JP2008304222A - Magnetic detecting method and its system - Google Patents

Magnetic detecting method and its system Download PDF

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JP2008304222A
JP2008304222A JP2007149589A JP2007149589A JP2008304222A JP 2008304222 A JP2008304222 A JP 2008304222A JP 2007149589 A JP2007149589 A JP 2007149589A JP 2007149589 A JP2007149589 A JP 2007149589A JP 2008304222 A JP2008304222 A JP 2008304222A
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detection signal
magnet
magnetic sensors
output signals
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JP4926838B2 (en
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Arata Kasamatsu
新 笠松
Toshinori Takatsuka
俊徳 高塚
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Asahi Kasei Electronics Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a magnetic detecting method and its system on a two-dimensional plane which reduce errors in magnetic detection when installation displacement occurs. <P>SOLUTION: The magnetic detecting method linearly interpolates detection signals calculated from output signals of a pair of Hall device 301, 302 on the x-axis as a function of the x-coordinate of a magnet to determine a slope a and an intercept b, linearly interpolates detection signals calculated from output signals of a pair of Hall devices 303, 304 on the y-axis as a function of the x-coordinate of the magnet to determine a slope c and an intercept d, linearly interpolates detection signals calculated from output signals of the pair of Hall devices 301, 302 as a function of the y-coordinate of the magnet to determine a slope e and an intercept f, and linearly interpolates detection signals calculated from output signals of the pair of Hall devices 303, 304 as a function of the y-coordinate of the magnet to determine a slope g and an intercept h. Using these parameters, the detection position of the magnet is calculated by a predetermined formula to perform magnetic detection. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

本発明は、磁気検出方法およびその装置に関し、より詳細には、２次元平面上での磁石の位置を検出する磁気検出方法およびその装置に関する。   The present invention relates to a magnetic detection method and apparatus, and more particularly, to a magnetic detection method and apparatus for detecting the position of a magnet on a two-dimensional plane.

磁石の位置を検出する磁気センサとして、ホール素子を用いることが従来よく知られている。ホール素子は、磁界を与えたときに生じるホール効果を利用したものであり、磁界の強さに対して出力信号（出力電圧）が線形に現れる。したがって、磁石がホール素子に接近すれば、出力信号が増加する。ここで述べている磁石は、フェライト、ネオジム、サマリウム−コバルトなど通常市販されている磁石であり、その他磁界を生ずる物体（コイル等）とすることもできる。   Conventionally, it is well known to use a Hall element as a magnetic sensor for detecting the position of a magnet. The Hall element uses a Hall effect generated when a magnetic field is applied, and an output signal (output voltage) appears linearly with respect to the strength of the magnetic field. Therefore, as the magnet approaches the Hall element, the output signal increases. The magnet described here is a commercially available magnet such as ferrite, neodymium, and samarium-cobalt, and can also be an object (such as a coil) that generates a magnetic field.

複数のホール素子を用いて、各ホール素子から得られる信号を演算することで、精密な磁気検出や長距離にわたる磁気検出が可能であることもよく知られている。図１は、複数のホール素子を用いた精密な磁気検出を説明するための模式図である。１対のホール素子（ＨＥ）１０１および１０２がｘ軸上に実装されている。磁石１０３は、ホール素子１０１および１０２からｚ方向に離間された位置に、ｘ方向に可動に設置してある。磁石１０３がｘ軸上を移動することで、ホール素子１０１および１０２に印加される磁界が変化して各ホール素子の出力信号が変化する。それらの信号を演算することにより磁石のｘ軸上の位置を検出することが可能である。   It is also well known that precise magnetic detection and magnetic detection over a long distance are possible by calculating a signal obtained from each Hall element using a plurality of Hall elements. FIG. 1 is a schematic diagram for explaining precise magnetic detection using a plurality of Hall elements. A pair of Hall elements (HE) 101 and 102 are mounted on the x-axis. The magnet 103 is movably installed in the x direction at a position separated from the hall elements 101 and 102 in the z direction. As the magnet 103 moves on the x-axis, the magnetic field applied to the Hall elements 101 and 102 changes, and the output signal of each Hall element changes. By calculating those signals, it is possible to detect the position of the magnet on the x-axis.

具体的には、次のようにホール素子の出力信号を演算することで精密な磁気検出を行うことができる。まず、磁石１０３を、ｘ軸上の可動範囲の両端ｘaおよびｘbに移動させる。それぞれの位置に関して、ホール素子１０１の出力信号Ｖx1とホール素子１０２の出力信号Ｖx2との差を出力信号の和で除する。つまり、Ｘ＝（Ｖx2−Ｖx1）／（Ｖx1＋Ｖx2）を求める。ｘ軸上の２点ｘaおよびｘbについて求めたＸの値から、Ｘを磁石１０３の位置ｘの関数として近似（直線補間）すると、数式（１）を得る。この方法は、従来から知られている磁気検出方法である。
Ｘ＝ｃｘ＋ｄ（ｃおよびｄは定数） （１） Specifically, precise magnetic detection can be performed by calculating the output signal of the Hall element as follows. First, the magnet 103 is moved to both ends x a and x b of the movable range on the x axis. For each position, divided by the sum of the output signal the difference between the output signal V x2 of the output signal V x1 and the Hall element 102 of the Hall element 101. That is, X = (V x2 −V x1 ) / (V x1 + V x2 ) is obtained. When X is approximated (linear interpolation) as a function of the position x of the magnet 103 from the X values obtained for the two points x a and x b on the x-axis, Equation (1) is obtained. This method is a conventionally known magnetic detection method.
X = cx + d (c and d are constants) (1)

磁石が直線上ではなく２次元平面上で移動する場合は、平面のｘ軸上およびｙ軸上にそれぞれ１対のホール素子等の磁気センサを配置する方法が知られている。たとえば、特許文献１および２を参照されたい。それぞれの軸について図１を参照して説明したように直線補間を行うことで、２次元平面上での磁石の位置を検出することができる。   When a magnet moves on a two-dimensional plane instead of on a straight line, a method of arranging a pair of magnetic sensors such as Hall elements on the x-axis and y-axis of the plane is known. For example, see Patent Documents 1 and 2. By performing linear interpolation as described with reference to FIG. 1 for each axis, the position of the magnet on the two-dimensional plane can be detected.

ホール素子等の磁気センサを用いた２次元平面上での磁気検出方法は、例えば、デジタルカメラの手ブレ補正において行われるＣＣＤや補正レンズの位置検出への応用が実現されている（特許文献１および２参照）。   A magnetic detection method on a two-dimensional plane using a magnetic sensor such as a Hall element has been applied to, for example, CCD and correction lens position detection performed in camera shake correction of a digital camera (Patent Document 1). And 2).

特開２００５−３３１５４９号公報JP 2005-331549 A 特開２００５−３３１４００号公報JP-A-2005-331400

２次元平面上での磁気検出方法は上述のように既知であるが、従来の方法には、磁気センサ実装時の設計位置からのズレ（実装ズレ）に起因する検出誤差があり、磁気検出の精度に影響を与えている。   The magnetic detection method on the two-dimensional plane is known as described above. However, the conventional method has a detection error due to a deviation from the design position (mounting deviation) when the magnetic sensor is mounted. The accuracy is affected.

図２を参照して実装ズレの問題を説明する。１対のホール素子２０１および２０２がｘ軸上に配置されている。また、１対のホール素子２０３および２０４がｙ軸上に配置されている。ホール素子２０４は、設計上はｘ軸と直交するｙ軸上に配置されるものであるが、実装ズレによりｙ’軸上に位置している。   The problem of mounting misalignment will be described with reference to FIG. A pair of Hall elements 201 and 202 are arranged on the x-axis. A pair of Hall elements 203 and 204 are arranged on the y-axis. The Hall element 204 is designed to be arranged on the y axis orthogonal to the x axis, but is located on the y ′ axis due to mounting displacement.

ここで、磁石が（イ）の位置からｘ軸上を(ロ)の位置まで移動したとする。数式（１）と同様の方法で磁石のｙ座標を算出すると、ｙ軸がｙ’軸にずれているため、実際は（ロ）の位置に磁石がありｙ＝０であるのに反して、ホール素子２０３からの出力信号がホール素子２０４の出力信号よりも大きくなって（ハ）の位置に磁石がある時のｙ座標が得られてしまう。つまり、ｙ軸がｙ’軸にずれたために磁石が（ロ）ではなく、（ハ）の位置にあるものと認識してしまう。この(ロ)と(ハ)のズレが磁石の検出誤差として現れる。従来、この検出誤差を補正する方法は無く、もっぱら実装ズレを抑えるか誤差を許容して設計する等の対策をとっている。   Here, it is assumed that the magnet has moved from the position (A) to the position (B) on the x-axis. When the y-coordinate of the magnet is calculated in the same manner as in Equation (1), the y-axis is shifted to the y′-axis. Therefore, in reality, there is a magnet at the position (b), and y = 0. The output signal from the element 203 is larger than the output signal from the Hall element 204, and the y coordinate when the magnet is at the position (c) is obtained. That is, since the y-axis is shifted to the y′-axis, it is recognized that the magnet is in the position (c) instead of (b). The deviation between (b) and (c) appears as a magnet detection error. Conventionally, there is no method for correcting this detection error, and measures such as suppressing mounting displacement or designing with tolerance are taken.

しかしながら、実装ズレを抑えるためには、より上級で、よりハイコストの実装装置が必要になる。また、誤差を許容して設計するという対策は、磁気検出の誤差という問題を解決するものではない。したがって、２次元平面上での磁気検出において、実装ズレがあった場合に、誤差を低減する方法が望まれている。   However, in order to suppress mounting displacement, a higher-grade and higher-cost mounting device is required. In addition, the measure of allowing the error to design does not solve the problem of magnetic detection error. Therefore, there is a demand for a method for reducing an error when there is a mounting shift in magnetic detection on a two-dimensional plane.

本発明は、このような問題に鑑みてなされたもので、その目的とするところは、実装ズレがあった場合に磁気検出の誤差を低減する、２次元平面上での磁石の位置を検出する磁気検出方法およびその装置を提供することにある。   The present invention has been made in view of such a problem, and an object of the present invention is to detect the position of a magnet on a two-dimensional plane which reduces magnetic detection errors when there is a mounting deviation. The object is to provide a magnetic detection method and apparatus.

このような目的を達成するために、請求項１に記載の発明は、第１および第２の１対の磁気センサがそれぞれ配置された第１の座標軸（ｖ軸）および第２の座標軸（ｗ軸）により定まる２次元平面に平行な平面上での、磁石の位置を検出する磁気検出方法であって、前記磁石が前記２次元平面に平行な平面上の位置（ｖ，ｗ）にあるときに、前記第１の１対の磁気センサの出力信号から第１の検出信号を算出する第１の検出信号算出ステップと、前記第２の１対の磁気センサの出力信号から第２の検出信号を算出する第２の検出信号算出ステップと、前記第１の１対の磁気センサの前記第１の座標軸に対する配置誤差を、前記第２の検出信号を用いた関数として近似し、前記第２の１対の磁気センサの前記第２の座標軸に対する配置誤差を、前記第１の検出信号を用いた関数として近似して、前記磁石の位置（ｖ，ｗ）を算出する位置算出ステップとを含むことを特徴とする。   In order to achieve such an object, the invention described in claim 1 includes a first coordinate axis (v-axis) and a second coordinate axis (w) on which a first and second pair of magnetic sensors are respectively arranged. A magnetic detection method for detecting the position of a magnet on a plane parallel to a two-dimensional plane determined by an axis), wherein the magnet is at a position (v, w) on a plane parallel to the two-dimensional plane. In addition, a first detection signal calculating step for calculating a first detection signal from the output signals of the first pair of magnetic sensors, and a second detection signal from the output signals of the second pair of magnetic sensors. A second detection signal calculation step of calculating the first detection signal, and an arrangement error of the first pair of magnetic sensors with respect to the first coordinate axis as a function using the second detection signal, An arrangement error of the pair of magnetic sensors with respect to the second coordinate axis is as follows: Approximated as a function using the serial first detection signal, characterized in that it comprises a position calculation step of calculating the position of the magnet (v, w).

また、請求項２に記載の発明は、請求項１において、記録媒体からパラメータを読み出すパラメータ読み出しステップであって、前記パラメータは、前記第１の１対の磁気センサの出力信号から算出される第３の検出信号を、前記磁石の前記第１の座標軸の座標の関数として直線補間して得られる傾きａおよび切片ｂと、前記第２の１対の磁気センサの出力信号から算出される第４の検出信号を、前記磁石の前記第１の座標軸の座標の関数として直線補間して得られる傾きｃおよび切片ｄと、前記第１の１対の磁気センサの出力信号から算出される第５の検出信号を、前記磁石の前記第２の座標軸の座標の関数として直線補間して得られる傾きｅおよび切片ｆと、前記第２の１対の磁気センサの出力信号から算出される第６の検出信号を、前記磁石の前記第２の座標軸の座標の関数として直線補間して得られる傾きｇおよび切片ｈとを含み、前記位置算出ステップは、前記第１の検出信号をＶ、前記第２の検出信号をＷとして、前記位置（ｖ，ｗ）を
ｖ＝｛（Ｖ−ｆ）−（Ｗ−ｈ）ｅ／ｇ｝／ａ
ｗ＝｛（Ｗ−ｄ）−（Ｖ−ｂ）ｃ／ａ｝／ｇ
として算出することを特徴とする。 The invention according to claim 2 is the parameter reading step of reading a parameter from the recording medium according to claim 1, wherein the parameter is calculated from output signals of the first pair of magnetic sensors. 4 is calculated from the inclination a and intercept b obtained by linear interpolation of the detection signal of 3 as a function of the coordinates of the first coordinate axis of the magnet, and the output signal of the second pair of magnetic sensors. Is calculated from the inclination c and intercept d obtained by linear interpolation as a function of the coordinates of the first coordinate axis of the magnet, and the output signal of the first pair of magnetic sensors. A sixth detection calculated from the inclination e and intercept f obtained by linear interpolation of the detection signal as a function of the coordinates of the second coordinate axis of the magnet and the output signal of the second pair of magnetic sensors. Signal before Including a gradient g and an intercept h obtained by linear interpolation as a function of the coordinates of the second coordinate axis of the magnet, and the position calculating step uses V as the first detection signal and W as the second detection signal. And the position (v, w) is v = {(V−f) − (W−h) e / g} / a
w = {(W−d) − (V−b) c / a} / g
It is calculated as follows.

また、請求項３に記載の発明は、請求項２において、前記第１から第６の検出信号は、１対の磁気センサの出力信号の差を、前記出力信号の和で除した値に比例定数を乗ずることで算出されることを特徴とする。   According to a third aspect of the present invention, in the second aspect, the first to sixth detection signals are proportional to a value obtained by dividing a difference between output signals of a pair of magnetic sensors by a sum of the output signals. It is calculated by multiplying by a constant.

また、請求項４に記載の発明は、請求項２において、前記第１から第６の検出信号は、１対の磁気センサの出力信号の差に比例定数を乗ずることで算出されることを特徴とする。   According to a fourth aspect of the present invention, in the second aspect, the first to sixth detection signals are calculated by multiplying a difference between output signals of a pair of magnetic sensors by a proportional constant. And

また、請求項５に記載の発明は、第１および第２の１対の磁気センサがそれぞれ配置された第１の座標軸（ｖ軸）および第２の座標軸（ｗ軸）により定まる２次元平面に平行な平面上での磁石の位置を検出する磁気検出装置であって、前記第１および第２の１対の磁気センサと、前記第１の１対の磁気センサの出力信号から第１の検出信号を算出する第１の検出信号算出手段と、前記第２の１対の磁気センサの出力信号から第２の検出信号を算出する第２の検出信号算出手段と、前記第１の１対の磁気センサの前記第１の座標軸に対する配置誤差を、前記第２の検出信号を用いた関数として近似し、前記第２の１対の磁気センサの前記第２の座標軸に対する配置誤差を、前記第１の検出信号を用いた関数として近似して、磁石の位置（ｖ，ｗ）を算出する位置算出手段とを備えることを特徴とする。   The invention according to claim 5 is a two-dimensional plane determined by a first coordinate axis (v-axis) and a second coordinate axis (w-axis) on which the first and second pairs of magnetic sensors are respectively arranged. A magnetic detection device for detecting a position of a magnet on a parallel plane, wherein a first detection is performed from the first and second pairs of magnetic sensors and output signals of the first pair of magnetic sensors. A first detection signal calculating means for calculating a signal; a second detection signal calculating means for calculating a second detection signal from output signals of the second pair of magnetic sensors; An arrangement error of the magnetic sensor with respect to the first coordinate axis is approximated as a function using the second detection signal, and an arrangement error of the second pair of magnetic sensors with respect to the second coordinate axis is approximated with the first coordinate axis. The position of the magnet (v, w Characterized in that it comprises a position calculating means for calculating.

また、請求項６に記載の発明は、請求項５において、記録媒体からパラメータを読み出すパラメータ読み出し手段であって、前記パラメータは、前記第１の１対の磁気センサの出力信号から算出される第３の検出信号を、前記磁石の前記第１の座標軸の座標の関数として直線補間して得られる傾きａおよび切片ｂと、前記第２の１対の磁気センサの出力信号から算出される第４の検出信号を、前記磁石の前記第１の座標軸の座標の関数として直線補間して得られる傾きｃおよび切片ｄと、前記第１の１対の磁気センサの出力信号から算出される第５の検出信号を、前記磁石の前記第２の座標軸の座標の関数として直線補間して得られる傾きｅおよび切片ｆと、前記第２の１対の磁気センサの出力信号から算出される第６の検出信号を、前記磁石の前記第２の座標軸の座標の関数として直線補間して得られる傾きｇおよび切片ｈとを含むものを備え、前記位置算出手段は、前記第１の検出信号をＶ、前記第２の検出信号をＷとして、前記位置（ｖ，ｗ）を
ｖ＝｛（Ｖ−ｆ）−（Ｗ−ｈ）ｅ／ｇ｝／ａ
ｗ＝｛（Ｗ−ｄ）−（Ｖ−ｂ）ｃ／ａ｝／ｇ
として算出することを特徴とする。 According to a sixth aspect of the present invention, in the fifth aspect of the present invention, the parameter reading means for reading out a parameter from the recording medium, wherein the parameter is calculated from output signals of the first pair of magnetic sensors. 4 is calculated from the inclination a and intercept b obtained by linear interpolation of the detection signal of 3 as a function of the coordinates of the first coordinate axis of the magnet, and the output signal of the second pair of magnetic sensors. Is calculated from the inclination c and intercept d obtained by linear interpolation as a function of the coordinates of the first coordinate axis of the magnet, and the output signal of the first pair of magnetic sensors. A sixth detection calculated from the inclination e and intercept f obtained by linear interpolation of the detection signal as a function of the coordinates of the second coordinate axis of the magnet and the output signal of the second pair of magnetic sensors. Signal to the magnetic field Including a slope g and an intercept h obtained by linear interpolation as a function of the coordinates of the second coordinate axis, and the position calculating means uses the first detection signal as V and the second detection signal. Is W, and the position (v, w) is v = {(V−f) − (W−h) e / g} / a
w = {(W−d) − (V−b) c / a} / g
It is calculated as follows.

また、請求項７に記載の発明は、請求項６において、前記第１から第６の検出信号は、１対の磁気センサの出力信号の差を、前記出力信号の和で除した値に比例定数を乗ずることで算出されることを特徴とする。   According to a seventh aspect of the present invention, in the sixth aspect, the first to sixth detection signals are proportional to a value obtained by dividing a difference between output signals of a pair of magnetic sensors by a sum of the output signals. It is calculated by multiplying by a constant.

また、請求項８に記載の発明は、請求項６において、前記第１から第６の検出信号は、１対の磁気センサの出力信号の差に比例定数を乗ずることで算出されることを特徴とする。   According to an eighth aspect of the present invention, in the sixth aspect, the first to sixth detection signals are calculated by multiplying a difference between output signals of a pair of magnetic sensors by a proportional constant. And

また、請求項９に記載の発明は、第１の座標軸（ｖ軸）および第２の座標軸（ｗ軸）により定まる２次元平面に平行な平面上での磁石の位置（ｖ，ｗ）を検出するために前記第１および第２の座標軸にそれぞれ配置された、第１および第２の１対の磁気センサの出力信号が入力されるコンピュータに、前記第１の１対の磁気センサの出力信号から第１の検出信号を算出する第１の検出信号算出ステップと、前記第２の１対の磁気センサの出力信号から第２の検出信号を算出する第２の検出信号算出ステップと、前記第１の１対の磁気センサの前記第１の座標軸に対する配置誤差を、前記第２の検出信号を用いた関数として近似し、前記第２の１対の磁気センサの前記第２の座標軸に対する配置誤差を、前記第１の検出信号を用いた関数として近似して、前記磁石の位置（ｖ，ｗ）を算出する位置算出ステップとを実行させるためのプログラムである。   The invention according to claim 9 detects the position (v, w) of the magnet on a plane parallel to a two-dimensional plane determined by the first coordinate axis (v-axis) and the second coordinate axis (w-axis). Output signals of the first pair of magnetic sensors, which are arranged on the first and second coordinate axes, respectively, and to which the output signals of the first and second pairs of magnetic sensors are input. A first detection signal calculation step for calculating a first detection signal from the second detection signal calculation step, a second detection signal calculation step for calculating a second detection signal from output signals of the second pair of magnetic sensors, An arrangement error of the first pair of magnetic sensors with respect to the first coordinate axis is approximated as a function using the second detection signal, and an arrangement error of the second pair of magnetic sensors with respect to the second coordinate axis is approximated. As a function using the first detection signal And similar, a program for executing the position calculation step of calculating the position of the magnet (v, w).

本発明によれば、それぞれ１対の磁気センサが配置された２つの軸により定まる２次元平面に平行な平面上での磁石の位置を検出するにあたり、１対の磁気センサの一方の軸に対する配置誤差を、それぞれ他方の軸に配置された１対の磁気センサの出力信号から算出される検出信号を用いた関数として近似して磁石の位置を算出することにより、磁気センサの実装ズレがあった場合に、磁気検出の最大誤差を低減する磁気検出方法およびその装置を提供することができる。   According to the present invention, in detecting the position of a magnet on a plane parallel to a two-dimensional plane determined by two axes each having a pair of magnetic sensors, the arrangement of the pair of magnetic sensors with respect to one axis There was a mounting deviation of the magnetic sensor by calculating the position of the magnet by approximating the error as a function using a detection signal calculated from the output signal of a pair of magnetic sensors arranged on the other axis. In this case, a magnetic detection method and apparatus for reducing the maximum error in magnetic detection can be provided.

以下、図面を参照して本発明の実施形態を詳細に説明する。
図３は、本発明に係る磁気検出方法を実施するための磁気検出装置および磁石を示している。磁気検出装置３００は、ｘ軸上に配置された１対のホール素子３０１および３０２と、ｙ軸上に配置された１対のホール素子３０３および３０４と、１対のホール素子３０１および３０２からの出力信号の差分を増幅するオペアンプ３０５と、１対のホール素子３０３および３０４からの出力信号の差分を増幅するオペアンプ３０６と、オペアンプ３０５および３０６の出力信号をサンプルホールドするサンプルホールド（Ｓ／Ｈ）回路３０７と、サンプルホールド回路３０７を介したホール素子３０１〜３０４の出力信号に基づいて磁石の位置を算出する演算部３０８と、演算部３０８と接続されたメモリ３０９とを備える。演算部３０８は、メモリ３０９から、演算部３０８に本発明に係る磁気検出方法を実行させるためのプログラムや各種の記録されたパラメータを読み込み、本発明に係る磁気検出方法の各ステップを実行する手段として機能することができる。ホール素子３０１〜３０４は、設計上はｘ軸上またはｙ軸上に配置されるものであるが、図示のように実装ズレが生じている。磁石３１０は、ホール素子３０１〜３０４が配置された平面から垂直方向に離間して設置されている。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 3 shows a magnetic detection device and a magnet for carrying out the magnetic detection method according to the present invention. The magnetic detection device 300 includes a pair of Hall elements 301 and 302 disposed on the x-axis, a pair of Hall elements 303 and 304 disposed on the y-axis, and a pair of Hall elements 301 and 302. An operational amplifier 305 that amplifies the difference between the output signals, an operational amplifier 306 that amplifies the difference between the output signals from the pair of Hall elements 303 and 304, and a sample hold (S / H) that samples and holds the output signals from the operational amplifiers 305 and 306 A circuit 307, a calculation unit 308 that calculates the position of the magnet based on the output signals of the Hall elements 301 to 304 via the sample hold circuit 307, and a memory 309 connected to the calculation unit 308 are provided. The arithmetic unit 308 reads a program for causing the arithmetic unit 308 to execute the magnetic detection method according to the present invention and various recorded parameters from the memory 309, and executes each step of the magnetic detection method according to the present invention. Can function as. The Hall elements 301 to 304 are arranged on the x-axis or the y-axis by design, but there is a mounting deviation as shown in the figure. The magnet 310 is installed in the vertical direction away from the plane on which the Hall elements 301 to 304 are arranged.

演算部３０８としては、ホール素子の出力信号をＡＤ変換し、演算処理することができる簡易なマイコンを用いることができる。また、トランジスタなどの半導体部品をディスクリート部品で組上げたものでもよい。サイズを最も小さくするには、ＩＣ化した演算ＩＣ等が好適である。   As the calculation unit 308, a simple microcomputer capable of performing AD processing on the output signal of the Hall element and performing calculation processing can be used. Alternatively, a semiconductor component such as a transistor may be assembled as a discrete component. In order to make the size the smallest, an arithmetic IC or the like made into an IC is suitable.

オペアンプ３０５および３０６ならびにサンプルホールド回路３０７は例示的構成であり、ホール素子３０１〜３０４の出力信号を、演算部３０８での磁石位置の算出に使用することができる構成であればよい。   The operational amplifiers 305 and 306 and the sample hold circuit 307 are exemplary configurations, and any configuration may be used as long as the output signals of the Hall elements 301 to 304 can be used for calculation of the magnet position in the calculation unit 308.

図４は、本発明に係る磁気検出方法を説明するためのフローチャートである。本発明に係る磁気検出方法は、一方の軸の座標を算出するにあたってその軸に配置された磁気センサの出力信号に加えて他方の軸に配置された磁気センサの出力信号も用いることを特徴とし、初期設定とそれに基づく検出位置の算出とに分けられる。まず、初期設定に関して説明する。   FIG. 4 is a flowchart for explaining the magnetic detection method according to the present invention. The magnetic detection method according to the present invention uses an output signal of a magnetic sensor arranged on the other axis in addition to an output signal of a magnetic sensor arranged on the other axis in calculating the coordinates of one axis. The initial setting and the detection position calculation based on the initial setting. First, the initial setting will be described.

ステップ４０１で、ｘ軸上の１対のホール素子３０１および３０２の出力信号から算出される検出信号を、磁石のｘ座標の関数として数式（１）で表されるように直線補間して、傾きａおよび切片ｂを求める。
Ｘ＝ａｘ＋ｂ （１）
具体的には、磁石に取り付けられた駆動装置（図示せず）もしくは手動で、磁石をｘ方向の可動範囲両端に移動させて、各点について検出信号Ｘを算出する。検出信号Ｘは、従来技術に関して説明したように、ｘ軸上に配置された１対の磁気センサの出力信号の差を出力信号の和で除したものとすることができる。検出信号を１対の磁気センサの出力信号の差としてもよいが、出力信号の和で除することで磁石や磁気センサの温度特性をキャンセルすることが可能になる。出力信号の差を出力信号の和で除する場合でも出力信号の差を用いる場合でも、任意の比例定数を乗じた値を検出信号とすることができる。可動範囲両端の各点について求めた検出信号Ｘを直線補間すれば、傾きａおよび切片ｂが求まる。可動範囲両端の２点に限らず、３点以上を用いて直線近似を行ってもよい。いずれにしても、傾きａおよび切片ｂが求まればよい。 In step 401, the detection signal calculated from the output signals of the pair of Hall elements 301 and 302 on the x-axis is linearly interpolated as a function of the x-coordinate of the magnet as expressed by Equation (1), and the inclination is obtained. Find a and intercept b.
X = ax + b (1)
Specifically, the drive unit (not shown) attached to the magnet or manually moves the magnet to both ends of the movable range in the x direction, and calculates the detection signal X for each point. The detection signal X can be obtained by dividing the difference between the output signals of a pair of magnetic sensors arranged on the x-axis by the sum of the output signals, as described in the related art. The detection signal may be the difference between the output signals of the pair of magnetic sensors, but the temperature characteristics of the magnet and the magnetic sensor can be canceled by dividing the detection signal by the sum of the output signals. Whether the output signal difference is divided by the sum of the output signals or the output signal difference is used, a value obtained by multiplying an arbitrary proportionality constant can be used as the detection signal. If the detection signal X obtained for each point at both ends of the movable range is linearly interpolated, the slope a and the intercept b can be obtained. The linear approximation may be performed using not only two points at both ends of the movable range but also three or more points. In any case, the slope a and the intercept b may be obtained.

ステップ４０２で、ｙ軸上の１対のホール素子３０３および３０４の出力信号から算出される検出信号を、磁石のｘ座標の関数として数式（２）で表されるように直線補間して、傾きｃおよび切片ｄを求める。
Ｙ’＝ｃｘ＋ｄ （２） In step 402, the detection signal calculated from the output signals of the pair of Hall elements 303 and 304 on the y-axis is linearly interpolated as a function of the x-coordinate of the magnet as expressed by Equation (2), and the inclination is obtained. Find c and intercept d.
Y ′ = cx + d (2)

ステップ４０３で、ｘ軸上の１対のホール素子３０１および３０２の出力信号から算出される検出信号を、磁石のｙ座標の関数として数式（３）で表されるように直線補間して、傾きｅおよび切片ｆを求める。
Ｘ’＝ｅｙ＋ｆ （３） In step 403, the detection signal calculated from the output signals of the pair of Hall elements 301 and 302 on the x-axis is linearly interpolated as a function of the y-coordinate of the magnet as expressed by Equation (3), and the inclination is obtained. e and intercept f are obtained.
X ′ = ey + f (3)

ステップ４０４で、ｙ軸上の１対のホール素子３０３および３０４の出力信号から算出される検出信号を、磁石のｙ座標の関数として数式（４）で表されるように直線補間して、傾きｇおよび切片ｈを求める。
Ｙ＝ｇｙ＋ｈ （４） In step 404, the detection signal calculated from the output signals of the pair of Hall elements 303 and 304 on the y-axis is linearly interpolated as a function of the y-coordinate of the magnet as expressed by Equation (4), and the inclination is obtained. Find g and intercept h.
Y = gy + h (4)

ステップ４０２〜４０４は、ステップ４０１と同様に実行することができるが、検出信号の算出方法は、ステップ４０１から４０４で統一する必要がある。これらのステップ４０１〜４０４を行う順序は任意である。なお、これらのステップ４０１〜４０４は、一度行えば算出したパラメータをメモリやハードディスクなどの記録媒体に格納しておくことができることに留意されたい。つまり、次に説明する位置算出ステップと時間的に連続して行われる必要がなく、位置算出ステップを行う際に、メモリ等から所要のパラメータａ〜ｈを読み出せばよい。   Steps 402 to 404 can be executed in the same manner as in step 401, but the detection signal calculation method needs to be unified in steps 401 to 404. The order in which these steps 401 to 404 are performed is arbitrary. Note that once these steps 401 to 404 are performed, the calculated parameters can be stored in a recording medium such as a memory or a hard disk. That is, it is not necessary to carry out the position calculation step described next in time, and when the position calculation step is performed, the required parameters a to h may be read from the memory or the like.

このようにして得られたパラメータを用いて、ステップ４０５で、数式（５）および（６）により磁石の検出位置を算出して、磁気検出を行うことができる。
ｘ＝｛（Ｘ−ｆ）−（Ｙ−ｈ）ｅ／ｇ｝／ａ （５）
ｙ＝｛（Ｙ−ｄ）−（Ｘ−ｂ）ｃ／ａ｝／ｇ （６） Using the parameters obtained in this way, in step 405, the magnet detection position can be calculated by mathematical formulas (5) and (6) to perform magnetic detection.
x = {(X−f) − (Y−h) e / g} / a (5)
y = {(Yd)-(Xb) c / a} / g (6)

ここで、数式（５）および（６）の導出について説明する。
数式（５）および（６）の導出
数式（１）および数式（４）を用いた従来技術による磁石の検出位置（ｘ，ｙ）は、正規位置（＜ｘ＞，＜ｙ＞）からの誤差を含んでいる。ｘ座標の誤差をｘ’、ｙ座標の誤差をｙ’とすれば、
ｘ＝＜ｘ＞＋ｘ’ （７）
ｙ＝＜ｙ＞＋ｙ’ （８）
と表すことができる。ここで、検出信号Ｘに含まれる誤差成分をＸ’、検出信号Ｙに含まれる誤差成分をＹ’として、
Ｘ’＝ａｘ’＋ｂ （９）
Ｙ’＝ｇｙ’＋ｈ （１０）
とおく。そうすると、数式（１）および（９）から、数式（７）を、
＜ｘ＞＝ｘ−ｘ’＝（Ｘ−Ｘ’）／ａ （１１）
と変形し、数式（２）および（１０）から、数式（８）を、
＜ｙ＞＝ｙ−ｙ’＝（Ｙ−Ｙ’）／ｇ （１２）
と変形するができる。Ｘ’は上述した数式（３）で、Ｙ’は上述した数式（２）で表されるものとして、数式（１１）および（１２）にそれぞれ数式（３）および（２）を代入すると、
＜ｘ＞＝（Ｘ−（ｅｙ＋ｆ））／ａ （１３）
＜ｙ＞＝（Ｙ−（ｃｘ＋ｄ））／ｇ （１４）
となる。数式（１３）に数式（４）を、数式（１４）に数式（１）を代入して
＜ｘ＞＝｛（Ｘ−ｆ）−（Ｙ−ｈ）ｅ／ｇ｝／ａ
＜ｙ＞＝｛（Ｙ−ｄ）−（Ｘ−ｂ）ｃ／ａ｝／ｇ
を得る。 Here, the derivation of the equations (5) and (6) will be described.
Derivation of Equations (5) and (6) The detected position (x, y) of the magnet according to the prior art using Equation (1) and Equation (4) is an error from the normal position (<x>, <y>). Is included. If the x coordinate error is x ′ and the y coordinate error is y ′,
x = <x> + x ′ (7)
y = <y> + y ′ (8)
It can be expressed as. Here, an error component included in the detection signal X is X ′, and an error component included in the detection signal Y is Y ′.
X ′ = ax ′ + b (9)
Y ′ = gy ′ + h (10)
far. Then, from Equations (1) and (9), Equation (7)
<X> = xx ′ = (XX ′) / a (11)
And transformed from Equations (2) and (10) to Equation (8)
<Y> = y−y ′ = (Y−Y ′) / g (12)
Can be transformed. Assuming that X ′ is represented by Equation (3) above and Y ′ is represented by Equation (2) above, substituting Equations (3) and (2) into Equations (11) and (12) respectively,
<X> = (X− (ey + f)) / a (13)
<Y> = (Y− (cx + d)) / g (14)
It becomes. Substituting Equation (4) into Equation (13) and Equation (1) into Equation (14), <x> = {(X−f) − (Y−h) e / g} / a
<Y> = {(Yd)-(Xb) c / a} / g
Get.

つまり、本発明に係る磁気検出方法は、ｘ座標の誤差ｘ’を他方の軸の検出信号Ｙの関数として近似し、数式（１）で求まる検出位置ｘから誤差ｘ’を引くことにより、磁気検出の誤差を低減するものである。   In other words, the magnetic detection method according to the present invention approximates the error x ′ of the x coordinate as a function of the detection signal Y of the other axis, and subtracts the error x ′ from the detection position x obtained by Equation (1), thereby The detection error is reduced.

実施例１
図５は、１対のホール素子５０１および５０２が配置されたｘ軸と、１対のホール素子５０３および５０４が配置されたｙ軸により定まる２次元平面を示している。ホール素子５０１〜５０４には実装ズレがあり、ホール素子５０１および５０２は、それぞれｙ方向に＋０．１ｍｍおよび−０．１ｍｍずれていて、ホール素子５０３および５０４は、それぞれｘ方向に＋０．１ｍｍおよび−０．１ｍｍずれている。ホール素子５０１と５０２との間の距離とホール素子５０３と５０４との間の距離は、いずれも３．１ｍｍとした。各軸に実装されたホール素子間の中点を原点とした。縦横がそれぞれ４．７ｍｍであり高さが２．０ｍｍの磁石を、この２次元平面から垂直方向に２．５ｍｍ離間して配置した。磁石の可動範囲は、ｘ方向およびｙ方向のそれぞれ０．５ｍｍである。磁石の着磁方向はｚ方向であり、Ｎ極Ｓ極がそれぞれ１極の着磁である。 Example 1
FIG. 5 shows a two-dimensional plane defined by the x axis on which the pair of hall elements 501 and 502 is arranged and the y axis on which the pair of hall elements 503 and 504 are arranged. The Hall elements 501 to 504 have a mounting misalignment, the Hall elements 501 and 502 are shifted by +0.1 mm and −0.1 mm in the y direction, respectively, and the Hall elements 503 and 504 are +0.1 mm and respectively in the x direction. -0.1 mm offset. The distance between the Hall elements 501 and 502 and the distance between the Hall elements 503 and 504 were both 3.1 mm. The midpoint between the Hall elements mounted on each axis was used as the origin. Magnets each having a length and width of 4.7 mm and a height of 2.0 mm were placed 2.5 mm apart from the two-dimensional plane in the vertical direction. The movable range of the magnet is 0.5 mm in each of the x direction and the y direction. The magnetizing direction of the magnet is the z direction, and each of the N and S poles is magnetized with one pole.

図６（ａ）は、検出を行った磁石の位置（正規位置）を示しており、図６（ｂ）は、各位置について、従来技術（数式（１））による検出位置および本発明に係る方法による検出位置の正規位置からの誤差を示している。表１は、図６（ｂ）のデータを示した表である。   FIG. 6A shows the position (normal position) of the detected magnet, and FIG. 6B shows the detected position according to the prior art (formula (1)) and the present invention for each position. The error from the normal position of the detection position by the method is shown. Table 1 is a table showing the data of FIG.

Figure 2008304222
Figure 2008304222

図６（ｂ）および表１をみて分かるように、本発明に係る磁気検出方法により、磁気検出の誤差が大幅に低減されている。たとえば正規位置Ｎｏ．２のｙ座標等、本発明により磁気検出の誤差が悪化する場合もあるが、従来技術による磁気検出の誤差が大きい位置では、本発明により誤差の低減が確実になされている。具体的には、従来技術により磁気検出の最大誤差がｘ軸およびｙ軸で共に２９．２３μｍであるのに対し、本発明ではｘ軸およびｙ軸で共に２．０８μｍであり、その差は歴然である。   As can be seen from FIG. 6B and Table 1, the magnetic detection error is greatly reduced by the magnetic detection method according to the present invention. For example, the normal position No. Although the magnetic detection error may be deteriorated by the present invention, such as the y coordinate of 2, the error is reliably reduced by the present invention at a position where the magnetic detection error according to the prior art is large. Specifically, the maximum error in magnetic detection according to the prior art is 29.23 μm for both the x-axis and the y-axis, whereas in the present invention, it is 2.08 μm for both the x-axis and the y-axis, and the difference is clear It is.

実施例２
上述の説明や実施例１では、ホール素子に実装ズレがある場合を考えてきた。しかし、ホール素子が設計位置に配置されていて実装ズレがなくとも、図３に示したような磁気検出装置に磁石を取り付ける際に、磁石が、ホール素子が配置されている平面に沿う方向に設計位置から回転して設置された場合には、磁石に対してホール素子の実装ズレが生じているのと同等であり、本発明に係る磁気検出方法を適用することができる。用語「実装ズレ」には、磁石の回転のように、磁気センサの実装ズレと等価な他の場合も含まれる。 Example 2
In the above description and Example 1, the case where the Hall element has a mounting deviation has been considered. However, even when the Hall element is arranged at the design position and there is no mounting displacement, when the magnet is attached to the magnetic detection device as shown in FIG. 3, the magnet is in a direction along the plane where the Hall element is arranged. When it is installed by rotating from the design position, it is equivalent to the Hall element mounting displacement with respect to the magnet, and the magnetic detection method according to the present invention can be applied. The term “mounting misalignment” includes other cases equivalent to the misalignment of the magnetic sensor, such as rotation of a magnet.

磁石が設計位置から回転して設置され、ホール素子について等価的に次のような実装ズレが生じたとする。実装ズレ以外の条件は実施例１と同一である。   Suppose that the magnet is rotated from the design position and the following mounting displacement occurs equivalently for the Hall element. Conditions other than the mounting deviation are the same as in the first embodiment.

Figure 2008304222
Figure 2008304222

図７は、各位置について、従来技術（数式（１））による検出位置および本発明に係る方法による検出位置の正規位置からの誤差を示している。表３は、図７のデータを示した表である。   FIG. 7 shows, for each position, an error from the detection position according to the conventional technique (formula (1)) and the normal position of the detection position according to the method of the present invention. Table 3 is a table showing the data of FIG.

Figure 2008304222
Figure 2008304222

従来技術による位置検出の最大誤差がｘ軸およびｙ軸で共に３１．５５μｍであるのに対し、本発明ではｘ軸およびｙ軸で共に２．６４μｍであり、本発明により最大誤差の低減がなされている。   The maximum error of position detection according to the prior art is 31.55 μm for both the x-axis and the y-axis, whereas in the present invention, it is 2.64 μm for both the x-axis and the y-axis. ing.

以上説明したように、本発明に係る磁気検出方法は、それぞれ１対の磁気センサが配置された２つの軸ｘ軸およびｙ軸により定まる２次元平面に平行な平面上での磁石の位置（ｘ，ｙ）を検出するにあたり、一方の軸の座標（たとえば、ｘ座標）に含まれる誤差を、他方の軸（たとえば、ｙ軸）に配置された１対の磁気センサの出力信号から算出される検出信号を用いた関数として近似して位置（ｘ，ｙ）を算出することを特徴とすることにより、磁気センサの実装ズレによる磁気検出の最大誤差を低減することができる。   As described above, the magnetism detection method according to the present invention is a magnet position (x on a plane parallel to a two-dimensional plane defined by two axes x-axis and y-axis on which a pair of magnetic sensors are arranged. , Y), the error included in the coordinates of one axis (for example, the x coordinate) is calculated from the output signals of a pair of magnetic sensors arranged on the other axis (for example, the y axis). By calculating the position (x, y) by approximating it as a function using the detection signal, it is possible to reduce the maximum error in magnetic detection due to mounting deviation of the magnetic sensor.

なお、ここまで磁気センサの例としてホール素子を挙げて説明してきたが、各種磁気抵抗効果（ＭＲ）素子、磁気インピーダンス素子、アモルファスワイヤ等を用いても、磁気センサの出力信号を電圧に変換するなど必要な信号処理を行うことで、本発明に係る磁気検出方法を適用することができることに留意されたい。   Although the Hall sensor has been described as an example of the magnetic sensor so far, the output signal of the magnetic sensor is converted into a voltage even if various magnetoresistive effect (MR) elements, magnetic impedance elements, amorphous wires, etc. are used. It should be noted that the magnetic detection method according to the present invention can be applied by performing necessary signal processing.

また、平面上の２軸は、図２で示したように直交するｘ軸およびｙ軸で構成するのが一般的であるが、直交していない第１の座標軸（ｖ軸）および第２の座標軸（ｗ軸）を用いてもよい。例えばｖ軸がｗ軸と直交していなくても、ｖ軸に軸の回転行列を作用させる事で、ｖ軸に直交する軸に変換することが可能となるので、同一の式で補正が可能である。   In addition, as shown in FIG. 2, the two axes on the plane are generally composed of the x axis and the y axis which are orthogonal to each other, but the first coordinate axis (v axis) and the second axis which are not orthogonal A coordinate axis (w axis) may be used. For example, even if the v-axis is not orthogonal to the w-axis, it can be converted to an axis orthogonal to the v-axis by applying an axis rotation matrix to the v-axis, so correction can be made using the same equation. It is.

複数のホール素子を用いた従来の磁気検出を説明するための模式図である。It is a schematic diagram for demonstrating the conventional magnetic detection using a some Hall element. 実装ズレの問題を説明ための図である。It is a figure for demonstrating the problem of mounting gap. 本発明に係る磁気検出方法を実施するための磁気検出装置を示す図である。It is a figure which shows the magnetic detection apparatus for enforcing the magnetic detection method which concerns on this invention. 本発明に係る磁気検出方法の手順を示すフローチャートである。It is a flowchart which shows the procedure of the magnetic detection method which concerns on this invention. 実施例１のホール素子の配置を示す図である。FIG. 3 is a diagram illustrating an arrangement of Hall elements according to the first embodiment. （ａ）は、実施例１において検出を行った磁石の位置を示す図であり、（ｂ）は、検出結果を示す図である。(A) is a figure which shows the position of the magnet which performed the detection in Example 1, (b) is a figure which shows a detection result. 実施例２の検出結果を示す図である。It is a figure which shows the detection result of Example 2.

符号の説明Explanation of symbols

１０１、１０２ ホール素子
１０３ 磁石
２０１、２０２、２０３、２０４ ホール素子
３０１、３０２、３０３、３０４ ホール素子（磁気センサに対応）
３０５、３０６ オペアンプ
３０７ サンプルホールド回路
３０８ 演算部
３０９ メモリ（記録媒体に対応）
３１０ 磁石
５０１、５０２、５０３、５０４ ホール素子（磁気センサに対応） 101, 102 Hall element 103 Magnet 201, 202, 203, 204 Hall element 301, 302, 303, 304 Hall element (corresponding to magnetic sensor)
305, 306 operational amplifier 307 sample hold circuit 308 arithmetic unit 309 memory (corresponding to recording medium)
310 Magnet 501, 502, 503, 504 Hall element (corresponding to magnetic sensor)

Claims (9)

第１および第２の１対の磁気センサがそれぞれ配置された第１の座標軸（ｖ軸）および第２の座標軸（ｗ軸）により定まる２次元平面に平行な平面上での、磁石の位置を検出する磁気検出方法であって、前記磁石が前記２次元平面に平行な平面上の位置（ｖ，ｗ）にあるときに、
前記第１の１対の磁気センサの出力信号から第１の検出信号を算出する第１の検出信号算出ステップと、
前記第２の１対の磁気センサの出力信号から第２の検出信号を算出する第２の検出信号算出ステップと、
前記第１の１対の磁気センサの前記第１の座標軸に対する配置誤差を、前記第２の検出信号を用いた関数として近似し、前記第２の１対の磁気センサの前記第２の座標軸に対する配置誤差を、前記第１の検出信号を用いた関数として近似して、前記磁石の位置（ｖ，ｗ）を算出する位置算出ステップと
を含むことを特徴とする磁気検出方法。 The position of the magnet on a plane parallel to a two-dimensional plane determined by the first coordinate axis (v-axis) and the second coordinate axis (w-axis) on which the first and second pairs of magnetic sensors are respectively arranged. A magnetic detection method for detecting when the magnet is at a position (v, w) on a plane parallel to the two-dimensional plane,
A first detection signal calculating step of calculating a first detection signal from output signals of the first pair of magnetic sensors;
A second detection signal calculating step of calculating a second detection signal from output signals of the second pair of magnetic sensors;
An arrangement error of the first pair of magnetic sensors with respect to the first coordinate axis is approximated as a function using the second detection signal, and the second pair of magnetic sensors with respect to the second coordinate axis is approximated. And a position calculating step of calculating a position (v, w) of the magnet by approximating an arrangement error as a function using the first detection signal. 記録媒体からパラメータを読み出すパラメータ読み出しステップであって、前記パラメータは、
前記第１の１対の磁気センサの出力信号から算出される第３の検出信号を、前記磁石の前記第１の座標軸の座標の関数として直線補間して得られる傾きａおよび切片ｂと、
前記第２の１対の磁気センサの出力信号から算出される第４の検出信号を、前記磁石の前記第１の座標軸の座標の関数として直線補間して得られる傾きｃおよび切片ｄと、
前記第１の１対の磁気センサの出力信号から算出される第５の検出信号を、前記磁石の前記第２の座標軸の座標の関数として直線補間して得られる傾きｅおよび切片ｆと、
前記第２の１対の磁気センサの出力信号から算出される第６の検出信号を、前記磁石の前記第２の座標軸の座標の関数として直線補間して得られる傾きｇおよび切片ｈと
を含み、
前記位置算出ステップは、前記第１の検出信号をＶ、前記第２の検出信号をＷとして、前記位置（ｖ，ｗ）を
ｖ＝｛（Ｖ−ｆ）−（Ｗ−ｈ）ｅ／ｇ｝／ａ
ｗ＝｛（Ｗ−ｄ）−（Ｖ−ｂ）ｃ／ａ｝／ｇ
として算出することを特徴とする請求項１に記載の磁気検出方法。 A parameter reading step of reading a parameter from a recording medium, wherein the parameter is:
An inclination a and an intercept b obtained by linearly interpolating a third detection signal calculated from output signals of the first pair of magnetic sensors as a function of the coordinates of the first coordinate axis of the magnet;
An inclination c and an intercept d obtained by linearly interpolating a fourth detection signal calculated from the output signals of the second pair of magnetic sensors as a function of the coordinates of the first coordinate axis of the magnet;
An inclination e and an intercept f obtained by linearly interpolating a fifth detection signal calculated from the output signals of the first pair of magnetic sensors as a function of the coordinates of the second coordinate axis of the magnet;
A gradient g and an intercept h obtained by linearly interpolating a sixth detection signal calculated from the output signals of the second pair of magnetic sensors as a function of the coordinates of the second coordinate axis of the magnet. ,
In the position calculating step, the first detection signal is V, the second detection signal is W, and the position (v, w) is v = {(V−f) − (W−h) e / g. } / A
w = {(W−d) − (V−b) c / a} / g
The magnetic detection method according to claim 1, wherein the magnetic detection method is calculated as: 前記第１から第６の検出信号は、１対の磁気センサの出力信号の差を、前記出力信号の和で除した値に比例定数を乗ずることで算出されることを特徴とする請求項２に記載の磁気検出方法。   3. The first to sixth detection signals are calculated by multiplying a value obtained by dividing a difference between output signals of a pair of magnetic sensors by a sum of the output signals by a proportional constant. The magnetic detection method described in 1. 前記第１から第６の検出信号は、１対の磁気センサの出力信号の差に比例定数を乗ずることで算出されることを特徴とする請求項２に記載の磁気検出方法。   3. The magnetic detection method according to claim 2, wherein the first to sixth detection signals are calculated by multiplying a difference between output signals of a pair of magnetic sensors by a proportional constant. 第１および第２の１対の磁気センサがそれぞれ配置された第１の座標軸（ｖ軸）および第２の座標軸（ｗ軸）により定まる２次元平面に平行な平面上での磁石の位置を検出する磁気検出装置であって、
前記第１および第２の１対の磁気センサと、
前記第１の１対の磁気センサの出力信号から第１の検出信号を算出する第１の検出信号算出手段と、
前記第２の１対の磁気センサの出力信号から第２の検出信号を算出する第２の検出信号算出手段と、
前記第１の１対の磁気センサの前記第１の座標軸に対する配置誤差を、前記第２の検出信号を用いた関数として近似し、前記第２の１対の磁気センサの前記第２の座標軸に対する配置誤差を、前記第１の検出信号を用いた関数として近似して、磁石の位置（ｖ，ｗ）を算出する位置算出手段と
を備えることを特徴とする磁気検出装置。 Detects the position of a magnet on a plane parallel to a two-dimensional plane determined by a first coordinate axis (v-axis) and a second coordinate axis (w-axis) on which a first and second pair of magnetic sensors are respectively arranged. A magnetic detection device that
The first and second pair of magnetic sensors;
First detection signal calculating means for calculating a first detection signal from output signals of the first pair of magnetic sensors;
Second detection signal calculating means for calculating a second detection signal from output signals of the second pair of magnetic sensors;
An arrangement error of the first pair of magnetic sensors with respect to the first coordinate axis is approximated as a function using the second detection signal, and the second pair of magnetic sensors with respect to the second coordinate axis is approximated. A magnetic detection apparatus comprising: a position calculation unit that calculates a position (v, w) of a magnet by approximating an arrangement error as a function using the first detection signal. 記録媒体からパラメータを読み出すパラメータ読み出し手段であって、前記パラメータは、
前記第１の１対の磁気センサの出力信号から算出される第３の検出信号を、前記磁石の前記第１の座標軸の座標の関数として直線補間して得られる傾きａおよび切片ｂと、
前記第２の１対の磁気センサの出力信号から算出される第４の検出信号を、前記磁石の前記第１の座標軸の座標の関数として直線補間して得られる傾きｃおよび切片ｄと、
前記第１の１対の磁気センサの出力信号から算出される第５の検出信号を、前記磁石の前記第２の座標軸の座標の関数として直線補間して得られる傾きｅおよび切片ｆと、
前記第２の１対の磁気センサの出力信号から算出される第６の検出信号を、前記磁石の前記第２の座標軸の座標の関数として直線補間して得られる傾きｇおよび切片ｈと
を含むものを備え、
前記位置算出手段は、前記第１の検出信号をＶ、前記第２の検出信号をＷとして、前記位置（ｖ，ｗ）を
ｖ＝｛（Ｖ−ｆ）−（Ｗ−ｈ）ｅ／ｇ｝／ａ
ｗ＝｛（Ｗ−ｄ）−（Ｖ−ｂ）ｃ／ａ｝／ｇ
として算出することを特徴とする請求項５に記載の磁気検出装置。 Parameter reading means for reading a parameter from a recording medium, wherein the parameter is
An inclination a and an intercept b obtained by linearly interpolating a third detection signal calculated from output signals of the first pair of magnetic sensors as a function of the coordinates of the first coordinate axis of the magnet;
An inclination c and an intercept d obtained by linearly interpolating a fourth detection signal calculated from the output signals of the second pair of magnetic sensors as a function of the coordinates of the first coordinate axis of the magnet;
An inclination e and an intercept f obtained by linearly interpolating a fifth detection signal calculated from the output signals of the first pair of magnetic sensors as a function of the coordinates of the second coordinate axis of the magnet;
A gradient g obtained by linearly interpolating a sixth detection signal calculated from the output signals of the second pair of magnetic sensors as a function of the coordinates of the second coordinate axis of the magnet and an intercept h. With things,
The position calculating means sets the position (v, w) to v = {(V−f) − (W−h) e / g, where V is the first detection signal and W is the second detection signal. } / A
w = {(W−d) − (V−b) c / a} / g
The magnetic detection device according to claim 5, wherein the magnetic detection device is calculated as: 前記第１から第６の検出信号は、１対の磁気センサの出力信号の差を、前記出力信号の和で除した値に比例定数を乗ずることで算出されることを特徴とする請求項６に記載の磁気検出装置。   7. The first to sixth detection signals are calculated by multiplying a value obtained by dividing a difference between output signals of a pair of magnetic sensors by a sum of the output signals by a proportional constant. The magnetic detection apparatus described in 1. 前記第１から第６の検出信号は、１対の磁気センサの出力信号の差に比例定数を乗ずることで算出されることを特徴とする請求項６に記載の磁気検出装置。   The magnetic detection device according to claim 6, wherein the first to sixth detection signals are calculated by multiplying a difference between output signals of the pair of magnetic sensors by a proportionality constant. 第１の座標軸（ｖ軸）および第２の座標軸（ｗ軸）により定まる２次元平面に平行な平面上での磁石の位置（ｖ，ｗ）を検出するために前記第１および第２の座標軸にそれぞれ配置された、第１および第２の１対の磁気センサの出力信号が入力されるコンピュータに、
前記第１の１対の磁気センサの出力信号から第１の検出信号を算出する第１の検出信号算出ステップと、
前記第２の１対の磁気センサの出力信号から第２の検出信号を算出する第２の検出信号算出ステップと、
前記第１の１対の磁気センサの前記第１の座標軸に対する配置誤差を、前記第２の検出信号を用いた関数として近似し、前記第２の１対の磁気センサの前記第２の座標軸に対する配置誤差を、前記第１の検出信号を用いた関数として近似して、前記磁石の位置（ｖ，ｗ）を算出する位置算出ステップと
を実行させるためのプログラム。 The first and second coordinate axes for detecting the position (v, w) of the magnet on a plane parallel to a two-dimensional plane defined by the first coordinate axis (v-axis) and the second coordinate axis (w-axis) Each of the computers to which the output signals of the first and second pairs of magnetic sensors are input,
A first detection signal calculating step of calculating a first detection signal from output signals of the first pair of magnetic sensors;
A second detection signal calculating step of calculating a second detection signal from output signals of the second pair of magnetic sensors;
An arrangement error of the first pair of magnetic sensors with respect to the first coordinate axis is approximated as a function using the second detection signal, and the second pair of magnetic sensors with respect to the second coordinate axis is approximated. A program for executing a position calculating step of calculating a position (v, w) of the magnet by approximating an arrangement error as a function using the first detection signal.
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CN105044630A (en) * 2014-04-30 2015-11-11 美格纳半导体有限公司 Sensing apparatus using groups of hall sensors and apparatus using the sensing apparatus
JP2015212694A (en) * 2014-04-30 2015-11-26 マグナチップセミコンダクター有限会社Ｍａｇｎａｃｈｉｐ Ｓｅｍｉｃｏｎｄｕｃｔｏｒ Ｌｔｄ Sensing device utilizing hall sensor group and magnetic field sensing device using the same
US9921274B2 (en) 2014-04-30 2018-03-20 Haechitech Corporation Sensing apparatus using groups of hall sensors and apparatus using the sensing apparatus
CN105044630B (en) * 2014-04-30 2020-02-07 海驰株式会社 Sensing device using hall sensor group and device using the same
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