Inspecting device and inspecting method

Abstract

This inspecting device comprises: an inspection table having a placement surface on which a vehicle control device is placed; and a rotation mechanism for rotating the inspection table. The rotation mechanism includes: a supporting portion; and a rotating shaft that protrudes from the supporting portion in a direction orthogonal to the direction of gravity and that supports the inspection table. Furthermore, the inspection table includes a fixing implement that holds the vehicle control device such that the X-axis and the Y-axis of an inertial measurement sensor are inclined with respect to the direction of gravity. Further, the inspection table is supported by the rotating shaft with one surface on which the vehicle control device is mounted inclined with respect to the direction of gravity.

Description

Inspection device and inspection method

[0001] The present invention relates to an inspection device and an inspection method.

[0002] Automobiles are equipped with a vehicle control device that has electronic components that control the vehicle. This electronic control device is equipped with a multi-axis inertial measurement sensor to acquire vehicle motion information (acceleration, angular velocity). This inertial measurement sensor is one of the important components of the vehicle control device. Therefore, it is necessary to inspect the acceleration and angular velocity of each axis of the inertial measurement sensor.

[0003] A technique for inspecting such inertial measurement sensors is described, for example, in Patent Document 1. Patent Document 1 describes a technique in which an angular velocity sensor is mounted on an inspection table, and then the inspection table is rotated by a first angle around an axis extending in the direction of a vector having components of at least two of the X-axis, Y-axis, and Z-axis in an XYZ coordinate system based on the angular velocity sensor. Then, the output of the angular velocity sensor while the inspection table is rotating by the first angle is integrated for each detection axis, the integrated value for each detection axis is compared with a reference value, and the sensitivity of the angular velocity sensor is adjusted based on the comparison result.

[0004] JP 2015-114286 A

[0005] However, in the technology described in Patent Document 1, one of the three axes is arranged parallel to the direction of gravity. Therefore, in order to inspect the acceleration of all three axes, the technology described in Patent Document 1 requires rotating the inspection table once, changing the orientation of the vehicle control device on the inspection table, and then rotating the inspection table again, which increases the time required for inspection.

[0006] In consideration of the above problems, an object of the present invention is to provide an inspection device and an inspection method that can shorten the inspection time.

[0007] To solve the above problems and achieve the object, an inspection device is provided for inspecting a vehicle control device equipped with an inertial measurement sensor that measures acceleration in at least three axes. The inspection device includes an inspection table having a mounting surface on which the vehicle control device is placed, and a rotation mechanism that rotates the inspection table. The rotation mechanism includes a support portion and a rotation shaft that protrudes from the support portion in a direction perpendicular to the direction of gravity and supports the inspection table. The inspection table has a fixture that holds the vehicle control device with the X-axis and Y-axis of the inertial measurement sensor inclined with respect to the direction of gravity. Furthermore, the inspection table is supported by the rotation shaft with one surface on which the vehicle control device is placed inclined with respect to the direction of gravity.

[0008] The inspection method is a method for inspecting a vehicle control device equipped with an inertial measurement sensor that measures acceleration in at least three axes, and includes the following processes (1) and (2): (1) A process of placing the vehicle control device on an inspection table with the X-axis and Y-axis of the inertial measurement sensor tilted with respect to the direction of gravity; (2) A process of rotating a rotation axis that supports the inspection table to rotate the inspection table. The axial direction of the rotation axis is oriented perpendicular to the direction of gravity. The inspection table is supported on the rotation axis with one side on which the vehicle control device is placed tilted with respect to the direction of gravity.

[0009] According to the inspection device and inspection method configured as above, the inspection time can be reduced.

[0010] Fig. 1 is a schematic configuration diagram showing a vehicle control device inspected by an inspection device according to an embodiment. Fig. 2 is a schematic configuration diagram showing an inspection device according to an embodiment. Fig. 3 is a front view showing an inspection table of an inspection device according to an embodiment as viewed from the front. Fig. 4 is a side view showing a rotation mechanism and inspection table of an inspection device according to an embodiment. Fig. 5 is a diagram showing a state in which a vehicle control device is installed in an inspection device according to an embodiment. Fig. 6 is a flowchart showing an inspection method for a vehicle control device using an inspection device according to an embodiment.

[0011] Hereinafter, embodiments of an inspection device and an inspection method will be described with reference to Figures 1 to 6. Note that common members in the figures are given the same reference numerals.

[0012] 1. Example of embodiment 1-1. Configuration of vehicle control device First, a vehicle control device inspected by an inspection device according to an example of embodiment (hereinafter referred to as "this example") will be described with reference to Fig. 1. Fig. 1 is a schematic configuration diagram showing a vehicle control device.

[0013] The device shown in Fig. 1 is a vehicle control device that is mounted on an automobile and controls the automobile. As shown in Fig. 1, the vehicle control device 100 has a calculation unit 110 and an inertial measurement sensor 111. The inertial measurement sensor 111 is a so-called six-axis inertial sensor that measures acceleration along three mutually orthogonal axes, namely, the X-axis, the Y-axis, and the Z-axis, and angular velocity along three axes, namely, around the X-axis, the Y-axis, and the Z-axis. The inertial measurement sensor 111 is connected to the calculation unit 110 and outputs measured information to the calculation unit 110. The calculation unit 110 controls the vehicle based on the information obtained from the inertial measurement sensor 111.

[0014] 1-2. Configuration of the Inspection Apparatus Next, the configuration of the inspection apparatus of this example will be described with reference to Figures 2 to 4. Figure 2 is a schematic diagram showing the configuration of an inspection apparatus 200.

[0015] 2, the inspection device 200 includes an inspection table 210, a rotation mechanism 211, a rotation mechanism control unit 220, and a determination unit 221. The determination unit 221 is connected to the vehicle control device 100, and acquires information measured by the inertial measurement sensor 111 from the vehicle control device 100. Then, the determination unit 221 determines the vehicle control device 100 based on the acquired information, for example, whether the vehicle control device 100 is shippable or unshippable. The determination method of the determination unit 221 will be described later.

[0016] The examination table 210 is rotatably supported by a rotation mechanism 211. The rotation operation of the rotation mechanism 211 is controlled by a rotation mechanism control unit 220. The rotation mechanism 211 has a support unit 213 and a rotation shaft 212. The examination table 210 is supported by the rotation shaft 212.

[0017] FIG. 3 is a front view of the inspection table 210. As shown in FIGS. 2 and 3, the inspection table 210 is formed in a flat plate shape. A fixture 230 is provided on one surface of the inspection table 210. The vehicle control device 100 is installed on the fixture 230. The fixture 230 also supports the vehicle control device 100 so that the horizontal components, which are the X-axis and Y-axis, of the inertial measurement sensor 111 in the vehicle control device 100 are inclined at a predetermined angle θ1. In other words, the fixture 230 supports the vehicle control device 100 while tilting it at a predetermined angle θ1 around the Z-axis of the inertial measurement sensor 111. The angle θ1 is, for example, 60°.

[0018] Fig. 4 is a side view showing the rotation mechanism 211 and the inspection table 210 of the inspection device 200. As shown in Fig. 4, the axial direction of the rotation shaft 212 of the rotation mechanism 211 is parallel to the horizontal direction, which is perpendicular to the direction of gravity. The inspection table 210 is provided at the end of the rotation shaft 212 opposite to the support portion 213.

[0019] The inspection table 210 is supported by a rotation axis 212 so that one surface on which the vehicle control device 100 is placed is inclined at a predetermined angle θ2 with respect to the direction of gravity. That is, one surface of the inspection table 210 is inclined at a predetermined angle θ2 around an axis perpendicular to the direction of gravity. The angle θ2 is, for example, 45°. Therefore, the vertical component, which is the Z axis of the inertial measurement sensor 111 of the vehicle control device 100 placed on the inspection table 210, is inclined with respect to the direction of gravity.

[0020] 5 is a diagram showing the state in which the vehicle control device 100 is installed on the inspection device 200 having the above-described configuration. As described above, the surface of the inspection table 210 on which the vehicle control device 100 is placed is inclined with respect to the direction of gravity. Furthermore, the fixture 230 holds the vehicle control device 100 so that the X-axis and Y-axis of the inertial measurement sensor 111 are inclined with respect to the direction of gravity. The axial direction of the rotation shaft 212 of the rotation mechanism 211 is perpendicular to the direction of gravity. Therefore, the X-axis, Y-axis, and Z-axis of the inertial measurement sensor 111 are all inclined with respect to the direction of gravity. In other words, the three axes measured by the inertial measurement sensor 111 do not have components that are parallel and horizontal with respect to the direction of gravity.

[0021] 2. Inspection Method Next, an inspection method for the vehicle control device 100 using the inspection device 200 having the above-described configuration will be described with reference to Fig. 6. Fig. 6 is a flowchart showing the inspection method for the vehicle control device using the inspection device.

[0022] 6, first, the vehicle control device 100 and the inspection device 200 are placed on the inspection table 210 (step S1). Next, the determination unit 221 of the inspection device 200 is connected to the vehicle control device 100, and data acquisition by the inertial measurement sensor 111 begins (step S2).

[0023] Next, the rotation mechanism control unit 220 drives the rotation mechanism 211 to rotate the rotation shaft 212 of the rotation mechanism 211 in a first direction by a predetermined rotation angle (step S3). The rotation of the rotation shaft 212 rotates the examination table 210 attached to the rotation shaft 212. The rotation angle of the rotation shaft 212 in the process of step S3 is set to, for example, 180°.

[0024] Next, acceleration and angular velocity information is measured by the inertial measurement sensor 111 installed on the examination table 210. Then, the inertial measurement sensor 111 outputs the measured acceleration and angular velocity information to the calculation unit 110 (step S4).

[0025] When the rotation angle of the rotation shaft 212 reaches a predetermined rotation angle, the rotation mechanism control unit 220 stops the rotation mechanism 211 and stops the rotation of the rotation shaft 212 (step S5). Note that the measurement process of the acceleration and angular velocity information in step S4 is continued until the rotation shaft 212 stops in the process of step S5.

[0026] Next, the rotation mechanism control unit 220 drives the rotation mechanism 211 to rotate the rotation shaft 212 of the rotation mechanism 211 by a predetermined rotation angle in a second direction opposite to that in step S3 (step S6). The rotation angle of the rotation shaft 212 in the process of step S6 is the same as the rotation angle in the process of step S3. Here, if the rotation angle is set to 180°, the rotation shaft 212 returns to the start position from which the process of step S3 is started.

[0027] Next, acceleration and angular velocity information is measured by the inertial measurement sensor 111 installed on the examination table 210. Then, the inertial measurement sensor 111 outputs the measured acceleration and angular velocity information to the calculation unit 110 (step S7). When the rotation angle of the rotating shaft 212 reaches a predetermined rotation angle, the rotation mechanism control unit 220 stops the rotation mechanism 211, thereby stopping the rotation of the rotating shaft 212 (step S8).

[0028] Next, the calculation unit 110 calculates the acceleration and angular velocity information output from the inertial measurement sensor 111 (step S9). Then, the calculation unit 110 outputs the calculated acceleration and angular velocity information to the determination unit 221 of the inspection device 200.

[0029] Next, the determination unit 221 determines whether the acceleration and angular velocity obtained from the calculation unit 110 are within preset inspection determination values ​​(step S10). If the determination unit 221 determines in the processing of step S10 that the acceleration and angular velocity are within the inspection determination values ​​(YES determination in step S10), the determination unit 221 determines that the vehicle control device 100 is eligible for shipment. On the other hand, if the determination unit 221 determines in the processing of step S10 that the acceleration and angular velocity are not within the inspection determination values ​​(NO determination in step S10), the determination unit 221 determines that the vehicle control device 100 is not eligible for shipment. This ends the inspection method for the vehicle control device 100 using the inspection device 200.

[0030] The three axes measured by the inertial measurement sensor 111 are installed on the inspection table 210 in a state in which they are parallel to the direction of gravity and have no horizontal components. The axial direction of the rotation axis 212 that rotates the inspection table 210 is perpendicular to the direction of gravity. Therefore, when the rotation axis 212 is rotated by at least 180° in the rotation processing of step S3 or step S6, the orientations of the X-axis, Y-axis, and Z-axis of the inertial measurement sensor 111 each intersect with the direction of gravity.

[0031] As a result, in the rotation process of step S3 or step S6, the inertial measurement sensor 111 can obtain both positive and negative acceleration information. In other words, according to the inspection method using the inspection device 200 of this example, the acceleration components required for inspecting the inertial measurement sensor 111 can be obtained in a single rotation process of step S3 or step S6.

[0032] Furthermore, the rotation angle of the rotation shaft 212 required to inspect the acceleration components of the inertial measurement sensor 111 can be less than 180°. As a result, the information required to inspect the acceleration components of the inertial measurement sensor 111 can be obtained with a small amount of rotation, thereby shortening the inspection time. Here, as shown in Figures 3 and 4, by setting the angle θ1 to 60° and the angle θ2 to 45°, the rotation angle of the rotation shaft 212 in the processing of step S3 or step S6 can be minimized.

[0033] Furthermore, in the process of step S6, the inertial measurement sensor 111 and the rotation shaft 212 of the vehicle control device 100 are rotated in the opposite direction to the rotation process of step S3, and the orientations of the inertial measurement sensor 111 and the rotation shaft 212 are returned to their original states. During the return operation of step S6, an angular velocity component of the inertial measurement sensor 111 in the opposite direction to that of step S3 can be obtained. In this way, the return operation can also be used to obtain information necessary for inspecting the angular velocity component of the inertial measurement sensor 111, thereby improving the efficiency of the inspection operation.

[0034] Note that, since the rotation process in step S3 can obtain information necessary for inspecting the acceleration component of the inertial measurement sensor 111, it is not necessary to measure acceleration information in the rotation process in step S6, which rotates in the opposite direction to the rotation process in step S3. That is, in step S9, only angular velocity information is measured. This reduces the amount of data used in the determination process in step S10, making the determination process easier.

[0035] The present invention is not limited to the embodiments described above and shown in the drawings, and various modifications are possible within the scope of the invention as defined in the claims. It is also possible to replace a part of the configuration of one embodiment with a configuration of another embodiment, or to add a configuration of another embodiment to a configuration of one embodiment. Furthermore, it is also possible to add, delete, or replace a part of the configuration of another embodiment with another configuration.

[0036] In this specification, the words "parallel" and "orthogonal" are used, but these do not mean only "parallel" and "orthogonal" in the strict sense, but also include "parallel" and "orthogonal" and may also mean a "substantially parallel" or "substantially orthogonal" state within a range in which the functions can be exerted.

[0037] DESCRIPTION OF SYMBOLS 100... Vehicle control device, 110... Calculation unit, 111... Inertial measurement sensor, 200... Inspection device, 210... Inspection table, 211... Rotation mechanism, 212... Rotation shaft, 213... Support unit, 220... Rotation mechanism control unit, 221... Determination unit, 230... Fixture

Claims

1. An inspection device for inspecting a vehicle control device equipped with an inertial measurement sensor that measures acceleration in at least three axes, comprising: an inspection table having a mounting surface on which the vehicle control device is placed; and a rotation mechanism for rotating the inspection table, wherein the rotation mechanism has a support part and a rotation axis that protrudes from the support part in a direction perpendicular to the direction of gravity and supports the inspection table, the inspection table has a fixture that holds the vehicle control device with the X-axis and Y-axis of the inertial measurement sensor inclined with respect to the direction of gravity, and the inspection table has a surface on which the vehicle control device is placed that is supported by the rotation axis with one surface inclined with respect to the direction of gravity.

2. The inspection device according to claim 1, further comprising a rotation mechanism control unit that controls the rotation drive of the rotation mechanism, wherein the rotation mechanism control unit rotates the rotation shaft by an angle of less than 180°.

3. The inspection device according to claim 2, wherein the rotation mechanism control unit rotates the rotation shaft in a first direction by a predetermined rotation angle, and after rotating the rotation shaft in the first direction by the predetermined rotation angle, the rotation mechanism control unit rotates the rotation shaft in a second direction opposite to the first direction by the predetermined rotation angle.

4. The inspection device according to claim 3, further comprising a determination unit that determines the vehicle control device based on the acceleration information and angular velocity information measured by the inertial measurement sensor.

5. The inspection device described in claim 4, wherein the determination unit determines the acceleration of the inertial measurement sensor based on acceleration information measured by the inertial measurement sensor when the rotation axis is rotated in the first direction, and determines the angular velocity of the inertial measurement sensor based on angular velocity information measured by the inertial measurement sensor when the rotation axis is rotated in the first direction and the second direction.

6. An inspection method for inspecting a vehicle control device equipped with an inertial measurement sensor that measures acceleration in at least three axes, comprising: placing the vehicle control device on an inspection table with the X-axis and Y-axis of the inertial measurement sensor inclined with respect to the direction of gravity; and rotating a rotation shaft supporting the inspection table to rotate the inspection table, wherein the axial direction of the rotation shaft is oriented in a direction perpendicular to the direction of gravity, and the inspection table is supported by the rotation shaft with one surface on which the vehicle control device is placed inclined with respect to the direction of gravity.

Images