KR102204952B1 - Magnetic sensing apparatus and method - Google Patents

Abstract

The present invention provides a magnetic field sensing device for accurately detecting a location of a magnetic material existing in the vicinity, which comprises: a solenoid disposed in a predetermined direction and generating a magnetic field in response to a magnetic field generating signal; a plurality of magnetic field sensors which are spaced apart from each other at a predetermined distance around the solenoid at a predetermined angle and arranged in a circular array, and each sensing a magnetic field and outputting a sensing signal; and a determination unit analyzing the time for which a change in the sensing signal applied from each of the plurality of applied magnetic field sensors occurs while applying the magnetic field generating signal having a predetermined period and waveform to the solenoid, calculating a weight for the magnetic field for each of the plurality of magnetic field sensors, and determining the location of the magnetic material according to the location information of each of the pre-stored plurality of magnetic field sensors and the calculated weight.

Description

Magnetic field sensing device and method {MAGNETIC SENSING APPARATUS AND METHOD}

The present invention relates to a magnetic field sensing device and method, and to a magnetic field sensing device and method capable of actively sensing a surrounding environment using a change in a magnetic field due to a magnetic field of the earth and a change in a magnetic field due to a magnetic body around it.

With the recent development of sensor technology and the spread of various types of Internet of Things (IoT) and artificial intelligence devices, there is an increasing demand for sensing surrounding environments in various ways. For example, in the case of a robot cleaner, cleaning may be performed while avoiding obstacles by automatically detecting the surrounding environment.

Among these sensors, magnetic field sensors are widely used to detect magnetic materials. However, conventional detection sensors for magnetic field sensors can only detect the presence or absence of a magnetic material or the distance of the magnetic material, so it can detect the presence of a magnetic material in the surrounding environment, but it is difficult to accurately determine the location of the magnetic material. have.

In addition, in some cases, it is necessary to accurately detect the Earth's magnetic field as well as the surrounding magnetic objects.

Korean Patent Registration No. 10-1381568 (registered on March 31, 2014)

An object of the present invention is to provide a magnetic field sensing device and method capable of accurately detecting a position of a magnetic object located around by detecting a change in a magnetic field generated by using a solenoid together with the Earth's magnetic field.

A magnetic field sensing apparatus according to an embodiment of the present invention for achieving the above object includes a solenoid disposed in a predetermined direction and generating a magnetic field in response to a magnetic field generation signal; A plurality of magnetic field sensors disposed in a circular array spaced apart from each other at a predetermined angle at a predetermined distance around the solenoid, each sensing a magnetic field and outputting a sensing signal; And analyzing a time at which a change in the sensing signal applied from each of the plurality of magnetic field sensors applied while the magnetic field generation signal having a predetermined period and waveform is applied to the solenoid occurs, and based on the analyzed time, the plurality of A determination unit that calculates a weight for each of the magnetic field sensors of and determines a position of the magnetic body according to the previously stored position information of each of the plurality of magnetic field sensors and the calculated weight; Includes.

(여기서 k는 자기장 센서의 인덱스이고, t_k는 k번째 자기장 센서가 감지한 센싱 신호의 변화가 발생하는 시간을 나타내고, t_last는 센싱 신호 변화가 가장 느리게 발생한 시간을 나타낸다.)에 따라 계산할 수 있다.The determination unit _calculates the weight (z _k ) for each of the plurality of magnetic field sensors

(Where k is the index of the magnetic field sensor, t _k represents the time at which the change of the sensing signal detected by the k-th magnetic field sensor occurs, and t _last represents the time at which the change of the sensing signal occurs at the slowest.) have.

에 따라 계산하고, 상기 자기장 센싱 장치에 대한 상기 자성체의 상대적 방향(Φ)을 수학식

로 계산할 수 있다.The determination unit _calculates the position (x, y) of the magnetic body from the angle ( Φ _k ) and the weight (z _k ) according to the arrangement position of each of the plurality of magnetic field sensors

And the relative direction ( Φ ) of the magnetic material with respect to the magnetic field sensing device

Can be calculated as

The determination unit acquires a sensing signal applied from each of the plurality of magnetic field sensors as a DC signal while not applying the magnetic field generation signal to the solenoid, and changes in the sensing signal obtained while applying the magnetic field generation signal If it is more than the specified reference value, it can be determined by the time when the change of the sensing signal occurs.

The determination unit may determine the direction of the magnetic field sensing device by using the DC signal and position information of each of the plurality of magnetic field sensors.

The magnetic field sensing method according to another embodiment of the present invention for achieving the above object is a solenoid arranged in a predetermined direction and a circular array spaced apart from each other at a predetermined angle at a predetermined distance around the solenoid to sense a magnetic field. A magnetic field sensing method of a magnetic field sensing device including a plurality of magnetic field sensors, the method comprising: generating a magnetic field by applying a magnetic field generation signal having a predetermined period and waveform to the solenoid; Obtaining a sensing signal from each of the plurality of magnetic field sensors; Analyzing a time when a change in the sensing signal occurs; Calculating weights for each of the plurality of magnetic field sensors based on the analyzed time; And determining the position of the magnetic body according to the previously stored position information of each of the plurality of magnetic field sensors and the calculated weight. Includes.

Accordingly, the magnetic field sensing apparatus and method according to the embodiment of the present invention generate a magnetic field by applying a magnetic field generation signal to a solenoid arranged in a predetermined direction, and are spaced apart from each other at a predetermined angle at a predetermined distance around the solenoid. By analyzing the time difference in the intensity of change of the sensing signal detected by using a plurality of magnetic field sensors arranged in an array, the position of the magnetic material existing around it can be accurately determined.

1 and 2 show a magnetic field sensing device according to an embodiment of the present invention.
3 shows an example of a DC signal detected by a plurality of magnetic field sensors while the magnetic field sensing device according to the present embodiment rotates.
4 and 5 are diagrams for explaining a method of determining a position of a magnetic body by the determination unit of FIG. 1.
6 shows an experimental environment using the magnetic sensing device of this embodiment.
7 and 8 show changes in DC signals and changes in AC signals obtained in the experimental environment of FIG. 6, respectively.
9 is a diagram comparing an error generated when a position is estimated for each of a DC signal and an AC signal in the experimental environment of FIG. 6 and an error generated when a position is estimated using a DC signal and an AC signal together. .
10 shows a magnetic field sensing method according to an embodiment of the present invention.

In order to fully understand the present invention, the operational advantages of the present invention, and the objects achieved by the implementation of the present invention, reference should be made to the accompanying drawings illustrating preferred embodiments of the present invention and the contents described in the accompanying drawings.

Hereinafter, the present invention will be described in detail by describing a preferred embodiment of the present invention with reference to the accompanying drawings. However, the present invention may be implemented in various different forms, and is not limited to the described embodiments. Further, in order to clearly describe the present invention, parts not related to the description are omitted, and the same reference numerals in the drawings indicate the same members.

Throughout the specification, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components unless specifically stated to the contrary. In addition, terms such as "... unit", "... group", "module", and "block" described in the specification mean units that process at least one function or operation, which is hardware, software, or hardware. And software.

1 and 2 illustrate a magnetic field sensing device according to an embodiment of the present invention, and FIG. 1 is a top view of the magnetic field sensing device of the present embodiment, and FIG. 2 is a perspective view.

1 and 2, the magnetic field sensing device according to the present embodiment generates a magnetic field in response to an applied magnetic field generation signal, a solenoid 110 that generates a magnetic field, and a predetermined angle with respect to the solenoid 110 at a predetermined distance. The magnetic field generation signal of a predetermined waveform is transmitted to a plurality of magnetic field sensors (121 to 12n) and solenoids 110 that are spaced apart from each other and arranged in a circular array, and signals sensed by the plurality of magnetic field sensors (121 to 12n) are transmitted. It includes a determination unit 130 for analyzing the orientation and determining the position of the magnetic body.

The solenoid 110 is arranged in a predetermined direction in the center of a circular array in which a plurality of magnetic field sensors 121 to 12n are arranged, and a magnetic field corresponding to the arranged direction in response to a magnetic field generation signal transmitted from the determination unit 130 Occurs. In particular, in this embodiment, the solenoid 110 may receive a magnetic field generating signal having a predetermined period (eg, 1 Hz) and a waveform, and generate a magnetic field regularly in response to the applied magnetic field generating signal. As an example, the self-generating signal may have a square wave waveform.

The plurality of magnetic field sensors 121 to 12n are arranged in a circular array spaced apart from each other by a predetermined angle so as to detect all directions. At this time, a plurality of magnetic field sensors 121 to 12n are disposed to be spaced apart at an equal angle. That is, a plurality of magnetic field sensors 121 to 12n are disposed to be spaced apart from each other in units of 360/n degrees. In FIG. 1, as an example, eight magnetic field sensors are arranged, and thus, eight magnetic field sensors are spaced apart in units of 360/8 = 45 degrees.

The plurality of magnetic field sensors 121 to 12n can basically detect the earth's magnetic field. At this time, the plurality of magnetic field sensors 121 to 12n arranged in a circular array sense the earth's magnetic field with different strengths according to the arrangement direction. Therefore, when the magnetic field sensing device does not rotate or move, each of the plurality of magnetic field sensors 121 to 12n senses the Earth's magnetic field of almost uniform intensity.

In addition, the solenoid 110 arranged in a predetermined direction from the center of the plurality of magnetic field sensors 121 to 12n arranged in a circular array responds to the magnetic field generation signal transmitted from the discriminating unit 130 to change the magnetic field in a predetermined direction. Therefore, each of the plurality of magnetic field sensors 121 to 12n senses a magnetic field regularly generated by the solenoid 110. In this case, each of the plurality of magnetic field sensors 121 to 12n may detect magnetic fields generated by the solenoid 110 with different strengths according to the relative arrangement direction with respect to the solenoid 110.

In particular, the magnetic field generated by the solenoid 110 also affects the vicinity of the magnetic field sensing device, and when a magnetic obstacle that is magnetized by the magnetic field generated from the solenoid 110 exists around the magnetic field sensing device, the magnetic field is caused by the obstacle. Changes will occur. Accordingly, the intensity of the sensing signal, that is, the sensing value, sensed by the plurality of magnetic field sensors 121 to 12n is changed by magnetic obstacles.

In this embodiment, each of the plurality of magnetic field sensors 121 to 12n may be implemented as a three-axis magnetic field sensor module that senses a magnetic field in the three-axis directions of the X-axis, Y-axis, and Z-axis. It can be configured to selectively sense a magnetic field in each direction.

Here, the X-axis, Y-axis, and Z-axis directions are the tangential directions of the circular array, respectively, the Y-axis direction is a radial direction from the center of the circular array to the outer side, and the Z-axis direction is a plurality of magnetic field sensors 121 arranged in a circular array. ~ 12n).

For example, each of the plurality of magnetic field sensors 121 to 12n may first detect a magnetic field in the X-axis direction based on its arrangement direction, and then sequentially detect the magnetic field in the Y-axis and Z-axis directions. If the plurality of magnetic field sensors 121 to 12n are configured to selectively detect the magnetic field in the three-axis direction, the direction in which the magnetic field sensors 121 to 12n sense the magnetic field may be controlled by the determination unit 130. However, the present embodiment is not limited thereto, and the plurality of magnetic field sensors 121 to 12n may be configured to sense a magnetic field regardless of a direction.

On the other hand, the determination unit 130 is electrically connected to each of the solenoid 110 and a plurality of magnetic field sensors 121 to 12n, transmits a magnetic field generation signal to the solenoid 110, and a plurality of magnetic field sensors 121 to 12n Sensing signals according to the strength of each sensed magnetic field are applied. In addition, the determination unit 130 analyzes the sensing signals applied from the plurality of magnetic field sensors 121 to 12n to determine the location of a magnetic object existing around it.

The determination unit 130 stores the positions of the plurality of magnetic field sensors 121 to 12n in advance, and the sensing signal applied from the plurality of magnetic field sensors 121 to 12n while the magnetic generation signal is not applied to the solenoid 110 And the positions of the plurality of magnetic field sensors 121 to 12n, the direction of the magnetic field sensing device may be determined. Since the Earth's magnetic field is always in a certain direction, the determination unit 130 determines the strength of the sensing signal applied from the plurality of magnetic field sensors 121 to 12n while the magnetic field is not generated from the solenoid 110, and senses the magnetic field. The direction of the device can be determined, and the direction of rotation of the magnetic field sensing device can be determined.

Here, since the Earth's magnetic field always maintains an almost uniform strength of the magnetic field, a component of the sensing signal sensed by the Earth's magnetic field is defined as a DC signal. That is, the DC signal may be viewed as a sensing signal obtained while the solenoid 110 does not generate a magnetic field.

However, even if the solenoid 110 does not generate a magnetic field, a change in the magnetic field may occur due to a magnetic material around the magnetic sensing device. In this case, the determination unit 130 may determine the presence and location of the surrounding magnetic material by analyzing the change of the DC signal.

Meanwhile, the determination unit 130 applies a self-generating signal to the solenoid 110, and while the solenoid 110 regularly generates a magnetic field in response to the self-generating signal, a plurality of magnetic field sensors 121 to 12n apply it. It is possible to determine whether a magnetic material exists around the magnetic field sensing device by using the change of the detected sensing signal and the positions of the plurality of magnetic field sensors 121 to 12n. In addition, when the magnetic material is present, the position of the magnetic material can be determined.

Here, since the solenoid 110 generates a variable magnetic field in response to a self-generating signal having a predetermined period and waveform (for example, a square wave), the component of the sensing signal sensed by the magnetic field generated from the solenoid 110 is an AC signal. Is defined as That is, the AC signal can be seen by subtracting the DC signal from the sensing signal obtained while the solenoid 110 generates a magnetic field in response to the self-generating signal.

The determination unit 130 may determine the position of the magnetic body by analyzing a time difference at which a change in the sensing signal occurs in comparison with the positions of each of the plurality of magnetic field sensors 121 to 12n.

A detailed description of how the determination unit 130 determines the position of the magnetic body will be described later.

Meanwhile, the magnetic field sensing device according to the present embodiment may further include a mounting portion 140 so that a plurality of magnetic field sensors 121 to 12n and the solenoid 110 are accurately disposed at a predetermined position, as shown in FIG. 2. have.

3 shows an example of a DC signal detected by a plurality of magnetic field sensors while the magnetic field sensing device according to the present embodiment rotates. In FIG. 3, a magnetic field sensing device including eight magnetic field sensors (Sensor0 to Sensor7) rotates in place, and there is no magnetic material around it. In addition, a case in which each of the plurality of magnetic field sensors 121 to 12n senses a magnetic field in each direction of the X-axis, Y-axis, and Z-axis is shown.

Referring to FIG. 3, in the case of a sensing signal detected in the X-axis and Y-axis directions among the sensing signals detected by eight magnetic field sensors (Sensor0 to Sensor7), a sine wave is formed by the earth's magnetic field while the magnetic field sensing device is rotating. Is detected as. However, in the case of the sensing signal sensed in the Z-axis direction, since the magnetic field sensing device rotates horizontally, it can be seen that there is little change in the waveform.

Accordingly, the determination unit 130 may determine the direction of the magnetic field sensing device from at least one of the sensing signals sensed in the X-axis direction and the Y-axis direction, for example, in the Y-axis direction, which is a radial direction from the center of the circular array to the outside. The direction of the magnetic field sensing device can be determined by using the sensing signal sensed at and the arrangement position of the magnetic field sensors (Sensor 0 to Sensor 7).

4 and 5 are diagrams for explaining a method of determining a position of a magnetic body by the determination unit of FIG. 1.

In FIG. 4, (a) shows four magnetic field sensors S1 to S4 arranged diagonally on the XY plane for convenience of explanation.

Referring to (a), the four magnetic field sensors (S1 to S4), the first magnetic field sensor (S1) is disposed at an angle of 45 degrees with respect to the X-axis, and the second magnetic field sensor (S2) is disposed at an angle of 135 degrees. And, the third and fourth magnetic field sensors S3 and S4 are disposed at 225 degrees and 315 degrees, respectively. Here, suppose that the X-axis is the real axis (Re) and the Y-axis is the imaginary axis (Im), and each of the four magnetic field sensors (S1 to S4) is located at a reference distance (r = 1) from the origin, four magnetic field sensors (S1 to S4) Each position may be expressed as a complex number as shown in Equation 1.

Here, k represents the index of the magnetic field sensor.

Meanwhile, in FIG. 4, (b) represents the time difference in which the change of the sensing signal transmitted from the four magnetic field sensors (S1 to S4) is detected, and (c) is given according to the position and time difference of the magnetic field sensors (S1 to S4). Shows the score (z).

As shown in (b) of Figure 4, when the time (t _k ) at which the change is detected in the four magnetic field sensors (S1 to S4) is 0.3s, 0.5s, 0.7s, and 0.6s, respectively, the determination unit 130 ) Can be obtained as shown in (c) by calculating a weight (z _k ) that is inversely proportional to the time difference.

As an example, the determination unit 130 may calculate the weight (z _k ) by dividing the latest detection time (t _last ) (here, t ₃ = 0.7s) by each detection time (t ₁ ~ t ₄ ), as shown in Equation 2 have.

When the weight (z _k ) for each of the four magnetic field sensors (S1 to S4) is calculated, the determination unit 130 is in (b) at each position of the magnetic field sensor (S _k ) shown in FIG. 5A. By multiplying the illustrated weight (z _k ), a position vector of the magnetic body as shown in (c) may be obtained. And it is possible to determine the direction ( Φ ) of the magnetic body from the obtained position vector.

The position of the magnetic body can be expressed as in Equation 3 in the original coordinate (ze ^{i Φ} ) and rectangular coordinates.

Here, z represents the distance from the origin to the magnetic body, and Φ represents the angle.

In Equation 3, the Cartesian coordinates (x, y) may be calculated by Equation 4, respectively.

And according to Equation 4, the angle ( Φ ) representing the direction of the magnetic body is calculated by Equation 5.

6 shows an experimental environment using the magnetic sensing device of this embodiment, and FIGS. 7 and 8 each show changes in DC signals and changes in AC signals obtained in the experimental environment of FIG. 6.

In FIG. 6, as shown in FIG. 1, 8 magnetic field sensors (S_0 to S_7) are arranged in a circular array, and the metal spheres are at five angular positions of 45 degrees, 22 degrees, 0 degrees, -22 degrees and -45 degrees. The arrangement is illustrated, and at each angular position, it is assumed that the metal sphere is located at a uniform distance (for example, 5 cm) from the magnetic sensing device. In addition, in FIGS. 7 and 8, (a) to (e) show the change of the DC signal and the change of the AC signal according to the arrangement at five angular positions of the metal sphere.

7 and 8, the change of the DC signal and the change of the AC signal are calculated from the magnetic field changes (δX, δY, δZ) detected by a plurality of magnetic field sensors (S_0 to S_7) in the X-axis, Y-axis and Z-axis directions, respectively. It was calculated according to Equation 6.

7 and 8, as the metal spheres are sequentially arranged at five angular positions of 45 degrees, 22 degrees, 0 degrees, -22 degrees and -45 degrees, DC detected by the sensor at the closest position to the magnetic body It can be seen that the change in the signal appears large.

As shown in FIGS. 7 and 8, the determination unit 130 may determine the presence and location of a magnetic material in the vicinity by analyzing at least one of a DC signal or an AC signal. However, in the case of determining the position of the magnetic body using only the DC signal, there is a limitation that the detection performance for the weak magnetic body is greatly deteriorated while the magnetic body can be detected relatively easily. However, in the case of determining the position of the magnetic body using only the AC signal, there is a problem that the range of change of the signal is not large, so that the determination distance is short and it is difficult to accurately determine.

Accordingly, the magnetic sensing device according to the present embodiment uses not only an AC signal but also a DC signal to obstruct the magnetic substance so that the position of the magnetic substance can be accurately determined.

9 is a diagram comparing an error generated when a position is estimated for each of a DC signal and an AC signal in the experimental environment of FIG. 6 and an error generated when a position is estimated using a DC signal and an AC signal together. .

Referring to FIG. 9, when only a DC signal is used, an average error degree is indicated by 3.7049 degrees, and when only an AC signal is used, an average error degree is indicated by 14.9156 degrees. On the other hand, when both a DC signal and an AC signal are used, the average error degree is 1.6807 degrees, and it can be seen that the direction in which the magnetic obstacle is located can be detected very accurately compared to the case of using only the DC signal or only the AC signal.

10 shows a magnetic field sensing method according to an embodiment of the present invention.

Referring to FIGS. 1 to 9, when the magnetic field sensing method of FIG. 10 is described, first, a DC signal that senses a magnetic field is applied to and obtained from a plurality of magnetic field sensors 121 to 12n arranged in a circular array (S11). ). Here, the DC signal may be a signal obtained by sensing the Earth's magnetic field. Then, by analyzing the obtained DC signal, the magnitude of the DC signal of each of the plurality of magnetic field sensors 121 to 12n is determined (S12). In this case, the direction of the magnetic field sensing device may be determined together using the magnitude of the DC signal and the arrangement positions of the plurality of magnetic field sensors 121 to 12n.

Thereafter, a magnetic field generation signal having a predetermined period and waveform is applied to the solenoid 110 arranged in a predetermined direction at the center of the plurality of magnetic field sensors 121 to 12n arranged in a circular array, and the solenoid 110 A magnetic field corresponding to the arrangement direction is generated (S13).

In addition, a sensing signal that senses a magnetic field generated by the solenoid 110 and a magnetic field generated by the Earth's magnetic field is acquired (S14). When the sensing signal is acquired, the AC signal generated by the magnetic field generated by the solenoid 110 is analyzed from the acquired sensing signal to determine the size of the AC signal (S15). In this case, the AC signal may be obtained by subtracting the DC signal from the sensing signal.

Then, it is determined whether a change in the sensing signal occurs (S16). The sensing signal is generated when an obstacle such as a magnetic object is located around the magnetic sensing device, and when the change in the sensing signal detected by at least one magnetic field sensor among the plurality of magnetic field sensors 121 to 12n is greater than a predetermined reference value. , It can be determined that a change in the sensing signal has occurred.

If it is determined that a change in the sensing signal has occurred, a weight (z _k ) that is inversely proportional to the time difference at which the change occurs is _calculated based on the change strength of the sensing signal detected by each of the plurality of magnetic field sensors 121 to 12n. It is calculated according to (S17).

And by multiplying the position of the magnetic field sensors 121 to 12n expressed in the form of a complex number according to Equation 1 by a weight (z _k ) as in Equations 3 and 4, the position of the magnetic body is determined, and the position of the magnetic body is The direction is determined (S18).

The method according to the present invention may be implemented as a computer program stored in a medium for execution on a computer. Here, the computer-readable medium may be any available medium that can be accessed by a computer, and may also include all computer storage media. Computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, and ROM (Read Dedicated memory), RAM (random access memory), CD (compact disk)-ROM, DVD (digital video disk)-ROM, magnetic tape, floppy disk, optical data storage device, and the like.

The present invention has been described with reference to the embodiments shown in the drawings, but these are merely exemplary, and those of ordinary skill in the art will appreciate that various modifications and other equivalent embodiments are possible therefrom.

Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

Claims (10)

A solenoid disposed in a predetermined direction and generating a magnetic field in response to a magnetic field generation signal;
A plurality of magnetic field sensors disposed in a circular array spaced apart from each other at a predetermined angle at a predetermined distance around the solenoid, each sensing a magnetic field and outputting a sensing signal; And
While the magnetic field generation signal having a predetermined period and waveform is applied to the solenoid, the time at which a change in the sensing signal applied from each of the plurality of magnetic field sensors occurs is analyzed, and based on the analyzed time, the plurality of A determination unit that calculates a weight for each of the magnetic field sensors, and determines a position of the magnetic body according to the previously stored position information of each of the plurality of magnetic field sensors and the calculated weight; Including,
The determination unit
While the magnetic field generation signal is not applied to the solenoid, a sensing signal applied from each of the plurality of magnetic field sensors is obtained as a DC signal, and a change in the sensing signal obtained while applying the magnetic field generation signal is greater than a predetermined reference value. If so, a magnetic field sensing device that determines the time at which the change of the sensing signal occurs.
The method of claim 1, wherein the determination unit
Weight (z _k ) for each of the plurality of magnetic field sensors
Equation

(Here, k is the index of the magnetic field sensor, t _k represents the time at which the change of the sensing signal detected by the k-th magnetic field sensor occurs, and t _last represents the time at which the change of the sensing signal occurs most slowly.)
Magnetic field sensing device that calculates according to. The method of claim 2, wherein the determination unit
Equation of the position (x, y) of the magnetic body from the angle ( Φ _k ) and the weight (z _k ) according to the arrangement position of each of the plurality of magnetic field sensors

And the relative direction ( Φ ) of the magnetic material with respect to the magnetic field sensing device

A magnetic field sensing device that calculates with. delete The method of claim 1, wherein the determination unit
A magnetic field sensing device that determines a direction of the magnetic field sensing device by using the DC signal and position information of each of the plurality of magnetic field sensors. In the magnetic field sensing method of a magnetic field sensing device comprising a solenoid arranged in a predetermined direction and a plurality of magnetic field sensors that are arranged in a circular array spaced apart from each other at a predetermined angle at a predetermined distance about the solenoid to sense a magnetic field,
Generating a magnetic field by applying a magnetic field generation signal having a predetermined period and waveform to the solenoid;
Obtaining a sensing signal from each of the plurality of magnetic field sensors;
Analyzing a time when a change in the sensing signal occurs;
Calculating weights for each of the plurality of magnetic field sensors based on the analyzed time; And
Determining the position of the magnetic body according to the previously stored position information of each of the plurality of magnetic field sensors and the calculated weight; Including,
The step of determining the location is
Obtaining a sensing signal applied from each of the plurality of magnetic field sensors as a DC signal while the magnetic field generation signal is not applied to the solenoid; And
If the change of the sensing signal is obtained while applying the magnetic field generation signal group reference value more than a specified, a magnetic field sensing method, comprising the step of determining in a change in the sensing signal generation time.
The method of claim 6, wherein calculating the weight
Weight (z _k ) for each of the plurality of magnetic field sensors
Equation

(Here, k is the index of the magnetic field sensor, t _k represents the time at which the change of the sensing signal detected by the k-th magnetic field sensor occurs, and t _last represents the time at which the change of the sensing signal occurs most slowly.)
Magnetic field sensing method calculated according to. The method of claim 7, wherein determining the location
Equation of the position (x, y) of the magnetic body from the angle ( Φ _k ) and the weight (z _k ) according to the arrangement position of each of the plurality of magnetic field sensors

And the relative direction ( Φ ) of the magnetic body

Magnetic field sensing method calculated by.

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