Patent ID: 12190661

DETAILED DESCRIPTION

First Embodiment

A first embodiment of the present disclosure will be described with reference to the accompanying drawings. Further common components and processing in the drawings are denoted by the same reference numerals. Moreover, hereinafter, an opening portion provided as the entrance on a wall surface of the house, an opening portion of a household refrigerator, a portion of a keyboard of a notebook PC, and the like, which are opened and closed by the door, or covered or exposed by a lid, may be collectively referred to as the opening portions. In addition, hereinafter, objects that rotate around the rotation axis, such as the door and the lid, are collectively referred to as the rotating body. Note that the number of rotation axes of the rotating body is not necessarily one, and the objects that rotate around a plurality of axes is also included in the rotating body. Also, an angular velocity of rotation is described as a rotation angular velocity, and an angle of rotation is described as a rotation angle.

Further, n is a positive integer, and i is an integer of 1 to n. Moreover, both a state in which the opening portions are opened and a state in which the rotating body does not close the opening portions are collectively referred to as the opened state. In addition, both the state in which the opening portions are closed and the state in which the rotating body closes the opening portions are collectively referred to as the closed state. Also, in the following description, there is no substantial difference between “equal to or less than” and “less than”, and between “equal to or more than” and “more than”.

1. Outline of System According to Present Disclosure

For example, the opening portion through which a person enters and exits, such as an entrance of a house, an automobile, and a keeping room for an animal, is generally opened and closed by a hinged door that rotates around an axis perpendicular to floor. In addition, for example, the opening portion of the household electric appliance such as a horizontal opening type refrigerator and a horizontal opening type microwave oven for household use is also opened and closed by an open door type door that rotates around the axis perpendicular to floor.

On the other hand, for example, a portion such as a document glass (a platen glass) disposed on an upper surface of a copier is covered or exposed by a lid or an automatic document feeder (ADF) that rotates on an axis horizontal to floor. In addition, for example, a keyboard portion of the notebook PC is also opened and closed by disposing a display on a surface facing the keyboard portion when closed with a lid rotating around the axis horizontal to floor. As described above, the opening portions and the like of various objects are opened and closed by the rotating body such as the door and the lid that rotate around the axis. In addition, here, it is described that the rotation is performed around the axis horizontal to floor, but it is natural that the rotation is not limited to only this. For example, the axis may be in a twisted position other than horizontal with respect to a floor surface.

When the door that opens and closes the entrance of the house, the door that opens and closes the entrance of the keeping room for an animal, the door that opens and closes the opening portion of a refrigerator, and the like remain open against a user's will, various problems such as theft, escape of the animal, and decay of a refrigerated item occur. Therefore, it is very important to detect whether such opening portion is closed by the rotating body such as a door and is in the opened state, or is not closed and is in the opened state. The rotation detection device100according to the embodiment described below is configured to accurately detect whether the opening portion is closed by the rotating body, or is not closed and is in the opened state based on the angle of the rotating body.

2. Configuration of System1

FIG.1is a diagram illustrating a configuration of a system1including the rotation detection device100according to one embodiment. As illustrated inFIG.1, the system1includes the rotation detection device100and the external unit200. For example, the external unit200includes the household electric appliance, a monitoring camera (a security camera), an administrator terminal unit of an administrator who manages a facility where the rotating body20is disposed, a user terminal unit of a user who uses the rotating body20, a vehicle including a door as the rotating body20, a housing container including a lid as the rotating body20, and a lock/unlock control unit that controls locking and unlocking (locking/unlocking) of the key attached to the rotating body20using the rotation detection device100or a combination thereof.

The rotation detection device100, the household electric appliance, the administrator terminal unit, the user terminal unit, the lock/unlock control unit, and the like may be connected to be able to transmit and receive information to and from each other via a network including a wired communication line such as Internet and a wireless communication line. Further, hereinafter, the household electric appliance, the administrator terminal unit, the user terminal unit, and the lock/unlock control unit may be collectively referred to as the external unit200. Note that the rotation detection device100and the external unit200may be configured integrally or may be configured separately.

3. Configuration of Rotation Detection Device100

FIG.2Ais a block diagram illustrating an example of a configuration of the rotation detection device100according to the embodiment illustrated inFIG.1. Note that the rotation detection device100does not need to include all of the components illustrated inFIG.2A, and can have a configuration in which a part is omitted, or another component can be added.

As illustrated inFIG.2A, the rotation detection device100includes a memory111including a RAM, a ROM, a non-volatile memory, an HDD, and the like, a processor112including a CPU and the like, a communication interface (a communication IF)114, and an angular velocity sensor115. Moreover, these components are electrically connected to each other via a control line and a data line. Note that the memory111may also include a database, an external storage device, and the like connected via the communication interface114and the like. In other words, the rotation detection device100is a computer including the angular velocity sensor115in addition to the memory111, the processor112, and the communication interface114.

The memory111includes the RAM, the ROM, the nonvolatile memory, and the HDD, and functions as a storage unit. The memory111stores the instruction command for executing an application or an OS according to the present disclosure as a program. Such a program is loaded into the memory111from a recording medium or a network via the communication interface114and executed by the processor112.

Further, in the present disclosure, the memory111(in particular, the RAM) is temporarily used to execute writing and reading of data while the program is executed by the processor112.

Moreover, in the present disclosure, the memory111stores a program for causing the processor to function as a processor configured to perform the processing of calculating, the first angle of the rotating body20before the rotation operation is performed on the rotating body20based on the angular velocity sensor115and the second angle of the rotating body20after the rotation operation is performed, and detecting that the rotating body20is in the opened state based on the first angle, the second angle, and a predetermined threshold.

The processor112includes a CPU (a microcomputer), and functions as a control unit for controlling other connected components based on various programs stored in the memory111. Note that the processor112may include a single CPU or a plurality of CPUs.

Further, in the present disclosure, the processor112executes a program for performing the processing of calculating, the first angle of the rotating body20before the rotation operation is performed on the rotating body20based on the angular velocity sensor115and a second angle of the rotating body20after the rotation operation is performed, and detecting that the rotating body20is in the opened state based on the first angle, the second angle, and the predetermined threshold.

The communication interface114functions as, for example, a communication unit that performs the processing such as modulation and demodulation in order to transmit and receive programs, various types of information, and the like used in the rotation detection device100to and from the PC, a server device (not illustrated), and the like. The communication interface114communicates with the PC, the server device, and the like according to the wireless communication method or a known wired communication method described above. In the present disclosure, the rotation detection device100transmits information such as whether the opening portion is in the closed state or the opened state to the PC, the server device, or the like via the communication interface114.

Further, the communication interface114communicates with the external unit200connected via a network. Moreover, communication with the external unit via the communication interface114includes transmission of a control signal to the household electric appliance and reception of a signal from the household electric appliance, which are disposed in the facility such as a house to which the rotation detection device100is attached and are controlled in response to detection of the closed state or the opened state of the rotating body20such as a door by the rotation detection device100. In addition, the communication with the external unit includes transmission and reception of information with a manager terminal unit of a manager who manages a facility such as a house in which the rotating body such as a door is installed. Also, the communication with the external unit includes transmission and reception of information to and from the user terminal unit of the user who manually operates and rotates the rotating body20such as a door. Besides, the communication with the external unit includes transmission and reception of information to and from the lock/unlock control unit that controls the lock/unlock of the key of the rotating body20using the rotation detection device100.

The angular velocity sensor115is attached to the rotating body20that rotates and functions as a detection unit for detecting the angular velocity of the rotating body20. Such angular velocity sensor115is, for example, a gyro sensor. Three axes Xas, Yas, and Zasorthogonal to each other are set in advance in the angular velocity sensor115. The angular velocity sensor115is activated from a stop state under the control of the processor112to be in an operating state, consumes power, detects a rotation angular velocity θ of the rotation detection device100, and outputs a rotation angular velocity θ to the processor112. Further, the angular velocity sensor115stops the detection of the rotation angular velocity θ of the rotation detection device100under the control of the processor112, and enters the stop state in which power is not consumed.

4. Configuration of External Unit200

FIG.2Bis a block diagram illustrating an example of a configuration of a portion related to information processing in the external unit200illustrated inFIG.1. Further, the external unit200does not need to include all the components illustrated inFIG.2A, and may have a configuration in which a part is omitted, or may include other components. Moreover, hereinafter, the “portion related to information processing in the external unit200” is abbreviated as the “external unit200”.

According toFIG.2B, the external unit200includes a memory211, a processor212, a display213, a communication processing circuit215, a communication interface214including an antenna, and an input interface216including a touch panel217, a hard key218, and the like. Then, these components are electrically connected to each other via the control line and the data line. Note that the touch panel217and the hard key218may be installed outside the external unit200and connected via the input interface216, or may be included in the external unit200and connected via the input interface216.

The processor212includes a CPU and peripheral circuits thereof, and performs the processing for functioning as a control unit that controls other connected components based on various programs stored in the memory211. Specifically, the processor212reads a program for processing a signal received from the rotation detection device100and a program for executing the OS from the memory211and executes the program. In the present embodiment, the processor212performs the processing for receiving the signal indicating whether the rotating body20is in the opened state or the closed state from the rotation detection device100via the communication interface214. In addition, the processor212notifies the user of the external unit200of whether the rotating body20is in the opened state or the closed state by displaying an image on the display213and outputting sound from a speaker built in the display213.

Further, the processor212further performs the processing of receiving an operation performed on the touch panel217and the hard key218by the user via the input interface216and transmitting information indicating the received operation to the rotation detection device100via the communication interface214. Note that the processor212may include a single CPU, or may include a plurality of CPUs. Further, the processor212may be configured by appropriately combining other types of processors such as a GPU specialized for image processing.

The memory211includes the ROM, the RAM, the nonvolatile memory, the HDD, and the like, and functions as the storage unit. The ROM stores the instruction command for executing the application or the OS according to the present embodiment as a program. The RAM is a memory used for the writing and reading data while a program stored in the ROM is processed by the processor212. The nonvolatile memory is a memory in which the writing and reading of data are executed by execution of the program, and the data written here is stored even after the execution of the program is completed.

In the present embodiment, the memory211stores a program for processing for receiving the signal indicating whether the rotating body20is in the opened state or the closed state from the rotation detection device100via the communication interface214, a program for performing processing of notifying the user of the external unit200of whether the rotating body20is in the opened state or the closed state by an image display on the display213and sound output from the speaker built in the display213, and the like. In addition, although not particularly illustrated as the memory211, it may be connected to a removable storage medium, a database, or the like via the input interface216.

The communication interface214functions as the communication unit that transmits and receives information to and from another external unit other than the remotely installed rotation detection device100and the external unit200via the communication processing circuit215and the antenna. The communication processing circuit215performs a program for executing processing of information according to the present embodiment, and processing for transmitting and receiving information indicating the opened state or the closed state of the rotating body20to and from the external unit200.

The communication processing circuit215is processed based on a broadband wireless communication method represented by an LTE system, but can also be processed based on a method related to a narrowband wireless communication such as a wireless LAN represented by IEEE802.11 or Bluetooth (registered trademark). Further, the wired communication can be used instead of or in addition to the wireless communication.

The input interface216is connected to the touch panel217and the hard key218in the wired or wireless manner, and various methods such as a serial port, a parallel port, and a USB can be cited as an example of the input interface216functioning as an input/output unit that inputs/outputs various types of information. Further, in a case where connection is performed in the wireless manner (for example, Bluetooth (registered trademark)), the communication interface214and the functions thereof can be shared.

All the components such as the touch panel117and the hard key218are connected to the external unit200via the input interface216. Note that the external unit200may or may not include these components.

The touch panel217is disposed so as to cover the display213, for example, and outputs information of position coordinates corresponding to image data displayed by the display213to the processor212. As the touch panel method, a known method such as a resistive film method, a capacitive coupling method, or an ultrasonic surface acoustic wave method can be used. In the present embodiment, the touch panel217detects a swipe operation or a tap operation on each icon or the like displayed on the display213by an indicator. Further, it is detected that an input related to the speed of movement is made according to the detected tap operation. Note that, although the input interface216included in the external unit200is used in the present embodiment, the input interface216connected to a main body including the processor212or the like in a wireless or wired manner can also be used.

The hard key218includes a mechanical switch, a button, and the like, receives an operation of the user of the external unit200, and outputs the operation to the processor212.

The display213has a built-in speaker, and functions as a display unit that displays the image information stored in the memory211and the opened state or the closed state of the rotating body20received from the rotation detection device100in response to the instruction from the processor212. The display213includes, for example, a liquid crystal display or an organic EL display.

5. Method for Detecting Opened State and Closed State of Rotating Body20

FIGS.3A and3Bare first and second views illustrating the rotation detection device100attached to the rotating body20such as a door of a house, a household electric appliance, or the like, or a lid of a notebook PC. Note thatFIGS.3A and3Billustrate the rotating body20having a rectangular thin shape. A direction parallel to a short side of a rectangular surface of the rotating body20is an X direction, a direction parallel to a long side of the rectangular surface of the rotating body20is a Z direction, and a direction orthogonal to both the X direction and the Z direction is a Y direction.

In other words, an X, Y, and Z coordinate systems can be defined for the rotating body20as illustrated inFIGS.3A and3B. As shown inFIG.3B, a hinge22having a rotation axis parallel to a Z-axis is attached to the rotating body20, and the rotating body20can rotate around the axis of hinge22. In addition, when the rotating body20is the door of the entrance of the house, the hinge22fixes the door to the entrance, and rotates the door around the axis when the user manually performs the rotation operation of pushing the door.

Next, a method of calculating the rotation angle ω and its magnitude |ω| from the rotation angular velocity θ detected by the angular velocity sensor115will be described. Hereinafter, a case where the processor112controls the angular velocity sensor115to detect the rotation angular velocity θ of the rotating body20between times t0to ti−1and tito tnat time intervals of Δt will be described as a specific example. For example, Δt is 50 milliseconds, and time T between to and t0is 10 seconds.

An angular velocity θidetected by the angular velocity sensor115at the time tiwhen the time Δt×i has elapsed from the time t0includes components θiX, θiY, and θiZaround the axes Xas, Yasand Zas, respectively. Accordingly, the angular velocity θi detected at the time tiby the angular velocity sensor115can be expressed as θi=(θiX, θiY, θiZ) using a vector. Similarly, since a rotation angle ωiof the rotating body20at the time tialso includes components ωiX, ωiY, and ωiZaround the axes Xas, Yas, and Zas, respectively, ωi=(ωiX, ωY, ωiZ) can be expressed by using a vector.

As described above, X, Y, and Z coordinate axes orthogonal to each other are illustrated inFIGS.3A and3B. However, the directions of the X, Y, and Z coordinate axes are irrelevant to the directions of the Xas, Yas, and Zasaxes set in the angular velocity sensor115of the rotation detection device100described above, and do not usually coincide with each other. Accordingly, even when the rotating body20rotates around the Z axis, the angular velocity θidetected by the angular velocity sensor115at the time tican include not only the component θiZof the angular velocity around the Zasaxis but also all of the components θiX, θiY, and θiZ.

In this case, after the start of the detection of the angular velocity of the rotating body20, the value of the rotation angle ωiof the rotating body20at the time tican be represented by a value ωi−1+Δt×θiobtained by adding a value obtained by multiplying the angular velocity θidetected at the time tiby the time interval Δt to the rotation angle ωi−1of the rotating body20at the time ti−1. In other words, ωi=ωi−1+Δt×θi, and thus, this value ωiis approximately equal to a time integrated value of the rotation angular velocity θ of the rotating body20at the time t0to ti.

The component ωiXaround the Xasaxis of the rotation angle ωiof the rotating body20at the time tiis a value obtained by adding a multiplication value Δt×θixof the time interval Δt and the component θixof the angular velocity θidetected at the timeito a component ωi−1Xof the rotation angle ωi−1of the rotating body20at the time ti−1. In other words, ωiX=ωi−1X+Δt×θix, and this value ωiXis substantially equal to a time integrated value of the component θxaround the Xasaxis of the rotation angular velocity θ of the rotating body20between the times t0and ti.

Similarly, the component ωiYaround the Yasaxis of the rotation angle ωiof the rotating body20at the time tiis a value obtained by adding the multiplication value Δt×θixof the time interval Δt and the component θiYof the angular velocity θidetected at the timeito a component θi−1Yof the rotation angle ωi−1of the rotating body20at the time ti−1. In other words, ωiY=Δt×θiY, and this value ωiYis substantially equal to the time integrated value of the component θYaround the Yasaxis of the rotation angular velocity θ of the rotating body20between the times t0and t1.

Similarly, the component ωiZof the rotation angle ωiaround the Zasaxis of the rotating body20at the time tiis a value obtained by adding the multiplication value Δt×θixof the time interval Δt and the component θiZof the angular velocity θidetected at the timeito the component ωi−1Zof the rotation angle ωi−1of the rotating body20at the time ti−1. In other words, ωiZ=ωi−1Z+Δt×θiZ, and this value ωiZis substantially equal to the time integrated value of the component θZaround the Zasaxis of the rotation angular velocity θ of the rotating body20between the times t0and ti.

In addition, the magnitude |ωiω of the rotation angle ωiof the rotating body20at the time tiis a norm of the vector (ωiX, ωiY, ωiZ), that is, |ωi|=(ωiX2, ωiY2, ωiZ2)1/2. As described above, every time the angular velocity sensor115detects the rotation angular velocity θiof the rotating body20at the time ti, the processor112can calculate the magnitude |ωi| of the rotation angle ωiof the rotating body20at the time ti.

FIGS.4A to4Care first to third views illustrating motions until the rotating body20in the normal position in the closed state rotates in response to the rotation operation to be in the opened state, and then is returned to the normal position to be in the closed state.FIG.5is a diagram illustrating the rotation angle ω of the rotating body20detected by the rotation detection device100when the rotating body20moves as illustrated inFIGS.4A to4C. Further, for convenience of illustration, inFIG.5and the like, only the rotation angle around the Zasaxis among the rotation angles ω of the rotating body20is illustrated, and the rotation angles around the Xasaxis and the Yasaxis are omitted. A case will be described, where the rotating body20at the normal position as illustrated inFIG.4Ais rotated to the position illustrated inFIG.4Bby the rotation operation, and is returned to the normal position as illustrated inFIG.4Cby the rotation operation.

In this case, as shown inFIG.5, the rotation angle ω of the rotating body20moves on a dotted line220from an origin ωoof the rotation angle in the state at the time t0shown inFIG.4A, and when the rotation angle ω exceeds a range of a preset threshold227, it is determined that the rotating body20is in the opened state. Further, the rotating body20reaches a rotation angle ωain a state where the rotating body20illustrated inFIG.4Bis opened at the most. When the rotation operation is performed from the state illustrated inFIG.4Bto close the rotating body20and return to the normal position as illustrated inFIG.4C, the rotation angle ω of the rotating body20moves on a dotted line221and reaches a rotation angle ωbincluded in the range of a threshold228giving a normal range from the origin ωo.

Even in a case where the rotating body20is returned from the opened state to the normal position, the rotation angle ωbdoes not necessarily overlap an origin coo, and the reason why an error occurs is that the angular velocity sensor115has an error, the angular velocity sensor115receives disturbance and noise when detecting the angular velocity θ, or an error occurs in calculation of the magnitude |ω| of the rotation angle. As illustrated inFIG.5, when the magnitude |ω| of the rotation angle of the rotating body20exceeds the threshold227, the rotation detection device100can detect that the rotating body20is in the opened state. Further, when the magnitude |ω| of the rotation angle of the rotating body20falls within the range of the threshold228or less, the rotation detection device100can detect that the rotating body20is in the closed state.

FIGS.6A to6Care diagrams illustrating motions from when the rotating body20that is not in the normal position in the closed state rotates in response to the rotation operation to be in the opened state to when the rotating body is returned to the normal position to be in the closed state.FIG.7is a diagram illustrating the rotation angle ω of the rotating body20detected by the rotation detection device100when the rotating body20moves as illustrated inFIGS.6A to6C. As indicated by a solid line inFIG.6A, the rotating body20may not be in the normal position as indicated by the dotted line in the closed state due to a reason that the user has not appropriately closed the rotating body20. A case will be described, where the rotating body20is rotated from this position to a position indicated by the solid line inFIG.6Bto be in the opened state by the rotation operation, and then is returned to the normal position as indicated by the solid line inFIG.6Cby the rotation operation.

In this case, as illustrated inFIG.7, the rotation angle ω of the rotating body20moves on a dotted line222from the origin ω0(a first angle) of the rotation angle in the state illustrated by the solid line inFIG.6A, and when the rotation angle exceeds the range of the threshold227, it can be determined that the rotating body20is in the opened state. Further, the rotating body20reaches a rotation angle ωcin a state where the rotating body20illustrated by the solid line inFIG.6Bis opened at the most. When the rotation operation is performed from the state shown by the solid line inFIG.6Bto close the rotating body20and return to the normal position shown by the solid line inFIG.6C, the rotation angle ω of the rotating body20moves on the dotted line223, does not pass through the range given by the threshold228, and reaches a rotation angle ωdoutside the range given by the threshold228from the origin ωo, and an offset224may occur.

The reason why the offset224is generated is that although the rotating body20returns to the normal position as indicated by the solid line inFIG.6C, the rotating body20is not in the normal position before receiving the rotation operation as indicated by the solid line inFIG.6A. In such a case, as indicated by the dotted line inFIG.6C, the rotation detection device100calculates the rotation angle ω of the rotating body20like the rotating body20has rotated beyond the normal position. Accordingly, when no measure is taken as it is, the rotation angle ω of the rotating body20does not fall within the range given by the threshold228even in a case where the rotating body20is actually at the normal position in the closed state. Therefore, in such a case, the rotation detection device100cannot detect that the rotating body20is in the closed state using only the threshold228.

FIG.8is a diagram illustrating the vectors225and226used for detection of the opened state and the closed state of the rotating body20by the rotation detection device100illustrated inFIG.2A. In order to solve such a problem, first, the rotation detection device100stores the vector225(=(ωopX, ωopY, ωopZ); (ωop) of a rotation angle ωop(a second angle) when the rotation angle ω of the rotating body20exceeds the threshold227. Further, at a timing when it can be determined that the rotation of the rotating body20has ended, the rotation detection device100calculates the vector226(=(ωdX−ωoX, ωkY−ωoY, ωdZ−ωoZ)) from the origin ωoof the rotation of the rotating body20to the rotation angle ωd(=(ωdX, ωdY, ωdZ)).

Further, the rotation detection device100calculates an inner product (=(ωopX, x (ωdX−ωoX), ωopY×(ωdY−ωoY), ωopZ×(ωdZ−ωoZ))) of the vector225and the vector226. When an inner product is a negative value, that is, when a difference between the directions of vector225and vector226is within the range of 90° to 270°, the rotation detection device100also detects that the rotating body20is in the closed state. For example, when there is a possibility that the rotating body20rotates 90° or more like the door and the lid of the notebook PC, it is particularly effective to detect the closed state of the rotating body20in this manner. Further, inFIGS.5,7, and8, the threshold227and the threshold228are different from each other, but these thresholds may be the same. In addition, the threshold228can be optimized within a range in which its magnitude does not exceed the threshold227.

In this manner, the closed state of the rotating body20can be detected using the magnitude of the vector226and an inner product of the vector225and the vector226in combination. By using the inner product, even when the rotating body20is not opened or closed from the normal position, it is possible to reliably detect that the rotating body20has been turned from the opened state to the closed state. In addition, by using the inner product for detection of the closed state, the rotation detection device100can detect that the rotating body20is in the closed state without accurate information of the timing at which the rotating body20starts to rotate. Similarly, according to the rotation detection device100, even when the rotation angles of the rotating body20in the opened state and the closed state are not known in advance, it is possible to detect whether the rotating body20is in the opened state or the closed state.

6. Processing of Rotation Detection Device100

Hereinafter, processing S10of the rotation detection device100will be described with reference toFIG.9.FIG.9is a diagram illustrating the processing flow of the rotation detection device100illustrated inFIG.2A. In step S100illustrated inFIG.9, the rotation detection device100starts processing of activating the angular velocity sensor115and detecting whether the rotating body20is in the opened state or the closed state.

In step S102, the rotation detection device100determines whether or not the predetermined time interval Δt (for example, 50 milliseconds) has elapsed since the last measurement of the rotation angular velocity θiof the rotating body20. The rotation detection device100proceeds to processing of S104when the time of Δt has elapsed, and remains in processing of S102when the time of Δt has not elapsed.

In step S104, the rotation detection device100controls the angular velocity sensor115to measure the rotation angular velocity θiof the rotating body20, and receives the measured rotation angular velocity θi.

In step S106, the rotation detection device100adds the multiplication value of the time interval Δt and the rotation angular velocity θ1to the origin ω0when S106is performed for the first time. When S106is performed for the second and subsequent times, the multiplication value of the rotation angular velocity θiand the time interval Δt is added to the rotation angle ωi−1of the rotating body20calculated so far, and the time integrated value between the times t0to tiof the rotation angular velocity θ is calculated as the rotation angle ωi.

In step S108, the rotation detection device100determines whether the magnitude |ωi| of the rotation angle ωiis greater than or equal to the threshold227illustrated inFIGS.5,7, and8. When |ωi| is greater than or equal to the threshold227(Y), the rotation detection device100proceeds to processing of S110, and when |ωi| is less than the threshold227(N), the rotation detection device100proceeds to processing of S116.

In step S110, the rotation detection device100determines whether or not the vector225(ωop) illustrated inFIG.8has already been stored. The rotation detection device100returns to processing of S102when the rotation angle ωophas already been stored (Y), and proceeds to processing of S112when the rotation angle ωophas not yet been stored (N).

In step S112, the rotation detection device100detects that the rotating body20is in the opened state, and transmits information indicating this to the external unit outside the rotation detection device100via the communication interface114. The external unit of the rotation detection device100that has received this information performs processing such as notifying the administrator or the like of the rotating body20that the rotating body20is in the opened state.

In step S114, the rotation detection device100stores the rotation angle ωicalculated in processing of S106as the rotation angle ωop, and returns to processing of S102.

In step S116, the rotation detection device100calculates the inner product of the vector225and the vector226indicating the rotation angle ωopillustrated inFIG.8, and further calculates the magnitude of the vector226of the rotation angle ωd. The rotation detection device100proceeds to processing of S118when the value of the calculated inner product is negative or when the vector226of the rotation angle ωdis equal to or less than the threshold228(Y), and proceeds to processing of S122when the value of the calculated inner product is not negative or when the vector226of the rotation angle cod is larger than the threshold228(N).

In step S118, the rotation detection device100determines whether or not a state in which the calculated value of the inner product is negative or the vector226of the rotation angle ωdis equal to or less than the threshold228is continuous for a predetermined constant time, for example, 0.5 seconds (=Δt (50 milliseconds)×10) or more. When this state continues for a certain period of time or more (Y), the rotation detection device100determines that the rotation of the rotating body20is finished and a stable state is reached, and proceeds to processing of S120.

In step S120, the rotation detection device100detects that the rotating body20is in the closed state, and transmits information indicating this to the external unit via the communication interface114. The external unit of the rotation detection device100that has received this information performs processing such as notifying the manager of the facility in which the rotating body20is disposed that the rotating body20is in the closed state.

In step S122, the rotation detection device100determines whether or not a predetermined time T, for example, 10 seconds (=Δt (50 milliseconds)×200) has elapsed as a sufficiently long time as an opening/closing time of the rotating body20after the processing of S100is executed. The rotation detection device100proceeds to the processing of S124when the time T has elapsed (Y), and returns to the processing of S102when the time T has not elapsed (N).

In step S124, the rotation detection device100cannot detect whether the rotating body20is in the opened state or the closed state, and determines that a certain error has occurred. Further, the rotation detection device100transmits error information indicating the occurrence of error to the external unit200via the communication interface114.

The external unit200may be the household electric appliance, for example, a refrigerator, and the rotating body20may be a door thereof. At this time, the refrigerator performs processing such as outputting a warning sound indicating that the door is left open when information indicating the opened state of the door is continuously sent from rotation detection device100for several minutes, for example.

Further, the external unit200may be the household electric appliance installed inside a building, for example, a lighting device, and the rotating body20may be the door of entrance of the building. When the information indicating that the door is in the opened state received from the rotation detection device100is received, the lighting device is turned on, and when the information indicating that the door is in the closed state is received, the lighting device is turned off.

Moreover, the external unit200may be a monitoring camera, and the rotating body20may be the door of entrance of a monitoring target. At this time, when the information indicating the opened state of the door received from the rotation detection device100changes to the information indicating the closed state and when a reverse change occurs, the monitoring camera captures the image of the entrance of the monitoring target, and captures and stores the image of the person who has opened and closed the door.

Further, the external unit200may be a combination of the administrator terminal unit and the monitoring camera, and the rotating body20may be the door of the building managed by the administrator. The administrator terminal unit outputs an alarm to the administrator when the information indicating the closed state of the door received from the rotation detection device100changes to the information indicating the opened state and when the reverse change thereto occurs. Further, when the information indicating the closed state of the door received from rotation detection device100changes to the information indicating the opened state, and when the reverse change occurs, the monitoring camera captures the image of the door of the building. Moreover, the administrator terminal unit displays the image near the door captured by the monitoring camera to the administrator.

Further, the external unit200may be the user terminal unit, and the rotating body20may be a door of a user's private car. The user terminal unit detects an abnormality when the information indicating that the rotating body20is in the closed state cannot be received from the rotation detection device100even though the user activates an engine of the private car or closes the door. Then, the alarm notifying the user that the door of the private car is in a so-called “half door” state is output.

Then, in the external unit200, the external unit200may be the lock/unlock control unit, and the rotating body20may be the door of the house or the like. At this time, the lock/unlock control unit automatically controls and locks the door when the door is not locked even though the door is closed from the rotation detection device100.

In step S126, the rotation detection device100stops the operation of the angular velocity sensor115, and ends the process. In addition, althoughFIG.9illustrates a case where the closed state of the rotating body20is detected using both the threshold228and the inner product, the closed state of the rotating body20can also be detected using one of the threshold228and the inner product. Further, when the opened state and the closed state of the rotating body20are detected using the angular velocity sensor115, the rotating body20is less susceptible to an influence of disturbance than a case where a magnet or the like is attached to the rotating body to detect these states. Moreover, it is not necessary to attach an accessory such as the magnet to the rotating body20.

For example, in the technique disclosed in Patent Literature 1, a rotation speed of the rotating body is integrated and converted into the rotation speed, and the rotation speed is further integrated to obtain the rotation angle of the door. Accordingly, in such device, since an integration operation is repeated twice, the detected rotation angle of the rotating body is susceptible to an error or noise included in the output of the acceleration sensor. Further, such device cannot accurately detect whether the opening portions where the rotating body opens and closes are in the opened state or the closed state. However, according to the processing illustrated inFIG.9, even in a case where the rotation angle of the rotating body20is not accurately known, the closed state and the opened state of the rotating body20can be accurately detected. Moreover, according to the processing illustrated inFIG.9, it is possible to prevent an erroneous detection that the rotating body20is in the opened state although the rotating body20is actually in the closed state. In addition, according to the processing illustrated inFIG.9, even when the errors due to disturbance such as noise, processing of obtaining the integrated value, and the like are accumulated, it is possible to accurately detect that the rotating body20is in the closed state. Also, according to the processing illustrated inFIG.9, the opened state and the closed state of the rotating body20in which a steady state is not the closed state can be accurately detected.

Second Embodiment

Hereinafter, a second embodiment in which the rotation detection device100is applied to the door key attached to the entrance of the house or the like will be described. The automatic locking control unit5described as the second embodiment is an example of the external unit200. When the automatic locking control unit5detects the closed state of the door key after a certain period of time has elapsed since the door was opened, the automatic locking control unit5automatically controls and locks the door key. In general, an automatic locking unit is used to enhance security by limiting a person who enters a room from outside the room.

FIGS.10A and10Bare first and second views illustrating the automatic locking unit4attached to the key of a door3of the entrance of the house or the like. As shown inFIGS.10A and10B, similarly to the rotating body20shown inFIGS.3A and3B, the door3is pushed by a manual work of the user and rotates around the axis of the hinge22.

The automatic locking unit4is mounted on a support body43of the key (not illustrated) originally mounted on the outdoor side of the door3so as to be engaged with a thumb turn (not illustrated) of the key and at a position not interfering with a door knob42. The automatic locking unit4includes the main body case40. Further, the rotation detection device100and the automatic locking control unit5illustrated inFIG.11are housed in the main body case40.

FIG.11is a block diagram illustrating one example of a configuration of the automatic locking control unit5that is housed in the main body case40of the automatic locking unit4illustrated inFIGS.10A and10Band locks and unlocks (locks/unlocks) the door3by controlling the key of the door3. As illustrated inFIG.11, the automatic locking control unit5includes a control interface (control IF)500, a motor504, a motor drive circuit502, and a rotation angle sensor506.

The control interface500is electrically connected to each component of the rotation detection device100via the control line and the data line. The control interface500receives information indicating that the door3is in the opened state or the closed state from the rotation detection device100, and outputs the control signal to the motor drive circuit502. Further, the control interface500receives the rotation angle of the thumb turn of the key detected by the rotation angle sensor506and transmits the rotation angle to the rotation detection device100. The automatic locking control unit5functions as the lock/unlock control unit that controls the locking and unlocking of the door3by these components. In other words, the automatic locking control unit5functions as the external unit200that performs locking and unlocking in response to the communication of detection result of the opened state or the closed state from the rotation detection device100.

The motor drive circuit502drives and rotates the motor504in accordance with the control signal input from the control interface500. The motor504is connected to the thumb turn via a member such that the thumb turn of the key can be rotated. When driven by the motor drive circuit502, the motor504rotates the thumb turn of the key to bring the key into an unlocked state or a locked state. The rotation angle sensor506detects the rotation angle of the thumb turn of the key and outputs the rotation angle to the rotation detection device100via the control interface500.

Hereinafter, the processing S14of the automatic locking control unit5will be described.FIG.12is a diagram illustrating the processing flow of the automatic locking control unit5illustrated inFIG.11. In step140illustrated inFIG.12, the control interface500of the automatic locking control unit5receives the output signal of the rotation angle sensor506. The automatic locking control unit5proceeds to processing of S142when the output signal of the rotation angle sensor506indicates the rotation of the thumb turn (Y), and remains in the processing of S140when the output signal does not indicate the rotation (N).

In step S142, the control interface500of the automatic locking control unit5transmits information indicating that the thumb turn has been rotated to the rotation detection device100. Upon receiving this information, the rotation detection device100activates the angular velocity sensor115. The control interface500causes the rotation detection device100to detect whether the door3is opened or closed. When the automatic locking control unit5receives information indicating that the door3has been opened or closed from the rotation detection device100, the processing proceeds to S144.

In step S144, the control interface500determines whether the closed state of the door3is detected. The automatic locking control unit5proceeds to processing of S150when the closed state of the door3is detected (Y), and proceeds to the processing of S146when the closed state of the door3is not detected (N). Specifically, in S120ofFIG.9, the information indicating that the rotating body is in the closed state is transmitted from the rotation detection device100to the automatic locking control unit5, and the automatic locking control unit5determines whether or not the information has been received.

In step S146, the control interface500determines whether the opened state of the door3is detected. Specifically, in S112ofFIG.9, the information indicating that the rotating body is in the opened state is transmitted from the rotation detection device100to the automatic locking control unit5, and the automatic locking control unit5determines whether or not the information has been received. The automatic locking control unit5proceeds to processing of S148when the opened state of the door3is detected (Y), and returns to processing of S144when the opened state of the door3is not detected (N).

In step S148, the control interface500transmits, to the rotation detection device100, the information indicating that the door3cannot be locked because the door3is in the opened state.

In step S150, the control interface500outputs the control signal to the motor drive circuit502to drive the motor504. The motor504driven by the motor drive circuit502rotates, and causes the thumb turn of the key of the door3to rotate in a locking direction to lock the door3.

In step S152, the control interface500transmits the information indicating that the processing has ended to the rotation detection device100. When this information is received, the rotation detection device100causes the angular velocity sensor115to stop.

The processing of the automatic locking control unit5illustrated inFIG.12ensures the locking of the door3by the automatic locking unit4, and improves the security of the house or the like provided with the automatic locking unit4. Further, according to the processing illustrated inFIG.12, since a start of rotation of the door3can be detected by the rotation of the thumb turn, the start and stop of the angular velocity sensor115can be controlled more easily in a timely manner than the processing illustrated inFIG.9. In addition, althoughFIG.12illustrates a case where the automatic locking control unit5locks the key, the automatic locking control unit5can also unlock the key by appropriately changing the process.

Third Embodiment

Hereinafter, a third embodiment will be described. The external unit200may be a monitoring camera45shown inFIGS.10A and10B. The monitoring camera45captures and monitors an image of the door3. For example, in S112and S120inFIG.9, the rotation detection device100transmits the information indicating that the rotating body is in the opened state or the information indicating that the rotating body is in the closed state to the monitoring camera45. The monitoring camera45receives the information, and starts imaging at the timing of receiving the information indicating that the door3is closed. The monitoring camera45starts the imaging at the timing of receiving the information indicating that the door3is opened. In this way, by controlling the monitoring camera45by the rotation detection device100, a person who opens and closes the door3can be specified, and the security of the facility to be monitored or the like can be further improved.

Fourth Embodiment

Hereinafter, a fourth embodiment will be described. In the first to third embodiments, a case where the rotation detection device100is used for detecting whether the rotating body20is in the opened state or the closed state, the locking and unlocking by the automatic locking control unit5using the rotation detection device100, and the like has been exemplified, but the rotation detection device100has a wider application. For example, when the rotation detection device100detects the opened state of the rotating body20such as the door of the house (S112inFIG.9), the information indicating that the rotating body20is in the opened state is transmitted to the lighting device or an air conditioner that is one of the external units200. The lighting device or the air conditioner that has received the information performs the control to turn on lighting or air conditioning. On the other hand, when the rotation detection device100detects the closed state of the rotating body20such as the door of the house (S120inFIG.9), the information indicating that the rotating body20is in the closed state is transmitted to the lighting device or the air conditioner. The lighting device or the air conditioner that has received the information performs the control to turn off the lighting or the air conditioning. As described above, by using the detection result of the rotation detection device100for the household electric appliance, it is possible to prevent the household electric appliance from being left unturned off or to make indoor environment appropriate.

Further, when the rotation detection device100detects the opened state of the rotating body20such as the door of a delivery box (S112inFIG.9), the information indicating that the rotating body20is in the opened state is transmitted to the administrator terminal unit of the delivery box that is one of the external units200. The administrator terminal unit that has received the information notifies the administrator that the delivery box has been used. In this manner, by using the detection result of the rotation detection device100for the delivery box, it is possible to smoothly manage the delivery box.

Fifth Embodiment

Hereinafter, a fifth embodiment will be described. For example, when a resident of the house is absent, a person other than the resident, such as a housekeeping agent, a home delivery agent, or a cleaning agent, can be invited into the house. In such a case, by using the rotation detection device100for the door at the entrance of the house, it is possible to accurately notify the resident of the house of the situation in which the door has been opened and closed. Specifically, the rotation detection device100transmits the information indicating that the door, which is the rotating body20, is in the opened state or the closed state (S112or S120inFIG.9) to the terminal unit of the resident. Further, similarly to the third embodiment, transmission is performed to the monitoring camera installed on the door. Accordingly, it is possible to quickly grasp that the person other than the resident has opened and closed the door, and it is also possible to grasp behavior of the person other than the resident. In addition, in a field called an intelligent house and a smart home, it is possible to transmit, to the terminal unit of the resident, that the door has been locked or unlocked by the person other than the resident who has been authenticated in advance. Accordingly, the resident can know that the door has been locked or unlocked, but higher security can be realized by further receiving the information from the rotation detection device100.

Sixth Embodiment

Hereinafter, a sixth embodiment will be described. The external unit200may be the terminal unit of a management department of a company. When the external unit200is the terminal unit of the management department of the company, the door installed at the entrance of an office building or a space of the company or the like, the terminal unit, and an IC card system capable of uniquely identifying each employee of the company are combined. At this time, by receiving the information indicating that the door as the rotating body20is in the opened state or the closed state (S112or S120inFIG.9) from the rotation detection device100disposed on the door, it is possible to accurately detect and store the time when each employee opens and closes the door of the office or the like. Therefore, by combining and cooperating the automatic locking control unit5and the IC card system, it is possible to realize an entrance/exit management system capable of accurately managing entrance time and exit time of the employee of the company.

Modifications

As described above, the rotation detection device100and an application device thereof can be used in various applications other than the applications described above. For example, the rotation detection device100detects the opening and closing of the door of the device mounted on an aircraft or the like, and notifies an occupant, a maintenance person, and the like of the opening and closing, whereby safety of transportation equipment such as an aircraft can be improved. Alternatively, the rotation detection device100and an application device thereof are applied to the lid of the housing container as the rotating body, and can notify surrounding workers or the like that the lid of the housing container is in the opened state. By configuring the rotation detection device100and the application device thereof in this manner, it is possible to prevent leakage of medicine in the housing container, and the like.

The processing and procedures according to the present disclosure can be realized not only by the devices explicitly described in the embodiments but also by software, hardware, or a combination thereof. Specifically, the processing and procedures described in this description can be implemented by implementing logic corresponding to the processing in a medium such as an integrated circuit, a volatile memory, a nonvolatile memory, a magnetic disk, or an optical storage. Further, the processing and procedures described in the present description can be implemented as a computer program, and can be executed by various computers including the terminal unit and the server device.

The processing and procedures described herein as being performed by a single device, software, component, and/or module may be performed by a plurality of devices, a plurality of software, a plurality of components, and/or a plurality of modules. Further, in the present description, various types of information described to be stored in a single memory and storage device can be stored in a distributed manner in a plurality of memories included in a single device or a plurality of memories arranged in a distributed manner in a plurality of devices. Moreover, a plurality of pieces of software and hardware described in this description can be implemented by integrating the plurality of pieces of software and hardware into fewer components or by decomposing the plurality of pieces of software and hardware into more components.

Although embodiments of the present invention have been described, the embodiments have been presented as examples, and are not intended to limit the scope of the invention. These novel embodiments can be implemented in other various forms, and various omissions, substitutions, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and the gist of the present invention, and are included in the invention described in the claims and an equivalent scope thereof.

INCORPORATION BY REFERENCE

This application claims priority to Japanese Patent Application No. 2021-176911 filed Oct. 28, 2021, which is expressly incorporated by reference herein in its entirety.