CN116045799A

CN116045799A - Angle sensing device and method

Info

Publication number: CN116045799A
Application number: CN202211726537.7A
Authority: CN
Inventors: 柳春晓
Original assignee: Shanghai Dfrobot Co ltd
Current assignee: Shanghai Dfrobot Co ltd
Priority date: 2022-12-29
Filing date: 2022-12-29
Publication date: 2023-05-02

Abstract

The invention discloses an angle sensing device and method, the device includes: the rotating structure comprises a rotating disc and N magnets arranged on the rotating disc, wherein the N magnets are circumferentially distributed on the rotating disc, and N is larger than 1; the detection structure comprises a detection disc and S magnetic resistance chips arranged on the detection disc, wherein the S magnetic resistance chips are symmetrically distributed on the detection disc about a first datum line, S is greater than 1 and S is greater than N, and the first datum line passes through the circle center of the detection disc; in a first direction, the projection of the magnetoresistive chip on the rotating disk overlaps the rotating path of the magnet, and the first direction is perpendicular to the plane of the rotating disk. In the embodiment of the invention, the angle sensing device has a simple structure, can realize more angle detection by using less number of the magnetic resistance chips, improves the angle detection precision, reduces the cost and the power consumption, and is easy to be practically used.

Description

Angle sensing device and method

Technical Field

The invention relates to the technical field of angle detection, in particular to an angle sensing device and an angle sensing method.

Background

The angle sensor is a sensor for detecting angle change, has wide application in various industries and can realize the requirement of angle control of a rotating mechanism.

For example, the angle sensor can be applied to a barrier gate system to detect the swing angle of a gate rod. Alternatively, the angle sensor may be used in a meteorological apparatus for wind direction measurement. The angle sensor may also be applied in micro devices.

At present, the angle sensor needs to detect angles through more magnetic resistance chips, so that the cost and the power consumption of the whole circuit are high.

Disclosure of Invention

The invention provides an angle sensing device and an angle sensing method, which are used for solving the problems of high cost and high power consumption of the existing angle sensor.

According to an aspect of the present invention, there is provided an angle sensing apparatus including:

the rotating structure comprises a rotating disc and N magnets arranged on the rotating disc, wherein the N magnets are circumferentially distributed on the rotating disc, and N is larger than 1;

the detection structure is arranged opposite to the rotating structure and comprises a detection disc and S magnetic resistance chips arranged on the detection disc, wherein the S magnetic resistance chips are symmetrically distributed on the detection disc about a first datum line, S is greater than 1 and S is greater than N, and the first datum line passes through the circle center of the detection disc;

in a first direction, the projection of the magnetic resistance chip on the rotating disc is overlapped with the rotating path of the magnet, and the first direction is perpendicular to the plane of the rotating disc.

Further, the S magnetic resistance chips are symmetrically distributed on the detection disc around the circle center.

Further, the S magnetic resistance chips are uniformly distributed on the circumference of the detection disc.

Further, the N magnets at least comprise a 1 st magnet and a 2 nd magnet;

the S magneto-resistance chips at least comprise a 1 st magneto-resistance chip and a 2 nd magneto-resistance chip;

the included angle between the 1 st magnet and the center of the rotating disc is equal to the included angle between the 1 st magnetic resistance chip and the center of the detecting disc, and the included angle between the 1 st magnet, the 2 nd magnet and the center of the rotating disc is not equal to 180 degrees.

Further, the 1 st magneto-resistive chip and the 2 nd magneto-resistive chip are located on the same side of the first datum line;

alternatively, the 1 st magneto-resistive chip and the 2 nd magneto-resistive chip are located on different sides of the first datum line.

Further, the N magnets further include a 3 rd magnet;

the working state of the angle sensing device at least comprises a first rotation state;

the first rotation state is specifically that, in the first direction, the 1 st magnet overlaps the 1 st magnetoresistive chip, the 2 nd magnet overlaps the 2 nd magnetoresistive chip, and the 3 rd magnet does not overlap any of the magnetoresistive chips.

Further, the magneto-resistive chip comprises a magneto-resistive switch;

the reluctance switch is used for sensing the magnet to switch the on-off state.

Further, in the first direction, the projection of the magnet on the detection disc is overlapped with the magnetic resistance chip to enable the magnetic resistance switch to be switched into a first switch state, and the projection of the magnet on the detection disc is not overlapped with the magnetic resistance chip to enable the magnetic resistance switch to be switched into a second switch state;

the first switch state is closed and the second switch state is open, or the first switch state is open and the second switch state is closed.

Further, the angle sensing device further comprises a signal processor, wherein the signal processor is electrically connected with the magnetic resistance chips and is used for determining the angle information of the rotating disc according to the output signals of the magnetic resistance chips.

According to another aspect of the present invention, there is provided an angle sensing method applied to an angle sensing device as described above, the method comprising:

driving the rotating disc in the rotating structure to rotate so that N magnets on the rotating disc synchronously rotate;

and determining the angle information of the rotating disc according to the output signals of the S magnetoresistive chips in the detection structure.

In the embodiment of the invention, N magnets are arranged on a rotating disc of a rotating structure, and the N magnets are circumferentially distributed on the rotating disc; s magneto-resistance chips are arranged on a detection disc of the detection structure and symmetrically distributed on the detection disc about a first datum line; in the first direction, the projection of the magnetic resistance chip on the rotating disc is overlapped with the rotating path of the magnet, the rotating disc rotates to drive the magnet to rotate, when the magnet passes over the magnetic resistance chip, the magnetic resistance chip can detect the change of the magnetic field direction and output corresponding electric signals, and the angle sensing device can obtain the angle information of the rotating disc according to the output signals of the magnetic resistance chips. In the embodiment of the invention, the angle sensing device has a simple structure, can realize more angle detection by using less number of the magnetic resistance chips, improves the angle detection precision, reduces the cost and the power consumption, and is easy to be practically used.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a rotating structure provided by an embodiment of the present invention;

FIG. 2 is a schematic diagram of a detection structure provided in an embodiment of the present invention;

FIG. 3 is a schematic view of an angle sensor according to an embodiment of the present invention;

FIG. 4 is a cross-sectional view taken along line A-A' of FIG. 3;

FIG. 5 is a schematic rotation diagram of an angle sensor according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of another angle sensing device according to an embodiment of the present invention;

FIG. 7 is a schematic view of yet another angle sensing device according to an embodiment of the present invention;

FIG. 8 is a schematic rotation diagram of another angle sensor according to an embodiment of the present invention;

FIG. 9 is a schematic view of yet another angle sensing device provided by an embodiment of the present invention;

FIG. 10 is a schematic view of yet another angle sensing device according to an embodiment of the present invention;

FIG. 11 is a schematic view of yet another angle sensing device according to an embodiment of the present invention;

FIG. 12 is a schematic view of yet another angle sensing device provided by an embodiment of the present invention;

fig. 13 is a schematic diagram of an angle sensing method according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Fig. 1 is a schematic view of a rotating structure provided by an embodiment of the present invention, fig. 2 is a schematic view of a detecting structure provided by an embodiment of the present invention, fig. 3 is a schematic view of an angle sensing device provided by an embodiment of the present invention, and fig. 4 is a cross-sectional view taken along A-A' of fig. 3. The angle sensing device provided in this embodiment includes: the rotating structure 11, the rotating structure 11 comprises a rotating disc 12 and N magnets 13 arranged on the rotating disc 12, the N magnets 13 are circumferentially distributed on the rotating disc 12, and N is larger than 1; the detection structure 14 is arranged opposite to the rotating structure 11, the detection structure 14 comprises a detection disc 15 and S magnetic resistance chips 16 arranged on the detection disc 15, the S magnetic resistance chips 16 are symmetrically distributed on the detection disc 15 about a first datum line B-B ', S is larger than 1 and S is larger than N, and the first datum line B-B' passes through the circle center 0B of the detection disc 15; the projection of the magnetoresistive chip 16 onto the rotating disk 12 overlaps the magnet rotation path 17 in a first direction Z, which is perpendicular to the plane of the rotating disk 12. Fig. 3 is a projection of the detection structure 14 on the rotating structure 11.

In this embodiment, the angle sensing device includes a rotating structure 11, the rotating structure 11 includes a rotating disc 12, and N magnets 13 disposed on the rotating disc 12, where the N magnets 13 are circumferentially distributed on the rotating disc 12. The rotating disc 12 may be a gear or other rotatable member, the rotating disc 12 rotates around the center Oa of the circle, and the shape of the rotating disc 12 may be a circle, but is not particularly limited; in other embodiments, the shape of the rotating disk may be elliptical, square, or other, and if the shape of the rotating disk is non-circular, the center of the circle may be the geometric center of the rotating disk. N magnets 13 are fixedly arranged on the same side of the rotating disc 12, and N magnets 13 are arranged on the rotating disc 12 at intervals and are circumferentially distributed on the rotating disc 12. The rotating disc 12 rotates to drive the magnets 13 thereon to synchronously rotate, when the rotating disc 12 rotates, the magnet rotating paths 17 of the N magnets 13 distributed circumferentially are the same path, the paths shown by the dotted lines 17 in fig. 1 are the magnet rotating paths 17 of the magnets 13, and when the rotating disc 12 rotates clockwise or counterclockwise around the center Oa of the circle, the N magnets 13 synchronously rotate along the magnet rotating paths 17. Illustratively, N is equal to 2, but is not limited thereto.

It will be appreciated that the rotating structure 11 also includes other components that drive the rotation of the rotating disk 12, only some of which are illustrated herein; for example, the rotating structure 11 further includes a motor or a transmission assembly (not shown) or the like, which drives the rotating disk 12 to rotate, thereby driving the N magnets 13 to rotate synchronously along the magnet rotation path 17. The magnet 13 is any type of magnet suitable for use in an angle sensing device, for example, but not limited to, the magnet 13 may be a samarium cobalt magnet or a neodymium iron boron permanent magnet. The shape of the magnet 13 may be circular, and then the magnet 13 may be composed of two semicircles, which are respectively a south pole (S pole) and a north pole (N pole); however, the shape of the magnet 13 may be other shapes, not limited to a circular shape.

The angle sensing device comprises a detection structure 14, the detection structure 14 is arranged opposite to the rotating structure 11, and the detection structure 14 is arranged at intervals with the rotating structure 11. The detection structure 14 is fixedly arranged in the angle sensing device. The detecting structure 14 includes a detecting disk 15, and S magnetoresistive chips 16 disposed on the detecting disk 15, the S magnetoresistive chips 16 being symmetrically distributed on the detecting disk 15 about a first reference line B-B ', the first reference line B-B' passing through a center Ob of the detecting disk 15. Illustratively, s=4, magnetoresistive die 16a and magnetoresistive die 16B are symmetrically distributed about first datum line B-B 'on sense die 15, and magnetoresistive die 16d and magnetoresistive die 16c are symmetrically distributed about first datum line B-B' on sense die 15.

The sense die 15 may be a carrier plate with the magnetoresistive die 16 fixedly disposed on the same side of the sense die 15. The shape of the detection disk 15 may be circular, but is not particularly limited; in other embodiments the shape of the detection disc may also be elliptical, square or other shape, and the center of the detection disc may be its geometric center. The S magnetoresistive chips 16 are arranged at intervals on the detection disk 15 and are symmetrically distributed on the detection disk 15 about a first reference line B-B', and the center Ob of the detection disk 15 coincides with the center Oa of the rotary disk 12 in the first direction Z. As shown in fig. 2, S is equal to 4,4 magnetoresistive chips 16 are arranged at intervals on the detection disk 15 and symmetrically distributed on the detection disk 15 about the first reference line B-B'; but S is not limited to 4, and the relevant practitioners can reasonably design the number of magnetoresistive chips according to the product needs.

The S magnetoresistive chips 16 are symmetrically distributed on the detecting disk 15 about the first reference line B-B', and may or may not be uniformly distributed circumferentially. In this embodiment, the S magnetoresistive chips 16 are symmetrically distributed on the detecting disk 15 about the first reference line B-B', and the distribution manner is not uniformly distributed circumferentially, as shown in fig. 2, s=4, and at least two adjacent magnetoresistive chips 16 have an included angle with the center Ob of 90 degrees. In other embodiments, the S magnetoresistive chips are symmetrically distributed on the detection disk about the first reference line B-B' in a circumferentially uniform distribution.

It should be noted that the magnetoresistive chip 16 may be disposed on a side surface of the detecting structure 14 facing away from the rotating structure 11, or the magnetoresistive chip may be disposed on a side surface of the detecting structure facing toward the rotating structure; the magnet 13 may be provided on a side surface of the rotating structure 11 facing the detecting structure 14, or the magnet may be provided on a side surface of the rotating structure facing away from the detecting structure.

It will be appreciated that the detection structure 14 also includes other components for angle detection, only some of which are illustrated herein. The optional angle sensing device further comprises a signal processor (not shown) electrically connected to the magneto-resistive chips for determining angle information of the rotating disc based on the output signals of the respective magneto-resistive chips. The signal processor is respectively connected with each magnetic resistance chip and is used for collecting output signals of the magnetic resistance chips, and the information processor can determine the angle information of the rotating disc according to the output signals of the S magnetic resistance chips. The signal processor may be integrated in the detection structure 14, but the signal processor may also be arranged in an area outside the detection structure 14.

The projection of the magnetoresistive chip 16 onto the rotating disk 12 overlaps the magnet rotation path 17 in a first direction Z, which is perpendicular to the plane of the rotating disk 12. The detecting structure 14 is fixed, and the rotating disc 12 rotates around the center Oa of the circle, so that the rotating disc 12 rotates to drive the magnet 13 thereon to rotate synchronously, so that the position of the magnet 13 relative to the magnetoresistive chip 16 in the detecting structure 14 changes. In the first direction Z, the projection of the magnetoresistive chip 16 onto the rotating disk 12 overlaps the magnet rotating path 17, and when the rotating disk 12 rotates the magnet 13 along the magnet rotating path 17, there is a case where the magnet 13 rotates above the magnetoresistive chip 16, where the rotation of the magnet 13 above the magnetoresistive chip 16 means that the magnet 13 overlaps the magnetoresistive chip 16 in the first direction Z. When the magnet 13 rotates and the magnetic field direction rotates along with the rotation, and when the magnet 13 passes over the magnetic resistance chip 16, the magnetic resistance chip 16 is affected by the magnetic field of the magnet 13, so that the magnetic resistance chip 16 can detect the change of the magnetic field direction and output corresponding electric signals, and the angle sensing device can obtain the angle information of the rotating disc 12 according to the output signals of the magnetic resistance chips 16.

Specifically, when the rotating disc 12 rotates, a plurality of different position states or rotation states exist between the N magnets 13 and the S magnetoresistive chips 16 in the first direction, each position state may represent an azimuth angle of the rotating disc 12, and the S magnetoresistive chips 16 may detect a change in a magnetic field direction of the N magnets 13, so as to output an electrical signal corresponding to the position state. For example, when the N magnets 13 and the S magnetoresistive chips 16 are in the position state shown in fig. 3 in the first direction Z, the S magnetoresistive chips 16 output an electric signal according to the change of the magnetic field direction of the N magnets 13, the angle sensing device can determine the position state of the N magnets 13 and the S magnetoresistive chips 16 in the first direction Z according to the output signal of the S magnetoresistive chips 16, based on the position state, the angle sensing device can determine the azimuth angle of the rotating disc 12, can obtain the rotation angle increment of the rotating disc 12 according to the difference between the two azimuth angles, or obtain the rotation direction of the rotating disc 12 according to the two azimuth angles, and so on. Here, the angle information includes at least one of an azimuth angle, a rotation angle, and a rotation direction of the rotating disk, but is not limited thereto. When the magnetic resistance chip and the magnet are overlapped in the first direction, the output signal of the magnetic resistance chip is marked by a digital 1; when the magnetic resistance chip and the magnet are not overlapped in the first direction, the output signal of the magnetic resistance chip is marked by the number 0.

Fig. 5 is a schematic rotation diagram of an angle sensor according to an embodiment of the present invention. As shown in fig. 5, the angle sensor device is switched from the 1 st rotation state to the 2 nd rotation state and from the 2 nd rotation state to the 3 rd rotation state when the rotating disk 12 rotates.

When the rotary disk 12 rotates counterclockwise, the magnet 13a rotates above the magnetoresistive chip 16a, the magnet 13b rotates above the magnetoresistive chip 16b, the magnetoresistive chip 16a and the magnetoresistive chip 16b output corresponding first electrical signals (represented by the numeral "1") under the influence of the magnetic field directions of the magnet 13a and the magnet 13b, the magnetoresistive chip 16c and the magnetoresistive chip 16d output corresponding second electrical signals (represented by the numeral "0") without being influenced by the magnetic field directions of the magnet 13, the magnetoresistive chips 16a to 16d form a 1 st rotation state (1, 0), and the angle sensing device can determine the position states of the N magnets 13 and the S magnetoresistive chips 16 in the first direction Z according to the output signals of the respective magnetoresistive chips 16, and then determine the azimuth angle of the rotary disk 12, which is the angle corresponding to the 1 st rotation state (1, 0).

The rotating disk 12 continues to rotate counterclockwise, the magnet 13a rotates between the

magnetoresistive chips

16a and 16d, the magnet 13b rotates between the

magnetoresistive chips

16a and 16b, the

magnetoresistive chips

16a, 16b, 16c and 16d each output a corresponding second electric signal (characterized by the numeral "0") without being affected by the magnetic field direction of the magnet 13, the magnetoresistive chips 16a to 16d constitute the 2 nd rotation state (0, 0), and the angle sensing means determines the azimuth angle of the rotating disk 12, which is the angle corresponding to the 2 nd rotation state (0, 0), from the output signals of the respective magnetoresistive chips 16.

The rotating disk 12 continues to rotate anticlockwise, the magnet 13a rotates above the magneto-resistive chip 16d, the magnet 13b rotates between the magneto-

resistive chips

16a and 16b, the magneto-resistive chip 16d is influenced by the magnetic field direction of the magnet 13a to output corresponding first electric signals (represented by the numeral "1"), the magneto-resistive chip 16a, the magneto-resistive chip 16b and the magneto-resistive chip 16c are not influenced by the magnetic field direction of the magnet 13 to output corresponding second electric signals (represented by the numeral "0"), the magneto-resistive chips 16a to 16d form the 3 rd rotating state (0, 1), and the angle sensing device determines the azimuth angle of the rotating disk 12 according to the output signals of the magneto-resistive chips 16, wherein the azimuth angle is the angle corresponding to the 3 rd rotating state (0, 1).

By analogy, as the rotary disk 12 rotates, the magnetoresistive chips 16a to 16d constitute a plurality of rotation states, and the angle-sensing device determines the azimuth angle of the rotary disk 12 from the output signals of the respective magnetoresistive chips 16, thereby realizing detection of a plurality of azimuth angles.

It should be noted that, the device to be tested is in transmission connection with the rotating disc 12 and rotates synchronously, and the angle information of the rotating disc 12 is used for representing the angle information of the device to be tested. For example, the device to be tested may be a wind-driven device in a meteorological device, the wind-driven device is in transmission connection with the rotating disc 12, and under the driving of wind, the wind-driven device rotates to drive the rotating disc 12 to rotate, so that the angle information of the rotating disc 12 detected by the angle sensing device can represent the rotation direction and rotation angle of the wind-driven device, and wind power and wind direction measurement is realized; alternatively, the device to be tested may be a brake bar in a brake system, where the brake bar is in transmission connection with the rotating disc 12, and the brake bar swings to drive the rotating disc 12 to rotate, so that the angle information of the rotating disc 12 detected by the angle sensing device may represent the swing angle and the swing direction of the brake bar. The angle sensing device may be applied to various industries, not limited thereto.

In the present embodiment, N is greater than or equal to 2, s is greater than or equal to 3, but is not limited thereto; in other embodiments, N and S may be set as desired, e.g., N greater than or equal to 1 and S greater than or equal to 1. At least two magnets 13 are arranged in the rotating structure 11, and at least three magnetic resistance chips 16 are arranged in the detecting structure 14, so that the angle sensing device can detect at least S+2 position states, and further at least S+2 angle detections can be realized. The cost of the magnet 13 is low, and the arrangement of at least two magnets 13 in the rotating structure 11 does not greatly increase the cost of the angle sensing device; the cost and the power consumption of the magnetic resistance chips 16 are high, the detection structure 14 can realize at least S+2 angle detection according to the S magnetic resistance chips 16, more angle detection is realized through fewer magnetic resistance chips, the cost and the power consumption are reduced, and the angle detection precision is improved.

If 4 magnetoresistive chips are used in combination with 1 magnet, 5 angle detections can be made. If 5 magnetoresistive chips are used in combination with 1 magnet, 6 angle detections can be made. In this embodiment, if 4 magnetoresistive chips are used in combination with 2 magnets, 6-angle detection can be performed. If 4 magnetoresistive chips are used in combination with 3 magnets, 9 angle detections can be made. When the magnet is arranged above the magnetic resistance chip, the output signal of the magnetic resistance chip is marked as 1; when the magnet does not overlap with the magneto-resistive chip in the first direction, the output signal of the magneto-resistive chip is marked 0.

The position states of the 4 magnetoresistive chips in combination with 1 magnet are shown in table 1. The position states of the 5 magnetoresistive chips in combination with 1 magnet are shown in table 2. The position states of the 4 magnetoresistive chips in combination with 2 magnets are shown in table 3. The position states of the 4 magnetoresistive chips in cooperation with 3 magnets are shown in table 4.

TABLE 1

	Chip A	Chip B	Chip C	Chip D
					State 1	0	0	0	0
State 2	0	0	0	1
					State 3	0	0	1	0
State 4	0	1	0	0
					State 5	1	0	0	0

As can be seen from table 1, the 4 magnetoresistive chips a to D can be combined into 5 position states by matching with 1 magnet, and represent 4 azimuth angles and 1 first angle of the rotating disk, wherein the 4 azimuth angles can be 0 degree, 90 degrees, 180 degrees and 270 degrees respectively, and the first angle corresponding to the position state 1 is other than the 4 azimuth angles, but the azimuth angles are not limited thereto.

TABLE 2

	Chip A	Chip B	Chip C	Chip D	Chip E
						State 1	0	0	0	0	0
State 2	0	0	0	0	1
						State 3	0	0	0	1	0
State 4	0	0	1	0	0
						State 5	0	1	0	0	0
State 6	1	0	0	0	0

As can be seen from table 2, the 5 magnetoresistive chips a to E can be combined into 6 position states by matching with 1 magnet, and represent 5 azimuth angles and 1 first angle of the rotating disk, wherein the 5 azimuth angles can be 0 degrees, 72 degrees, 144 degrees, 216 degrees and 288 degrees respectively, and the first angle corresponding to the position state 1 is other than the 5 azimuth angles, but the azimuth angles are not limited thereto.

TABLE 3 Table 3

As is clear from Table 3, the 4 magnetoresistive chips A to D can be combined into 11 positional states by combining 2 magnets. However, considering that in practice, under the condition that only 2 magnets are installed, each magnetoresistive chip can detect 2 magnets at most in one circle, that is, at most two "1" s can be found in 1 column of each magnetoresistive chip, after the invalid state is removed by analyzing the table, the matching can actually combine 7 valid position states, and the 4 azimuth angles, 1 first angle and 1 second angle, which represent the rotating disc, can be 0 degree, 90 degrees, 180 degrees and 270 degrees respectively, if the two magnets form an included angle of 45 degrees, the second angle is one of 45 degrees, 135 degrees, 225 degrees and 315 degrees, and the first angle corresponding to the position state 1 is other than the 4 azimuth angles and the second angle, but the azimuth angle is not limited to this.

Compared with the 4 magneto-resistance chips matched with 1 magnet, in the embodiment, only one magnet with low cost is added, and the 4 magneto-resistance chips matched with 2 magnets can be used for detecting 6 angles, so that the angle detection precision is improved on the basis of not greatly increasing the cost.

Compared with 5 magneto-resistive chips matched with 1 magnet, the number of magneto-resistive chips in the embodiment is reduced to 4, and the detection of 6 angles can be performed by using 4 magneto-resistive chips matched with 2 magnets, so that the power consumption and the cost are reduced on the basis of the same detection precision.

TABLE 4 Table 4

As is clear from Table 4, 15 kinds of positional states can be combined by combining the 4 magnetoresistive chips A to D with 3 magnets. However, it is considered that in practice, in the case of mounting only 3 magnets, each magnetoresistive chip detects at most 3 magnets in one turn, i.e. at most three "1" s can be present in 1 column of each magnetoresistive chip, by analyzing the table, the optional reject states 6& 11-15 are selected, but not limited to this reject combination. The matching can actually combine 9 effective position states, namely 8 azimuth angles and 1 first angle of the rotating disc, wherein the 8 azimuth angles can be 0 degree, 45 degrees, 90 degrees, 135 degrees, 180 degrees, 225 degrees, 270 degrees and 315 degrees respectively, and the first angle corresponding to the position state 1 is other than the 8 azimuth angles, but the azimuth angles are not limited to the 8 azimuth angles.

Compared with the 4 magneto-resistance chips matched with 1 magnet, in the embodiment, only 2 magnets with low cost are added, and the 4 magneto-resistance chips matched with 3 magnets can be used for detecting 9 angles, so that the angle detection precision is greatly improved on the basis of not greatly increasing the cost.

Compared with 5 magneto-resistive chips matched with 1 magnet, the number of magneto-resistive chips in the embodiment is reduced to 4, the number of magnets is increased to 3, and the detection of 9 angles can be performed by using 4 magneto-resistive chips matched with 3 magnets, so that the power consumption and the cost are reduced on the basis of improving the detection precision.

As described above, the projection of the magnetic resistance chip on the rotating disc overlaps with the rotating path of the magnet, the center of the magnetic resistance chip and the center of the magnet do not need to be aligned, and the magnetic resistance chip and the magnet do not need to be mounted on the center of the rotating disc, so that the mounting limit of the magnetic resistance chip and the magnet in actual use is less, the mounting is easy, and the practical use is easy.

S magnetic resistance chips are symmetrically distributed on the detection disc around the circle center. Optional s=4, n=2. Fig. 6 is a schematic diagram of another angle sensor according to an embodiment of the present invention. As shown in fig. 6, for example, s=4, the 4 magnetoresistive chips 16a to 16d are disposed on the detection disk 15, wherein the magnetoresistive chip 16a and the magnetoresistive chip 16B are symmetrically distributed on the detection disk 15 about the first reference line B-B ', and the magnetoresistive chip 16d and the magnetoresistive chip 16c are symmetrically distributed on the detection disk 15 about the first reference line B-B'. Meanwhile, the

magnetoresistive chips

16a and 16c are symmetrically distributed on the detection disk 15 about the center Ob, and the

magnetoresistive chips

16d and 16b are symmetrically distributed on the detection disk 15 about the center Ob.

Unlike fig. 2 and 6, the

magnetoresistive chips

16a and 16c in fig. 2 are not symmetrically distributed about the center Ob, and the

magnetoresistive chips

16d and 16b are not symmetrically distributed about the center Ob. Based on this, relevant practitioner can design the number and distribution mode of the magneto-resistive chips in the detection disc reasonably and flexibly according to the requirements of products.

The S selectable magnetic resistance chips are uniformly distributed on the circumference of the detection disk. The S magnetoresistive chips are symmetrically distributed on the detecting disk about the first reference line, and the distribution manner may be uniformly distributed circumferentially or may not be uniformly distributed circumferentially. In this embodiment, the S magnetoresistive chips are symmetrically distributed on the detection disk about the first reference line, and the distribution manner of the magnetoresistive chips is uniformly distributed circumferentially. Optional s=4, n=2.

Fig. 7 is a schematic view of yet another angle sensor according to an embodiment of the present invention. As shown in fig. 7, for example, s=4, the 4 magnetoresistive chips 16a to 16d are disposed on the detection disk 15, wherein the magnetoresistive chip 16a and the magnetoresistive chip 16B are symmetrically distributed on the detection disk 15 about the first reference line B-B ', and the magnetoresistive chip 16d and the magnetoresistive chip 16c are symmetrically distributed on the detection disk 15 about the first reference line B-B'. Meanwhile, the

magnetoresistive chips

16a, 16b, 16c and 16d are uniformly circumferentially distributed on the detection disk 15, and then the angle between the adjacent magnetoresistive chip 16 and the center Ob is 90 degrees.

Unlike fig. 7, the S magnetoresistive chips in fig. 2 are not uniformly distributed circumferentially. Based on this, relevant practitioner can design the number and distribution mode of the magneto-resistive chips in the detection disc reasonably and flexibly according to the requirements of products.

The N optional magnets at least comprise a 1 st magnet and a 2 nd magnet; the S magneto-resistive chips at least comprise a 1 st magneto-resistive chip and a 2 nd magneto-resistive chip; the included angles of the 1 st magnet, the 2 nd magnet and the center of the rotating disk are equal to the included angles of the 1 st magnetic resistance chip, the 2 nd magnetic resistance chip and the center of the detecting disk, and the included angles of the 1 st magnet, the 2 nd magnet and the center of the rotating disk are not equal to 180 degrees.

Referring to fig. 5, the center of the detection disk overlaps the center Oa of the rotary disk 12, and the projections of the S magnetoresistive chips 16 onto the rotary disk 12 overlap the magnet rotation path 17. Illustratively, s=4, n=2. The N magnets 13 include at least a 1 st magnet 13a and a 2 nd magnet 13b; the S magnetoresistive chips 16 include a 1 st magnetoresistive chip 16a, a 2 nd magnetoresistive chip 16b, a 3 rd magnetoresistive chip 16c, and a 4 th magnetoresistive chip 16d. The included angles between the 1 st magnet 13a, the 2 nd magnet 13b and the circle center Oa of the rotating disc are equal to the 1 st magnetic resistance chip 16a, the 2 nd magnetic resistance chip 16b and the inspectionIncluded angles of the disk cores (overlapped with Oa) are all theta ₁₁ . Wherein θ ₁₁ Not equal to 180 deg.. As shown in fig. 5, θ ₁₁ Is obtuse, but is not limited thereto.

Based on this, the rotary disk 12 rotates, and the 1 st rotation state (1, 0) exists, at which time the magnet 13a rotates above the magnetoresistive chip 16a and the magnet 13b rotates above the magnetoresistive chip 16 b. The rotating disk 12 continues to rotate, and there is a 2 nd rotation state (0, 0) in which the magnet 13a rotates between the

magnetoresistive chips

16a and 16d and the magnet 13b rotates between the

magnetoresistive chips

16b and 16 a. The rotating disk 12 continues to rotate, and there is a 3 rd rotation state (0, 1) in which the magnet 13a rotates above the magnetoresistive chip 16d and the magnet 13b rotates between the

magnetoresistive chips

16b and 16 a. By analogy, as the rotary disk 12 rotates, the magnetoresistive chips 16a to 16d constitute a plurality of rotation states, and the angle-sensing device determines the azimuth angle of the rotary disk 12 from the output signals of the respective magnetoresistive chips 16, thereby realizing detection of a plurality of azimuth angles.

Referring to FIG. 5, an optional 1 st magnetoresistive chip 16a and a 2 nd magnetoresistive chip 16B are located on different sides of a first reference line B-B'. Then the angles of the 1 st magnet, the 2 nd magnet and the center of the rotating disk are designed according to the angles of the 1 st magnetic resistance chip 16a and the 2 nd magnetic resistance chip 16b.

In other embodiments, the 1 st magneto-resistance chip and the 2 nd magneto-resistance chip are located on the same side of the first datum line, and the 1 st magnet, the 2 nd magnet and the center of the rotating disc are correspondingly designed according to the included angle between the 1 st magneto-resistance chip and the 2 nd magneto-resistance chip.

Fig. 8 is a schematic rotation diagram of another angle sensor according to an embodiment of the present invention. As shown in fig. 8, the center of the detection disk overlaps the center Oa of the rotary disk 12, and the projections of the S magnetoresistive chips 16 onto the rotary disk 12 overlap the magnet rotation path 17. Illustratively, s=4, n=2. The N magnets 13 include at least a 1 st magnet 13a and a 2 nd magnet 13b; the S magnetoresistive chips 16 include a 1 st magnetoresistive chip 16a, a 2 nd magnetoresistive chip 16d, a 3 rd magnetoresistive chip 16c, and a 4 th magnetoresistive chip 16b. The included angles of the 1 st magnet 13a, the 2 nd magnet 13b and the circle center Oa of the rotating disk are equal to the included angles of the 1 st magnetic resistance chip 16a, the 2 nd magnetic resistance chip 16d and the circle center Oa of the detecting disk (overlapped with Oa)All are theta ₁₂ . Wherein θ ₁₂ Not equal to 180 deg.. As shown in fig. 8, θ ₁₂ Acute angle, but is not limited thereto.

Based on this, the rotary disk 12 rotates, and the 1 st rotation state (1, 0, 1) exists, at which the magnet 13a rotates above the magnetoresistive chip 16a and the magnet 13b rotates above the magnetoresistive chip 16 d. The rotating disk 12 continues to rotate, and there is a 2 nd rotation state (0, 0) in which the magnet 13a rotates between the

magnetoresistive chips

16a and 16d and the magnet 13b rotates between the

magnetoresistive chips

16d and 16 c. The rotating disk 12 continues to rotate, and there is a 3 rd rotation state (0, 1, 0) in which the magnet 13b rotates above the magnetoresistive die 16c and the magnet 13a rotates between the

magnetoresistive die

16d and 16 c. By analogy, as the rotary disk 12 rotates, the magnetoresistive chips 16a to 16d constitute a plurality of rotation states, and the angle-sensing device determines the azimuth angle of the rotary disk 12 from the output signals of the respective magnetoresistive chips 16, thereby realizing detection of a plurality of azimuth angles. As can be seen from table 3, the 4 magnetoresistive chips 16, in combination with the 2 magnets 13, can be combined into 6 effective position states, and 6 angles of the rotating disk 12 can be detected.

The optional N magnets further comprise a 3 rd magnet; the working state of the angle sensing device at least comprises a first rotating state, wherein the first rotating state is that in the first direction, the 1 st magnet is overlapped with the 1 st magnetic resistance chip, the 2 nd magnet is overlapped with the 2 nd magnetic resistance chip, and the 3 rd magnet is not overlapped with any magnetic resistance chip. Optional s=4, n=3.

Fig. 9 is a schematic view of yet another angle sensing device provided by an embodiment of the present invention. As shown in fig. 9, the optional S magnetoresistive chips 16 are uniformly distributed circumferentially on the detection disk, but are not limited thereto. The rotating disc 12 is provided with 3 magnets 13, namely a 1 st magnet is a magnet 13a, a 2 nd magnet is a magnet 13b, a 3 rd magnet is a magnet 13c, and 4 magneto-resistance chips 16 are arranged in the detecting disc, namely a 1 st magneto-resistance chip 16a, a 2 nd magneto-resistance chip 16b, a 3 rd magneto-resistance chip 16c and a 4 th magneto-resistance chip 16d. The included angle between the 1 st magnet 13a, the 2 nd magnet 13b and the center Oa of the rotating disk is equal to the included angle between the 1 st magneto-resistance chip 16a, the 2 nd magneto-resistance chip 16b and the center Oa of the detecting disk (coinciding with Oa).

The 3 rd magnet 13c is arranged in such a manner that, in the first direction, when the 1 st magnet 13a overlaps with 1 magnetoresistive chip, the 2 nd magnet 13b overlaps with another 1 magnetoresistive chip, the 3 rd magnet 13c does not overlap with any magnetoresistive chip. Illustratively, the operational state of the angle sensing device is in a first rotational state in which magnet 1, 13a, overlaps with the 1 st magnetoresistive die 16a, magnet 2, 13b, overlaps with the 2 nd magnetoresistive die 16b, and magnet 3, 13c, does not overlap with either magnetoresistive die. At this time, the angles between the 1 st magnet 13a, the 2 nd magnet 13b and the center Oa of the rotating disk are equal to the angles between the 1 st magnetoresistive chip 16a, the 2 nd magnetoresistive chip 16b and the center Oa of the detecting disk (coinciding with Oa).

Specifically, as shown in fig. 9, the 3 rd magnet 13c may be disposed between the 1 st magnet 13a and the 2 nd magnet 13b, so that the included angles between the 1 st magnet 13a, the 3 rd magnet 13c and the center of the rotating disk Oa are θ ₂₁ The included angle between the 3 rd magnet 13c and the 2 nd magnet 13b and the circle center Oa of the rotating disc is theta ₂₂ The 1 st magnet 13a, the 2 nd magnet 13b and the center of the rotating disk Oa have an included angle (θ) ₂₁ +θ ₂₂ )。(θ ₂₁ +θ ₂₂ ) Equal to the included angle theta between the two magneto-resistive chips ₂₁ Is not equal to the included angle theta of any two magnetic resistance chips ₂₂ Is not equal to the included angle (theta) between any two magnetic resistance chips ₂₁ +θ ₂₂ ) Not equal to 180 deg.. As shown in fig. 9, (θ) ₂₁ +θ ₂₂ ) 90 degrees, θ ₂₁ And theta ₂₂ Are acute angles, but are not limited thereto.

Fig. 10 is a schematic view of another angle sensor according to an embodiment of the present invention, and fig. 10 is different from fig. 9. Specifically, in fig. 10, the 1 st magnet 13a, the 2 nd magnet 13b, and the 3 rd magnet 13c in the rotating disk 12 are arranged in order. Wherein, the included angle between the 1 st magnet 13a, the 2 nd magnet 13b and the center of the rotating disc Oa is theta ₃₁ The included angle between the 2 nd magnet 13b, the 3 rd magnet 13c and the circle center Oa of the rotating disc is theta ₃₂ The included angle between the 1 st magnet 13a, the 3 rd magnet 13c and the center of the rotating disc Oa is theta ₃₃ 。θ ₃₁ Equal to the included angle theta between the two magneto-resistive chips ₃₂ Is not equal to the included angle theta of any two magnetic resistance chips ₃₃ Is not equal to the included angle theta of any two magnetic resistance chips ₃₁ Not equal to 180 deg.. As shown in fig. 10, θ ₃₁ Is 90 degreesDegree, θ ₃₂ And theta ₃₃ Are all obtuse angles, but are not limited thereto. As can be seen from table 4, the 4 magnetoresistive chips 16, in combination with the 3 magnets 13, can be combined into 9 effective position states, and the detection of 9 angles of the rotating disk 12 can be realized, wherein the 9 angles include 0 degrees, 45 degrees, 90 degrees, 135 degrees, 180 degrees, 225 degrees, 270 degrees, 315 degrees and other angles. In fig. 10, the N magnets 13 are distributed relatively uniformly, which is advantageous for the center of gravity distribution in practical use.

Fig. 11 is a schematic view of yet another angle sensor provided in an embodiment of the present invention, and fig. 11 is different from fig. 10. Specifically, in fig. 11, the included angle θ between the 1 st magnet 13a, the 2 nd magnet 13b and the center Oa of the rotating disk is ₄₁ The included angle between the 2 nd magnet 13b, the 3 rd magnet 13c and the circle center Oa of the rotating disc is theta ₄₂ The 1 st magnet 13a, 3 rd magnet 13c and the center of the rotating disk Oa have an included angle (θ) ₄₁ +θ ₄₂ )。θ ₄₁ Equal to the included angle theta between the two magneto-resistive chips ₄₂ Is not equal to the included angle (theta) between any two magnetic resistance chips ₄₁ +θ ₄₂ ) Is not equal to the included angle theta of any two magnetic resistance chips ₄₁ Not equal to 180 deg.. As shown in fig. 11, θ ₄₁ 90 degrees, θ ₄₂ Is an acute angle (theta) ₄₁ +θ ₄₂ ) Is obtuse, but is not limited thereto.

Fig. 12 is a schematic view of yet another angle sensor device according to an embodiment of the present invention, and fig. 12 is different from fig. 11. Specifically, in fig. 12, the included angle θ between the 1 st magnet 13a, the 2 nd magnet 13b and the center Oa of the rotating disk is ₅₁ The included angle between the 1 st magnet 13a, the 3 rd magnet 13c and the center of the rotating disc Oa is theta ₅₂ The angles between the 2 nd magnet 13b, the 3 rd magnet 13c and the center of the rotating disk Oa are (θ) ₅₁ +θ ₅₂ )。θ ₅₁ Equal to the included angle theta between the two magneto-resistive chips ₅₂ Is not equal to the included angle (theta) between any two magnetic resistance chips ₅₁ +θ ₅₂ ) Is not equal to the included angle theta of any two magnetic resistance chips ₅₁ Not equal to 180 deg.. As shown in fig. 12, θ ₅₁ 90 degrees, θ ₅₂ Is an acute angle (theta) ₅₁ +θ ₅₂ ) Is obtuse, but is not limited thereto.

In other embodiments, the S magnetoresistive chips are symmetrically distributed on the detection disc about the first reference line, and optionally may be uniformly distributed circumferentially or not.

As can be seen from table 4, the 4 magnetoresistive chips 16, in combination with the 3 magnets 13, can be combined into 9 effective position states, and the detection of 9 angles of the rotating disk 12 can be realized, wherein the 9 angles include 0 degrees, 45 degrees, 90 degrees, 135 degrees, 180 degrees, 225 degrees, 270 degrees, 315 degrees and other angles.

The selectable reluctance chip comprises a reluctance switch; the reluctance switch is used for sensing the magnet to switch the on-off state. In the first direction, the projection of the magnet on the detection disc is overlapped with the magnetic resistance chip to enable the magnetic resistance switch to be switched into a first switch state, and the projection of the magnet on the detection disc is not overlapped with the magnetic resistance chip to enable the magnetic resistance switch to be switched into a second switch state; the first switch state is closed and the second switch state is open, or the first switch state is open and the second switch state is closed.

In this embodiment, the magnetoresistive chip includes a magnetoresistive switch that is influenced by a magnetic field of the magnet to switch the on-off state. In the rotating process of the rotating disc, when the magnet is located above the magnetic resistance chip, the magnetic resistance switch is switched to be in a closed state, and when the magnet is not overlapped with the magnetic resistance chip in the first direction, the magnetic resistance switch is switched to be in an open state. The signal processor in the angle sensing device can obtain the output signals of the S magnetoresistive chips, and the angle information of the rotating disc is determined according to the output signals. When a magneto-resistance switch of the magneto-resistance chip is set to be closed, the magneto-resistance chip outputs a high level, and the signal processor marks the high level as 1; when the reluctance switch of the reluctance chip is opened, the reluctance chip outputs a low level, and the signal processor marks the low level as 0.

Referring to table 4, only when there is a magnet above the magnetoresistive chip a, the magnetoresistive switch of the magnetoresistive chip a is closed and the magnetoresistive switches of the magnetoresistive chips B-D are opened. The signal processor obtains a high level signal output from the magneto-resistive chip a and also obtains a low level signal output from the magneto-resistive chips B-D, respectively, and according to the high and low level signals, it can be determined as a state 5 (1, 0), and according to the state 5, the angle information of the rotating disc is determined.

In other embodiments, the magneto-resistive switch is switched to an open state when the magnet is positioned above the magneto-resistive chip, and to a closed state when the magnet does not overlap the magneto-resistive chip in the first direction; or when the magneto-resistance switch of the set magneto-resistance chip is closed, the magneto-resistance chip outputs a low level; when the reluctance switch of the reluctance chip is disconnected, the reluctance chip outputs a high level.

Based on the same inventive concept, the embodiment of the present invention further provides an angle sensing method, which is applied to the angle sensing device according to any of the embodiments of the present invention, and fig. 13 is a schematic diagram of an angle sensing method provided by the embodiment of the present invention, and as shown in fig. 13, the angle sensing method includes:

s1, driving a rotating disc in a rotating structure to rotate so that N magnets on the rotating disc synchronously rotate;

and S2, determining the angle information of the rotating disc according to the output signals of the S magnetoresistive chips in the detection structure.

In this embodiment, N magnets are fixed on the rotating disc, and S magnetoresistive chips are placed on the detecting structure below the rotating disc. The magnet and the magnetoresistive chip may not be placed at the axis of rotation. Under the condition of the same resolution, the number of the magnetoresistive chips is reduced, and the detection distance is even 4mm. If angle detection with higher resolution is needed, the method can be extended based on the basis of the method.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. An angle sensing device, comprising:

2. The angle sensing device of claim 1, wherein the S magnetoresistive chips are symmetrically distributed about a center of a circle on the sense disk.

3. The angle sensing device of claim 1, wherein the S magnetoresistive chips are circumferentially uniformly distributed on the sense disk.

4. The angle sensing device of claim 1, wherein the N magnets comprise at least a 1 st magnet and a 2 nd magnet;

5. The angle sensing device of claim 4, wherein the 1 st magnetoresistive chip and the 2 nd magnetoresistive chip are located on the same side of the first datum line;

6. The angle sensing device of claim 4, wherein the N magnets further comprise a 3 rd magnet;

7. The angle sensing device of claim 1, wherein the magnetoresistive chip comprises a magnetoresistive switch;

8. The angle sensing device of claim 7, wherein in the first direction, a projection of the magnet onto the detection disc overlaps the magnetoresistive chip to switch the magnetoresistive switch to a first switch state, and wherein a projection of the magnet onto the detection disc does not overlap the magnetoresistive chip to switch the magnetoresistive switch to a second switch state;

9. The angle sensing device of claim 1, further comprising a signal processor electrically connected to the magneto-resistive chips for determining angle information of the rotating disk based on output signals of the respective magneto-resistive chips.

10. An angle sensing method, applied to an angle sensing device according to any one of claims 1-9, comprising: