阅读说明：本技术 惯性传感器、电子设备以及移动体 (Inertial sensor, electronic apparatus, and moving object ) 是由 泷泽照夫 于 2020-02-20 设计创作，主要内容包括：本申请公开了一种惯性传感器、电子设备以及移动体。惯性传感器具有：基板；传感器元件,设置在基板上；盖,覆盖所述传感器元件,与所述基板接合；以及多个端子,位于所述盖的外侧,与所述传感器元件电连接,所述多个端子包括：输入端子,输入电信号；以及检测端子,检测来自所述传感器元件的信号,在将所述输入端子与所述盖的间隔距离设为L1,将所述检测端子与所述盖的间隔距离设为L2时,为L1＞L2的关系。(The application discloses an inertial sensor, an electronic apparatus, and a moving object. The inertial sensor has: a substrate; a sensor element disposed on the substrate; a cover covering the sensor element and bonded to the substrate; and a plurality of terminals located outside the cover and electrically connected to the sensor element, the plurality of terminals including: an input terminal to which an electric signal is input; and a detection terminal for detecting a signal from the sensor element, wherein a distance between the input terminal and the cover is L1, and a distance between the detection terminal and the cover is L2, and the relationship of L1 > L2 is satisfied.)

1. An inertial sensor, comprising:

a substrate;

a sensor element disposed on the substrate;

a cover covering the sensor element and bonded to the substrate; and

a plurality of terminals located outside the cover and electrically connected to the sensor element,

the plurality of terminals include:

an input terminal to which an electric signal is input; and

a detection terminal that detects a signal from the sensor element,

when the distance between the input terminal and the cover is L1 and the distance between the detection terminal and the cover is L2, the relationship of L1 > L2 is satisfied.

2. An inertial sensor according to claim 1,

the inertial sensor has an input wiring electrically connecting the input terminal and the sensor element,

the detection terminals include a first detection terminal and a second detection terminal,

the input wiring is provided between the first detection terminal and the second detection terminal.

3. An inertial sensor according to claim 2,

the plurality of terminals are respectively located on one side of the first direction with respect to the cover.

4. An inertial sensor according to claim 3,

at least a part of the first detection terminal and the second detection terminal overlaps a region extending the input terminal in the first direction.

5. An inertial sensor according to any one of claims 2 to 4,

the inertial sensor includes: a first detection wiring electrically connecting the first detection terminal and the sensor element; and

a second detection wiring electrically connecting the second detection terminal and the sensor element,

the first detection wiring and the second detection wiring are the same in length.

6. An inertial sensor according to claim 1,

the plurality of terminals are disposed on the substrate.

7. An inertial sensor according to claim 1,

the plurality of terminals are provided on the substrate and on a mounting table made of the same material as the sensor element.

8. An inertial sensor according to claim 1,

the inertial sensor has an engaging member provided between the substrate and the cover to engage the substrate and the cover,

the engaging member includes the same material as the plurality of terminals.

9. An inertial sensor according to claim 1,

the inertial sensor has a plurality of inspection terminals connected to the plurality of terminals, and has a shape different from a top view of the plurality of terminals.

10. An inertial sensor according to claim 9,

the plurality of inspection terminals have a shape in plan view of a rotating object.

11. An electronic device, comprising:

the inertial sensor of any one of claims 1 to 10;

and a control circuit for performing control based on a detection signal from the inertial sensor.

12. A movable body is characterized by comprising:

the inertial sensor of any one of claims 1 to 10;

and a control device for performing control based on a detection signal from the inertial sensor.

Technical Field

The invention relates to an inertial sensor, an electronic apparatus, and a moving object.

Background

Patent document 1 describes an integrated circuit having a plurality of bonding pads arranged in a staggered manner. Specifically, when an outer ring along the outer edge of the integrated circuit and an inner ring located inside thereof are set, the plurality of bonding pads have an outer bonding pad located on the outer ring and an inner bonding pad located on the inner ring.

Patent document 1: japanese laid-open patent publication No. 10-125718

As described above, patent document 1 describes a method of arranging the bonding pads in a staggered manner, but it is unclear to which bonding pad a signal is input/output. For example, in the case of a MEMS sensor, a detection signal output for an input drive signal is small. Therefore, the bonding pad for detecting a signal has a problem of keeping a distance as far as possible from a noise source.

Disclosure of Invention

The inertial sensor according to the present embodiment includes: a substrate; a sensor element disposed on the substrate; a cover covering the sensor element and bonded to the substrate; a plurality of terminals located outside the cover and electrically connected to the sensor element, the plurality of terminals including: an input terminal to which an electric signal is input; and a detection terminal for detecting a signal from the sensor element, wherein a distance between the input terminal and the cover is L1, and a distance between the detection terminal and the cover is L2, and the relationship is L1 > L2.

The electronic device according to this embodiment is characterized by comprising: the inertial sensor described above; and a control circuit for performing control based on a detection signal from the inertial sensor.

The moving object according to the present embodiment includes: the inertial sensor described above; and a control device for performing control based on a detection signal from the inertial sensor.

Drawings

Fig. 1 is a plan view showing an inertial sensor according to a first embodiment.

Fig. 2 is a sectional view taken along line a-a of fig. 1.

Fig. 3 is a plan view showing an example of a sensor element for detecting acceleration in the X-axis direction.

Fig. 4 is a plan view showing an example of a sensor element for detecting acceleration in the Y-axis direction.

Fig. 5 is a plan view showing an example of a sensor element for detecting acceleration in the Z-axis direction.

Fig. 6 is a diagram showing an example of a driving voltage applied to each sensor element.

Fig. 7 is a partially enlarged plan view showing an exposed portion of the inertial sensor.

Fig. 8 is a sectional view showing an inertial sensor according to a second embodiment.

Fig. 9 is a sectional view showing a mounting table provided on a substrate.

Fig. 10 is a sectional view showing a mounting table provided on a substrate.

Fig. 11 is a partially enlarged plan view showing an inertial sensor according to a third embodiment.

Fig. 12 is a plan view showing an inertial sensor according to a fourth embodiment.

Fig. 13 is a plan view showing an example of a sensor element for detecting an angular velocity around the X axis.

Fig. 14 is a plan view showing an example of a sensor element for detecting an angular velocity around the Y axis.

Fig. 15 is a plan view showing an example of a sensor element for detecting an angular velocity around the Z axis.

Fig. 16 is a diagram showing voltages applied to the sensor elements.

Fig. 17 is a plan view showing an inertial sensor unit according to a fifth embodiment.

Fig. 18 is a sectional view of the inertial sensor unit shown in fig. 17.

Fig. 19 is a plan view showing a smartphone according to a sixth embodiment.

Fig. 20 is an exploded perspective view showing an inertia measurement apparatus according to a seventh embodiment.

Fig. 21 is a perspective view of a substrate included in the inertial measurement unit shown in fig. 20.

Fig. 22 is a block diagram showing an overall system of the mobile body positioning device according to the eighth embodiment.

Fig. 23 is a diagram showing an operation of the mobile body positioning device shown in fig. 22.

Fig. 24 is a perspective view showing a movable body according to a ninth embodiment.

Description of the reference numerals

1 inertial sensor, 2 substrate, 2 a-2 d sides, 3, 4, 5 sensor element, 6 cover, 6 a-6 d sides, 9 mounting table, 10 intermediate part, 23, 24, 25 recess, 29 exposed part, 31 fixed part, 32 movable part, 33, 34 spring, 35 first movable electrode, 36 second movable electrode, 38 first fixed electrode, 39 second fixed electrode, 41 fixed part, 42 movable part, 43, 44 spring, 45 first movable electrode, 46 second movable electrode, 48 first fixed electrode, 49 second fixed electrode, 51 fixed part, 52 movable part, 53 beam, 54 first fixed electrode, 55 second fixed electrode, 61 recess, 62 through hole, 63 sealing material, 69 joint part, 100, 131-133, 141-143, 151-153 inspection terminal, 231 to 233, 241 to 243, 251 … mounts, 300 … sensor elements, 301A, 301B … drive movable bodies, 302A, 302B … drive springs, 303A, 303B … movable drive electrodes, 304A, 304B … first fixed drive electrodes, 305A, 305B … second fixed drive electrodes, 306A, 306B … detect movable bodies, 307A, 307B … detect springs, 308A, 308B … first movable monitor electrodes, 309A, 309B … second movable monitor electrodes, 310A, 310B … first fixed monitor electrodes, 311A, 311B … second fixed monitor electrodes, 312A, 312B … fixed detect electrodes, 400 … sensor elements, 401A, 401B … drive movable bodies, 402A, 402B … drive springs, 403A, 403B … movable drive electrodes, 404A, 404B … first fixed drive electrodes, 405A, … drive electrodes, 406A, 406B … detecting a movable body, 407A, 407B … detecting a spring, 408A, 408B … first movable monitor electrode, 409A, 409B … second movable monitor electrode, 410A, 410B … first fixed monitor electrode, 411A, 411B … second fixed monitor electrode, 412A, 412B … fixed monitor electrode, 500 … sensor element, 501A, 501B … driving the movable body, 502A, 502B … driving a spring, 503A, 503B … movable drive electrode, 504A, 504B … first fixed drive electrode, 505A, 505B … second fixed drive electrode, 506A, 506B … detecting the movable body, 507A, 507B … detecting a spring, 508A, 508B 8 first movable monitor electrode, 509A, 509B 6 second movable monitor electrode, 510A, 511B … first fixed monitor electrode, 507A, … B, 68629A, 512B 512 detecting electrode, 513A, 513B … first fixed detection electrodes, 514A, 514B … second fixed detection electrodes, 521 … first movable part, 522 … second movable part, 731-737, 741-747, 751-757 … wiring, 831-837, 841-847, 851-857 … terminals, 931-933, 941-943, 951-953 … carrying table, 1000 … inertial sensor unit, 1010 … package, 361020 substrate, 1021 … recess, 1022 … first recess, 1023 … second recess, 1030 … cover, 1040 … IC chip, 1050 … internal terminal, 1060 … external terminal, 1200 … smart phone, … display, 1210 … control circuit, 1500 … automobile, 361502 72 control device, 1510 … system, 2000 … inertial measurement device, … housing, 362100 housing, 2110 screw hole …, 2300 …, 2310 module 2310, 23172 module 2310 x connecting with … module, 2310, 23172 opening 2310, 23172 connecting with … module 2310, 2310 x connecting with … module, 23172, and … connecting module 2310 2340y, 2340z … angular velocity sensors, 2350 … acceleration sensors, 2360 … control ICs, 3000 … mobile body positioning devices, 3100 … inertia measurement devices, 3110 … acceleration sensors, 3120 … angular velocity sensors, 3200 … arithmetic processing units, 3300 … GPS receiving units, 3400 … receiving antennas, 3500 … position information acquiring units, 3600 … position synthesizing units, 3700 … processing units, 3800 … communication units, 3900 … display units, Ax, Ay, Az … accelerations, B31 to B33, B41 to B43, B51 to B53 … bumps, BW 53 … bonding lines, J53 … swinging axes, L53 … spacing distances, O53 … to O53 … centers, Q53 … to Q53 … regions, S53 … storage spaces, V53 …, v3672, vxvxy, vzx 53 …, vzx β 3, ω x β 3, ω 3, and ω 3 β 3.

Detailed Description

The inertial sensor, the electronic apparatus, and the mobile object according to the present invention will be described in detail below based on embodiments shown in the drawings.

First embodiment

Fig. 1 is a plan view showing an inertial sensor according to a first embodiment. Fig. 2 is a sectional view taken along line a-a of fig. 1. Fig. 3 is a plan view showing an example of a sensor element for detecting acceleration in the X-axis direction. Fig. 4 is a plan view showing an example of a sensor element for detecting acceleration in the Y-axis direction. Fig. 5 is a plan view showing an example of a sensor element for detecting acceleration in the Z-axis direction. Fig. 6 is a diagram showing an example of a driving voltage applied to each sensor element. Fig. 7 is a partially enlarged plan view showing an exposed portion of the inertial sensor.

In each figure, an X axis, a Y axis, and a Z axis are illustrated as three axes orthogonal to each other. The direction along the X axis, i.e., the direction parallel to the X axis, is also referred to as the "X axis direction", the direction along the Y axis is referred to as the "Y axis direction", and the direction along the Z axis is referred to as the "Z axis direction". The arrow tip side of each axis is also referred to as "positive side", and the opposite side is referred to as "negative side". The positive side in the Z-axis direction is also referred to as "up", and the negative side in the Z-axis direction is also referred to as "down". In the present specification, the term "orthogonal" includes a case where the two elements intersect at an angle slightly inclined from 90 °, for example, within a range of 90 ° ± 5 °, in addition to a case where the two elements intersect at 90 °.

The inertial sensor 1 shown in fig. 1 is an acceleration sensor capable of independently detecting accelerations in the X-axis direction, the Y-axis direction, and the Z-axis direction, which are orthogonal to each other. Such an inertial sensor 1 includes: a substrate 2; three sensor elements 3, 4, 5 arranged on the substrate 2; and a cover 6 that houses the sensor elements 3, 4, and 5 and is joined to the substrate 2. The three sensor elements 3, 4, and 5 each function such that the sensor element 3 detects an acceleration Ax in the X-axis direction, the sensor element 4 detects an acceleration Ay in the Y-axis direction, and the sensor element 5 detects an acceleration Az in the Z-axis direction. In fig. 1, the sensor elements 3, 4, and 5 are illustrated in a simplified manner for convenience of explanation.

The configuration of the inertial sensor 1 is not limited to the above configuration, and for example, the arrangement, shape, function, and the like of the sensor elements 3, 4, and 5 may be different from those shown in the drawings. For example, one or two of the sensor elements 3, 4, and 5 may be omitted. Further, a sensor element capable of detecting an angular velocity may be used instead of or in addition to the sensor elements 3, 4, and 5.

The substrate 2 is rectangular in plan view in the Z-axis direction, and has a pair of sides 2a and 2b extending in the Y-axis direction and a pair of sides 2c and 2d extending in the X-axis direction. As shown in fig. 1, the substrate 2 has three recesses 23, 24, and 25 opened in the upper surface. The sensor element 3 is provided so as to overlap the recess 23, the sensor element 4 is provided so as to overlap the recess 24, and the sensor element 5 is provided so as to overlap the recess 25. These recesses 23, 24, and 25 prevent the sensor elements 3, 4, and 5 from coming into contact with the substrate 2.

As such a substrate 2, for example, a glass material containing alkali metal ions such as sodium ions, specifically, a glass substrate made of borosilicate glass such as TEMPAX glass or pyrex glass (both registered trademark) can be used. However, the material of the substrate 2 is not particularly limited, and a silicon substrate, a ceramic substrate, or the like may be used.

As shown in fig. 1, the cover 6 is rectangular in plan view, and has a pair of sides 6a and 6b extending in the Y-axis direction and a pair of sides 6c and 6d extending in the X-axis direction. The cover 6 has a recess 61 opened in the lower surface. As shown in fig. 2, the cover 6 houses the sensor elements 3, 4, and 5 in a recess 61 formed inside thereof, and is joined to the upper surface of the substrate 2. The cover 6 and the substrate 2 form a housing space S for hermetically housing 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 housing space S, and the through hole 62 is sealed with a sealing material 63.

The storage space S is preferably filled with an inert gas such as nitrogen, helium, or argon, and is preferably at substantially atmospheric pressure at a use temperature (e.g., about-40 ℃ to 80 ℃). By setting the housing space S to atmospheric pressure, viscous resistance can be increased to exhibit a damping effect, and the vibrations of the sensor elements 3, 4, and 5 can be converged quickly. Therefore, the detection accuracy of the inertial sensor 1 is improved.

As such a cover 6, for example, a silicon substrate can be used. However, the cover 6 is not particularly limited, and a glass substrate or a ceramic substrate may be used, for example. The method of bonding the substrate 2 and the cover 6 is not particularly limited, and may be appropriately selected depending on the materials of the substrate 2 and the cover 6, but in the present embodiment, the substrate 2 and the cover 6 are bonded via a bonding member 69 formed on the entire circumference of the lower surface of the cover 6. As the bonding member 69, for example, a frit material which is a low melting point glass can be used.

As shown in fig. 1, the cover 6 is provided to be offset to the X-axis direction positive side, which is the first direction of the substrate 2, and the sides 6b, 6c, and 6d are aligned with the sides 2b, 2c, and 2d of the substrate 2, and the side 6a is closer to the X-axis direction positive side than the side 2 a. The portion of the substrate 2 on the X-axis direction negative side is exposed from the cover 6. Hereinafter, the exposed portion, that is, the portion between the side 2a and the side 6a is also referred to as "exposed portion 29".

The substrate 2 has a groove opened on the upper surface thereof, and the groove is provided with a plurality of wires 731, 732, 733, 741, 742, 743, 751, 752, 753 and terminals 831, 832, 833, 841, 842, 843, 851, 852, 853. The wirings 731, 732, 733, 741, 742, 743, 751, 752, 753 are provided inside and outside the housing space S, wherein the wirings 731, 732, 733 are electrically connected to the sensor element 3, the wirings 741, 742, 743 are electrically connected to the sensor element 4, and the wirings 751, 752, 753 are electrically connected to the sensor element 5. The terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853 are provided outside the exposed portion 29, i.e., the cover 6. Further, the terminal 831 is electrically connected to the wiring 731, the terminal 832 is electrically connected to the wiring 732, the terminal 833 is electrically connected to the wiring 733, the terminal 841 is electrically connected to the wiring 741, the terminal 842 is electrically connected to the wiring 742, the terminal 843 is electrically connected to the wiring 743, the terminal 851 is electrically connected to the wiring 751, the terminal 852 is electrically connected to the wiring 752, and the terminal 853 is electrically connected to the wiring 753.

The material constituting the wires 731, 732, 733, 741, 742, 743, 751, 752, 753 and the terminals 831, 832, 833, 841, 842, 843, 851, 852, 853 is not particularly limited, and examples thereof include metal materials such as gold (Au), silver (Ag), platinum (Pt), palladium (Pd), iridium (Ir), copper (Cu), aluminum (Al), nickel (Ni), chromium (Cr), Ti (titanium), and tungsten (W), alloys containing these metal materials, Oxide-based conductive materials such as ITO (Indium tin Oxide), IZO (Indium Zinc Oxide), ZnO, and IGZO, and one or a combination of two or more of these materials can be used (for example, as a laminate of two or more layers).

Next, the sensor elements 3, 4, and 5 will be described with reference to fig. 3 to 5. The sensor elements 3, 4, and 5 can be collectively formed by anodically bonding a silicon substrate 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 which is a deep trench etching technique. However, the method of forming the sensor elements 3, 4, and 5 is not limited to this.

The sensor element 3 can detect the acceleration Ax in the X-axis direction. As shown in fig. 3, for example, the sensor element 3 includes: a fixing portion 31 fixed to a mounting member 231 projecting from the bottom surface of the recess 23; a movable body 32 displaceable in the X-axis direction with respect to the fixed portion 31; springs 33 and 34 connecting the fixed part 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 a mounting member 232 protruding from the bottom surface of the recess 23 and facing the first movable electrode 35; and a second fixed electrode 39 fixed to a mounting member 233 protruding from the bottom surface of the recess 23 and facing the second movable electrode 36.

The first and second movable electrodes 35 and 36 are electrically connected to the wiring 731, the first fixed electrode 38 is electrically connected to the wiring 732, and the second fixed electrode 39 is electrically connected to the wiring 733 in the fixed portion 31. Further, a drive voltage Vx, which is a voltage obtained by superimposing a direct-current voltage and an alternating-current voltage as shown in fig. 6, for example, is applied to the first and second movable electrodes 35 and 36 via the terminal 831. On the other hand, the first and second fixed electrodes 38 and 39 are applied with a fixed voltage AGND (analog ground) and connected to the charge amplifier via terminals 832 and 833. Therefore, an electrostatic capacitance Cx1 is formed between the first movable electrode 35 and the first fixed electrode 38, and an electrostatic capacitance Cx2 is formed between the second movable electrode 36 and the second fixed electrode 39. When a voltage difference is generated between the driving voltage Vx and the fixed voltage AGND, electric charges corresponding thereto are induced between the first movable electrode 35 and the first fixed electrode 38, and between the second movable electrode 36 and the second fixed electrode 39. When the amount of charges induced between the first movable electrode 35 and the first fixed electrode 38 and between the second movable electrode 36 and the second fixed electrode 39 is the same, the value of the voltage generated in the charge amplifier is 0. This indicates that the acceleration Ax applied to the sensor element 3 is 0 (stationary state).

In addition, if acceleration Ax is applied to the sensor element 3 in a state where the electrostatic capacitances Cx1, Cx2 are formed, the movable body 32 is displaced in the X axis direction, and accordingly, the electrostatic capacitances Cx1, Cx2 change in reverse phase with each other. Therefore, based on the changes in the capacitances Cx1 and Cx2, the amount of charge induced between the first movable electrode 35 and the first fixed electrode 38 and between the second movable electrode 36 and the second fixed electrode 39 also changes. If a difference is generated in the amount of charge induced between the first movable electrode 35 and the first fixed electrode 38, and between the second movable electrode 36 and the second fixed electrode 39, the difference is output as a voltage value of the charge amplifier. In this way, the acceleration Ax received by the sensor element 3 can be obtained.

The sensor element 4 can detect the acceleration Ay in the Y-axis direction. Such a sensor element 4 is not particularly limited, and for example, as shown in fig. 4, the sensor element 3 may be rotated by 90 ° around the Z axis. That is, the sensor element 4 has: a fixing portion 41 fixed to a mounting 241 protruding from the bottom surface of the recess 24; a movable body 42 displaceable in the Y-axis direction with respect to the fixed portion 41; springs 43 and 44 for connecting the fixed part 41 and the movable body 42; a first movable electrode 45 and a second movable electrode 46 provided on the movable body 42; a first fixed electrode 48 fixed to a mounting piece 242 protruding from the bottom surface of the recess 24 and facing the first movable electrode 45; and a second fixed electrode 49 fixed to a mounting member 243 projecting from the bottom surface of the recess 24 and facing the second movable electrode 46.

The first and second movable electrodes 45 and 46 are electrically connected to the wiring 741 in the fixed portion 41, the first fixed electrode 48 is electrically connected to the wiring 742, and the second fixed electrode 49 is electrically connected to the wiring 743. Further, a drive voltage Vy, which is, for example, a voltage obtained by superimposing a dc voltage and an ac voltage as shown in fig. 6, is applied to the first and second movable electrodes 45 and 46 via the terminal 841. On the other hand, the first and second fixed electrodes 48 and 49 are applied with a fixed voltage AGND and connected to the charge amplifier via terminals 842 and 843. Therefore, a capacitance Cy1 is formed between the first movable electrode 45 and the first fixed electrode 48, and a capacitance Cy2 is formed between the second movable electrode 46 and the second fixed electrode 49. When a voltage difference is generated between the driving voltage Vy and the fixed voltage AGND, charges corresponding thereto are induced between the first movable electrode 45 and the first fixed electrode 48, and between the second movable electrode 46 and the second fixed electrode 49. When the amount of charges induced between the first movable electrode 45 and the first fixed electrode 48 and between the second movable electrode 46 and the second fixed electrode 49 is the same, the value of the voltage generated in the charge amplifier is 0. This indicates that the acceleration Ay applied to the sensor element 4 is 0 (stationary state).

In addition, if acceleration Ay is applied to the sensor element 4 in a state where the capacitances Cy1, Cy2 are formed, the movable body 42 is displaced in the Y-axis direction, and accordingly, the capacitances Cy1, Cy2 change in reverse directions with each other. Therefore, based on the changes in the capacitances Cy1 and Cy2, the amount of charge induced between the first movable electrode 45 and the first fixed electrode 48 and between the second movable electrode 46 and the second fixed electrode 49 also changes. If a difference is generated in the amount of charge induced between the first movable electrode 45 and the first fixed electrode 48, and between the second movable electrode 46 and the second fixed electrode 49, the difference is output as a voltage value of the charge amplifier. In this way, the acceleration Ay received by the sensor element 4 can be obtained.

The sensor element 5 can detect the acceleration Az in the Z-axis direction. Such a sensor element 5 is not particularly limited, and, for example, as shown in fig. 5, includes: a fixing portion 51 fixed to the mounting member 251 protruding from the bottom surface of the recess 25; and a movable body 52 connected to the fixed portion 51 via a beam 53 and swingable about a swing axis J along the X axis with respect to the fixed portion 51. The movable body 52 has different rotational moments about the swing axis J between the first movable portion 521 located on one side of the swing axis J and the second movable portion 522 located on the other side. The sensor element 5 has a first fixed electrode 54 provided on the bottom surface of the recess 25 and facing the first movable portion 521, and a second fixed electrode 55 provided facing the second movable portion 522.

The movable body 52 is electrically connected to the wiring 751, the first fixed electrode 54 is electrically connected to the wiring 752, and the second fixed electrode 55 is electrically connected to the wiring 753 at the fixing portion 51. Further, a drive voltage Vz, for example, as shown in fig. 6, in which a direct-current voltage and an alternating-current voltage are superimposed, is applied to the movable body 52 via the terminal 851. On the other hand, the first and second fixed electrodes 54 and 55 are applied with a fixed voltage AGND and connected to the charge amplifier via terminals 852 and 853. Therefore, a capacitance Cz1 is formed between the first movable part 521 and the first fixed electrode 54, and a capacitance Cz2 is formed between the second movable part 522 and the second fixed electrode 55. When a voltage difference is generated between the driving voltage Vz and the fixed voltage AGND, charges corresponding thereto are induced between the first movable portion 521 and the first fixed electrode 54, and between the second movable portion 522 and the second fixed electrode 55. When the amount of charge induced between the first movable portion 521 and the first fixed electrode 54 and between the second movable portion 522 and the second fixed electrode 55 is the same, the voltage value generated in the charge amplifier is 0. This indicates that the acceleration Az applied to the sensor element 5 is 0 (stationary state).

In addition, if acceleration Az is applied to the sensor element 5 in a state where the capacitances Cz1 and Cz2 are formed, the movable body 52 is displaced around the swing axis J, and accordingly, the capacitances Cz1 and Cz2 change in opposite directions to each other. Therefore, based on the changes in the capacitances Cz1 and Cz2, the amount of charge induced between the first movable portion 521 and the first fixed electrode 54 and between the second movable portion 522 and the second fixed electrode 55 also changes. If a difference occurs in the amount of charge induced between the first movable portion 521 and the first fixed electrode 54, and between the second movable portion 522 and the second fixed electrode 55, the difference is output as a voltage value of the charge amplifier. In this way, the acceleration Az received by the sensor element 5 can be obtained.

The sensor elements 3, 4, 5 have been explained above. The configuration of the sensor elements 3, 4, and 5 is not particularly limited as long as the acceleration Ax, Ay, and Az can be detected.

Next, the arrangement of the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853 will be described in more detail. As described above, the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853 are provided on the exposed portion 29 of the substrate 2, respectively. That is, the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853 are provided on one side of the cover 6 in the X axis direction as the first direction, and are collectively provided on the negative side in the present embodiment. This can reduce the size of the inertial sensor 1, and is also advantageous for mounting work such as wire bonding. However, the present invention is not limited to this, and for example, the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853 may be provided on one side and the other side in the X axis direction with respect to the cover 6.

The terminals 831, 832, 833 are electrically connected to the sensor element 3. The terminal 831 is an input terminal for applying a drive voltage Vx to the sensor element 3, and the terminals 832 and 833 are detection terminals for detecting electric charges corresponding to the electrostatic capacitances Cx1 and Cx2, which are detection signals from the sensor element 3. Similarly, the terminals 841, 842, 843 are electrically connected to the sensor element 4. The terminal 841 is an input terminal for applying the drive voltage Vy to the sensor element 4, and the terminals 842 and 843 are detection terminals for detecting charges corresponding to the electrostatic capacitances Cy1 and Cy2, which are detection signals from the sensor element 4. Similarly, the terminals 851, 852, 853 are electrically connected to the sensor element 5. The terminal 851 is an input terminal for applying the drive voltage Vz to the sensor element 5, and the terminals 852 and 853 are detection terminals for detecting electric charges corresponding to the electrostatic capacitances Cz1 and Cz2 as detection signals from the sensor element 5.

As described above, the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853 include the terminals 831, 841, and 851 serving as input terminals and the terminals 832, 833, 842, 843, 852, and 853 serving as detection terminals. As shown in fig. 7, terminals 832, 833, 842, 843, 852, and 853 as detection terminals are provided near the cover 6, compared with the terminals 831, 841, and 851 as input terminals. That is, when the distance between the terminals 831, 841, 851 serving as input terminals and the side 6a of the cover 6 is L1 and the distance between the terminals 832, 833, 842, 843, 852, 853 serving as detection terminals and the side 6a of the cover 6 is L2, L1 > L2 are satisfied. Preferably, 1.2. ltoreq.L 1/L2. ltoreq.10. By satisfying such a relationship, the lengths of the detection lines 732, 733, 742, 743, 752, 753, particularly the lengths of the portions exposed outside the cover 6, can be further shortened, and the detection signals are less susceptible to interference. Therefore, noise is less likely to be mixed in the detection signal, and the accelerations Ax, Ay, Az can be detected more accurately. In particular, the detected charge amount is a weak charge amount with respect to the drive voltages Vx, Vy, and Vz, and the longer the wiring length on the substrate (dielectric material), the larger the parasitic capacitance, and the smaller the charge amount that can be taken out. Therefore, the above structure is more effective. L1/L2 may be the same for each group of terminals or may be different for each group.

In the present embodiment, the group of the terminals 831, 832, 833 connected to the sensor element 3 satisfies the relationship of L1 > L2, the group of the terminals 841, 842, 843 connected to the sensor element 4 satisfies the relationship of L1 > L2, and the group of the terminals 851, 852, 853 connected to the sensor element 5 satisfies the relationship of L1 > L2, but the present invention is not limited thereto, and at least one of the group of the terminals 831, 832, 833, the group of the terminals 841, 842, 843, and the group of the terminals 851, 852, 853 may satisfy the relationship of L1 > L2.

Here, as shown in fig. 7, two virtual lines α 1 and α 2 extending in the Y-axis direction are set so as to overlap the exposed portion 29 when viewed from the Z-axis direction in plan. The imaginary lines α 1, α 2 are set apart from each other in the X-axis direction, and the imaginary line α 1 is located on the negative side in the X-axis direction, i.e., on the side away from the cover 6, with respect to the imaginary line α 2. Terminals 831, 841, and 851 serving as input terminals are arranged in a line on the virtual line α 1 and are substantially equidistant from the side 6 a. Terminals 832, 833, 842, 843, 852, and 853 as detection terminals are arranged in a line on the virtual line α 2 and are substantially equidistant from the side 6 a. Thus, the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853 are regularly arranged, and the inertial sensor 1 can be miniaturized. However, the present invention is not limited to this, and at least one of the terminals 831, 841, 851 may be provided so as to be offset from the virtual line α 1, and at least one of the terminals 832, 833, 842, 843, 852, 853 may be provided so as to be offset from the virtual line α 2.

As shown in fig. 7, when a region Q3 in which the terminal 831 that is the input terminal is extended in the X axis direction is set in the group of the terminals 831, 832, 833 connected to the sensor element 3, at least a part of each of the terminals 832, 833 is located within the region Q3. In other words, the terminals 832 and 833 partially overlap the terminal 831 when viewed in the X-axis direction. This allows the terminals 832 and 833 to be arranged closer to each other within a range in which the short circuit with the wiring 731 does not occur, and allows the arrangement space of the group of the terminals 831, 832, and 833 to be smaller. In addition, the wiring 731 connected to the terminal 831 extends linearly in the X-axis direction in the region Q3 in the exposed portion 29 and is provided so as to pass between the terminals 832 and 833. This makes it possible to effectively utilize the space between the terminal 832 (first detection terminal) and the terminal 833 (second detection terminal), and thus to reduce the size of the inertial sensor 1.

In the group of the terminals 841, 842, 843 connected to the sensor element 4, when a region Q4 is set in which the terminal 841 as an input terminal is extended in the X axis direction, at least a part of each of the terminals 842, 843 is located in the region Q4. In other words, the terminals 842, 843 partially overlap the terminal 841 as viewed from the X-axis direction. Thus, the terminals 842, 843 can be arranged closer to each other within a range in which the wiring 741 is not short-circuited, and the arrangement space of the group of terminals 841, 842, 843 can be made smaller. In addition, a wiring 741 connected to the terminal 841 linearly extends in the region Q4 in the X-axis direction in the exposed portion 29 and is provided so as to pass between the terminals 842 and 843. This makes it possible to effectively utilize the space between the terminal 842 (first detection terminal) and the terminal 843 (second detection terminal), thereby reducing the size of the inertial sensor 1.

In the set of terminals 851, 852, and 853 connected to the sensor element 5, when a region Q5 is set in which the terminal 851 serving as an input terminal extends in the X axis direction, at least a part of each of the terminals 852 and 853 is located in the region Q5. In other words, the terminals 852 and 853 partially overlap with the terminal 851 as viewed from the X-axis direction. This allows the terminals 852 and 853 to be disposed closer to each other within a range in which the wiring 751 is not short-circuited, and allows the space for disposing the group of terminals 851, 852, and 853 to be smaller. Further, a wiring 751 connected to the terminal 851 extends linearly in the X axis direction in the region Q5 in the exposed portion 29 and is provided so as to pass between the terminals 852 and 853. This makes it possible to effectively utilize the space between the terminal 852 (first detection terminal) and the terminal 853 (second detection terminal), and to reduce the size of the inertial sensor 1.

In the group of the wires 731, 732, 733 connected to the sensor element 3, the wires 732, 733 for detection signals have the same length. In particular, as shown in fig. 7, when a virtual line β 3 extending in the X-axis direction through the center O3 of the terminal 831 is set, the wirings 732 and 733 are provided symmetrically with respect to the virtual line β 3. With such an arrangement, the parasitic capacitances and parasitic resistances of the lines 732 and 733 are equal to each other, and they can be effectively eliminated by the differential operation. Therefore, the inertial sensor 1 can detect the acceleration Ax more accurately.

Note that the lines 732 and 733 having the same length mean that, in addition to the case where the lengths of the lines 732 and 733 are the same, there is also included a case where there is a manufacturing error, for example, an error within ± 5%. The configuration of the lines 732 and 733 is not limited to this, and for example, the lines 732 and 733 may have different lengths from each other. For example, the wirings 732 and 733 may be partially provided symmetrically with respect to the virtual line β 3, or may be provided asymmetrically over the entire area. The same applies to the group of wirings 741, 742, 743 and the group of wirings 751, 752, 753 described below.

In the group of the lines 741, 742, 743 connected to the sensor element 4, the lines 742, 743 for the detection signals have the same length. In particular, when an imaginary line β 4 extending in the X axis direction through the center O4 of the terminal 841 is set, the wirings 742 and 743 are provided symmetrically with respect to the imaginary line β 4. With such a configuration, the parasitic capacitances and parasitic resistances of the wirings 742 and 743 are equal to each other, and they can be effectively eliminated by differential operation. Therefore, the inertial sensor 1 can more accurately detect the acceleration Ay.

In the group of the lines 751, 752, 753 connected to the sensor element 5, the lines 752, 753 for detecting signals have the same length. In particular, when a virtual line β 5 extending in the X axis direction through the center O5 of the terminal 851 is set, the wirings 752 and 753 are arranged symmetrically with respect to the virtual line β 5. With such a configuration, the parasitic capacitances and parasitic resistances of the wirings 752 and 753 are equal to each other, and they can be effectively eliminated by differential operation. Therefore, the inertial sensor 1 can more accurately detect the acceleration Az.

The inertial sensor 1 is explained above. As described above, such an inertial sensor 1 includes: a substrate 2; sensor elements 3, 4, 5 provided on the substrate 2; a cover 6 that covers the sensor elements 3, 4, and 5 and is joined to the substrate 2; a plurality of terminals 831, 832, 833 located outside the cover 6 and electrically connected to the sensor element 3; a plurality of terminals 841, 842, 843 electrically connected to the sensor element 4; and a plurality of terminals 851, 852, 853 electrically connected to the sensor element 5. The plurality of terminals 831, 832, 833 include a terminal 831 which is an input terminal to which a drive voltage Vx which is an electric signal is input, and terminals 832, 833 which are detection terminals for detecting electric charges from the sensor element 3, and when a distance between the terminal 831 and the lid 6 is L1 and a distance between the terminals 832, 833 and the lid 6 is L2, a relationship of L1 > L2 is satisfied. The plurality of terminals 841, 842, 833 include a terminal 841 which is an input terminal to which a drive voltage Vy which is an electric signal is input, and terminals 842, 843 which are detection terminals for detecting electric charges from the sensor element 4, and when a distance between the terminal 841 and the cover 6 is L1 and a distance between the terminals 842, 843 and the cover 6 is L2, a relationship of L1 > L2 is satisfied. The plurality of terminals 851, 852, 853 include a terminal 851 serving as an input terminal to which a drive voltage Vz as an electric signal is input, and terminals 852, 853 serving as detection terminals for detecting electric charges from the sensor element 5, and when a distance between the terminal 851 and the cover 6 is L1 and a distance between the terminals 852, 853 and the cover 6 is L2, a relationship of L1 > L2 is satisfied.

By satisfying such a relationship, the lengths of the detection lines 732, 733, 742, 743, 752, 753 can be further shortened, and the detection signals are less susceptible to interference. Therefore, noise is less likely to be mixed in the detection signal, and the accelerations Ax, Ay, Az can be detected more accurately. In particular, the detected charge amount is a weak charge amount with respect to the driving voltages Vx, Vy, and Vz, and if the parasitic capacitance is large, the charge amount that can be taken out decreases, and the above configuration is more effective. Further, since the terminals 831, 841, 851 serving as input terminals and the terminals 832, 833, 842, 843, 852, 853 serving as detection terminals can be arranged in a group sequence, the plurality of terminals 831, 832, 833, 841, 842, 843, 851, 852, 853 can be effectively arranged in a smaller space. Therefore, the inertial sensor 1 can be miniaturized.

As described above, the inertial sensor 1 includes the wiring 731 as an input wiring for electrically connecting the terminal 831 to the sensor element 3, the detection terminal includes the terminal 832 as a first detection terminal and the terminal 833 as a second detection terminal, and the wiring 731 is provided between the terminal 832 and the terminal 833. The inertial sensor 1 includes a wiring 741 serving as an input wiring for electrically connecting the terminal 841 to the sensor element 4, the detection terminal includes a terminal 842 serving as a first detection terminal and a terminal 843 serving as a second detection terminal, and the wiring 741 is provided between the terminal 842 and the terminal 843. The inertial sensor 1 has a wiring 751 as an input wiring for electrically connecting the terminal 851 and the sensor element 5, the detection terminal includes a terminal 852 as a first detection terminal and a terminal 853 as a second detection terminal, and the wiring 751 is provided between the terminal 852 and the terminal 853. This makes it possible to effectively use the space between the terminals 832 and 833, the space between the terminals 842 and 843, and the space between the terminals 852 and 853, respectively, and to reduce the size of the inertial sensor 1.

As described above, the plurality of terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853 are located on one side in the first direction with respect to the cover 6, and on the negative side in the X-axis direction in the present embodiment. Thus, the plurality of terminals 831, 832, 833, 841, 842, 843, 851, 852, 853 can be collectively arranged in one region, and therefore, the inertial sensor 1 can be downsized.

As described above, the terminals 832 and 833 are provided so as to overlap at least a portion of the region Q3 extending the terminal 831 in the X-axis direction. This allows the terminals 832 and 833 to be arranged closer to each other, and the arrangement space of the group of the terminals 831, 832, and 833 can be made smaller.

In addition, the terminal 842 and the terminal 843 are provided so that at least a part thereof overlaps a region Q4 extending the terminal 841 in the X-axis direction. This allows the terminals 842, 843 to be arranged closer to each other, and the arrangement space of the group of terminals 841, 842, 843 can be made smaller.

In addition, the terminal 852 and the terminal 853 are provided so that at least a part thereof overlaps with a region Q5 extending the terminal 851 in the X axis direction. This allows the terminals 852 and 853 to be arranged closer to each other, and the arrangement space of the group of terminals 851, 852 and 853 can be made smaller.

As described above, the inertial sensor 1 includes the line 732 as the first detection line electrically connecting the terminal 832 to the sensor element 3, and the line 733 as the second detection line electrically connecting the terminal 833 to the sensor element 3. The wiring 732 has the same length as the wiring 733. Thus, the parasitic capacitances and parasitic resistances of the lines 732 and 733 are equal to each other, and they can be effectively eliminated by the difference operation. Therefore, the inertial sensor 1 can detect the acceleration Ax more accurately.

As described above, the inertial sensor 1 includes the wire 742 as the first detection wire electrically connecting the terminal 842 to the sensor element 4, and the wire 743 as the second detection wire electrically connecting the terminal 843 to the sensor element 4. The wiring 742 has the same length as the wiring 743. Thus, the parasitic capacitances and parasitic resistances of the wirings 742 and 743 are equal to each other, and they can be effectively eliminated by differential operation. Therefore, the inertial sensor 1 can more accurately detect the acceleration Ay.

As described above, the inertial sensor 1 includes the wiring 752 serving as the first detection wiring for electrically connecting the terminal 852 to the sensor element 5, and the wiring 753 serving as the second detection wiring for electrically connecting the terminal 853 to the sensor element 5. The wiring 752 has the same length as the wiring 753. Thus, the parasitic capacitances and parasitic resistances of the wirings 752 and 753 are equal to each other, and they can be effectively canceled by differential operation. Therefore, the inertial sensor 1 can more accurately detect the acceleration Az.

As described above, the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853 are provided on the substrate 2. This facilitates formation of the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853.

Second embodiment

Fig. 8 is a sectional view showing an inertial sensor according to a second embodiment. Fig. 9 and 10 are sectional views showing a mounting table provided on a substrate. Fig. 9 is a sectional view taken along an imaginary line α 1 in fig. 7, and fig. 10 is a sectional view taken along an imaginary line α 2 in fig. 7.

This embodiment is the same as the first embodiment described above except for the method of bonding the substrate 2 and the cover 6 and the arrangement of the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853. In the following description, the present embodiment will be mainly described with respect to differences from the above-described embodiment, and descriptions of the same items will be omitted. In fig. 8 to 10, the same components as those of the above-described embodiment are denoted by the same reference numerals.

As shown in fig. 8, the inertial sensor 1 has an intermediate member 10 provided between the substrate 2 and the cover 6. The intermediate member 10 has a frame shape surrounding the sensor elements 3, 4, and 5 when viewed in a plan view in the Z-axis direction. As shown in fig. 9 and 10, the inertial sensor 1 includes a mounting table 9 provided in an exposed portion 29 of the substrate 2. The intermediate member 10 and the mounting table 9 are made of the same material as the sensor elements 3, 4, and 5, respectively. Therefore, the intermediate member 10 and the mounting table 9 can be formed together with the sensor elements 3, 4, and 5. Specifically, the intermediate member 10 and the mounting table 9 can be formed together with the sensor elements 3, 4, and 5 by patterning a conductive silicon substrate anodically bonded to the substrate 2 by a Bosch ■ process. Therefore, the inertial sensor 1 is easily manufactured.

As shown in fig. 9 and 10, the mounting table 9 includes: a mounting table 931 electrically connected to the wiring 731 via a bump B31; a mounting table 932 electrically connected to the wiring 732 via a bump B32; a mounting table 933 electrically connected to the wiring 733 via the bump B33; a mounting table 941 electrically connected to the wiring 741 through a bump B41; a mounting table 942 electrically connected to the wiring 742 via a bump B42; a mounting table 943 electrically connected to the wiring 743 through a bump B43; a mounting table 951 electrically connected to the wiring 751 through a bump B51; a mounting table 952 electrically connected to the wiring 752 via a bump B52; and a mounting table 953 electrically connected to the wiring 753 via a bump B53.

The terminal 831 is provided on the upper surface of the mounting table 931, the terminal 832 is provided on the upper surface of the mounting table 932, the terminal 833 is provided on the upper surface of the mounting table 933, the terminal 841 is provided on the upper surface of the mounting table 941, the terminal 842 is provided on the upper surface of the mounting table 942, the terminal 843 is provided on the upper surface of the mounting table 943, the terminal 851 is provided on the upper surface of the mounting table 951, the terminal 852 is provided on the upper surface of the mounting table 952, and the terminal 853 is provided on the upper surface of the mounting table 953. Therefore, the terminal 831 is electrically connected to the wiring 731 via the mounting table 931, the terminal 832 is electrically connected to the wiring 732 via the mounting table 932, the terminal 833 is electrically connected to the wiring 733 via the mounting table 933, the terminal 841 is electrically connected to the wiring 741 via the mounting table 941, the terminal 842 is electrically connected to the wiring 742 via the mounting table 942, the terminal 843 is electrically connected to the wiring 743 via the mounting table 943, the terminal 851 is electrically connected to the wiring 751 via the mounting table 951, the terminal 852 is electrically connected to the wiring 752 via the mounting table 952, and the terminal 853 is electrically connected to the wiring 753 via the mounting table 953.

As described above, by disposing the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853 on the tables 931, 932, 933, 941, 942, 943, 951, 952, and 953, the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853 can be disposed at positions protruding upward from the substrate 2. Therefore, for example, bonding wires are easily connected to the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853, and the inertial sensor 1 can be easily electrically connected to an external device.

Further, as shown in fig. 8, an engaging member 69 is provided on the upper surface of the intermediate member 10, and the intermediate member 10 and the lid 6 are engaged by this engaging member 69. In particular, in the present embodiment, the bonding member 69 is made of a metal material, and the bonding member 69 and the lid 6 are bonded by thermocompression bonding. However, the method of joining the joining member 69 to the intermediate member 10 and the cover 6 is not particularly limited.

In the present embodiment, the terminals 831, 832, 833, 841, 842, 843, 851, 852, 853 and the joining member 69 are made of the same material. This makes it possible to form the terminals 831, 832, 833, 841, 842, 843, 851, 852, 853 and the joining member 69 at the same time, and facilitates the formation thereof. Specifically, the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853 and the bonding members 69 can be formed together by forming a metal film on the upper surface of a conductive silicon substrate as the base material of the sensor elements 3, 4, and 5, the intermediate member 10, and the mounting table 9, and patterning the metal film.

The constituent materials of the terminals 831, 832, 833, 841, 842, 843, 851, 852, 853 and the joining member 69 are not particularly limited, and an aluminum (Al)/germanium (Ge) alloy, for example, can be used. This material has excellent adhesion, and therefore can more reliably ensure airtightness of the housing space S.

As described above, in the inertial sensor 1 of the present embodiment, the plurality of terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853 are provided on the substrate 2 and on the mounting table 9 made of the same material as the sensor elements 3, 4, and 5. Thus, the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853 can be arranged at positions protruding upward from the substrate 2. Therefore, for example, bonding wires are easily connected to the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853, and the inertial sensor 1 can be easily electrically connected to an external device. Further, since the mounting table 9 is made of the same material as the sensor elements 3, 4, and 5, the mounting table 9 and the sensor elements 3, 4, and 5 can be formed together, and thus the inertial sensor 1 can be easily manufactured.

As described above, the inertial sensor 1 includes the joining member 69 provided between the substrate 2 and the cover 6 and joining the substrate 2 and the cover 6 to each other. The joining member 69 is made of the same material as the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853. This enables the joint member 69 and the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853 to be formed at the same time, thereby facilitating the manufacture of the inertial sensor 1.

According to the second embodiment described above, the same effects as those of the first embodiment described above can be exhibited.

Third embodiment

Fig. 11 is a partially enlarged plan view showing an inertial sensor according to a third embodiment.

This embodiment is the same as the first embodiment described above except that the inspection terminal 100 is electrically connected to the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853. In the following description, the present embodiment will be mainly described with respect to differences from the above-described embodiment, and descriptions of the same items will be omitted. In fig. 11, the same components as those of the above-described embodiment are denoted by the same reference numerals.

As shown in fig. 11, the inertial sensor 1 includes an inspection terminal 100 provided on the exposed portion 29 of the substrate 2 and electrically connected to the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853.

Further, the inspection terminal 100 includes: an inspection terminal 131 provided in parallel with the terminal 831 and electrically connected to the terminal 831; an inspection terminal 132 provided in parallel with the terminal 832 and electrically connected to the terminal 832; a test terminal 133 provided in parallel with the terminal 833 and electrically connected to the terminal 833; an inspection terminal 141 provided in parallel with the terminal 841 and electrically connected to the terminal 841; an inspection terminal 142 provided in parallel with the terminal 842 and electrically connected to the terminal 842; an inspection terminal 143 provided in parallel with the terminal 843 and electrically connected to the terminal 843; an inspection terminal 151 provided in parallel with the terminal 851 and electrically connected to the terminal 851; an inspection terminal 152 provided in parallel with the terminal 852 and electrically connected to the terminal 852; and an inspection terminal 153 arranged in parallel with the terminal 853 and electrically connected to the terminal 853.

By providing such inspection terminals 131, 132, 133, 141, 142, 143, 151, 152, and 153, for example, the inspection of the inertial sensor 1 can be performed by pressing the inspection probes against the inspection terminals 131, 132, 133, 141, 142, 143, 151, 152, and 153, and therefore the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853 are not damaged during the inspection. Therefore, the bonding wires and the terminals can be connected well, and the inertial sensor 1 with high reliability can be obtained.

In the present embodiment, the inspection terminals 131, 132, 133, 141, 142, 143, 151, 152, and 153 have different plan view shapes from the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853, respectively. The inspection terminals 131, 132, 133, 141, 142, 143, 151, 152, and 153 have circular shapes in plan view, and the top view is a rotation target. As described above, the inspection terminals 131, 132, 133, 141, 142, 143, 151, 152, 153 are different from the terminals 831, 832, 833, 841, 842, 843, 851, 852, 853 in plan view shape, and when the inertial sensor 1 is inspected as a rotation target, for example, the inspection terminals 131, 132, 133, 141, 142, 143, 151, 152, 153 are easily recognized by an image recognition technique.

However, the shapes of the inspection terminals 131, 132, 133, 141, 142, 143, 151, 152, and 153 are not particularly limited, and may be the same as the shapes of the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853, or may be shapes other than the shapes to be rotated.

As described above, the inertial sensor 1 according to the present embodiment includes the plurality of inspection terminals 131, 132, 133, 141, 142, 143, 151, 152, and 153 connected to the plurality of terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853, and having different plan view shapes from the plurality of terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853. Thus, since the inertial sensor 1 can be inspected using the inspection terminals 131, 132, 133, 141, 142, 143, 151, 152, and 153, the terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853 are not damaged during the inspection. Therefore, the inertial sensor 1 has high reliability. Further, by making the shapes different from each other, the inspection terminals 131, 132, 133, 141, 142, 143, 151, 152, 153 and the terminals 831, 832, 833, 841, 842, 843, 851, 852, 853 can be easily recognized.

As described above, the plurality of inspection terminals 131, 132, 133, 141, 142, 143, 151, 152, and 153 have a shape in plan view of a rotating object. This makes it easy to recognize the inspection terminals 131, 132, 133, 141, 142, 143, 151, 152, and 153, and thus the inspection of the inertial sensor 1 can be performed more smoothly.

According to the third embodiment, the same effects as those of the first embodiment can be obtained.

Fourth embodiment

Fig. 12 is a plan view showing an inertial sensor according to a fourth embodiment. Fig. 13 is a plan view showing an example of a sensor element for detecting an angular velocity around the X axis. Fig. 14 is a plan view showing an example of a sensor element for detecting an angular velocity around the Y axis. Fig. 15 is a plan view showing an example of a sensor element for detecting an angular velocity around the Z axis. Fig. 16 is a diagram showing voltages applied to the sensor elements.

This embodiment is the same as the first embodiment described above except that the sensor elements 300, 400, and 500 are used instead of the sensor elements 3, 4, and 5. In the following description, the present embodiment will be mainly described with respect to differences from the above-described embodiment, and descriptions of the same items will be omitted. In fig. 12 to 16, the same components as those of the above-described embodiment are denoted by the same reference numerals.

The inertial sensor 1 shown in fig. 12 is an angular velocity sensor capable of independently detecting angular velocities around X, Y, and Z axes orthogonal to each other. Such an inertial sensor 1 includes: a substrate 2; three sensor elements 300, 400, 500 provided on the substrate 2; and a cover 6 that houses the sensor elements 300, 400, and 500 and is joined to the substrate 2. In addition, among the three sensor elements 300, 400, 500, the sensor element 300 detects an angular velocity ω X around the X axis, the sensor element 400 detects an angular velocity ω Y around the Y axis, and the sensor element 500 detects an angular velocity ω Z around the Z axis. In fig. 12, the sensor elements 300, 400, and 500 are illustrated in a simplified manner for convenience of explanation.

The housing space S formed by the substrate 2 and the cover 6 is preferably in a depressurized state. By reducing the pressure in the housing space S, the viscous resistance is reduced, and the sensor elements 300, 400, and 500 can be effectively vibrated. Therefore, the detection accuracy of the inertial sensor 1 is improved.

The substrate 2 has a groove opened on the upper surface thereof, and a plurality of wires 731, 732, 733, 734, 735, 736, 737, 741, 742, 743, 744, 745, 746, 747, 751, 752, 753, 754, 755, 756, 757 and terminals 831, 832, 833, 834, 835, 836, 837, 841, 842, 843, 844, 845, 846, 847, 851, 852, 853, 854, 855, 856, 857 are provided in the groove. The wirings 731 to 737, 741 to 747, and 751 to 757 are provided over the inside and outside of the housing space S, wherein the wirings 731 to 737 are electrically connected to the sensor element 300, the wirings 741 to 747 are electrically connected to the sensor element 400, and the wirings 751 to 757 are electrically connected to the sensor element 500. Terminals 831 to 837, 841 to 847, and 851 to 857 are provided outside the exposed part 29, i.e., the cover 6. Terminals 831 to 837 are electrically connected to wirings 731 to 737, terminals 841 to 847 are electrically connected to wirings 741 to 747, and terminals 851 to 857 are electrically connected to wirings 751 to 757.

The sensor elements 300, 400, and 500 can be formed in a batch by anodically bonding a silicon substrate 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, which is a deep trench etching technique, in the same manner As the sensor elements 3, 4, and 5 of the first embodiment. However, the method of forming the sensor elements 300, 400, and 500 is not limited thereto.

The sensor element 300 is capable of detecting an angular velocity ω X around the X-axis. As shown in fig. 13, for example, the sensor element 300 includes: frame-shaped driving movable bodies 301A, 301B; drive springs 302A, 302B supporting the drive movable bodies 301A, 301B to be capable of vibrating in the Y-axis direction; movable driving electrodes 303A, 303B connected to the driving movable bodies 301A, 301B; first and second fixed drive electrodes 304A and 305A provided so as to sandwich the movable drive electrode 303A; first and second fixed drive electrodes 304B and 305B provided with movable drive electrode 303B interposed therebetween; detection movable bodies 306A, 306B provided inside the driving movable bodies 301A, 301B; detection springs 307A, 307B connecting the detection movable bodies 306A, 306B and the drive movable bodies 301A, 301B; first movable monitoring electrodes 308A, 308B and second movable monitoring electrodes 309A, 309B connected to the driving movable bodies 301A, 301B; first fixed monitor electrodes 310A, 310B provided opposite to the first movable monitor electrodes 308A, 308B; second fixed monitor electrodes 311A and 311B provided opposite to the second movable monitor electrodes 309A and 309B. In addition, fixed detection electrodes 312A, 312B are provided on the bottom surface of the recess 23 so as to face the drive movable bodies 301A, 301B.

Although not shown, the detection movable bodies 306A and 306B are electrically connected to the wiring 731, the first fixed driving electrodes 304A and 304B are electrically connected to the wiring 732, the second fixed driving electrodes 305A and 305B are electrically connected to the wiring 733, the fixed detection electrode 312A is electrically connected to the wiring 734, the fixed detection electrode 312B is electrically connected to the wiring 735, the first fixed monitor electrodes 310A and 310B are electrically connected to the wiring 736, and the second fixed monitor electrodes 311A and 311B are electrically connected to the wiring 737.

Further, a fixed voltage V11 shown in fig. 16, for example, is applied to the detection movable bodies 306A, 306B via the terminal 831. A voltage V12 shown in fig. 16 is applied to the first fixed drive electrodes 304A, 304B via a terminal 832. A voltage V13 shown in fig. 16 is applied to the second fixed drive electrodes 305A, 305B via the terminal 833. The fixed voltage V11 is, for example, 15V, the voltage V12 is, for example, a voltage having an amplitude of ± 0.2V with respect to the analog ground AGND, and the voltage V13 is, for example, a voltage having an amplitude of ± 0.2V with respect to the analog ground AGND and being an inverted voltage of V12. Thereby, the movable bodies 301A, 301B are driven to vibrate in the Y-axis direction in opposite phases to each other. In the driving vibration, a first pickup signal corresponding to the driving vibration is detected from the terminal 836, and a second pickup signal corresponding to the driving vibration is detected from the terminal 837. By feeding back these first and second pickup signals to the driving signals, i.e., voltages V12, V13, the driving vibration of the driving movable bodies 301A, 301B is stabilized.

On the other hand, the fixed detection electrodes 312A and 312B are connected to a charge amplifier via terminals 834 and 835. Therefore, an electrostatic capacitance Cx1 is formed between the detection movable body 306A and the fixed detection electrode 312A, and an electrostatic capacitance Cx2 is formed between the detection movable body 306B and the fixed detection electrode 312B. In addition, if an angular velocity ω X around the X axis is applied to the sensor element 300 in a state where the driven movable bodies 301A, 301B are driven to vibrate, the coriolis force displaces the detected movable bodies 306A, 306B in the Z axis direction in opposition to each other, and accompanying this, the electrostatic capacitances Cx1, Cx2 are in opposition to each other. Therefore, based on the changes in the electrostatic capacitances Cx1 and Cx2, the amount of electric charge induced between the detection movable body 306A and the fixed detection electrode 312A and between the detection movable body 306B and the fixed detection electrode 312B also changes. If a difference is generated in the amount of electric charge induced between the detection movable body 306A and the fixed detection electrode 312A, and between the detection movable body 306B and the fixed detection electrode 312B, it is output as a voltage value of the charge amplifier. In this way, the angular velocity ω x received by the sensor element 300 can be obtained.

The sensor element 400 is capable of detecting an angular velocity ω Y around the Y-axis. Such a sensor element 400 is not particularly limited, and for example, as shown in fig. 14, the sensor element 300 may be rotated by 90 ° around the Z axis.

That is, as shown in fig. 14, for example, the sensor element 400 includes: frame-shaped drive movable bodies 401A, 401B; drive springs 402A, 402B supporting drive movable bodies 401A, 401B to be capable of vibrating in the Y-axis direction; movable drive electrodes 403A, 403B connected to drive movable bodies 401A, 401B; first and second fixed drive electrodes 404A and 405A provided so as to sandwich the movable drive electrode 403A; first and second fixed drive electrodes 404B and 405B provided so as to sandwich the movable drive electrode 403B; detection movable bodies 406A, 406B provided inside the driving movable bodies 401A, 401B; detection springs 407A, 407B connecting the detection movable bodies 406A, 406B and the drive movable bodies 401A, 401B; first movable monitor electrodes 408A, 408B and second movable monitor electrodes 409A, 409B connected to driving movable bodies 401A, 401B; first fixed monitor electrodes 410A, 410B provided opposite to the first movable monitor electrodes 408A, 408B; second fixed monitor electrodes 411A and 411B provided to face the second movable monitor electrodes 409A and 409B. Further, on the bottom surface of recess 24, fixed detection electrodes 412A, 412B are provided so as to face drive movable bodies 401A, 401B.

Although not shown, the movable detection bodies 406A and 406B are electrically connected to a wiring 741, the first fixed driving electrodes 404A and 404B are electrically connected to a wiring 742, the second fixed driving electrodes 405A and 405B are electrically connected to a wiring 743, the fixed detection electrode 412A is electrically connected to a wiring 744, the fixed detection electrode 412B is electrically connected to a wiring 745, the first fixed monitor electrodes 410A and 410B are electrically connected to a wiring 746, and the second fixed monitor electrodes 411A and 411B are electrically connected to a wiring 747.

Further, a fixed voltage V11 shown in fig. 16, for example, is applied to the detection movable bodies 406A, 406B via a terminal 841. A voltage V12 shown in fig. 16 is applied to the first fixed driving electrodes 404A, 404B via a terminal 842. A voltage V13 shown in fig. 16 is applied to the second fixed drive electrodes 405A, 405B via the terminal 843. The fixed voltage V11 is, for example, 15V, the voltage V12 is, for example, a voltage having an amplitude of ± 0.2V with respect to the analog ground AGND, and the voltage V13 is, for example, a voltage having an amplitude of ± 0.2V with respect to the analog ground AGND and being an inverted voltage of V12. Thereby, movable bodies 401A, 401B are driven to vibrate in the X-axis direction in opposite phases to each other. In the driving vibration, a first pickup signal corresponding to the driving vibration is detected from the terminal 846, and a second pickup signal corresponding to the driving vibration is detected from the terminal 847. By feeding back these first and second pickup signals to the driving signals, i.e., voltages V12, V13, the driving vibration of driving movable bodies 401A, 401B is stabilized.

On the other hand, the fixed detection electrodes 412A and 412B are connected to a charge amplifier via terminals 844 and 845. Therefore, an electrostatic capacitance Cy1 is formed between the movable detection member 406A and the fixed detection electrode 412A, and an electrostatic capacitance Cy2 is formed between the movable detection member 406B and the fixed detection electrode 412B. In addition, if an angular velocity ω Y around the Y axis is applied to the sensor element 400 while the driven movable bodies 401A, 401B are in driving vibration, the coriolis force displaces the detection movable bodies 406A, 406B in the Z axis direction in reverse phase to each other, and accordingly, the electrostatic capacitances Cy1, Cy2 change in reverse phase to each other. Therefore, the amount of electric charge induced between the movable detection member 406A and the fixed detection electrode 412A and between the movable detection member 406B and the fixed detection electrode 412B also changes based on the changes in the capacitances Cy1 and Cy 2. If a difference is generated in the amount of electric charge induced between the detection movable body 406A and the fixed detection electrode 412A, or between the detection movable body 406B and the fixed detection electrode 412B, the difference is output as a voltage value of the charge amplifier. In this way, the angular velocity ω y received by the sensor element 400 can be obtained.

The sensor element 500 is capable of detecting an angular velocity ω Z around the Z-axis. Such a sensor element 500 is not particularly limited, and, for example, as shown in fig. 15, includes: frame-shaped driving movable bodies 501A, 501B; drive springs 502A, 502B supporting the drive movable bodies 501A, 501B to be capable of vibrating in the Y-axis direction; movable driving electrodes 503A, 503B connected to driving movable bodies 501A, 501B; first and second fixed drive electrodes 504A and 505A provided so as to sandwich the movable drive electrode 503A; first and second fixed drive electrodes 504B and 505B provided with the movable drive electrode 503B interposed therebetween; frame-shaped detection movable bodies 506A, 506B provided inside the drive movable bodies 501A, 501B; detection springs 507A, 507B connecting the detection movable bodies 506A, 506B and the drive movable bodies 501A, 501B; first movable monitor electrodes 508A, 508B and second movable monitor electrodes 509A, 509B connected to the driving movable bodies 501A, 501B; first fixed monitor electrodes 510A, 510B provided opposite to the first movable monitor electrodes 508A, 508B; second fixed monitor electrodes 511A and 511B provided so as to face the second movable monitor electrodes 509A and 509B; movable detection electrodes 512A, 512B supported by the detection movable bodies 506A, 506B; first and second fixed detection electrodes 513A and 514A provided so as to sandwich the movable detection electrode 512A; first and second fixed detection electrodes 513B and 514B provided with the movable detection electrode 512B interposed therebetween.

Although not shown, the detection movable bodies 506A and 506B are electrically connected to the wiring 751, the first fixed driving electrodes 504A and 504B are electrically connected to the wiring 752, the second fixed driving electrodes 505A and 505B are electrically connected to the wiring 753, the first fixed detection electrodes 513A and 513B are electrically connected to the wiring 754, the second fixed detection electrodes 514A and 514B are electrically connected to the wiring 755, the first fixed monitor electrodes 510A and 510B are electrically connected to the wiring 756, and the second fixed monitor electrodes 511A and 511B are electrically connected to the wiring 757.

Further, for example, a fixed voltage V11 shown in fig. 16 is applied to the detection movable bodies 506A, 506B via the terminal 851, a voltage V12 shown in fig. 16 is applied to the first fixed driving electrodes 504A, 504B via the terminal 852, and a voltage V13 shown in fig. 16 is applied to the second fixed driving electrodes 505A, 505B via the terminal 853. The fixed voltage V11 is, for example, 15V, the voltage V12 is, for example, a voltage having an amplitude of ± 0.2V with respect to the analog ground AGND, and the voltage V13 is, for example, a voltage having an amplitude of ± 0.2V with respect to the analog ground AGND and being an inverted voltage of V12. Thereby, movable bodies 501A, 501B are driven to vibrate in the Y-axis direction in opposite phases to each other. In the driving vibration, a first pickup signal corresponding to the driving vibration is detected from the terminal 856, and a second pickup signal corresponding to the driving vibration is detected from the terminal 857. By feeding back these first and second pickup signals to the driving signals, i.e., voltages V12, V13, the driving vibration of the driving movable bodies 501A, 501B is stabilized.

On the other hand, the first fixed detection electrodes 513A and 513B are connected to a charge amplifier via a terminal 854, and the second fixed detection electrodes 514A and 514B are connected to the charge amplifier via a terminal 855. Accordingly, an electrostatic capacitance Cz1 is formed between the movable detection electrodes 512A, 512B and the first fixed detection electrodes 513A, 513B, and an electrostatic capacitance Cz2 is formed between the movable detection electrodes 512A, 512B and the second fixed detection electrodes 514A, 514B. In addition, if an angular velocity ω Z around the Z axis is applied to the sensor element 500 in a state where the driven movable bodies 501A, 501B are driven to vibrate, the coriolis force displaces the detected movable bodies 506A, 506B in the X axis direction in opposite phases to each other, and accompanying this, the electrostatic capacitances Cz1, Cz2 are changed in opposite phases to each other. Therefore, based on the changes in the capacitances Cz1 and Cz2, the amount of charge induced between the movable detection electrode 512A and the first fixed detection electrode 513A and between the movable detection electrode 512B and the first fixed detection electrode 513B also changes. If a difference is generated in the amount of charge induced between the movable detection electrode 512A and the first fixed detection electrode 513A, and between the movable detection electrode 512B and the first fixed detection electrode 513B, it is output as a voltage value of the charge amplifier. In this way, the angular velocity ω z received by the sensor element 500 can be obtained.

The sensor elements 300, 400, and 500 have been described above. The sensor elements 300, 400, and 500 are not particularly limited as long as they can detect the angular velocities ω x, ω y, and ω z, respectively.

Next, the arrangement of the terminals 831 to 837, 841 to 847, 851 to 857 will be described in more detail. Terminals 831 to 837 are electrically connected to the sensor element 300, wherein the terminals 831, 832, and 833 are input terminals to which voltages V11, V12, and V13 are applied to the sensor element 300, the terminals 834 and 835 are detection terminals for detecting charges corresponding to electrostatic capacitances Cx1 and Cx2 which are detection signals of the sensor element 300, and the terminals 836 and 837 are detection terminals for detecting first and second pickup signals of the sensor element 300. Similarly, terminals 841 to 847 are electrically connected to the sensor element 400, wherein the terminals 841, 842, 843 are input terminals for applying voltages V11, V12, V13 to the sensor element 400, the terminals 844, 845 are detection terminals for detecting charges corresponding to electrostatic capacitances Cy1, Cy2 which are detection signals of the sensor element 400, and the terminals 846, 847 are detection terminals for detecting first and second pickup signals of the sensor element 400. Similarly, terminals 851 to 857 are electrically connected to the sensor element 500, wherein the terminals 851, 852, and 853 are input terminals for applying voltages V11, V12, and V13 to the sensor element 500, the terminals 854 and 855 are detection terminals for detecting charges corresponding to electrostatic capacitances Cz1 and Cz2 which are detection signals of the sensor element 500, and the terminals 856 and 857 are detection terminals for detecting first and second pickup signals of the sensor element 500.

As shown in fig. 12, terminals 834, 835, 836, 837, 844, 845, 846, 847, 854, 855, 856, and 857 as detection terminals are provided in the vicinity of the cover 6, compared with terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853 as input terminals. Terminals 831, 832, 833, 841, 842, 843, 851, 852, and 853 as input terminals are arranged in a line on a virtual line α 1, and terminals 834, 835, 836, 837, 844, 845, 846, 847, 854, 855, 856, and 857 as detection terminals are arranged in a line on a virtual line α 2.

According to the fourth embodiment described above, the same effects as those of the first embodiment described above can be exhibited.

Fifth embodiment

Fig. 17 is a plan view showing an inertial sensor unit according to a fifth embodiment. Fig. 18 is a sectional view of the inertial sensor unit shown in fig. 17.

The inertial sensor unit 1000 shown in fig. 17 and 18 includes a package 1010, an IC chip 1040 housed in the package 1010, and an inertial sensor 1. The IC chip 1040 includes, for example, a drive control circuit that controls driving of the inertial sensor 1, and a detection circuit that detects the accelerations Ax, Ay, and Az based on a detection signal from the inertial sensor 1. In the present embodiment, the inertial sensor 1 has the configuration of the first embodiment described above, but the inertial sensor 1 is not particularly limited.

Further, the package 1010 includes: a base substrate 1020 having a recess 1021 which is open at the upper surface thereof, and a cover 1030 which is joined to the upper surface of the base substrate 1020 so as to close the opening of the recess 1021. Further, the concave portion 1021 has: a first concave part 1022 opened on the upper surface of the base substrate 1020, and a second concave part 1023 opened on the bottom surface of the first concave part 1022. Further, an IC chip 1040 is mounted on the bottom surface of the second concave portion 1023, and the inertial sensor 1 is mounted on the IC chip 1040. Terminals 831 to 833, 841 to 843, and 851 to 853 of the inertial sensor 1 are electrically connected to corresponding terminals of the IC chip 1040 via bonding wires BW 1. Since the terminals 831 to 833, 841 to 843, and 851 to 853 of the inertial sensor 1 are arranged as described above, the terminal installation portions of the inertial sensor 1 and the IC chip 1040 can be made smaller, and the workability of the bonding wire BW1 is also improved.

Further, a plurality of internal terminals 1050 electrically connected to the IC chip 1040 via bonding wires BW2 are provided on the bottom surface of the first recess 1022. A plurality of external terminals 1060 electrically connected to the plurality of internal terminals 1050 via internal wirings, not shown, provided in the base substrate 1020 are provided on the lower surface of the base substrate 1020.

Such an inertial sensor unit 1000 has an inertial sensor 1. Therefore, the effects of the inertial sensor 1 described above can be enjoyed, and high reliability can be exhibited.

Sixth embodiment

Fig. 19 is a plan view showing a smartphone according to a sixth embodiment.

The smartphone 1200 shown in fig. 19 includes an inertial sensor 1 and a control circuit 1210 that performs control based on a detection signal output from the inertial sensor 1. The detection data detected by the inertial sensor 1 is transmitted to the control circuit 1210, and the control circuit 1210 recognizes the posture or the motion of the smartphone 1200 based on the received detection data, changes the display image displayed on the display unit 1208, generates a warning sound or an effect sound, and drives the vibration motor to vibrate the main body.

The smartphone 1200 as such an electronic device includes the inertial sensor 1 and a control circuit 1210 that performs control based on a detection signal from the inertial sensor 1. Therefore, the effects of the inertial sensor 1 described above can be enjoyed, and high reliability can be exhibited.

The electronic device incorporating the inertial sensor 1 is not particularly limited, and examples thereof include, in addition to the smartphone 1200: personal computers, digital still cameras, tablet terminals, clocks, smartwatches, inkjet printers, laptop personal computers, televisions, wearable terminals such as HMDs (head mounted displays), video cameras, video recorders, car navigation devices, pagers, electronic notebooks, electronic dictionaries, electronic calculators, electronic game devices, word processors, workstations, videophones, television monitors for theft prevention, electronic binoculars, POS terminals, medical devices, fish finder, various measuring devices, devices for mobile terminal base stations, various measuring devices such as vehicles, airplanes, ships, flight simulators, network servers, and the like.

Seventh embodiment

Fig. 20 is an exploded perspective view showing an inertia measurement apparatus according to a seventh embodiment. Fig. 21 is a perspective view of a substrate included in the inertial measurement unit shown in fig. 20.

An Inertial Measurement Unit (IMU) 2000 shown in fig. 20 is an Inertial Measurement Unit (Inertial Measurement Unit) that detects the posture or motion of a device to be mounted such as an automobile or a robot. The inertial measurement unit 2000 functions as a six-axis motion sensor including a three-axis acceleration sensor and a three-axis angular velocity sensor.

The inertial measurement unit 2000 is a rectangular parallelepiped having a substantially square planar shape. In addition, screw holes 2110 as fixing portions are formed near two apexes in the diagonal direction of the square. The inertia measuring apparatus 2000 can be fixed to a mounting surface of a mounting object such as an automobile by passing two screws through the two screw holes 2110. By selecting components or changing the design, for example, the size of the device can be reduced to a size that can be mounted on a smartphone or a digital still camera.

The inertial measurement unit 2000 includes a housing 2100, a joining member 2200, and a sensor module 2300, and the sensor module 2300 is inserted into the housing 2100 through the joining member 2200. The outer shape of the housing 2100 is a rectangular parallelepiped having a substantially square planar shape, and has screw holes 2110 formed near two vertexes located in a diagonal direction of the square, as in the overall shape of the inertial measurement unit 2000 described above. The housing 2100 has a box shape, and the sensor module 2300 is housed therein.

The sensor module 2300 has an inner housing 2310 and a substrate 2320. The inner housing 2310 is a member for supporting the substrate 2320, and is configured to be housed inside the outer housing 2100. Further, a recess 2311 for preventing 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 housing 2310 is engaged with the outer housing 2100 via an engaging member 2200. Further, a substrate 2320 is bonded to the lower surface of the inner case 2310 via an adhesive.

As shown in fig. 21, a connector 2330, an angular velocity sensor 2340Z for detecting an angular velocity around the Z axis, an acceleration sensor 2350 for detecting acceleration in each of the X, Y, and Z axes, and the like are mounted on the upper surface of a substrate 2320. Further, a angular velocity sensor 2340X that detects an angular velocity around the X axis and a angular velocity sensor 2340Y that detects an angular velocity around the Y axis are mounted on the side surface of the substrate 2320. As each of these sensors, the inertial sensor described in the embodiment can be used.

A control IC2360 is mounted on the lower surface of the substrate 2320. The control IC2360 is an MCU (MicroController Unit), and controls each part of the inertial measurement Unit 2000. The storage unit stores a program defining the order and contents for detecting acceleration and angular velocity, a program for digitizing the detected data and incorporating the digitized data into packet data, accompanying data, and the like. In addition, a plurality of electronic components are mounted on the substrate 2320.

Eighth embodiment

Fig. 22 is a block diagram showing an overall system of the mobile body positioning device according to the eighth embodiment. Fig. 23 is a diagram showing an operation of the mobile body positioning device shown in fig. 22.

A mobile body positioning device 3000 shown in fig. 22 is used by being mounted on a mobile body, and is used for positioning the mobile body. The moving body is not particularly limited, and may be any of a bicycle, an automobile, a motorcycle, an electric train, an airplane, a ship, and the like, and in the present embodiment, a case where a four-wheeled automobile is used as the moving body will be described.

The mobile object positioning device 3000 includes an inertial measurement unit 3100(IMU), an arithmetic processing unit 3200, a GPS receiving unit 3300, a receiving antenna 3400, a position information acquiring unit 3500, a position combining unit 3600, a processing unit 3700, a communication unit 3800, and a display unit 3900. As the inertia measuring apparatus 3100, for example, the inertia measuring apparatus 2000 described above can be used.

The inertial measurement device 3100 has three-axis acceleration sensors 3110 and three-axis angular velocity sensors 3120. The arithmetic processing unit 3200 receives acceleration data from the acceleration sensor 3110 and angular velocity data from the angular velocity sensor 3120, performs inertial navigation arithmetic processing on these data, and outputs inertial navigation positioning data including the acceleration and the posture of the moving object.

The GPS receiving unit 3300 receives signals from GPS satellites via the receiving antenna 3400. The position information acquisition unit 3500 outputs GPS positioning data indicating the position (latitude, longitude, altitude), speed, and azimuth of the mobile object 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 status, a reception time, and the like.

The position synthesizer 3600 calculates the position of the moving object, specifically, which position the moving object travels on the ground, based on the inertial navigation positioning data output from the arithmetic processing unit 3200 and the GPS positioning data output from the position information acquisition unit 3500. For example, even if the positions of the mobile bodies included in the GPS positioning data are the same, as shown in fig. 23, if the postures of the mobile bodies differ due to the influence of the inclination θ of the ground surface or the like, it is calculated that the mobile bodies travel at different positions on the ground surface. Therefore, the accurate position of the mobile body cannot be calculated only by the GPS positioning data. Therefore, the position synthesizer 3600 calculates which position on the ground the mobile object travels using the inertial navigation positioning data.

The processing unit 3700 performs predetermined processing on the position data output from the position synthesizer 3600, and displays the result of positioning on the display unit 3900. In addition, the position data may be transmitted to the external apparatus through the communication portion 3800.

Ninth embodiment

Fig. 24 is a perspective view showing a movable body according to a ninth embodiment.

As a mobile body shown in fig. 24, an automobile 1500 includes a system 1510 that is at least one of an engine system, a brake system, and a keyless entry system. The vehicle 1500 incorporates an inertial sensor 1, and the inertial sensor 1 can detect the posture of the vehicle body. A 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 described above, the automobile 1500 as a moving body includes the inertial sensor 1 and the control device 1502 that performs control based on a detection signal from the inertial sensor 1. Therefore, the effects of the inertial sensor 1 described above can be enjoyed, and high reliability can be exhibited.

Besides, the inertial sensor 1 can be widely used in Electronic Control Units (ECU) such as a car navigation System, a car air conditioner, an Antilock Brake System (ABS), an airbag, a Tire ■ pressure ■ monitoring ■ System (TPMS: Tire pressure monitoring System), an engine control, and a battery monitor of a hybrid car or an electric car. The moving body is not limited to the automobile 1500, and may be applied to an unmanned aircraft such as an airplane, a rocket, a satellite, a ship, an AGV (automated guided vehicle), a bipedal walking robot, and an unmanned aerial vehicle.

The inertial sensor, the electronic apparatus, and the moving object of the present invention have been described above based on the illustrated embodiments, but the present invention is not limited thereto, and the configurations of the respective portions may be replaced with arbitrary configurations having the same function. In the above-described embodiment, the structure in which the sensor element detects acceleration has been described, but the present invention is not limited to this, and for example, a structure in which angular velocity is detected may be employed.