Patent Publication Number: US-2020278376-A1

Title: Inertial sensor, electronic apparatus, and vehicle

Description:
The present application is based on, and claims priority from JP Application Serial Number 2019-036532, filed Feb. 28, 2019, the disclosure of which is hereby incorporated by reference herein in its entirety. 
     BACKGROUND 
     1. Technical Field 
     The present disclosure relates to an inertial sensor, an electronic apparatus, and a vehicle. 
     2. Related Art 
     In JP-A-2013-164301, an inertial sensor including a substrate, a sensor element provided on the substrate, and a lid bonded to the substrate  2  so as to cover the sensor element is described. In the lid, a through-hole that communicates with the inside and outside of an internal space in which the sensor element is accommodated is formed, and the internal space can be brought into a desired atmosphere via the through-hole. As such, after making internal space into a desired atmosphere via the through-hole, the through-hole is sealed with a sealing member. 
     However, in the inertial sensor of JP-A-2013-164301, the through-hole is positioned immediately above the sensor element. For that reason, when the through-hole is sealed with the sealing member, the sealing member passes through the through-hole and adheres to the sensor element as it is, which may affect the drive characteristics of the sensor element. 
     SUMMARY 
     An inertial sensor according to an aspect of the disclosure includes a package that includes a substrate and a lid bonded to the substrate and has an internal space between the substrate and the lid, and a sensor element accommodated in the internal space, in which the lid has a through-hole causing an inside and an outside of the internal space to communicate with each other and sealed with a sealing member, and the inertial sensor further includes a cylindrical first projection portion provided on the lid and surrounding an opening of the through-hole on the internal space side in plan view, and a cylindrical second projection portion provided on the substrate and surrounding an outer periphery of the first projection portion in plan view. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a plan view illustrating an inertial sensor according to a first embodiment. 
         FIG. 2  is a cross-sectional view taken along line II-II in  FIG. 1 . 
         FIG. 3  is a plan view illustrating an example of a sensor element that measures acceleration in the X-axis direction. 
         FIG. 4  is a plan view illustrating an example of a sensor element that measures acceleration in the Y-axis direction. 
         FIG. 5  is a plan view illustrating an example of a sensor element that measures acceleration in the Z-axis direction. 
         FIG. 6  is a graph illustrating an example of a drive voltage applied to each sensor element. 
         FIG. 7  is a cross-sectional view illustrating a region Q in  FIG. 2 . 
         FIG. 8  is a cross-sectional view of a foreign matter adhesion suppression unit illustrated in  FIG. 7 . 
         FIG. 9  is a cross-sectional view illustrating a modification example of the foreign matter adhesion suppression unit illustrated in  FIG. 7 . 
         FIG. 10  is a cross-sectional view illustrating another modification example of the foreign matter adhesion suppression unit illustrated in  FIG. 7 . 
         FIG. 11  is a cross-sectional view illustrating another modification example of the foreign matter adhesion suppression unit illustrated in  FIG. 7 . 
         FIG. 12  is a cross-sectional view illustrating another modification example of the foreign matter adhesion suppression unit illustrated in  FIG. 7 . 
         FIG. 13  is a cross-sectional view illustrating another modification example of the foreign matter adhesion suppression unit illustrated in  FIG. 7 . 
         FIG. 14  is a cross-sectional view illustrating a foreign matter adhesion suppression unit included in an inertial sensor of a second embodiment. 
         FIG. 15  is a cross-sectional view illustrating a foreign matter adhesion suppression unit included in an inertial sensor of a third embodiment. 
         FIG. 16  is a plan view illustrating an inertial sensor of a fourth embodiment. 
         FIG. 17  is a plan view illustrating a smartphone according to a fifth embodiment. 
         FIG. 18  is an exploded perspective view illustrating an inertial measurement device according to a sixth embodiment. 
         FIG. 19  is a perspective view of a substrate included in the inertial measurement device illustrated in  FIG. 18 . 
         FIG. 20  is a block diagram illustrating an entire system of a vehicle positioning device according to a seventh embodiment. 
         FIG. 21  is a diagram illustrating an operation of the vehicle positioning device illustrated in  FIG. 20 . 
         FIG. 22  is a perspective view illustrating a vehicle according to an eighth embodiment. 
     
    
    
     DESCRIPTION OF EXEMPLARY EMBODIMENTS 
     Hereinafter, an inertial sensor, an electronic apparatus, and a vehicle according to the present disclosure will be described in detail based on embodiments illustrated in the accompanying drawings. 
     First Embodiment 
       FIG. 1  is a plan view illustrating an inertial sensor according to a first embodiment.  FIG. 2  is a cross-sectional view taken along line II-II in  FIG. 1 .  FIG. 3  is a plan view illustrating an example of a sensor element that measures acceleration in the X-axis direction.  FIG. 4  is a plan view illustrating an example of a sensor element that measures acceleration in the Y-axis direction.  FIG. 5  is a plan view illustrating an example of a sensor element that measures acceleration in the Z-axis direction.  FIG. 6  is a graph illustrating an example of a drive voltage applied to each sensor element.  FIG. 7  is a cross-sectional view illustrating a region Q in  FIG. 2 .  FIG. 8  is a cross-sectional view of a foreign matter adhesion suppression unit illustrated in  FIG. 7 .  FIG. 9  is a cross-sectional view illustrating a modification example of the foreign matter adhesion suppression unit illustrated in  FIG. 7 .  FIGS. 10 to 13  are cross-sectional views illustrating modification examples of the foreign matter adhesion suppression unit illustrated in  FIG. 7 . 
     In each drawing, the X-axis, Y-axis, and Z-axis are illustrated as three axes orthogonal to each other. A direction along the X-axis, that is, a direction parallel to the X-axis is referred to as an “X-axis direction”, a direction along the Y-axis is referred as a “Y-axis direction”, and a direction along the Z-axis is referred as a “Z-axis direction”. A tip end side of the arrow of each axis is also referred to as a “plus side”, and the opposite side is also referred to as a “minus side”. In addition, the plus side in the Z-axis direction is also referred to as “upper”, and the minus side in the Z-axis direction is also referred to as “lower”. 
     The inertial sensor  1  illustrated in  FIG. 1  is an acceleration sensor that can independently measure accelerations in the X-axis direction, the Y-axis direction, and the Z-axis direction that are orthogonal to each other. Such an inertial sensor  1  includes a substrate  2 , three sensor elements  3 ,  4 , and  5  disposed on the substrate  2 , and a lid  6  that accommodates the sensor elements  3 ,  4 , and  5  and is bonded to the substrate  2 . Among the three sensor elements  3 ,  4 , and  5 , the sensor element  3  measures the acceleration Ax in the X-axis direction, the sensor element  4  measures the acceleration Ay in the Y-axis direction, and the sensor element  5  detects an acceleration Az in the Z-axis direction. In  FIG. 1 , for convenience of explanation, the sensor elements  3 ,  4 , and  5  are illustrated in a simplified manner. 
     A configuration of the inertial sensor  1  is not limited to the configuration described above, and, for example, an arrangement, shape, function, and the like of the sensor elements  3 ,  4 , and  5  may be different from the illustrated configuration. For example, one or two of the sensor elements  3 ,  4 , and  5  may be omitted. A sensor element that can measure the angular velocity may be used instead of or in addition to the sensor elements  3 ,  4 , and  5 . 
     As illustrated in  FIGS. 1 and 2 , the substrate  2  has a plate shape having an upper surface  2   a  and a lower surface  2   b  that are in a front-back relationship, and includes three concave portions  23 ,  24 , and  25  that open to the upper surface  2   a . The sensor element  3  is disposed so as to overlap the concave portion  23 , the sensor element  4  is disposed so as to overlap the concave portion  24 , and the sensor element  5  is disposed so as to overlap the concave portion  25 . These concave portions  23 ,  24 , and  25  suppress contact between the sensor elements  3 ,  4 , and  5  and the substrate  2 . 
     As such a substrate  2 , for example, a glass substrate made of a glass material containing alkali metal ions such as sodium ions, specifically, borosilicate glass such as Tempax glass and Pyrex glass (both registered trademark) can be used. However, a constituent material of the substrate  2  is not particularly limited, and a silicon substrate, a ceramic substrate, and the like may be used. 
     As illustrated in  FIG. 2 , the lid  6  has a plate shape having an upper surface  6   a  and a lower surface  6   b  that are in a front-back relationship, and includes a concave portion  61  that opens to the lower surface  6   b . The lid  6  accommodates the sensor elements  3 ,  4 , and  5  in concave portion  61  formed inside thereof, and is bonded to the upper surface  2   a  of the substrate  2 . The lid  6  and the substrate  2  constitute a package  100  having an internal space S that airtightly accommodates the sensor elements  3 ,  4 , and  5 . 
     The lid  6  is provided with a through-hole  62  that communicates the inside and outside of the internal space S and the internal space S can be replaced with a desired atmosphere via the through-hole  62 . After the internal space S is made to have a desired atmosphere through the through-hole  62 , the through-hole  62  is sealed with a sealing member  63 . The through-hole  62  is provided so as not to overlap the sensor elements  3 ,  4 , and  5  in plan view from the Z-axis direction. In the first embodiment, the sealing member  63  is made of silicon oxide (SiO 2 ) and is formed by a CVD method using tetraethoxysilane (TEOS). However, the constituent material of the sealing member  63  is not particularly limited, and for example, silicon nitride, various metal materials, and the like can be used. Further, the method for forming the sealing member  63  is not particularly limited, and for example, the sealing member  63  can be formed by sputtering. For example, the through-hole  62  may be sealed by irradiating a metal ball disposed in the through-hole  62  with laser light to melt and solidify the metal ball. 
     In such a configuration, when the through-hole  62  is sealed with the sealing member  63 , a part of the sealing member  63  may pass through the through-hole  62 , enter the internal space S, and adhere to the sensor elements  3 ,  4 , and  5 . Since adhesion of the sealing member  63  to the sensor elements  3 ,  4 , and  5  causes the drive characteristics of the sensor elements  3 ,  4 , and  5  to deteriorate and vary, in the inertial sensor  1 , a foreign matter adhesion suppression unit  9  that suppresses the adhesion of the sealing member  63  that entered the internal space S to the sensor elements  3 ,  4 , and  5  is provided. With this configuration, it is possible to suppress deterioration or variation in the drive characteristics of the sensor elements  3 ,  4 , and  5 . The foreign matter adhesion suppression unit  9  will be described in detail later. 
     The internal space S may be filled with inert gas such as nitrogen, helium, or argon, and may be at approximately atmospheric pressure at an operating temperature (for example, approximately −40° C. to 80° C.). By setting the internal space S to atmospheric pressure, viscous resistance is increased and a damping effect is exhibited, so that vibrations of the sensor elements  3 ,  4 , and  5  can be quickly converged. For that reason, a detection accuracy of the inertial sensor  1  is improved. 
     As such a lid  6 , for example, a silicon substrate can be used. However, the lid  6  is not particularly limited, and for example, a glass substrate or a ceramic substrate may be used as the lid  6 . Although a bonding method between the substrate  2  and the lid  6  is not particularly limited and may be appropriately selected depending on the materials of the substrate  2  and the lid  6 , in the first embodiment, the substrate  2  and the lid  6  are bonded by a bonding member  69  formed over the circumference of the lower surface of the lid  6 . As the bonding member  69 , for example, a glass frit material which is low melting point glass can be used. 
     As illustrated in  FIG. 1 , the lid  6  is disposed so as to be biased toward the plus side in the X-axis direction, which is the first direction of the substrate  2 , and a portion of the substrate  2  at the minus side in the X-axis direction is exposed from the lid  6 . Hereinafter, this exposed portion is also referred to as an “exposed portion  29 ”. 
     The substrate  2  has a groove which opens to the upper surface  2   a  thereof, and a plurality of wirings  731 ,  732 ,  733 ,  741 ,  742 ,  743 ,  751 ,  752 , and  753  and terminals  831 ,  832 ,  833 ,  841 ,  842 ,  843 ,  851 ,  852 , and  853  are disposed in the groove. The wirings  731 ,  732 ,  733 ,  741 ,  742 ,  743 ,  751 ,  752 , and  753  are disposed inside and outside of the internal space S. Among these wirings, the wirings  731 ,  732 , and  733  are electrically coupled to the sensor element  3 , the wirings  741 ,  742 , and  743  are electrically coupled to the sensor element  4 , and the wirings  751 ,  752 , and  753  are electrically coupled to the sensor element  5 . 
     The terminals  831 ,  832 ,  833 ,  841 ,  842 ,  843 ,  851 ,  852 , and  853  are respectively disposed on the exposed portion  29 . Then, the terminal  831  is electrically coupled to the wiring  731 , the terminal  832  is electrically coupled to the wiring  732 , the terminal  833  is electrically coupled to the wiring  733 , the terminal  841  is electrically coupled to the wiring  741 , the terminal  842  is electrically coupled to the wiring  742 , the terminal  843  is electrically coupled to the wiring  743 , the terminal  851  is electrically coupled to the wiring  751 , the terminal  852  is electrically coupled to the wiring  752 , and the terminal  853  is electrically coupled to the wiring  753 . 
     Next, the sensor elements  3  to  5  will be described with reference to  FIGS. 3 to 5 . The sensor elements  3 ,  4 , and  5  can be collectively formed by, for example, anodically bonding a silicon substrate  10  doped with impurities such as phosphorus (P), boron (B), and arsenic (As) to the upper surface of the substrate  2  and patterning the silicon substrate by a Bosch process that is a deep groove etching technique. However, the method of forming the sensor elements  3 ,  4 , and  5  is not limited thereto. 
     The sensor element  3  can measure the acceleration Ax in the X-axis direction. As such a sensor element  3 , for example, as illustrated in  FIG. 3 , the sensor element  3  includes a fixed portion  31  fixed to a mount  231  protruding from the bottom surface of the concave portion  23 , a movable body  32  displaceable in the X-axis direction with respect to the fixed portion  31 , springs  33  and  34  coupling the fixed portion  31  and the movable body  32 , a first movable electrode  35  and a second movable electrode  36  provided in the movable body  32 , a first fixed electrode  38  fixed to amount  232  protruding from the bottom surface of the concave portion  23  and facing the first movable electrode  35 , and a second fixed electrode  39  fixed to amount  233  protruding from the bottom surface of the concave portion  23  and facing the second movable electrode  36 . 
     The first and second movable electrodes  35  and  36  are electrically coupled to the wiring  731  in the fixed portion  31 , the first fixed electrode  38  is electrically coupled to the wiring  732 , and the second fixed electrode  39  is electrically coupled to the wiring  733 . Then, for example, a drive voltage Vx in which a DC voltage and an AC voltage as illustrated in  FIG. 6  are superimposed is applied to the first and second movable electrodes  35  and  36  through the terminal  831 . On the other hand, the first and second fixed electrodes  38  and  39  are coupled to a charge amplifier through the terminals  832  and  833 . For that reason, capacitance Cx 1  is formed between the first movable electrode  35  and the first fixed electrode  38  and capacitance Cx 2  is formed between the second movable electrode  36  and the second fixed electrode  39 . 
     Then, when the acceleration Ax is applied to the sensor element  3  in a state where the capacitances Cx 1  and Cx 2  are formed, the movable body  32  is displaced in the X-axis direction, and accordingly, the capacitances Cx 1  and Cx 2  change in opposite phases. For that reason, the acceleration Ax received by the sensor element  3  can be obtained based on the change (differential operation) of the capacitances Cx 1  and Cx 2 . 
     The sensor element  4  can measure the acceleration Ay in the Y-axis direction. Such a sensor element  4  is not particularly limited, but, for example, as illustrated in  FIG. 4 , can be configured by rotating the sensor element  3  described above by 90 degrees around the Z-axis. That is, the sensor element  4  includes a fixed portion  41  fixed to a mount  241  protruding from the bottom surface of the concave portion  24 , a movable body  42  displaceable in the Y-axis direction with respect to the fixed portion  41 , springs  43  and  44  coupling the fixed portion  41  and the movable body  42 , a first movable electrode  45  and a second movable electrode  46  provided in the movable body  42 , a first fixed electrode  48  fixed to a mount  242  protruding from the bottom surface of the concave portion  24  and facing the first movable electrode  45 , and a second fixed electrode  49  fixed to a mount  243  protruding from the bottom surface of the concave portion  24  and facing the second movable electrode  46 . 
     The first and second movable electrodes  45  and  46  are electrically coupled to the wiring  741  in the fixed portion  41 , the first fixed electrode  48  is electrically coupled to the wiring  742 , and the second fixed electrode  49  is electrically coupled to the wiring  743 . Then, for example, a drive voltage Vy in which a DC voltage and an AC voltage as illustrated in  FIG. 6  are superimposed is applied to the first and second movable electrodes  45  and  46  through the terminal  841 . On the other hand, the first and second fixed electrodes  48  and  49  are coupled to the charge amplifier through the terminals  842  and  843 . For that reason, capacitance Cy 1  is formed between the first movable electrode  45  and the first fixed electrode  48  and capacitance Cy 2  is formed between the second movable electrode  46  and the second fixed electrode  49 . 
     Then, when the acceleration Ay is applied to the sensor element  4  in a state where the capacitances Cy 1  and Cy 2  are formed, the movable body  42  is displaced in the Y-axis direction, and accordingly, the capacitances Cy 1  and Cy 2  change in opposite phases. For that reason, the acceleration Ay received by the sensor element  4  can be obtained based on the changes (differential operation) of the capacitances Cy 1  and Cy 2 . 
     The sensor element  5  can measure the acceleration Az in the Z-axis direction. Such a sensor element  5  is not particularly limited, but, for example, as illustrated in  FIG. 5 , includes a fixed portion  51  fixed to a mount  251  protruding from the bottom surface of the concave portion  25  and a movable body  52  that is coupled to the fixed portion  51  through a beam  53  and is swingable around a swing axis J along the X-axis with respect to the fixed portion  51 . In the movable body  52 , the first movable portion  521  positioned on one side of the swing shaft J and the second movable portion  522  positioned at the other side thereof have different rotational moments around the swing shaft J. The sensor element  5  is disposed on the bottom surface of the concave portion  25 , and includes a first fixed electrode  54  disposed to face the first movable portion  521  and a second fixed electrode  55  disposed to face the second movable portion  522 . 
     The movable body  52  is electrically coupled to the wiring  751  in the fixed portion  51 , the first fixed electrode  54  is electrically coupled to the wiring  752 , and the second fixed electrode  55  is electrically coupled to the wiring  753 . Then, for example, a drive voltage Vz in which a DC voltage and an AC voltage as illustrated in  FIG. 6  are superimposed is applied to the movable body  52  through the terminal  851 . On the other hand, the first and second fixed electrodes  54  and  55  are coupled to the charge amplifier through the terminals  852  and  853 . For that reason, capacitance Cz 1  is formed between the first movable portion  521  and the first fixed electrode  54  and capacitance Cz 2  is formed between the second movable portion  522  and the second fixed electrode  55 . 
     Then, when the acceleration Az is applied to the sensor element  5  in a state where the capacitances Cz 1  and Cz 2  are formed, the movable body  52  is displaced around the swing axis J, and accordingly, the capacitances Cz 1  and Cz 2  change in opposite phases. For that reason, the acceleration Az received by the sensor element  5  can be obtained based on the changes (differential operation) of the capacitances Cz 1  and Cz 2 . 
     The basic configuration of the inertial sensor  1  has been described as above. Next, the foreign matter adhesion suppression unit  9  will be described in detail. The foreign matter adhesion suppression unit  9  has a function of suppressing adhesion of the sealing member  63  that enters the internal space S to the sensor elements  3 ,  4 , and  5 . 
     As illustrated in  FIG. 7 , the foreign matter adhesion suppression unit  9  includes a cylindrical first projection portion  91  provided on the lid  6  and communicating with the through-hole  62  and a cylindrical second projection portion  92  provided on the substrate  2  and facing the first projection portion  91 . Each of the first projection portion  91  and the second projection portion  92  is provided in the internal space S. The first projection portion  91  has a straight shape in which an inner diameter r 1  and an outer diameter R 1  are constant in the axial direction. Similarly, the second projection portion  92  also has a straight shape in which an inner diameter r 2  and an outer diameter R 2  are constant in the axial direction. As described above, since the through-hole  62  is provided so as not to overlap the sensor elements  3 ,  4 , and  5 , the first and second projection portions  91  and  92  can be easily provided. 
     The “cylindrical shape” is meant to include a semi-cylindrical shape in which a notch K extending in the axial direction is formed and which has a C-shaped cross section as illustrated in  FIG. 9 , in addition to a cross section of a cylindrical shape without an annular notch as in the first embodiment as illustrated in  FIG. 8 . In the case of the semi-cylindrical shape, the proportion of the notches K occupying the entire circumference may be as small as possible, specifically, the proportion is preferably 20% or less, more preferably 10% or less, and even more preferably 5% or less. When both the first projection portion  91  and the second projection portion  92  have the notch K, the notches K may be displaced in the circumferential direction so that the notches do not line up as illustrated in  FIG. 9 . With this configuration, it becomes difficult for the sealing member  63  to scatter from the notch K. The notch K of the second projection portion  92  may be positioned so as not to face the sensor elements  3 ,  4 , and  5 . With this configuration, even if the sealing member  63  scatters from the notch K, the scattering direction can deviate from the sensor elements  3 ,  4 , and  5 , and adhesion of the sealing member  63  to the sensor elements  3 ,  4 , and  5  can be suppressed. 
     The first projection portion  91  is connected to the bottom surface  611  of the concave portion  61  at the upper end thereof, and protrudes from the bottom surface  611  toward the substrate  2  side, that is, toward the minus side in the Z-axis direction. The first projection portion  91  surrounds the entire circumference of a lower opening  621  and an inner space S 91  communicates with the through-hole  62 , in plan view from the Z-axis direction. 
     In the first embodiment, the inner peripheral surface of the through-hole  62  and the inner peripheral surface of the first projection portion  91  are continuous, but which is not limited thereto, for example, as illustrated in  FIG. 12 , the inner diameter r 1  of the first projection portion  91  is larger than the diameter of the lower opening  621 , and a step C formed by the bottom surface  611  between the inner peripheral surface of the through-hole  62  and the inner peripheral surface of the first projection portion  91  may be formed. As illustrated in  FIG. 13 , the inner diameter r 1  of the first projection portion  91  is smaller than the diameter of the lower opening  621 , and the step C configured by an upper end surface  91   a  of the first projection portion  91  may be formed between the inner peripheral surface of the through-hole  62  and the inner peripheral surface of the first projection portion  91 . 
     When the X-Y plane on which the upper surfaces of the sensor elements  3 ,  4 , and  5  are positioned is a “plane F”, the lower end surface  91   b  of the first projection portion  91  is positioned between the plane F and the lower surface  6   b  of the lid  6 . According to such a configuration, a gap G 1  can be formed between the first projection portion  91  and the substrate  2 , and the internal space S can be replaced with a desired atmosphere via the through-hole  62 . The lower end surface  91   b  of the first projection portion  91  can be sufficiently brought close to the upper surface  2   a  of the substrate  2 , and the gap G 1  is sufficiently reduced. For that reason, scattering of the sealing member  63  outside the first projection portion  91  via the gap G 1  can be effectively suppressed. However, the position of the lower end surface  91   b  of the first projection portion  91  is not particularly limited, and may be positioned above the plane F, that is, between the plane F and the bottom surface  611 , for example. 
     The first projection portion  91  is formed integrally with the lid  6 . With this configuration, formation of the first projection portion  91  becomes easy. By forming the first projection portion  91  integrally with the lid  6 , there is no gap between the first projection portion  91  and the lid  6 , and scattering of the sealing member  63  outside the first projection portion  91  from the gap can be effectively suppressed. For that reason, adhesion of the sealing member  63  that enters the internal space S to the sensor elements  3 ,  4 , and  5  can be effectively suppressed. However, the first projection portion  91  may be formed separately from the lid  6  and bonded to the bottom surface  611  via a bonding member or the like. 
     On the other hand, the lower end of the second projection portion  92  is connected to the upper surface  2   a  of the substrate  2  and protrudes from the upper surface  2   a  toward the lid  6  side. The second projection portion  92  is provided so as to overlap the first projection portion  91  in plan view from the Z-axis direction, and surrounds the entire circumference of the first projection portion  91 . The upper end surface  92   a  of the second projection portion  92  is positioned above the lower end surface  91   b  of the first projection portion  91 , that is, at the plus side in the Z-axis direction, and the lower end portion of the first projection portion  91  is inserted into an inner space S 92  of the second projection portion  92 . By adopting such a configuration, the gap G 1  between the lower end surface  91   b  and the upper surface  2   a  can be surrounded by the second projection portion  92  over the entire circumference thereof, and thus even if the sealing member  63  scatters outside the first projection portion  91  from the gap G 1 , further scattering of the sealing member  63  can be suppressed by the second projection portion  92  positioned on the outside of the first projection portion  91 . That is, it is possible to effectively suppress the sealing member  63  from scattering outside the second projection portion  92 , and as a result, adhesion of the sealing member  63  to the sensor elements  3 ,  4 , and  5  can be effectively suppressed. 
     The outer diameter R 1  of the first projection portion is smaller than the inner diameter r 2  of the second projection portion  92 , and a gap G 2  is formed between the outer peripheral surface of the first projection portion  91  and the inner peripheral surface of the second projection portion  92 . For that reason, the through-hole  62  and the internal space S communicate with each other via the gaps G 1  and G 2 , and the internal space S can be set to a desired atmosphere via the through-hole  62 . Here, R 1 /r 2  is not particularly limited, however, for example, 0.7≤R 1 /r 2 ≤0.95 is preferable, and 0.8≤R 1 /r 2 ≤0.9 is more preferable. With this configuration, the gap G 2  can be made sufficiently small while ensuring the size necessary for replacing the atmosphere of the internal space S via the through-hole  62 . For that reason, it is possible to more effectively suppress the sealing member  63  from scattering outside the second projection portion  92 . 
     The upper end surface  92   a  of the second projection portion  92  is flush with the plane F. With this configuration, the second projection portion  92  can be made sufficiently high. As described above, since the lower end surface  91   b  of the first projection portion  91  is positioned below the plane F, the first projection portion  91  can be inserted into the second projection portion  92  by making the upper end surface  92   a  of the second projection portion  92  flush with the plane F. However, the position of the upper end surface  92   a  of the second projection portion  92  is not particularly limited, and may be above or below the plane F. 
     The second projection portion  92  having such a configuration is made of the same material as that of the sensor elements  3 ,  4 , and  5 . In particular, in the first embodiment, the second projection portion  92  is formed from the silicon substrate  10  on which the sensor elements  3 ,  4 , and  5  are formed. With this configuration, the second projection portion  92  and the sensor elements  3 ,  4 , and  5  can be collectively formed from the silicon substrate  10 , and thus the second projection portion  92  can be easily formed. Since a separate step for forming the second projection portion  92  is not necessary, the number of manufacturing steps of the inertial sensor  1  is not increased, and an increase in manufacturing cost of the inertial sensor  1  can be suppressed. In particular, as described above, by making the upper end surface  92   a  of the second projection portion  92  flush with the plane F, processing for adjusting the height of the second projection portion  92  is not required before or after etching by the Bosch process, and thus the second projection portion  92  can be formed more easily. 
     The shapes of the first projection portion  91  and the second projection portion  92  are not particularly limited, respectively, for example, the cross-sectional shapes thereof may be a polygon such as a triangle or a quadrangle, an oval, an irregular shape, or the like. The first projection portion  91  and the second projection portion  92  may have different cross-sectional shapes. As for the first projection portion  91  and the second projection portion  92 , at least one of the inner diameter and the outer diameter thereof may change in the axial direction. For example, in the modification example illustrated in  FIG. 10 , the first projection portion  91  has a tapered shape in which the inner diameter r 1  and the outer diameter R 1  gradually decrease toward the substrate  2 , and the second projection portion  92  has a tapered shape in which the inner diameter r 2  gradually decreases toward the substrate  2  side. In particular, in the illustrated configuration, a taper angle of the inner peripheral surface of the first projection portion  91  is equal to the taper angle of the inner peripheral surface of the through-hole  62 , and the taper angle of the inner peripheral surface of the second projection portion  92  is equal to the taper angle of the outer peripheral surface of the first projection portion  91 . For example, in the modification example illustrated in  FIG. 11 , the outer periphery of the first projection portion  91  has a constricted shape, and an outer diameter R 1 ′ in the axial direction of the first projection portion, that is, the central portion in the Z-axis direction is smaller than the outer diameter R 1 ″ at both end portions in the axial direction. 
     As illustrated in  FIG. 1 , the wirings  731  to  733 ,  741  to  743 , and  751  to  753  provided on the substrate  2  do not overlap the second projection portion  92  in plan view from the Z-axis direction. With this configuration, the wirings  731  to  733 ,  741  to  743 , and  751  to  753  are not exposed in the second projection portion  92 , and it is possible to effectively suppress the sealing member  63  scattered in the first projection portion  91  from adhering to the wirings  731  to  733 ,  741  to  743 , and  751  to  753 . For that reason, variation of the parasitic capacitance of the wirings  731  to  733 ,  741  to  743 , and  751  to  753  due to the adhesion of the sealing member  63  can be effectively suppressed, and when the sealing member  63  has conductivity, short circuiting between the wirings can be effectively suppressed. 
     The inertial sensor  1  has been described as above. As described above, the inertial sensor  1  includes the substrate  2 , the package  100  including the lid  6  bonded to the substrate  2  and having the internal space S between the substrate  2  and the lid  6 , and the sensor elements  3 ,  4 , and  5  accommodated in the space S. The lid  6  has the through-hole  62  that communicates with the inside and outside of the internal space S and is sealed by the sealing member  63 . The inertial sensor  1  includes the cylindrical first projection portion  91  provided on the lid  6  and surrounding the lower opening  621  which is an opening on the inner space S side of the through-hole  62  in plan view from the Z-axis direction and the cylindrical second projection portion  92  provided on the substrate  2  and surrounding the outer periphery of the first projection portion  91  in plan view from the Z-axis direction. According to such a configuration, the first projection portion  91  and the second projection portion  92  can suppress scattering of the sealing member  63  into the internal space S. For that reason, the adhesion of the sealing member  63  to the sensor elements  3 ,  4 , and  5  can be suppressed, and deterioration or variation of the drive characteristics of the sensor elements  3 ,  4 , and  5  can be suppressed. 
     Also, as described above, the end portion of the first projection portion  91  on the substrate  2  side is inserted into the second projection portion  92 . With this configuration, the gap G 1  between the lower end surface  91   b  and the upper surface  2   a  can be surrounded by the second projection portion  92  over the entire circumference, and thus even if the sealing member  63  scatters outside the first projection portion  91  from the gap G 1 , further scattering of the sealing member  63  can be suppressed by the second projection portion  92  positioned on the outside of the first projection portion  91 . As a result, the adhesion of the sealing member  63  to the sensor elements  3 ,  4 , and  5  can be more effectively suppressed. 
     As described above, the first projection portion  91  is formed integrally with the lid  6 . That is, the first projection portion  91  is integrated with the lid  6 . With this configuration, formation of the first projection portion  91  becomes easy. A gap is not generated between the lid  6  and the first projection portion  91 , and the scattering of the sealing member  63  outside the first projection portion  91  from the gap can be effectively suppressed. 
     As described above, the second projection portion  92  includes the same material as the sensor elements  3 ,  4 , and  5 , in the first embodiment, includes silicon. With this configuration, the second projection portion  92  and the sensor elements  3 ,  4 , and  5  can be collectively formed from the silicon substrate  10 . For that reason, formation of the second projection portion  92  becomes easy. 
     As described above, the inertial sensor  1  includes the wirings  731  to  733 ,  741  to  743 , and  751  to  753  provided on the substrate  2  and electrically coupled to the sensor elements  3 ,  4 , and  5 . The wirings  731  to  733 ,  741  to  743 , and  751  to  753  do not overlap the second projection portion  92  in plan view from the Z-axis direction. With this configuration, the wirings  731  to  733 ,  741  to  743 , and  751  to  753  are not exposed in the second projection portion  92 , and the adhesion of the sealing member  63  scattered in the first projection portion  91  to the wirings  731  to  733 ,  741  to  743 , and  751  to  753  can be effectively suppressed. For that reason, variation of the parasitic capacitance of the wirings  731  to  733 ,  741  to  743 , and  751  to  753  due to the adhesion of the sealing member  63  can be effectively suppressed, and when the sealing member  63  has conductivity, short circuiting between the wirings can be effectively suppressed. 
     Second Embodiment 
       FIG. 14  is a cross-sectional view illustrating a foreign matter adhesion suppression unit included in the inertial sensor of a second embodiment. 
     The second embodiment is the same as the first embodiment described above except that the configuration of the foreign matter adhesion suppression unit  9  is different. In the following description, the second embodiment will be described with a focus on differences from the embodiment described above, and description of similar matters will be omitted. In  FIG. 14 , the same reference numerals are given to the same configurations as those in the embodiment described above. 
     As illustrated in  FIG. 14 , in addition to the first projection portion  91  and the second projection portion  92  described above, the foreign matter adhesion suppression unit  9  of the second embodiment further includes a concave portion  93  that opens to the upper surface  2   a  of the substrate  2  and communicates with the inner space S 92  of the second projection portion  92 . Such a concave portion  93  functions as a reservoir for the sealing member  63  scattered in the first projection portion  91 . For that reason, it is possible to more effectively suppress the sealing member  63  from being scattered outside the second projection portion  92  from the gap G 2  between the first projection portion  91  and the second projection portion  92 . The shape of the concave portion  93  in plan view is a circle concentric with the second projection portion  92 . However, the shape of the concave portion  93  in plan view is not particularly limited. 
     When the inner diameter of the second projection portion  92  is r 2  and the outer diameter is R 2 , the diameter R 3  of an opening  931  of the concave portion  93  is r 2 &lt;R 3 &lt;R 2 , and the lower opening  921  of the second projection portion  92  is positioned inside the opening  931  of the concave portion  93 . For that reason, a step D constituted with the lower end surface  92   b  of the second projection portion  92  is formed between the inner peripheral surface of the second projection portion  92  and the inner peripheral surface of the concave portion  93 . Due to this step D, a return portion  94  is formed, and the sealing member  63  that enters the concave portion  93  is less likely to be scattered outside the concave portion  93 . For that reason, it is possible to further effectively suppress the sealing member  63  from being scattered outside the second projection portion  92  from the gap G 2 . 
     As such, in the inertial sensor  1  of the second embodiment, the substrate  2  includes the concave portion  93  that communicates with the inner space S 92  of the second projection portion  92 . Such a concave portion  93  functions as a reservoir for the sealing member  63  that scattered in the first projection portion  91 , and it is possible to more effectively suppress the sealing member  63  from being scattered outside the second projection portion  92  from the gap G 2 . 
     As described above, the lower opening  921  is positioned inside the opening  931  of the concave portion  93  in plan view from the Z-axis direction. For that reason, the step D is formed between the inner peripheral surface of the second projection portion  92  and the inner peripheral surface of the concave portion  93 , and the return portion  94  is formed by this step D. As a result, the sealing member  63  that has entered the concave portion  93  is less likely to be scattered outside the concave portion  93 . For that reason, it is possible to more effectively suppress the sealing member  63  from being scattered outside the second projection portion  92  from the gap G 2 . 
     Third Embodiment 
       FIG. 15  is a cross-sectional view illustrating a foreign matter adhesion suppression unit included in an inertial sensor of a third embodiment. 
     The third embodiment is the same as the first embodiment described above except that the configuration of the foreign matter adhesion suppression unit  9  is different. In the following description, the third embodiment will be described with a focus on differences from the embodiments described above, and description of similar matters will be omitted. In  FIG. 15 , the same reference numerals are given to the same configurations as those in the embodiments described above. 
     As illustrated in  FIG. 15 , in the inertial sensor  1  of the third embodiment, the lower end surface  91   b  of the first projection portion  91  is positioned above the plane F, and the first projection portion  91  is not inserted into the inner space S 92  of the second projection portion  92 . Of the straight lines connecting two different points on the inner peripheral surface of the first projection portion  91 , a straight line L having the smallest angle θ 1  with respect to the upper surface  2   a  of the substrate  2  intersects the inner surface of the second projection portion  92 . In the illustrated configuration, the straight line L connects a point P 1  positioned on the plus side in the Y-axis direction of the upper end of the first projection portion  91  and a point P 2  positioned at the minus side in the Y axis direction of the lower end of the first projection portion  91 . The “inner surface of the second projection portion  92 ” includes the upper surface  2   a  of the substrate  2  exposed from the lower opening  921  of the second projection portion  92 , in addition to the inner peripheral surface of the second projection portion  92 . 
     It is considered that, when the sealing member  63  scatters linearly, the angle θ 1  is the smallest in the scattering direction of the sealing member  63  along the straight line L. For that reason, if the straight line L intersects the inner surface of the second projection portion  92 , the sealing member  63  scattered outside the first projection portion  91  adheres to the inner surface of the second projection portion  92 , and scattering of the sealing member  63  to the outside of the second projection portion  92  can be suppressed. 
     As such, in the inertial sensor  1  of the third embodiment, of the straight lines connecting two different points on the inner peripheral surface of the first projection portion  91 , the straight line L having the smallest angle θ 1  with respect to the upper surface  2   a  which is the main surface of the substrate  2  intersects the inner surface of the second projection portion  92 . With this configuration, the sealing member  63  scattered outside the first projection portion  91  adheres to the inner surface of the second projection portion  92 , and scattering of the sealing member  63  to the outside of the second projection portion  92  can be suppressed. 
     Fourth Embodiment 
       FIG. 16  is a plan view illustrating an inertial sensor of a fourth embodiment. 
     The fourth embodiment is the same as the first embodiment described above except that the second projection portion  92  functions as a stopper that restricts excessive displacement of the movable body  32  of the sensor element  3 . In the following description, the fourth embodiment will be described with a focus on differences from the embodiments described above, and description of similar matters will be omitted. In  FIG. 16 , the same reference numerals are given to the same configurations as those in the embodiments described above. 
     As illustrated in  FIG. 16 , in the inertial sensor  1  of the fourth embodiment, the second projection portion  92  is positioned on the minus side in the X-axis direction of the sensor element  3 . The second projection portion  92  is close to the sensor element  3  and the movable body  32  of the sensor element  3  and the second projection portion  92  face to each other. The distance D 1  between the second projection portion  92  and the movable body  32  is smaller than the distance D 2  between the first movable electrode  35  and the first fixed electrode  38  and the distance D 3  between the second movable electrode  36  and the second fixed electrode  39 . That is, D 1 &lt;D 2 , and D 1 &lt;D 3 . With this configuration, when a large acceleration in the X-axis direction is applied to the movable body  32  due to a strong impact or the like, the movable body  32  comes into contact with the second projection portion  92  before the first and second movable electrodes  35  and  36  and the first and second fixed electrodes  38  and  39  come into contact with each other, and displacement beyond contacting of the movable body  32  with the second projection portion  92  is regulated. For that reason, damage to the sensor element  3 , in particular, the first and second movable electrodes  35  and  36  and the first and second fixed electrodes  38  and  39  can be effectively suppressed. 
     As such, in the inertial sensor  1  of the fourth embodiment, the sensor element  3  includes the movable body  32  that can be displaced with respect to the substrate  2 , and the second projection portion  92  can contact the movable body  32 . The movable body  32  is allowed to come into contact with the second projection portion  92 , thereby regulating displacement beyond contacting of the movable body  32  with the second projection portion  92 . For that reason, excessive displacement of the sensor element  3  can be regulated, and damage to the sensor element  3  can be effectively suppressed. 
     The second projection portion  92  of the fourth embodiment functions as a stopper that regulates excessive displacement of the movable body  32  of the sensor element  3 , but is not limited thereto, and may function as a stopper that regulates excessive displacement of the movable body  42  of the sensor element  4 , or may function as a stopper that regulates excessive displacement of each of the movable bodies  32  and  42 . 
     Fifth Embodiment 
       FIG. 17  is a plan view illustrating a smartphone of a fifth embodiment. 
     In the smartphone  1200  illustrated in  FIG. 17 , the inertial sensor  1  and a control circuit  1210  that performs control based on detection signals output from the inertial sensor  1  are incorporated. Detection data detected by the inertial sensor  1  is transmitted to the control circuit  1210 , and the control circuit  1210  can recognize the attitude and behavior of the smartphone  1200  from the received detection data, change a display image displayed on a display unit  1208 , generate an alarm sound or sound effect, or drive the vibration motor to vibrate the main body. 
     The smartphone  1200  as such an electronic apparatus includes the inertial sensor  1  and the control circuit  1210  that performs control based on a detection signal output from the inertial sensor  1 . For that reason, the effect of the inertial sensor  1  described above can be obtained and high reliability can be exhibited. 
     The electronic apparatus incorporating the inertial sensor  1  is not particularly limited, and includes, for example, a personal computer, a digital still camera, a tablet terminal, a timepiece, a smartphone, an ink jet printer, a laptop personal computer, a TV, a wearable terminals such as HMD (head mounted display), a video camera, a video tape recorder, a car navigation device, a pager, an electronic datebook, an electronic dictionary, a calculator, an electronic game machines, a word processor, a work station, a videophone, a security TV monitor, electronic binoculars, a POS terminal, medical equipment, a fish finder, various measuring instruments, mobile terminal base station equipment, various instruments of vehicles, aircraft, and ships, a flight simulator, a network server, and the like, in addition to the smartphone  1200 . 
     Sixth Embodiment 
       FIG. 18  is an exploded perspective view illustrating an inertia measurement device according to a sixth embodiment.  FIG. 19  is a perspective view of a substrate included in the inertia measurement device illustrated in  FIG. 18 . 
     An inertia measurement device  2000  (IMU: Inertial measurement Unit) illustrated in  FIG. 18  is an inertia measurement device that detects the attitude and behavior of amounted device such as an automobile or a robot. The inertia measurement device  2000  functions as a six-axis motion sensor including three-axis acceleration sensors and three-axis angular velocity sensors. 
     The inertia measurement device  2000  is a rectangular parallelepiped having a substantially square planar shape. Screw holes  2110  as fixed portions are formed in the vicinity of two vertices positioned in the diagonal direction of the square. Through two screws in the two screw holes  2110 , the inertia measurement device  2000  can be fixed to the mounted surface of the mounted object such as an automobile. The size of the inertia measurement device  2000  can be reduced such that the device can be mounted on a smartphone or a digital still camera, for example, by selection of parts or design change. 
     The inertia measurement device  2000  has a configuration in which an outer case  2100 , a bonding member  2200 , and a sensor module  2300  are included and the sensor module  2300  is inserted in the outer case  2100  with the bonding member  2200  interposed therebetween. Similarly to the overall shape of the inertia measurement device  2000  described above, the outer shape of the outer case  2100  is a rectangular parallelepiped having a substantially square planar shape, and screw holes  2110  are formed in the vicinity of two vertices positioned in the diagonal direction of the square. In addition, the outer case  2100  has a box shape and the sensor module  2300  is accommodated therein. 
     Further, the sensor module  2300  includes an inner case  2310  and a substrate  2320 . The inner case  2310  is a member for supporting the substrate  2320 , and has a shape that fits inside the outer case  2100 . A concave portion  2311  for suppressing contact with the substrate  2320  and an opening  2312  for exposing a connector  2330  described later are formed in the inner case  2310 . Such an inner case  2310  is bonded to the outer case  2100  through the bonding member  2200 . The substrate  2320  is bonded to the lower surface of the inner case  2310  through an adhesive. 
     As illustrated in  FIG. 19 , a connector  2330 , an angular velocity sensor  2340   z  for measuring the angular velocity around the Z-axis, an acceleration sensor  2350  for measuring acceleration in each axis direction of the X-axis, the Y-axis, and the Z-axis and the like are mounted on the upper surface of the substrate  2320 . An angular velocity sensor  2340   x  for measuring the angular velocity around the X-axis and an angular velocity sensor  2340   y  for measuring the angular velocity around the Y-axis are mounted on the side surface of the substrate  2320 . As these sensors, the inertial sensor of the embodiments can be used. 
     A control IC  2360  is mounted on the lower surface of the substrate  2320 . The control IC  2360  is a micro controller unit (MCU) and controls each unit of the inertia measurement device  2000 . In the storing unit, programs defining the order and contents for measuring the acceleration and angular velocity, programs for digitizing detected data and incorporating the detected data into packet data, accompanying data, and the like are stored. In addition, a plurality of electronic components are mounted on the substrate  2320 . 
     Seventh Embodiment 
       FIG. 20  is a block diagram illustrating the entire system of a vehicle positioning device according to a seventh embodiment.  FIG. 21  is a diagram illustrating the operation of the vehicle positioning device illustrated in  FIG. 20 . 
     A vehicle positioning device  3000  illustrated in  FIG. 20  is a device which is used by being mounted on a vehicle and performs positioning of the vehicle. The vehicle is not particularly limited, and may be any of a bicycle, an automobile, a motorcycle, a train, an airplane, a ship, and the like, but in the seventh embodiment, description will be made on a four-wheeled automobile as the vehicle. 
     The vehicle positioning device  3000  includes an inertia measurement device  3100  (IMU), a computation processing unit  3200 , a GPS reception unit  3300 , a receiving antenna  3400 , a position information acquisition unit  3500 , a position synthesis unit  3600 , a processing unit  3700 , a communication unit  3800 , and a display  3900 . As the inertia measurement device  3100 , for example, the inertia measurement device  2000  described above can be used. 
     The inertia measurement device  3100  includes a tri-axis acceleration sensor  3110  and a tri-axis angular velocity sensor  3120 . The computation processing unit  3200  receives acceleration data from the acceleration sensor  3110  and angular velocity data from the angular velocity sensor  3120 , performs inertial navigation computation processing on these data, and outputs inertial navigation positioning data including acceleration and attitude of the vehicle. 
     The GPS reception unit  3300  receives a signal from the GPS satellite through the receiving antenna  3400 . Further, the position information acquisition unit  3500  outputs GPS positioning data representing the position (latitude, longitude, altitude), speed, direction of the vehicle positioning device  3000  based on the signal received by the GPS reception unit  3300 . The GPS positioning data also includes status data indicating a reception state, a reception time, and the like. 
     Based on inertial navigation positioning data output from the computation processing unit  3200  and the GPS positioning data output from the position information acquisition unit  3500 , the position synthesis unit  3600  calculates the position of the vehicle, more specifically, the position on the ground where the vehicle is traveling. For example, even if the position of the vehicle included in the GPS positioning data is the same, as illustrated in  FIG. 21 , if the attitude of the vehicle is different due to the influence of inclination θ of the ground or the like, the vehicle is traveling at different positions on the ground. For that reason, it is impossible to calculate an accurate position of the vehicle with only GPS positioning data. Therefore, the position synthesis unit  3600  calculates the position on the ground where the vehicle is traveling, using inertial navigation positioning data. 
     The position data output from the position synthesis unit  3600  is subjected to predetermined processing by the processing unit  3700  and displayed on the display  3900  as a positioning result. Further, the position data may be transmitted to the external apparatus by the communication unit  3800 . 
     Eighth Embodiment 
       FIG. 22  is a perspective view illustrating a vehicle according to an eighth embodiment of the disclosure. 
     An automobile  1500  as the vehicle illustrated in  FIG. 22  includes at least one system  1510  of an engine system, a brake system, and a keyless entry system. The inertial sensor  1  is incorporated in the automobile  1500 , and the attitude of the vehicle body can be measured by the inertial sensor  1 . The detection signal of the inertial sensor  1  is supplied to the control device  1502 , and the control device  1502  can control the system  1510  based on the signal. 
     As such, the automobile  1500  as the vehicle includes the inertial sensor  1  and the control device  1502  that performs control based on the detection signal output from the inertial sensor  1 . For that reason, the effect of the inertial sensor  1  described above can be obtained and high reliability can be exhibited. 
     In addition, the inertial sensor  1  can also be widely applied to a car navigation system, a car air conditioner, an anti-lock braking system (ABS), an air bag, a tire pressure monitoring system (TPMS), an engine controller, and an electronic control unit (ECU) such as a battery monitor of a hybrid car or an electric automobile. Also, the vehicle is not limited to the automobile  1500 , but can also be applied to an airplane, a rocket, a satellite, a ship, an automated guided vehicle (AGV), a biped walking robot, an unmanned airplane such as a drone, and the like. 
     Although the inertial sensor according to the present disclosure, the electronic apparatus, and the vehicle according to the present disclosure have been described based on the embodiments, the disclosure is not limited thereto. The configuration of each unit can be replaced with any configuration having the same function. In the embodiments described above, the configuration in which the sensor element measures acceleration is described, but is not limited thereto, and for example, a configuration in which angular velocity is detected may be adopted.