CN111381071A - Speed abnormity detection device and method based on Hall sensor - Google Patents
Speed abnormity detection device and method based on Hall sensor Download PDFInfo
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- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
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Abstract
The invention relates to a speed abnormity detection device and method based on a Hall sensor, which comprises the following steps: the magnetic grid is internally embedded with a plurality of magnets which are distributed at equal intervals; the rotating shaft of the motor is fixedly connected with the magnetic grid, and the magnetic grid and the rotating shaft move synchronously; the Hall sensor assembly is in magnetic coupling connection with the magnetic grid, when the magnetic grid moves synchronously with the rotating shaft, the magnet on the magnetic grid periodically induces the Hall sensor assembly, and the Hall sensor assembly converts the sensed magnetic field change into level output. This application is provided with a plurality of magnets on the bar magnet, and hall sensor subassembly responds to a plurality of magnets respectively in order to export a plurality of height levels to judge whether current operating speed is unusual through the quantity of this height level, set up the equidistance of magnet on the bar magnet, detect the speed of operation from a plurality of angles, so that in time discover the speed condition of neglecting fast suddenly slow suddenly, confirm the concrete position that goes wrong according to numerical value fast, accurately.
Description
Technical Field
The invention relates to the field of speed detection, in particular to a speed abnormity detection device and method based on a Hall sensor.
Background
Along with the improvement of living standard of people, more and more equipment have realized automated control, for example intelligent house robot, robot of sweeping the floor etc.. These machine devices can be moved automatically at a designated location.
In these automatic mobile devices, a speed measuring device is installed to monitor the speed of the mobile device, so as to adjust the moving speed of the mobile device. However, the speed detection device in the existing design can only identify the speed through the rotating speed of the motor, and calculate the corresponding moving speed according to the time required by the motor to rotate for one circle, but this scheme cannot detect whether the speed of the motor is uniform within one circle of time, and if the speed is not uniform, the whole mobile device will move suddenly and suddenly.
Disclosure of Invention
In order to overcome the above technical problems or at least partially solve the above technical problems, the following technical solutions are proposed:
according to an aspect, an embodiment of the present invention provides a speed abnormality detection apparatus based on a hall sensor, including:
the magnetic grid is internally embedded with a plurality of magnets which are distributed at equal intervals;
the rotating shaft of the motor is fixedly connected with the magnetic grid, and the magnetic grid and the rotating shaft move synchronously;
the Hall sensor assembly is in magnetic coupling connection with the magnetic grid, when the magnetic grid moves synchronously with the rotating shaft, the magnet on the magnetic grid periodically induces the Hall sensor assembly, and the Hall sensor assembly converts the sensed magnetic field change into level output.
Optionally, the hall sensor assembly includes two hall sensors, and the two hall sensors are arranged at intervals, so that when one of the hall sensors is opposite to the magnet, the other hall sensor is opposite to the magnet at an interval.
Optionally, the speed abnormality detection apparatus based on a hall sensor further includes: and the two Hall sensors are respectively connected with the two amplifying circuits and output independent voltage values.
Optionally, the amplifying circuit includes a first resistor, an amplifier and a second resistor, the output end of the hall sensor is connected to the positive input end of the amplifier, the input end of the first resistor is connected to the power supply, the output end of the first resistor is connected to the positive input end of the amplifier, the output end of the amplifier is connected to the input end of the second resistor, and the output end of the second resistor is connected to the output interface.
Optionally, the speed abnormality detection apparatus based on a hall sensor further includes: the filter circuit comprises a first capacitor and a second capacitor, the input end of the first capacitor is connected with the input end of the second capacitor, the output end of the first capacitor is grounded with the output end of the second capacitor, the power supply voltage is connected with the input end of the Hall sensor after being filtered by the first capacitor and the second capacitor, and the grounding end of the Hall sensor is grounded.
On the other hand, the application discloses a speed abnormity detection method based on a Hall sensor, which comprises any one of the speed abnormity detection devices based on the Hall sensor, and the detection method comprises the following steps:
the motor drives the magnetic grid to rotate at a constant speed so that the magnets on the magnetic grid sequentially sense the Hall sensor assembly;
acquiring a plurality of high and low levels output by the Hall sensor assembly due to the induction of the magnet within a preset time period;
converting the number of the plurality of high and low levels into a speed value;
an abnormal speed is identified when the speed value is not within a threshold interval.
Optionally, the hall sensor assembly includes a first hall sensor and a second hall sensor, and the first hall sensor and the second hall sensor are staggered with the magnet to sense and generate high and low levels.
Optionally, the voltage values generated by the first hall sensor and the second hall sensor are amplified and then output, and the high and low levels are generated by the output voltage values.
Optionally, before the obtaining that the hall sensor assembly outputs a plurality of voltage values after sensing the magnet within a preset time period, the method further includes:
the time that the motor drives the magnetic grid to rotate at a constant speed reaches the preset time length.
On the other hand, this application still discloses robot of sweeping floor, include above-mentioned arbitrary one speed anomaly detection device based on hall sensor, speed anomaly detection device based on hall sensor installs on robot's code wheel of sweeping floor.
The beneficial effect of this application does: the application discloses speed anomaly detection device and method based on Hall sensor, be provided with a plurality of magnets on the magnetic grid, Hall sensor subassembly responds to a plurality of magnets respectively in order to export a plurality of height levels, and judge whether current operating speed is unusual through the quantity of this height level, the technical scheme of this application sets up magnet equidistance on the magnetic grid, detect the speed of operation from a plurality of angles, so that discover in time that the speed neglects the condition about how fast suddenly slow, can also be fast, accurately confirm the concrete position that goes wrong according to numerical value. On the other hand, the Hall sensor assembly comprises two Hall sensors, the two Hall sensors are arranged at intervals, the induction magnets are staggered to output voltage values, so that high and low voltage values can be acquired at the same time, the high level and the low level are combined to form a complete pulse signal, interference of an external magnetic field is avoided, and accuracy of the output voltage values is guaranteed.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a combined structure diagram of a speed abnormality detection device based on a Hall sensor according to the present invention;
FIG. 2 is a schematic diagram of a Hall sensor assembly according to the present invention;
FIG. 3 is a schematic diagram of the relationship between the Hall sensor assembly and the magnet sensing position of the present invention;
FIG. 4 is a schematic diagram of an amplifying circuit and a filter circuit according to the present invention;
FIG. 5 is a flow chart of a method for detecting a speed abnormality based on a Hall sensor according to the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The application discloses speed anomaly detection device based on hall sensor please refer to fig. 1-2, including:
the magnetic grid 100: a plurality of magnets 101 distributed at equal intervals are embedded in the magnetic grid;
motor (not shown): a rotating shaft 200 of the motor is fixedly connected with a magnetic grid 100, and the magnetic grid 100 and the rotating shaft 200 move synchronously;
hall sensor assembly 310: the hall sensor assembly 310 is magnetically coupled to the magnetic grid 100, when the magnetic grid 100 moves synchronously with the rotating shaft 200, the magnet 101 on the magnetic grid 100 periodically senses the hall sensor assembly 310, and the hall sensor assembly 310 converts the sensed magnetic field change into a level output. In this embodiment, the hall sensor assembly 310 is disposed opposite to the magnet 101 on the magnetic grid 100 in a vertical direction, and when the magnetic grid 100 rotates at a constant speed, the hall sensor assembly 310 senses the magnetism on the magnet 101, and then changes the level output of the hall sensor assembly 310.
In the present application, a plurality of magnets 101 having the same magnetic property are equally spaced apart from each other on the magnetic scale 100, that is, the magnets 101 are disposed at different positions on the magnetic scale 100, the hall sensor assembly 310 is fixed to the circuit board 300, the circuit board 300 is disposed at a distance from the magnetic scale 100, but the hall sensor assembly 310 on the circuit board is magnetically coupled to the magnets 101 on the magnetic scale 100. When the magnetic grid 100 rotates at a constant speed along with the motor, the hall sensor assembly 300 sequentially senses each magnet 101 and then outputs high and low levels, under a normal condition, the hall sensor assembly 300 senses the high and low levels output by each magnet 101, the current running speed is determined according to the number of the high and low levels output in unit time, whether the current speed is abnormal or not can be judged by comparing the speed value with the speed in a threshold interval, and when the abnormal speed occurs, the speed is suddenly increased or decreased when the whole equipment walks, and the installation of the magnetic grid 100 or the installation of the magnet 101 on the magnetic grid 100 can be judged to be abnormal.
In an embodiment, in order to more accurately obtain a variation value of the speed, two hall sensors may be provided, the two hall sensors are spaced apart from each other, and therefore, in this embodiment, the hall sensor assembly 310 includes a first hall sensor 311 and a second hall sensor 312, the first hall sensor 311 and the second hall sensor 312 are spaced apart from each other and respectively sense the magnet 101 on the magnetic grid 100, the two hall sensors are respectively spaced apart from each other, which is beneficial for separately sensing the magnet 101 and generating separate high and low levels, and whether data detection is accurate can be determined by comparing two sets of high and low level data.
Further, the interval between the first hall sensor 311 and the second hall sensor 312 may be set according to the arrangement of the magnets 101 on the magnetic grid 100, please refer to fig. 3, 16 magnets 101 are uniformly distributed on the magnetic grid 100 at intervals, when the first hall sensor 311 corresponds to one of the magnets 101, the second hall sensor 312 is just opposite to the gap position between the magnet 101 and the adjacent magnet 101, so that the positions of the two hall sensors sensing the magnets 101 are staggered, the structure ensures that the levels output by the two hall sensors sensing the magnets 101 are opposite, when one of the two hall sensors senses that the magnet 101 outputs a high level, the other one of the two hall sensors does not sense the magnet 101 and outputs a low level, or conversely, when one of the two hall sensors senses that the magnet 101 outputs a low level, the other hall sensor that does not sense the magnet 101 outputs a high level. In this embodiment, the combination of the high level and the low level forms a complete pulse signal when the magnetic grid 100 rotates at a constant speed.
Furthermore, in order to better identify the high and low levels, an amplifying circuit can be arranged, and the voltage value generated by the Hall sensor induction magnet is amplified and then judged to be the high level or the low level, so that the error of generating the high and low levels is reduced. The two Hall sensors are respectively connected with the two amplifying circuits and output independent voltage values. The components and the connection relationship of the two amplification circuits are the same, and in this embodiment, the first hall sensor 311 is taken as an example to describe the amplification circuit and the connection relationship thereof. Referring to fig. 4, the amplifying circuit includes a first resistor R1, an amplifier U1, and a second resistor R2, an output terminal DOUT of the first hall sensor 311 is connected to a positive input terminal of the amplifier U1, an input terminal of the first resistor R1 is connected to a power supply, a voltage of the power supply is a working voltage of 3.3V, an output terminal of the first resistor R1 is connected to a positive input terminal of the amplifier U1, an output terminal of the amplifier U1 is connected to an input terminal of the second resistor R2, and an output terminal of the second resistor R2 is connected to an output interface. The amplifying circuit is connected to the first hall sensor 311, so that the voltage value generated by the first hall sensor 311 after sensing the magnet 101 is amplified and output, thereby facilitating better observation and statistics.
Further, the speed abnormality detection apparatus based on the hall sensor further includes: the filter circuit further refers to fig. 4, the filter circuit has two, is connected with hall sensor's input respectively, the filter circuit includes first electric capacity C1, second electric capacity C2, first electric capacity C1's input with the power is connected to second electric capacity C2's input, first electric capacity C1's output with second electric capacity C2's output ground connection, first electric capacity C1 and second electric capacity C2 are parallelly connected together, carry out double filtering, and the power is after first electric capacity C1 and second electric capacity C2's filtering, with electric current transfer to hall sensor's input VCC, hall sensor's earthing terminal ground connection.
On the other hand, referring to fig. 5, the present application further discloses a speed abnormality detection method based on a hall sensor, including any one of the above speed abnormality detection devices based on a hall sensor, and the detection method includes:
s1000, driving a magnetic grid to rotate at a constant speed by a motor so that magnets on the magnetic grid sequentially sense a Hall sensor assembly;
based on above-mentioned hall sensor's speed anomaly detection device that discloses, motor control pivot 200 rotates, and pivot 200 drives the magnetic grid 100 of fixed connection with it also synchronous rotation, because evenly distributed has a plurality of magnets 101 on the magnetic grid 100, when magnet 101 rotated to hall sensor subassembly top, the change in magnetic field was sensed to hall sensor subassembly, produced level signal and output.
S2000, acquiring a plurality of high and low levels output by the Hall sensor assembly due to the induction of the magnet in a preset time period;
since there are a plurality of magnets 101 on the magnetic grid 100 and the magnetic grid 100 rotates at a constant speed, the hall sensor assembly 310 can sense the plurality of magnets 101 during the rotation time, and thus a plurality of high and low levels can be output during a preset time period.
In an embodiment, when there is external magnetic field interference, the value calculated by using a method of detecting the magnetic flux of a certain magnet 101 by using a hall sensor and outputting a voltage value is inaccurate, and an error is easily generated, for example, only a high level or a low level can be monitored, and an interval between the high level and the low level cannot be obtained. However, when there are two hall sensors, they are arranged close to each other and the induction magnets 101 are staggered, and a high-low voltage value is output, and a high-low voltage is output in a unit time as effective data, so that accurate data can be obtained.
In this embodiment, please refer to fig. 3 for the relative position relationship between the two hall sensors and the magnet 101, taking the example that the hall sensors sense the high level output by the magnet and do not sense the low level output by the magnet, when the first hall sensor 311 is opposite to the magnet 101 and senses the high level output by the magnet, the position of the second hall sensor 312 is located between the two magnets 101, and outputs the low level, and when the magnetic grid 100 continues to rotate, the first hall sensor 311 outputs the low level, and the second hall sensor 312 normally outputs the high level. The levels of the outputs of the first hall sensor 311 and the second hall sensor 312 are opposite. By detecting the data of high and low output of two hall sensors on one magnet 101, the current output voltage value is ensured to be available.
Further, the voltage values generated by the first hall sensor 311 and the second hall sensor 312 are amplified and then output, and the amplified voltage values are used to generate high and low levels, so as to better observe and compare data.
S3000, converting the number of the high and low levels into a speed value;
because the magnetic grid 100 is constantly rotating, and the number of the magnets 101 on the magnetic grid 100 is multiple, a plurality of high and low levels may be output in a certain time period, on the basis of the step S2000, two hall sensors are provided, and the level output of the two hall sensors is opposite, only if the data of the two hall sensors in the same time meets the condition of one high and one low, effective data can be calculated, taking the example that 16 magnets 101 are installed on one magnetic grid 100, when the normal magnetic grid 100 rotates for one circle, 16 effective high and low pulse signal pulses can be formed, and therefore, the corresponding speed value can be obtained by counting the number of the high and low level pulses in unit time.
And S4000, determining as abnormal speed when the speed value is not in the threshold interval.
The threshold interval is a preset reference value, when the magnetic grid 100 is installed abnormally or the magnet 101 is abnormal, the high and low levels sensed on the hall sensor are abnormal, the number of the high and low levels sensed in unit time is abnormal, the system adjusts the rotating speed of the motor according to the rotation speed of the magnetic grid 100, and when the monitored speed is in an abnormal state, the motor is controlled to accelerate or decelerate, so that the number of the pulse signals of the high and low levels sensed in the subsequent unit time is abnormal, the corresponding converted speed value is higher or lower than the normal speed value, according to the above principle, a normal speed threshold interval is set according to an application scene, the monitored speed value is compared with the threshold interval, and the speed exceeding the threshold interval is determined as the abnormal speed.
For example, when in one embodiment, after a plurality of tests, normal speed data between 196 and 203 is measured,
examples of normal rotational speed data are:
198 197 200 197 202 199 198 200 201 200
199 199 199 203 199 199 201 200 200 198
203 198 202 197 199 199 199 199 199 198
199 201 200 202 199 200 200 200 201 199
202 199 201 199 198 202 202 199 199 200
and the abnormal constant rotating speed data is as follows:
201 209 204 203 193 202 198 197 190 199
181 199 206 222 198 202 186 188 206 200
196 203 218 208 188 188 207 212 193 188
214 195 206 215 196 219 217 197 204 219
185 206 196 198 212 199 204 213 193 196
the data with the rotation speed of 204, 193, 190 and the like less than 196 and greater than 203 are all abnormal data. Due to the performance problem of the Hall sensor, abnormal data may occasionally appear, the follow-up monitoring can be normally carried out, in order to accurately judge whether the current running state is normal, a time interval can be set, the number of abnormal speed values in all the obtained speed values is counted, when the number exceeds a set threshold value, the current running state is determined to be abnormal, and if not, the abnormal speed is determined to be a reasonable error in running.
Further, in an embodiment, before the obtaining the plurality of voltage values output after the hall sensor assembly senses the magnet within a preset time period, the method further includes: the time that the motor drives the magnetic grid to rotate at a constant speed reaches the preset time length.
Before acquiring data sensed by the hall sensor, the motor can be preheated, the preset time is determined according to the rotating speed and practical application, for example, the preset duration is 3 seconds, and then when the motor drives the magnetic grid 100 to rotate at a constant speed for 3 seconds, the current voltage value output by the hall sensor component 310 sensing the magnet 101 starts to be recorded. The preheating time of the preset time is set for the motor, so that the stable operation of the magnetic grid 100 is ensured, and the interference caused by the operation of the equipment is reduced.
On the other hand, this application still discloses a robot of sweeping floor, include the aforesaid speed anomaly detection device based on hall sensor, speed anomaly detection device based on hall sensor installs on the code wheel of robot of sweeping floor. Install on the robot code wheel of sweeping the floor through with speed anomaly detection device, be favorable to detecting the functioning speed of robot of sweeping the floor at any time, in time adjust when detecting speed anomaly, avoid sweeping the floor when the robot removes the condition that suddenly is fast suddenly slow.
Those skilled in the art will appreciate that the present invention includes apparatus directed to performing one or more of the operations described in the present application. These devices may be specially designed and manufactured for the required purposes, or they may comprise known devices in general-purpose computers. These devices have stored therein computer programs that are selectively activated or reconfigured. Such a computer program may be stored in a device (e.g., computer) readable medium, including, but not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magnetic-optical disks, ROMs (Read-Only memories), RAMs (Random Access memories), EPROMs (Erasable programmable Read-Only memories), EEPROMs (Electrically Erasable programmable Read-Only memories), flash memories, magnetic cards, or optical cards, or any type of media suitable for storing electronic instructions, and each coupled to a bus. That is, a readable medium includes any medium that stores or transmits information in a form readable by a device (e.g., a computer).
It will be understood by those within the art that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by computer program instructions. Those skilled in the art will appreciate that the computer program instructions may be implemented by a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, implement the features specified in the block or blocks of the block diagrams and/or flowchart illustrations of the present disclosure.
Those of skill in the art will appreciate that various operations, methods, steps in the processes, acts, or solutions discussed in the present application may be alternated, modified, combined, or deleted. Further, various operations, methods, steps in the flows, which have been discussed in the present application, may be interchanged, modified, rearranged, decomposed, combined, or eliminated. Further, steps, measures, schemes in the various operations, methods, procedures disclosed in the prior art and the present invention can also be alternated, changed, rearranged, decomposed, combined, or deleted.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A speed abnormality detection device based on a Hall sensor, characterized by comprising:
the magnetic grid is internally embedded with a plurality of magnets which are distributed at equal intervals;
the rotating shaft of the motor is fixedly connected with the magnetic grid, and the magnetic grid and the rotating shaft move synchronously;
the Hall sensor assembly is in magnetic coupling connection with the magnetic grid, when the magnetic grid moves synchronously with the rotating shaft, the magnet on the magnetic grid periodically induces the Hall sensor assembly, and the Hall sensor assembly converts the sensed magnetic field change into level output.
2. The hall sensor based speed anomaly detection device according to claim 1, wherein said hall sensor assembly comprises two hall sensors spaced apart such that when one of said hall sensors is positioned opposite said magnet, the other hall sensor is positioned opposite said magnet.
3. The hall sensor based speed abnormality detection apparatus according to claim 2, further comprising: and the two Hall sensors are respectively connected with the two amplifying circuits and output independent voltage values.
4. The Hall sensor-based speed abnormality detection device according to claim 3, wherein said amplifying circuit includes a first resistor, an amplifier and a second resistor, the output terminal of said Hall sensor is connected to the positive input terminal of said amplifier, the input terminal of said first resistor is connected to the power supply, the output terminal of said first resistor is connected to the positive input terminal of said amplifier, the output terminal of said amplifier is connected to the input terminal of said second resistor, and the output terminal of said second resistor is connected to the output interface.
5. The hall sensor based speed abnormality detection apparatus according to claim 2, further comprising: the filter circuit comprises a first capacitor and a second capacitor, the input end of the first capacitor is connected with the input end of the second capacitor, the output end of the first capacitor is grounded with the output end of the second capacitor, the power supply voltage is connected with the input end of the Hall sensor after being filtered by the first capacitor and the second capacitor, and the grounding end of the Hall sensor is grounded.
6. A hall sensor based speed abnormality detection method, comprising the hall sensor based speed abnormality detection apparatus according to any one of claims 1 to 5, the detection method comprising:
the motor drives the magnetic grid to rotate at a constant speed so that the magnets on the magnetic grid sequentially sense the Hall sensor assembly;
acquiring a plurality of high and low levels output by the Hall sensor assembly due to the induction of the magnet within a preset time period;
converting the number of the plurality of high and low levels into a speed value;
an abnormal speed is identified when the speed value is not within a threshold interval.
7. The hall sensor based speed abnormality detection method according to claim 6, characterized in that: the Hall sensor assembly comprises a first Hall sensor and a second Hall sensor, and the first Hall sensor and the second Hall sensor are staggered with the magnet to sense and generate high and low levels.
8. The hall sensor based speed abnormality detection method according to claim 7, wherein the voltage values generated by the first hall sensor and the second hall sensor are amplified and outputted, and the high and low levels are generated with the outputted voltage values.
9. The hall sensor based speed anomaly detection method according to claim 6, further comprising before said obtaining a plurality of voltage values output by said hall sensor assembly after sensing said magnet for a preset time period:
the time that the motor drives the magnetic grid to rotate at a constant speed reaches the preset time length.
10. A sweeping robot is characterized by comprising the Hall sensor based speed abnormity detection device of the claims 6-9, wherein the Hall sensor based speed abnormity detection device is installed on a code disc of the sweeping robot.
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| CN113212615A (en) * | 2021-05-19 | 2021-08-06 | 摩拜(北京)信息技术有限公司 | Wheel rotation detection device, vehicle and wheel rotation detection method |
| CN113405828A (en) * | 2021-06-21 | 2021-09-17 | 徐州徐工矿业机械有限公司 | Engineering machinery rotation period time capturing device and measuring method thereof |
| CN114485738A (en) * | 2022-01-06 | 2022-05-13 | 天津中德应用技术大学 | Double-group Hall sensor device and control method thereof |
| CN115009410A (en) * | 2022-06-21 | 2022-09-06 | 南京懂玫驱动技术有限公司 | Control method of electric power-assisted vehicle and electric power-assisted vehicle |
| CN115452444A (en) * | 2022-11-14 | 2022-12-09 | 极限人工智能有限公司 | Medical surgical robot angle performance detection device and method |
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| CN113405828A (en) * | 2021-06-21 | 2021-09-17 | 徐州徐工矿业机械有限公司 | Engineering machinery rotation period time capturing device and measuring method thereof |
| CN114485738A (en) * | 2022-01-06 | 2022-05-13 | 天津中德应用技术大学 | Double-group Hall sensor device and control method thereof |
| CN114485738B (en) * | 2022-01-06 | 2024-01-12 | 天津中德应用技术大学 | Double-group Hall sensor device and control method thereof |
| CN115009410A (en) * | 2022-06-21 | 2022-09-06 | 南京懂玫驱动技术有限公司 | Control method of electric power-assisted vehicle and electric power-assisted vehicle |
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