the displacement measurement device 1 mounted on each vehicle 4a acquires signals from the N inertial sensors 3 and stores them in the memory circuit 110 as part of the sensor data 114.

[0146] Next, in step S26, the displacement measurement device 1 mounted on each vehicle 4a performs online analysis using the data acquired in step S25 from the N inertial sensors 3. The procedure of the online analysis is the same as that shown in FIG.

[0147] Next, in an image acquisition step S27, the image acquisition unit 151 of the displacement measuring device 1 mounted on each vehicle 4a acquires the image captured by the imaging unit .

[0148] Next, in a vehicle information acquisition step S28, the vehicle information acquisition unit 152 of the displacement measurement device 1 mounted on each vehicle 4a acquires the vehicle information collected by the vehicle information collection device 8.

[0149] Next, in the index value calculation step S29, the index value calculation unit 153 of the displacement measuring device 1 mounted on each vehicle 4a calculates the values ​​of various indices based on the relative displacement of each part calculated by the relative displacement amount calculation unit 106 in step S26 and the vehicle information collected by the vehicle information acquisition unit 152 in step S28.

[0150] Next, in the display information generation process S30, the display information generation device 210 acquires various index values ​​and images from the displacement measuring device 1 mounted on each vehicle 4a, generates display information including objects indicating each index value or display information in which objects indicating each index value are superimposed on the image, and transmits the generated display information to the display device 220.

[0151] Next, in a display step S31, the display device 220 receives the display information and displays it on the display unit.

[0152] Time t is t end Until this is the case (N in step S32), the displacement measuring device 1 mounted on each vehicle 4a sets the time t=t+Δt (step S33) and repeats steps S25 to S29, the display information generating device 210 repeats step S30, and the display device 220 repeats step S31.

[0153] Fig. 21 is a flowchart showing the procedure of the display information generation step S180 in Fig. 20. As shown in Fig. 21, first, in step S301, the display information generation device 210 acquires various index values ​​and images from the displacement measuring device 1 mounted on each vehicle 4a.

[0154] Next, in step S302, the display information generating device 210 In step S302, the display information generating device 210 generates display information including an object indicating at least one index value. In step S302, the target index value may be selected based on a signal input from an operation unit (not shown) of the display information generating device 210, or may be selected based on a selection signal from the display device 220.

[0155] Furthermore, in step S303, the display information generating device 210 synchronizes at least one index value acquired in step S301 with any of the images acquired in step S301, and generates display information in which the index value is superimposed on the image. For example, since the index value is calculated based on the displacement amount of the vehicle 4a, step S303 is a synchronization step in which the displacement amount of the vehicle 4a and the image are synchronized. In step S303, the target index value and image may be selected based on a signal input from an operation unit (not shown) of the display information generating device 210, or may be selected based on a selection signal from the display device 220.

[0156] Finally, in step S304, the display information generating device 210 transmits the display information generated in steps S302 and S303 to the display device 220.

[0157] 2-3.Specific examples As will be described below, the display method of this embodiment may be, for example, a display method for displaying various information to viewers and pit crews in a race involving a plurality of vehicles 4a.

[0158] FIG. 22 is a diagram showing an example of the arrangement of the displacement measuring device 1, the plurality of inertial sensors 3, the imaging unit 7, and the vehicle information collecting device 8 mounted on a vehicle 4a.

[0159] 22, the vehicle 4a, which is the object to be measured 4, is a racing car, and is equipped with a displacement measuring device 1, multiple inertial sensors 3, an imaging unit 7, and a vehicle information collection device 8. The arrangement of the multiple inertial sensors 3 is the same as in FIG. 1, and therefore a description thereof will be omitted.

[0160] The imaging unit 7 is an onboard camera, and is installed, for example, on the right side of the engine cover EC, and captures images of the area in front of the vehicle 4a. Therefore, while the vehicle 4a is traveling, the imaging unit 7 generates images of the course in front of the vehicle 4a. Note that the imaging unit 7 may also capture images of the areas in front and behind the vehicle 4a. The imaging unit 7 transmits the captured images to the displacement measuring device 1.

[0161] The vehicle information collecting device 8 collects vehicle information, which is various information such as the speed and engine revolutions of the traveling vehicle 4 a, and transmits it to the displacement measuring device 1.

[0162] The displacement measurement device 1 acquires signals output from each of the multiple inertial sensors 3, and calculates, based on the acquired signals, by the above-described displacement measurement method, the amount of relative displacement of the portion of the vehicle 4a where each of the multiple inertial sensors 3 is disposed. That is, the displacement measurement device 1 calculates the amount of relative displacement of each portion of the front wing FW, rear wing RW, front suspension FS, and rear suspension RS.

[0163] The displacement measuring device 1 then calculates the values ​​of various indexes based on the amount of relative displacement of each part of the vehicle 4a and transmits the various index values, along with time information, to the display information generating device 210. For example, the index value calculation unit 153 of the displacement measuring device 1 can calculate the amount of displacement of the center of gravity of the vehicle 4a as an index value based on the downforce estimated from the amount of relative displacement of the front wing FW and the rear wing RW. The index value calculation unit 153 can also calculate the wear conditions of the right front tire RFT, left front tire LFT, right rear tire RRT, and left rear tire LRT as index values ​​from the time series of the amount of relative displacement of the front suspension FS and the rear suspension RS.

[0164] In order to more accurately calculate the tire wear state, the index value calculation unit 153 may use other information in addition to the amount of relative displacement of each part of the vehicle 4a. For example, in order to more accurately calculate the tire wear state, the index value calculation unit 153 may calculate the tire wear state based on the amount of relative displacement of each part of the vehicle 4a and at least one of the temperature of each tire, the internal pressure of each tire, the road surface temperature, the number of times each tire slips, the number of times the brakes lock, and the distance traveled by the vehicle 4a while each tire is installed.

[0165] For example, an infrared temperature sensor mounted on the inner carcass of each tire detects the temperature of each tire and transmits the temperature of each tire to the vehicle information collecting device 8. Also, an air pressure sensor mounted on the inner carcass of each tire detects the internal pressure of each tire and transmits the internal pressure of each tire to the vehicle information collecting device 8. Also, an infrared temperature sensor mounted on the underside of the floor panel of the vehicle 4a or the like detects the road surface temperature and transmits the road surface temperature to the vehicle information collecting device 8. The index value calculation unit 153 acquires the temperature of each tire, the internal pressure of each tire, and the road surface temperature from the vehicle information collecting device 8.

[0166] Slip ratio = (vehicle speed - wheel speed) / vehicle speed x 100 (%). Tire lock occurs when the slip ratio is 100%, i.e., when the wheel speed is 0, and the cornering force that contributes to steering is almost 0. If each rear tire locks, the vehicle 4a becomes unstable, and if each front tire locks, steering becomes ineffective. Tire skidding, or lateral slip, is a state in which the vehicle 4a slides sideways while moving in the direction of travel. The inertial sensors 3a mounted on each suspension detect lateral acceleration, and the index value calculation unit 153 can detect slip of each tire based on the lateral acceleration detected by each inertial sensor 3a.

[0167] In addition, the wheel speed sensor measures the rotation speed of the brake rotor and transmits the rotation speed of the brake rotor to the vehicle information collection device 8. The wheel speed sensor is a non-contact sensor that detects changes in the magnetic field of the brake rotor that rotates together with each tire. The index value calculation unit 153 can detect brake lock based on the rotation speed of the brake rotor acquired from the vehicle information collection device 8.

[0168] The displacement measuring device 1 may acquire vehicle information from the vehicle information collecting device 8, calculate various index values ​​based on the acquired vehicle information, and transmit the various index values ​​to the display information generating device 210 together with time information. For example, the index value calculation unit 153 of the displacement measuring device 1 may calculate engine mode information of the vehicle 4a as an index value from information such as the engine speed included in the vehicle information. The engine mode may be, for example, one of five modes: cruising mode, low power mode, eco mode, high power mode, and over-rev mode.

[0169] Furthermore, the displacement measuring device 1 may acquire an image from the imaging unit 7, and transmit the image with time information attached to it to the display information generating device 210. For example, the image may be an image including the course along which the vehicle 4a is traveling.

[0170] The display information generating device 210 acquires various index values ​​from the displacement measuring device 1 mounted on each vehicle 4a, and generates display information including objects based on the relative displacement of specific parts of the vehicle 4a and objects showing various index values ​​as objects based on vehicle information.

[0171] The display information may include an object indicating the displacement amount of the center of gravity of the vehicle 4a, which is an index value, as an object based on the relative displacement amount of the front wing FW and rear wing RW of the vehicle 4a.

[0172] The display information may also include an object indicating the wear state of the four tires of the vehicle 4a, which is an index value, as an object based on the relative displacement amount of the front suspension FS and rear suspension RS of the vehicle 4a.

[0173] The display information may also include an object indicating an engine mode, which is an index value, as an object based on the vehicle information of the vehicle 4a.

[0174] Furthermore, the display information generating device 210 may acquire video from the displacement measuring device 1 mounted on each vehicle 4a, synchronize any of the index values ​​with any of the video based on time information, and generate display information in which an object indicating each index value is superimposed on the video. For example, the video may be video including the course on which the vehicle 4a is traveling. FIG. 23 is a diagram showing an example of display information in which an image is superimposed on an index value. In the display information shown in FIG. 23, objects OB1 and OB2 indicating the displacement of the centers of gravity of two vehicles 4a are superimposed on a video VD including the course on which the vehicle 4a is traveling. The video VD is video captured by the imaging unit 7 mounted on the vehicle 4a traveling in the left lane.

[0175] The display information may also include a radar chart having a plurality of index values ​​based on the displacement of the vehicle 4a as an object based on the relative displacement of a predetermined portion of the vehicle 4a. FIG. 24 is a diagram showing an example of display information including a radar chart. In the display information shown in FIG. 24, the radar chart object OB3 has, as index values ​​based on the displacement of the vehicle 4a, the displacement of the center of gravity of the vehicle 4a, the wear status of the right front tire RFT, the wear status of the left front tire LFT, the wear status of the right rear tire RRT, and the wear status of the left rear tire LRT. The object OB3 also has, as index values ​​based on the vehicle information, the engine mode of the vehicle 4a.

[0176] The display information may also include an object representing the driver of each vehicle 4a and a radar chart object related to the vehicle 4a. FIG. 25 is a diagram illustrating an example of display information including an object representing the driver and a radar chart object. The display information illustrated in FIG. 25 includes an object OB4 representing the driver of the vehicle 4a and a radar chart object OB7 related to the vehicle 4a located to the right of the object OB4. The display information also includes an object OB5 representing the driver of another vehicle 4a and a radar chart object OB8 related to the vehicle 4a located to the right of the object OB5. The display information also includes an object OB6 representing the driver of the other vehicle 4a and a radar chart object OB9 related to the vehicle 4a located to the right of the object OB6. For example, as illustrated in FIG. 26, the radar chart objects OB7, OB8, and OB9 having six index values ​​in the display information illustrated in FIG. 25 may be replaced with level meter objects OB10, OB11, and OB12 showing six index values.

[0177] The display information generating device 210 transmits the generated display information to the display device 220, and the display device 220 displays the display information on a display unit (not shown). The display device 220 may be, for example, a personal computer of a race broadcaster or a personal computer installed in the pit of the team of each vehicle 4a. The display device 220 may also be a device that receives the race broadcast or a screen installed in the pit. The display unit of the display device 220 displays, for example, the display information shown in FIGS. 23 to 26. Viewers and pit crews can watch and analyze the race while understanding, for example, the performance of each vehicle 4a and the skill of each driver using the display information shown in FIG. 23. Viewers and pit crews can watch and analyze the race while understanding, for example, the stability and performance of the vehicle 4a or predicting the timing of pit stops using the display information shown in FIG. 24. Viewers and pit crews can watch and analyze the race while understanding, for example, the stability and performance of the vehicle 4a or predicting the timing of pit stops using the display information shown in FIG. 25 or 26. This can be done.

[0178] The display information generating device 210 may also serve as the display device 220. For example, a personal computer installed in the pit of the team of each vehicle 4a may also serve as the display information generating device 210 and the display device 220.

[0179] Furthermore, although an example has been given in which the vehicle 4a is a racing car, the type of vehicle 4a is not particularly limited. For example, the vehicle 4a may be a passenger car, a motorcycle, or other vehicle. Furthermore, although an example has been given in which the measured object 4 is a vehicle 4a, the measured object 4 may be a moving body other than the vehicle 4a, such as an airplane or a ship, or may be a stationary structure such as a bridge or a building.

[0180] In the display method of the present embodiment described above, the displacement measurement device 1 calculates the displacement and orientation of the first inertial sensor 3 based on the signal output from the first inertial sensor 3, and calculates the displacement and orientation of the second inertial sensor 3 based on the signal output from the second inertial sensor 3. The first inertial sensor 3 is disposed in a first portion of a predetermined portion of the vehicle 4a, and the second inertial sensor 3 is disposed in a second portion of the predetermined portion. Therefore, according to this display method, the displacement measurement device 1 can calculate the coordinates of the first portion of the predetermined portion based on the displacement and orientation of the first inertial sensor 3, and calculate the coordinates of the second portion of the predetermined portion based on the displacement and orientation of the second inertial sensor 3. Furthermore, according to this display method, the displacement measurement device 1 calculates the coordinates of not only the first portion of the predetermined portion but also the second portion of the predetermined portion, so that the position of the predetermined portion can be calculated with high accuracy. Furthermore, according to this display method, the displacement measuring device 1 can calculate the amount of deformation of a predetermined part of the vehicle 4a by calculating the amount of relative displacement of a second part with respect to a first part of the predetermined part. In this display method, the display information generating device 210 generates display information including objects based on the amount of relative displacement of each part of the vehicle 4a, and the display device 220 displays the display information, allowing the viewer to visually grasp the state of the vehicle 4a while it is traveling.

[0181] Furthermore, in the display method of this embodiment, the display information generating device 210 synchronizes the relative displacement of each part of the vehicle 4a with an image including the course on which the vehicle 4a is traveling, and generates display information that displays an object based on the relative displacement of each part of the vehicle 4a superimposed on the image, and the display device 220 displays the display information, so that the viewer can visually grasp the state of the vehicle 4a along with the image of the vehicle 4a while traveling.

[0182] Furthermore, according to the display method of this embodiment, the viewer can visually grasp, for example, the performance of the vehicle 4a and the skill of the driver.

[0183] The present invention is not limited to the present embodiment, and various modifications are possible within the scope of the present invention.

[0184] The above-described embodiment and modifications are merely examples, and the present invention is not limited to these. For example, the embodiments and modifications can be combined as appropriate.

[0185] The present invention includes configurations that are substantially the same as the configurations described in the embodiments (for example, configurations with the same functions, methods, and results, or configurations with the same purpose and effects). The present invention also includes configurations that replace non-essential parts of the configurations described in the embodiments. The present invention also includes configurations that achieve the same effects as the configurations described in the embodiments or that can achieve the same purpose. The present invention also includes configurations that add publicly known technology to the configurations described in the embodiments.

[0186] The following can be derived from the above-described embodiment and modifications.

[0187] One aspect of the displacement measuring device is a sensor signal acquisition unit that acquires a first signal based on a signal output from a first inertial sensor that is disposed in a first portion of a predetermined part of the object to be measured, and a second signal based on a signal output from a second inertial sensor that is disposed in a second portion of the predetermined part that is different from the first portion; a displacement calculation unit that calculates a displacement of the first inertial sensor based on a third signal that is based on the first signal, and calculates a displacement of the second inertial sensor based on a fourth signal that is based on the second signal; an orientation calculation unit that calculates an orientation of the first inertial sensor based on the third signal and calculates an orientation of the second inertial sensor based on the fourth signal; a coordinate calculation unit that calculates coordinates of the first portion based on the displacement of the first inertial sensor and the orientation of the first inertial sensor, and calculates coordinates of the second portion based on the displacement of the second inertial sensor and the orientation of the second inertial sensor; Includes.

[0188] This displacement measuring device calculates the displacement and orientation of the first inertial sensor based on a signal output from the first inertial sensor, and calculates the displacement and orientation of the second inertial sensor based on a signal output from the second inertial sensor. The first inertial sensor is disposed in a first portion of a predetermined part of the object to be measured, and the second inertial sensor is disposed in a second portion of the predetermined part. Therefore, this displacement measuring device can calculate the coordinates of the first portion of the predetermined part based on the displacement and orientation of the first inertial sensor, and calculate the coordinates of the second portion of the predetermined part based on the displacement and orientation of the second inertial sensor. Furthermore, this displacement measuring device calculates not only the coordinates of the first portion of the predetermined part but also the coordinates of the second portion, so it can accurately calculate the position of the predetermined part.

[0189] One aspect of the displacement measuring device is The image processing device may include a relative displacement amount calculation unit that calculates a relative displacement amount of the second portion with respect to the first portion based on the coordinates of the first portion and the coordinates of the second portion.

[0190] According to this displacement measuring device, by calculating the amount of relative displacement of a second portion of a predetermined portion of an object to be measured with respect to a first portion, it is possible to calculate the amount of deformation of the predetermined portion.

[0191] In one aspect of the displacement measuring device, a calibration unit that converts the first signal into the third signal output from a first virtual sensor using a first rotation matrix, and converts the second signal into the fourth signal output from a second virtual sensor using a second rotation matrix; In the initial state, a position of the first virtual sensor coincides with a position of the first inertial sensor, and a local coordinate system of the first virtual sensor coincides with a system coordinate system; a position of the second virtual sensor coincides with a position of the second inertial sensor, and a local coordinate system of the second virtual sensor coincides with the system coordinate system; The displacement calculation unit double-integrating the acceleration signal included in the third signal to calculate the displacement of the first inertial sensor; double-integrating the acceleration signal included in the fourth signal to calculate the displacement of the second inertial sensor; The direction calculation unit The angular velocity signal included in the third signal is integrated to obtain a difference in the orientation of the first inertial sensor. and calculating the orientation of the first inertial sensor based on the difference in the orientation; The angular velocity signal included in the fourth signal may be integrated to calculate a difference in the orientation of the second inertial sensor, and the orientation of the second inertial sensor may be calculated based on the difference in the orientation.

[0192] According to this displacement measuring device, in the initial state, the local coordinate system of each inertial sensor is virtually matched with the system coordinate system, thereby making it possible to calculate coordinates in the system coordinate system.

[0193] In one aspect of the displacement measuring device, The sensor signal acquisition unit acquiring the first signal and the second signal for a predetermined period of time; After the predetermined period has expired, the displacement calculation unit calculates the displacement of the first inertial sensor and the displacement of the second inertial sensor; the orientation calculation unit calculates the orientation of the first inertial sensor and the orientation of the second inertial sensor; The coordinate calculation unit may calculate the coordinates of the first portion and the coordinates of the second portion.

[0194] According to this displacement measuring device, the calculations required to calculate coordinates can be batch processed, thereby reducing the calculation load during measurement.

[0195] In one aspect of the displacement measuring device, The sensor signal acquisition unit acquiring the first signal and the second signal for a predetermined period of time; Before the end of the predetermined period, the displacement calculation unit calculates the displacement of the first inertial sensor and the displacement of the second inertial sensor; the orientation calculation unit calculates the orientation of the first inertial sensor and the orientation of the second inertial sensor; The coordinate calculation unit may calculate the coordinates of the first portion and the coordinates of the second portion.

[0196] This displacement measuring device can calculate coordinates in real time.

[0197] One aspect of the display method is a sensor signal acquiring step of acquiring a first signal based on a signal output from a first inertial sensor arranged in a first portion of a predetermined part of the object to be measured, and a second signal based on a signal output from a second inertial sensor arranged in a second portion of the predetermined part different from the first portion; a displacement calculation step of calculating a displacement of the first inertial sensor based on a third signal based on the first signal, and calculating a displacement of the second inertial sensor based on a fourth signal based on the second signal; an orientation calculation step of calculating an orientation of the first inertial sensor based on the third signal and calculating an orientation of the second inertial sensor based on the fourth signal; a coordinate calculation step of calculating coordinates of the first portion based on the displacement of the first inertial sensor and the orientation of the first inertial sensor, and calculating coordinates of the second portion based on the displacement of the second inertial sensor and the orientation of the second inertial sensor; Based on the coordinates of the first portion and the coordinates of the second portion, a relative displacement amount calculation step of calculating a relative displacement amount of the second portion with respect to the first portion; a display step of displaying an object based on the amount of relative displacement; Includes.

[0198] In this display method, the displacement and orientation of the first inertial sensor are calculated based on a signal output from the first inertial sensor, and the displacement and orientation of the second inertial sensor are calculated based on a signal output from the second inertial sensor. The first inertial sensor is disposed in a first portion of a predetermined portion of the object to be measured, and the second inertial sensor is disposed in a second portion of the predetermined portion. Therefore, according to this display method, the coordinates of the first portion of the predetermined portion can be calculated based on the displacement and orientation of the first inertial sensor, and the coordinates of the second portion of the predetermined portion can be calculated based on the displacement and orientation of the second inertial sensor. Furthermore, according to this display method, not only the coordinates of the first portion of the predetermined portion but also the coordinates of the second portion are calculated, so the position of the predetermined portion can be calculated with high accuracy. Furthermore, according to this display method, the amount of deformation of the predetermined portion can be calculated by calculating the amount of relative displacement of the second portion of the predetermined portion of the object to the first portion. Furthermore, in this display method, an object based on the amount of relative displacement of a predetermined portion of the object to be measured is displayed, so that the viewer can visually grasp the state of the object to be measured.

[0199] One aspect of the display method is an image acquisition step of acquiring an image including a course along which the object to be measured travels, the image being captured by a second imaging unit mounted on the object to be measured; a synchronizing step of synchronizing the relative displacement amount with the video; Including, In the display step, The object may be displayed superimposed on the video.

[0200] According to this display method, the viewer can visually grasp the state of the measured object along with the image of the measured object while it is moving.

[0201] In one aspect of the display method, The object may include information on the displacement amount of the center of gravity of the measurement object.

[0202] In one aspect of the display method, The relative displacement amount may include a displacement amount of a suspension of the object to be measured.

[0203] In one aspect of the display method, The relative displacement amount may include a displacement amount of a front wing of the object to be measured.

[0204] In one aspect of the display method, The relative displacement amount may include a displacement amount of a rear wing of the object to be measured.

[0205] In one aspect of the display method, The object may include information about tire wear of the measurement object.

[0206] In one aspect of the display method, The object may include a radar chart having a plurality of index values ​​based on the amount of relative displacement.

[0207] These display methods allow the viewer to visually grasp, for example, the performance of the object to be measured. [Explanation of symbols]

[0208] 1...displacement measuring device, 3, 3a to 3x...inertial sensors, 4...measurement object, 4a...vehicle, 5...external device, 7...imaging unit, 8...vehicle information collecting device, 100...processing circuit, 101...sensor signal acquisition unit, 102...calibration unit, 103...displacement calculation unit, 104...orientation calculation unit, 105...coordinate calculation unit, 106...relative displacement amount calculation unit, 107...driving situation information generation unit, 110...memory circuit, 111...displacement measurement program , 112...reference coordinate data, 113...rotation matrix data, 114...sensor data, 115...virtual sensor data, 116...displacement data, 117...orientation data, 118...coordinate data, 120...analog front end, 130...operation unit, 140...communication unit, 151...video acquisition unit, 152...vehicle information acquisition unit, 153...index value calculation unit, 200...display system, 210...display information generation device, 220...display device

Claims

1. a sensor signal acquisition unit that acquires a first signal based on a signal output from a first inertial sensor disposed in a first portion of a predetermined part of the object to be measured, and a second signal based on a signal output from a second inertial sensor disposed in a second portion of the predetermined part that is different from the first portion; a displacement calculation unit that calculates a displacement of the first inertial sensor based on a third signal that is based on the first signal, and calculates a displacement of the second inertial sensor based on a fourth signal that is based on the second signal; an orientation calculation unit that calculates an orientation of the first inertial sensor based on the third signal and calculates an orientation of the second inertial sensor based on the fourth signal; a coordinate calculation unit that calculates coordinates of the first portion based on the displacement of the first inertial sensor and the orientation of the first inertial sensor, and calculates coordinates of the second portion based on the displacement of the second inertial sensor and the orientation of the second inertial sensor; a calibration unit that converts the first signal into the third signal output from a first virtual sensor using a first rotation matrix, and converts the second signal into the fourth signal output from a second virtual sensor using a second rotation matrix; Including, In the initial state, a position of the first virtual sensor coincides with a position of the first inertial sensor, and a local coordinate system of the first virtual sensor coincides with a system coordinate system; a position of the second virtual sensor coincides with a position of the second inertial sensor, and a local coordinate system of the second virtual sensor coincides with the system coordinate system; The displacement calculation unit double-integrating an acceleration signal included in the third signal to calculate the displacement of the first inertial sensor; double-integrating the acceleration signal included in the fourth signal to calculate the displacement of the second inertial sensor; The direction calculation unit The angular velocity signal included in the third signal is integrated to obtain a difference in the orientation of the first inertial sensor. and calculating the orientation of the first inertial sensor based on the difference in the orientation; a displacement measuring device that integrates an angular velocity signal included in the fourth signal to calculate a difference in orientation of the second inertial sensor, and calculates the orientation of the second inertial sensor based on the difference in orientation.

2. In claim 1, a relative displacement amount calculation unit that calculates a relative displacement amount of the second portion with respect to the first portion based on the coordinates of the first portion and the coordinates of the second portion.

3. In claim 1 or 2, The sensor signal acquisition unit acquiring the first signal and the second signal for a predetermined period of time; After the predetermined period has expired, the displacement calculation unit calculates the displacement of the first inertial sensor and the displacement of the second inertial sensor; the orientation calculation unit calculates the orientation of the first inertial sensor and the orientation of the second inertial sensor; The coordinate calculation unit calculates the coordinates of the first portion and the coordinates of the second portion.

4. In claim 1 or 2, The sensor signal acquisition unit acquiring the first signal and the second signal for a predetermined period of time; Before the end of the predetermined period, the displacement calculation unit calculates the displacement of the first inertial sensor and the displacement of the second inertial sensor; the orientation calculation unit calculates the orientation of the first inertial sensor and the orientation of the second inertial sensor; The coordinate calculation unit calculates the coordinates of the first portion and the coordinates of the second portion.

5. a sensor signal acquiring step of acquiring a first signal based on a signal output from a first inertial sensor disposed in a first portion of a predetermined part of the object to be measured, and a second signal based on a signal output from a second inertial sensor disposed in a second portion of the predetermined part different from the first portion; a displacement calculation step of calculating a displacement of the first inertial sensor based on a third signal based on the first signal, and calculating a displacement of the second inertial sensor based on a fourth signal based on the second signal; an orientation calculation step of calculating an orientation of the first inertial sensor based on the third signal and calculating an orientation of the second inertial sensor based on the fourth signal; a coordinate calculation step of calculating coordinates of the first portion based on the displacement of the first inertial sensor and the orientation of the first inertial sensor, and calculating coordinates of the second portion based on the displacement of the second inertial sensor and the orientation of the second inertial sensor; a calibration step of converting the first signal into the third signal output from a first virtual sensor using a first rotation matrix, and converting the second signal into the fourth signal output from a second virtual sensor using a second rotation matrix; a relative displacement amount calculation step of calculating a relative displacement amount of the second portion with respect to the first portion based on the coordinates of the first portion and the coordinates of the second portion; a display step of displaying an object based on the amount of relative displacement; Including, In the initial state, a position of the first virtual sensor coincides with a position of the first inertial sensor, and a local coordinate system of the first virtual sensor coincides with a system coordinate system; a position of the second virtual sensor coincides with a position of the second inertial sensor, and a local coordinate system of the second virtual sensor coincides with the system coordinate system; The displacement calculation unit double-integrating an acceleration signal included in the third signal to calculate the displacement of the first inertial sensor; double-integrating the acceleration signal included in the fourth signal to calculate the displacement of the second inertial sensor; In the direction calculation step, integrating an angular velocity signal included in the third signal to calculate a difference in orientation of the first inertial sensor, and calculating the orientation of the first inertial sensor based on the difference in orientation; a display method comprising: integrating an angular velocity signal included in the fourth signal to calculate a difference in orientation of the second inertial sensor; and calculating the orientation of the second inertial sensor based on the difference in orientation.

6. In claim 5, an image acquisition step of acquiring an image including a course along which the object to be measured travels, the image being captured by a second imaging unit mounted on the object to be measured; a synchronizing step of synchronizing the relative displacement amount with the video; Including, In the display step, A display method in which the object is displayed superimposed on the video.

7. In claim 5 or 6, A display method, wherein the object includes information on the displacement amount of the center of gravity of the measurement object.

8. In any one of claims 5 to 7, A display method in which the relative displacement amount includes a displacement amount of a suspension of the object to be measured.

9. In any one of claims 5 to 8, A display method in which the relative displacement amount includes a displacement amount of a front wing of the object to be measured.

10. In any one of claims 5 to 9, A display method in which the relative displacement amount includes a displacement amount of a rear wing of the object to be measured.

11. In any one of claims 5 to 10, A display method, wherein the object includes information on tire wear of the measured object.

12. In any one of claims 5 to 11, The object includes a radar chart having a plurality of index values ​​based on the amount of relative displacement.

Images