CN101253387A - Sensor device - Google Patents
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- CN101253387A CN101253387A CNA2005800513285A CN200580051328A CN101253387A CN 101253387 A CN101253387 A CN 101253387A CN A2005800513285 A CNA2005800513285 A CN A2005800513285A CN 200580051328 A CN200580051328 A CN 200580051328A CN 101253387 A CN101253387 A CN 101253387A
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- acceleration
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- angle
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Abstract
The present invention relates to an device and method for controlling a dispenser for a refrigerator. The present invention comprises an input unit including a switch for generating a dispensing-start signal to initiate the dispensing of ice, water or both through the dispenser, a dispensing button for inputting an operation signal to allow ice, water or both to be selectively dispensed through the dispenser, and dispensing amount-setting and dispensing time-setting buttons for inputting an operation signal to set a dispensing time and amount per unit time of ice, water or both through the dispenser, respectively; and a control unit for receiving the dispensing-start signal from the switch and controlling ice, water or both corresponding to the dispensing amount per unit time inputted through the dispensing amount-setting button to be dispensed through the dispenser for the dispensing time inputted through the dispensing time-setting button in response to the operation signal inputted through the dispensing button. According to the present invention, there is an advantage in that ice and/or water can be selectively dispensed more conveniently.
Description
Technical field
The present invention relates to a kind of sensor device, particularly have the sensor device of acceleration transducer.
Background technology
In recent years, the mobile terminal apparatus such as mobile phone that carried Magnetic Sensor more and more are practical.This mobile terminal apparatus not only has the direction-finding function, but also has based on (Global Positioning System: positional information GPS) is presented at current location etc. according to the orientation of measuring the function on the map of screen from GPS.
Can when the sensor cover of Magnetic Sensor is level, represent correct position angle from the position angle that Magnetic Sensor obtains, but when sensor cover tilts, will produce error.This error can by with the pitch angle (angle of pitch (ピ Star チ angle), roll angle (ロ one Le angle)) that obtains from acceleration transducer serve as the basis in the enterprising row-coordinate conversion of surface level and the ground magnetic vector when obtaining level revise (for example with reference to patent documentation 1).
Patent documentation 1: the spy opens the 2003-42766 communique
Summary of the invention
Invent problem to be solved
3 acceleration transducer can detect acceleration of gravity under static state, but under the acceleration transducer state moving with acceleration, the acceleration composition beyond the acceleration of gravity is also detected in the lump.For this reason, might comprise error in the pitch angle of under the state that acceleration transducer moves, calculating.In the pitch angle, comprise under the situation of error,, also will produce error in the revised position angle even be that coordinate transform is carried out on the basis with the pitch angle.
The present invention makes in view of this state, and its purpose is to provide a kind of sensor device that can optimally carry out pitch angle, determination of azimuth.
Solve the means of problem
In order to solve above-mentioned problem, the sensor device of a certain mode of the present invention comprises: 3 acceleration transducer; The acceleration calculating part calculates acceleration from the value that acceleration transducer detects; The total acceleration calculating part, the size of calculating acceleration; Tilt angle calculation portion, the pitch angle of calculating acceleration transducer according to acceleration.The computing at pitch angle is interrupted in tilt angle calculation portion under the size of the acceleration situation different with acceleration of gravity.
According to this mode, under the size of the acceleration situation different, interrupt the computing at pitch angle with acceleration of gravity.Thus, can avoid the detected value with the acceleration transducer that comprises the acceleration composition beyond the acceleration of gravity is the situation that wrong pitch angle is derived on the basis, can optimally carry out the mensuration at pitch angle.
The sensor device of aforesaid way can further include temperature sensor, and the temperature information correction that the acceleration calculating part can detect according to temperature sensor is also calculated acceleration.
Because biasing, the sensitivity of acceleration transducer change according to temperature variation, therefore can improve the mensuration precision of acceleration by carrying out the temperature correction.In addition, by improving the precision of acceleration, can improve the mensuration precision at pitch angle.
The sensor device of aforesaid way can further include: 3 Magnetic Sensor, detect the ground magnetic vector; And position angle calculating portion, the position angle that this sensor device is calculated in coordinate transform is carried out at the pitch angle that the ground magnetic vector that is detected by Magnetic Sensor uses tilt angle calculation portion to calculate.Azimuthal computing can be interrupted in position angle calculating portion under the size of the acceleration situation different with acceleration of gravity.
In the case, under the size of the acceleration situation different, interrupt azimuthal computing with acceleration of gravity.Thus, can avoid the detected value with the acceleration transducer that comprises the acceleration composition beyond the acceleration of gravity is the situation that the erroneous bearin angle is derived on the basis, can optimally carry out azimuthal mensuration.
In addition, the content of the combination in any of above textural element, the form of expression of the present invention conversion between method, system, recording medium, computer program etc. is effective as mode of the present invention.
The effect of invention
According to the present invention, can provide a kind of sensor device that can optimally carry out pitch angle, determination of azimuth.
Description of drawings
Fig. 1 is the figure of the transducer arrangement configuration that relates to of expression the present invention the 1st embodiment;
Fig. 2 is the process flow diagram that tilt angle calculation is handled;
Fig. 3 is the figure of the transducer arrangement configuration that relates to of the 2nd embodiment of the present invention;
Fig. 4 is that the process flow diagram of handling is calculated at the position angle.
Description of reference numerals
10 sensor devices, 12 test sections, 13A/D transformation component, 14 handling parts, 16 storage parts, 18 Magnetic Sensors, 20 acceleration transducers, 22 temperature sensors, 24 baroceptors, 26 earth magnetism vector calculating parts, 28 position angle calculating portions, 30 acceleration calculating parts, 32 tilt angle calculation portions, 34 total acceleration calculating parts, 36 temperature computation portions, 38 air pressure calculating parts, 40 high computational portions, 100 sensor devices.
Embodiment
(the 1st embodiment)
Fig. 1 is the structural drawing of the sensor device 10 that relates to of expression the present invention the 1st embodiment.Sensor device 10 comprises test section 12, A/D transformation component 13, handling part 14 and storage part 16.Test section 12 has acceleration transducer 20 and temperature sensor 22.Sensor device 10 can be measured the pitch angle (angle of pitch α, roll angle β) of output acceleration transducer 20.
14 pairs of handling parts are handled the pitch angle (angle of pitch α, roll angle β) of output acceleration transducer 20 from acceleration transducer 20, temperature sensor 22 outputs and by the signal that A/D transformation component 13 is transformed to digital value.Angle of pitch α is the pitch angle of X-direction, and roll angle β is the pitch angle of Y direction.Handling part 14 comprises acceleration calculating part 30, tilt angle calculation portion 32, total acceleration calculating part 34 and temperature computation portion 36.
The digital value D that temperature computation portion 36 is 22 detected from temperature sensor, carried out the A/D conversion
tCalculating sensor device 10 temperature inside t (unit: ℃).Use is kept at performance data (the digital value D of reference temperature of the temperature sensor 22 in the storage part 16
T0, per 1 ℃ variation delta D
t) come accounting temperature t by formula (1).In formula (1), t
0Be reference temperature (℃)).
t＝t
0+(D
t-D
t0)/ΔD
t …(1)
Digital value (the Dx of the X-axis that acceleration calculating part 30 is detected from acceleration transducer 20, carried out the A/D conversion, Y-axis, 3 compositions of Z axle
a, Dy
a, Dz
a) calculating acceleration (x
a, y
a, z
a) (unit: G).Use is kept at the performance data (digital value (Dx of the biasing of 3 compositions of the acceleration transducer 20 in the storage part 16
Aoff, Dy
Aoff, Dz
Aoff) and every acceleration of gravity (=1G) sensitivity (Δ Dx
a, Δ Dy
a, Δ Dz
a)) through type (2)～(4) calculate acceleration (x
a, y
a, z
a).
x
a＝(Dx
a-Dx
aoff)/ΔDx
a …(2)
y
a＝(Dy
a-Dy
aoff)/ΔDy
a …(3)
z
a＝(Dy
a-Dz
aoff)/ΔDz
a …(4)
Because biasing, the sensitivity of acceleration transducer 20 change according to temperature, therefore acceleration is revised and calculated to the temperature information that preferably detects according to temperature sensor 22.By carrying out the temperature correction, can improve acceleration (x
a, y
a, z
a) the mensuration precision.
Total acceleration calculating part 34 calculates the acceleration (x that is calculated by acceleration calculating part 30
a, y
a, z
a) size.Acceleration (x
a, y
a, z
a) size be called total acceleration a.Total acceleration a uses formula (5) to calculate.
[several 1]
Under the static state of acceleration transducer 20, total acceleration a equals 1G, but under vibration uniform acceleration sensor 20 situation moving with acceleration, total acceleration a becomes the value different with 1G.
Tilt angle calculation portion 32 is according to the acceleration (x that is calculated by acceleration calculating part 30
a, y
a, z
a) pitch angle (angle of pitch α, roll angle β) of calculating acceleration transducer 20.The calculating formula of angle of pitch α, roll angle β is expressed as formula (6), (7).
α＝arcsin(x
a) …(6)
β＝arcsin(y
a/cosα) …(7)
Tilt angle calculation portion 32 judges whether the total acceleration a that total acceleration calculating part 34 calculates equals 1G, only carries out the calculating at pitch angle under total acceleration a equals the situation of 1G.Tilt angle calculation portion 32 keeps the value of acceleration of gravity 1G in advance, and total acceleration a and 1G are compared.Be different from total acceleration a under the situation of 1G, interrupt the computing at pitch angle.Whether total acceleration a equals 1G, has tolerable limit ground and judges.For example, under the situation in total acceleration a is in 0.9G≤a≤1.1G scope, be judged to be total acceleration a and equate with 1G.
Fig. 2 is the process flow diagram that tilt angle calculation is handled.At first, carry out the measurement of acceleration, obtain the digital value (Dx of acceleration by acceleration transducer 20
a, Dy
a, Dz
a) (S10).Then, in acceleration calculating part 30, carry out acceleration (x
a, y
a, z
a) calculating (S12).Then, in total acceleration calculating part 34, from acceleration (x
a, y
a, z
a) calculating total acceleration a (S14).
Then, judge in tilt angle calculation portion 32 whether total acceleration a equals 1G (S16).Comprise under the situation of acceleration of gravity acceleration composition in addition in the acceleration of measuring by acceleration transducer 20, total acceleration a becomes the value that is different from 1G.Thus, whether equal 1G, can judge whether to comprise acceleration of gravity acceleration composition in addition by judging total acceleration a.
Equal at total acceleration a under the situation of 1G (S16 is a "Yes"), tilt angle calculation portion 32 carries out the computing (S18) at pitch angle.Be different from total acceleration a under the situation of 1G (S16 is a "No"), tilt angle calculation portion 32 does not carry out the computing at pitch angle, interrupts tilt angle calculation and handles.
Carry out not carrying out the comparison of total acceleration a and acceleration of gravity might comprising error in the pitch angle of calculating under the situation of computing at pitch angle.According to the sensor device 10 that the 1st embodiment relates to, can avoid the detected value with the acceleration transducer 20 that comprises the acceleration composition beyond the acceleration of gravity is the situation that wrong pitch angle is derived on the basis.
(the 2nd embodiment)
Fig. 3 is the structural drawing of the sensor device 100 that relates to of expression the present invention the 2nd embodiment.Sensor device 100 can be exported azimuth angle theta, height h.In the 2nd embodiment, test section 12 further has Magnetic Sensor 18 and baroceptor 24.In addition, handling part 14 further has earth magnetism vector calculating part 26, position angle calculating portion 28, air pressure calculating part 38 and high computational portion 40.In addition, for the textural element identical, use identical Reference numeral to describe with the 1st embodiment.
p＝(D
p-D
poff)/ΔD
p+1013.25 …(8)
Because biasing, the sensitivity of baroceptor 24 change according to temperature, therefore the temperature information that preferably detects according to temperature sensor 22 is revised air pressure p.By carrying out the temperature correction, can improve the mensuration precision of air pressure p.
Air pressure p that high computational portion 40 is calculated from air pressure calculating part 38 and benchmark air pressure p
0Difference calculate relative height h (unit: m).Relative height is the height that benchmark air pressure is made as 0 o'clock.Therefore the 12hPa because highly every rising 100m, air pressure just descend can use formula (9) computed altitude.
h＝(p
o-p)×100/12 …(9)
(Dx, Dy Dz) calculate ground magnetic vector (x, y, z) (unit: T) to the digital value that earth magnetism vector calculating part 26 is detected from Magnetic Sensor 18, carried out the A/D conversion.Use is kept at the performance data (digital value (Dx of the biasing of 3 compositions of the Magnetic Sensor 18 in the storage part 16
Off, Dy
Off,, Dz
Off), the sensitivity (Δ Dx, Δ Dy, Δ Dz) of per 1 μ T) through type (10)～(12) calculate the ground magnetic vector (x, y, z).
x＝(Dx-Dx
off)/ΔDx …(10)
y＝(Dy-Dy
off)/ΔDy …(11)
z＝(Dy-Dz
off)/ΔDz …(12)
Position angle calculating portion 28 uses the ground magnetic vector that pitch angle (angle of pitch α, roll angle β) that tilt angle calculation portions 32 calculate calculates in the magnetic vector calculating part 26 over the ground, and (x, y z) carry out the azimuth angle theta that Magnetic Sensor 18 is calculated in coordinate transform.
Azimuth angle theta is that (X-axis composition x z) and Y-axis composition y calculate for x, y, but will produce error under the situation that Magnetic Sensor 18 tilts from the ground magnetic vector.For this reason, coordinate transform is a surface level, the ground magnetic vector when obtaining level.Be made as β when the angle of pitch is made as α, roll angle, the ground magnetic vector before the conversion is made as (x, y, z), the ground magnetic vector after the coordinate transform is made as that (in the time of hz), the coordinate transform formula can be suc as formula represent (13) for hx, hy.
[several 2]
The X-axis ingredient h x and the Y-axis ingredient h y of the ground magnetic vector after the use coordinate transform, through type (12) comes computer azimuth angle θ.
θ＝arctan(hx/hy) …(14)
Fig. 4 is that the process flow diagram of handling is calculated at the position angle.At first, carry out magnetic survey, obtain digital value (Dx, Dy, Dz) (S30) of ground magnetic vector by Magnetic Sensor 18.Then, in earth magnetism vector calculating part 26, carry out ground magnetic vector (x, y, calculating z) (S32).
Then, judge in tilt angle calculation portion 32 whether total acceleration a equals 1G (S40).Equal at total acceleration a under the situation of 1G (S40 is a "Yes"), tilt angle calculation portion 32 carries out the computing at pitch angle, and the value at pitch angle is offered position angle calculating portion 28 (S42).Be different from total acceleration a under the situation of 1G (S40 is a "No"), tilt angle calculation portion 32 does not carry out the calculating at pitch angle, interrupts tilt angle calculation and handles.Tilt angle calculation portion 32 offers position angle calculating portion 28 with the indication of interrupting calculating processing in the position angle under the situation of having interrupted the tilt angle calculation processing.In addition, ((order of S34～S42) also can be opposite, in addition also can be simultaneously for the S30～S32) and the computing at pitch angle in the computing of ground magnetic vector.
Position angle calculating portion 28 is (S44 is a "No"), magnetic vector (x, y over the ground under the situation of not calculating the interruption indication of handling from the position angle of tilt angle calculation portion 32, z) carry out coordinate transform, ground magnetic vector behind the calculating coordinate change (hx, hy, hz) (S46).Afterwards, the X-axis ingredient h x and the Y-axis ingredient h y computer azimuth angle θ (S48) of the ground magnetic vector after the use coordinate transform.On the other hand, position angle calculating portion 28 exists under the situation of calculating the interruption indication of handling from the position angle of tilt angle calculation portion 32, and the interruption position angle is calculated and handled (S44 is a "Yes").
As mentioned above, under acceleration transducer 20 state moving,, therefore comprise error in the pitch angle of calculating because the detected value of acceleration transducer 20 comprises the acceleration composition beyond the acceleration of gravity with acceleration.When coordinate transform is carried out at the pitch angle that use has comprised this error, azimuth angle theta will have error.In the sensor device 100 that the 2nd embodiment relates to, owing to be different under the situation of 1G at total acceleration a, interrupt the computing of azimuth angle theta, therefore can avoid the detected value with the acceleration transducer 20 that comprises the acceleration composition beyond the acceleration of gravity is the situation that erroneous bearin angle θ is derived on the basis.
More than, the present invention that has been base description with the embodiment.Embodiment is an example, it will be understood by those skilled in the art that various variant embodiment are arranged in the combination of these each textural elements, each treatment process, such variant embodiment is also within the scope of the invention in addition.
For example, in the 2nd embodiment, in tilt angle calculation portion 32, carry out the comparison of total acceleration a and 1G, but also the value of total acceleration a can be offered position angle calculating portion 28 from total acceleration calculating part 34, in position angle calculating portion 28, carry out the comparison of total acceleration a and 1G, and carry out declinometer and calculate the interruption judgement of handling.
Utilize feasibility on the industry
The present invention can be applied to the neck relevant with the sensor device with acceleration transducer The territory.
Claims (3)
1. a sensor device is characterized in that, comprising:
3 acceleration transducer;
The acceleration calculating part calculates acceleration from the value that described acceleration transducer detects;
The total acceleration calculating part, the size of calculating acceleration;
Tilt angle calculation portion, the pitch angle of calculating described acceleration transducer according to acceleration,
The computing at pitch angle is interrupted in described tilt angle calculation portion under the size of the acceleration situation different with acceleration of gravity.
2. sensor device according to claim 1 is characterized in that, further comprises temperature sensor,
The temperature information correction that described acceleration calculating part detects according to temperature sensor is also calculated acceleration.
3. sensor device according to claim 1 and 2 is characterized in that, further comprises:
3 Magnetic Sensor detects the ground magnetic vector;
Position angle calculating portion carries out coordinate transform to the pitch angle that the ground magnetic vector that is detected by described Magnetic Sensor uses described tilt angle calculation portion to calculate, and calculates the position angle of this sensor device,
Azimuthal computing is interrupted in position angle calculating portion under the size of the acceleration situation different with acceleration of gravity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2005800513285A CN101253387A (en) | 2005-08-18 | 2005-08-18 | Sensor device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2005800513285A CN101253387A (en) | 2005-08-18 | 2005-08-18 | Sensor device |
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| Publication Number | Publication Date |
|---|---|
| CN101253387A true CN101253387A (en) | 2008-08-27 |
Family
ID=39956039
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2005800513285A Pending CN101253387A (en) | 2005-08-18 | 2005-08-18 | Sensor device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102126194A (en) * | 2010-01-13 | 2011-07-20 | 谢智庆 | Torque wrench with gravity sensor and accurate calculation method of rotation angle of torque wrench |
| CN102183232A (en) * | 2010-01-15 | 2011-09-14 | 罗伯特·博世有限公司 | Orientation sensor |
| WO2013000359A1 (en) * | 2011-06-28 | 2013-01-03 | 惠州Tcl移动通信有限公司 | Lateral photography angle detection method, vertical photography angle detection method and cell phone |
| CN103308039A (en) * | 2013-05-14 | 2013-09-18 | 深圳市通创通信有限公司 | Digital magnetic compass and calibration compensation method and calibration compensation system thereof |
| CN111288957A (en) * | 2020-02-07 | 2020-06-16 | Oppo广东移动通信有限公司 | Inclination angle measuring method, terminal and storage medium |
-
2005
- 2005-08-18 CN CNA2005800513285A patent/CN101253387A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102126194A (en) * | 2010-01-13 | 2011-07-20 | 谢智庆 | Torque wrench with gravity sensor and accurate calculation method of rotation angle of torque wrench |
| CN102126194B (en) * | 2010-01-13 | 2014-04-23 | 谢智庆 | Torque wrench with gravity sensor and accurate calculation method of rotation angle of torque wrench |
| CN102183232A (en) * | 2010-01-15 | 2011-09-14 | 罗伯特·博世有限公司 | Orientation sensor |
| CN102183232B (en) * | 2010-01-15 | 2015-08-12 | 罗伯特·博世有限公司 | orientation sensor |
| WO2013000359A1 (en) * | 2011-06-28 | 2013-01-03 | 惠州Tcl移动通信有限公司 | Lateral photography angle detection method, vertical photography angle detection method and cell phone |
| CN103308039A (en) * | 2013-05-14 | 2013-09-18 | 深圳市通创通信有限公司 | Digital magnetic compass and calibration compensation method and calibration compensation system thereof |
| CN103308039B (en) * | 2013-05-14 | 2015-08-19 | 深圳市通创通信有限公司 | A kind of Digital Magnetic Compass and compensation for calibrating errors method, system |
| CN111288957A (en) * | 2020-02-07 | 2020-06-16 | Oppo广东移动通信有限公司 | Inclination angle measuring method, terminal and storage medium |
| CN111288957B (en) * | 2020-02-07 | 2022-09-06 | Oppo广东移动通信有限公司 | Inclination angle measuring method, terminal and storage medium |
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