WO2021101171A1 - Procédé de mesure d'angle entre deux parties de corps d'un dispositif pliable, et dispositif associé - Google Patents

Procédé de mesure d'angle entre deux parties de corps d'un dispositif pliable, et dispositif associé Download PDF

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Publication number
WO2021101171A1
WO2021101171A1 PCT/KR2020/015927 KR2020015927W WO2021101171A1 WO 2021101171 A1 WO2021101171 A1 WO 2021101171A1 KR 2020015927 W KR2020015927 W KR 2020015927W WO 2021101171 A1 WO2021101171 A1 WO 2021101171A1
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Prior art keywords
angle
axis
magnetic
sensor unit
acceleration
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PCT/KR2020/015927
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English (en)
Korean (ko)
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박정원
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일진머티리얼즈 주식회사
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Publication of WO2021101171A1 publication Critical patent/WO2021101171A1/fr

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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
    • G09F9/00—Indicating arrangements for variable information in which the information is built-up on a support by selection or combination of individual elements
    • G09F9/30—Indicating arrangements for variable information in which the information is built-up on a support by selection or combination of individual elements in which the desired character or characters are formed by combining individual elements
    • G09F9/301—Indicating arrangements for variable information in which the information is built-up on a support by selection or combination of individual elements in which the desired character or characters are formed by combining individual elements flexible foldable or roll-able electronic displays, e.g. thin LCD, OLED
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
    • G06F1/16—Constructional details or arrangements
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
    • G06F1/16—Constructional details or arrangements
    • G06F1/1613—Constructional details or arrangements for portable computers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
    • G06F1/16—Constructional details or arrangements
    • G06F1/1613—Constructional details or arrangements for portable computers
    • G06F1/1633—Constructional details or arrangements of portable computers not specific to the type of enclosures covered by groups G06F1/1615 - G06F1/1626
    • G06F1/1637—Details related to the display arrangement, including those related to the mounting of the display in the housing
    • G06F1/1641—Details related to the display arrangement, including those related to the mounting of the display in the housing the display being formed by a plurality of foldable display components
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
    • G09F9/00—Indicating arrangements for variable information in which the information is built-up on a support by selection or combination of individual elements
    • G09F9/30—Indicating arrangements for variable information in which the information is built-up on a support by selection or combination of individual elements in which the desired character or characters are formed by combining individual elements

Definitions

  • the present invention relates to a method and apparatus for measuring an angle between a foldable device, and more particularly, to two bodies of a foldable device capable of measuring the angle between the two bodies folded to be folded in real time when the angle between the two bodies is changed. It relates to a method for measuring the angle between the minor and an apparatus therefor.
  • a variety of devices and devices are used in which the two components perform a relative rotational motion with respect to one central axis so that the angle between the two components can be changed. That is, one side of each of the two components is rotatably coupled through the coupling shaft, and may be folded or unfolded around the coupling shaft as necessary.
  • Examples of such a foldable structure include, for example, a robot device including first and second robot arm members axially coupled so that the angle between each other can be variable, and the door frame and the door frame can be rotatably coupled to the door frame to be opened and closed.
  • An example is a revolving door device including a door that is in place.
  • Typical examples of electronic devices having a foldable structure include a notebook computer and a foldable tablet computer.
  • an electronic device with a foldable display employs a plurality of displays to independently output a plurality of screens or to divide and output one screen, and the two components of the foldable device can be folded with each other for a plurality of displays. So that it can be combined in a hinge structure, for example.
  • a predetermined follow-up action may be taken according to the size of the angle between the two components. For example, when the closed door rotates and the angle between the door frame becomes greater than or equal to a predetermined angle, it is determined that the door is open and necessary actions (eg, an alarm notifying that there is an unwanted door opening, etc.) can be taken. For example, according to the size of the angle between the first and second robot arm members that are axially coupled, a predetermined operation of the robot device may be performed, or an action may be taken of providing the angle data to the outside.
  • a function of outputting various user interfaces may be required according to an angle between two components of the foldable electronic device (ie, an opening angle or a folding angle).
  • the display portion provided on the two body portions may have different usage patterns when the two body portions are folded and when the two body portions are opened. That is, when the display unit is folded, the display unit is divided into two display areas and used as an independent display screen of each body unit, and when the display unit is opened, the display unit can function as one screen.
  • the UI can be variably applied according to the opening angle of the two body parts of the foldable smartphone. Therefore, there is a need for a technology capable of accurately measuring the angle between two components forming a foldable structure in real time.
  • a portable foldable electronic device may change its posture or direction from time to time during use, and the angle between two components may also change during a change of posture or direction. Even in such a situation, there is a need for a technology that can accurately measure the angle between two components in real time.
  • Korean Patent Publication No. 10-2017-0031525 discloses a technology for measuring an angle between two displays using two acceleration sensors or one acceleration sensor and one angular velocity sensor.
  • this technology has the following technical limitations.
  • the acceleration sensor when the entire or part of the foldable device as well as the body part equipped with the acceleration sensor performs acceleration motion, the acceleration sensor does not accurately recognize the direction of the gravitational acceleration, causing an error in measuring the rotation angle. I can.
  • the acceleration sensor may detect the motion of the object from the inclined angle of the object and acceleration in each direction based on the gravitational acceleration.
  • the acceleration measurement noise is large within a predetermined angular range centering on the gravitational acceleration direction, so that accurate acceleration can be measured. In such an acceleration sensor blind spot section, it may be difficult to measure a rotation angle using an acceleration sensor.
  • the angle between the two displays can be measured when the power is on.
  • the angular velocity sensor cannot measure the angle between the two components at the time when the power supply is turned on. In a state where it is impossible to measure the angle between the two components formed at the present time, it is not possible to accurately measure the angle between the two components simply by calculating the displacement of the rotation angle of the component in which the acceleration sensor is installed.
  • the magnetic lines of the Earth's magnetic field have a direction from magnetic south to magnetic north.
  • the amount of magnetic field lines of the Earth's magnetic field inputted to the magnetic sensor varies depending on the posture or direction in which the magnetic sensor is placed.
  • the magnetic sensor may be difficult to accurately measure the azimuth angle if the strength of the magnetic field input to it is not sufficient. If the orientation and posture of the magnetic sensor are fixed, installing the magnetic sensor so that a sufficient amount of magnetic force lines is input will not cause any problem in measuring the azimuth angle.
  • the magnetic sensor may accurately measure the strength of the earth's magnetic field and may be placed in a blind spot section.
  • the present invention was invented to solve the above-described problem, and an object according to an aspect of the present invention is to determine an angle between two body parts of a foldable device regardless of acceleration motion and power on/off of all or part of the foldable device. And it is to provide a method and a device for it that can accurately measure in real time in any direction or any posture regardless of the blind spot section of the magnetic sensor.
  • An apparatus for measuring an angle between two body parts of a foldable device includes a first magnetic sensor unit, a second magnetic sensor unit, a first inertial sensor unit, and a second inertial sensor unit. , And may include a control unit.
  • the first magnetic sensor unit is installed in the first body portion of the foldable device in which the first body portion and the second body portion are foldably coupled via a folding axis to detect the magnitude of an external magnetic field applied to the first body portion and the first body portion. It is configured to detect first orientation information representing a direction in which the body portion is directed.
  • the second magnetic sensor unit is installed on the second body and is configured to detect a magnitude of an external magnetic field applied to the second body to detect second orientation information representing a direction in which the second body is directed.
  • the first inertial sensor unit is installed on the first body unit, and when the first body unit performs a first rotational movement around the folding axis, inertia information of the first rotational movement corresponding to the rotation angle of the first body unit Is configured to detect.
  • the second inertial sensor unit is installed on the second body, and when the second body performs a second rotational movement around the folding axis, inertia information of the second rotational movement corresponding to the rotation angle of the second body unit Is configured to detect.
  • the control unit includes (i) the first orientation detected in real time by the first and second magnetic sensor units when the fold axis angle formed by the fold shaft in the magnetic north direction exceeds the blind spot section of the magnetic sensor at a predetermined angle. Using the information and the second orientation information, a real-time angle between the first body part and the second body part is calculated, and (ii) the folding axis angle formed by the folding axis in the magnetic north direction is a magnetic sensor of the predetermined angle. If it is within the blind spot section, the first body and the first body part and the first body part and the second part are 2 It is configured to calculate the real-time angle between the body parts.
  • control unit is based on the size of the magnetic field component in the y-axis direction substantially parallel to the direction of the fold axis, detected by the first or second magnetic sensor unit, the fold axis angle It may be configured to determine whether the magnetic sensor is within or exceeds the blind spot section.
  • the magnetic sensor blind spot section at a predetermined angle is a conical three-dimensional space region having an intersection between the extension line of the folded axis and the extension line in the magnetic north direction as a vertex, and the magnetic north direction as a central axis, and the conical 3
  • the conical bus line of the dimensional space region may be 45 degrees or less from the central axis.
  • control unit uses the inertia information of the first rotational motion and the inertia information of the second rotational motion to determine the first rotation angle of the first body part and the second body part around the folding axis.
  • a second rotation angle is calculated, and when an angle difference obtained by subtracting the first rotation angle from the second rotation angle increases, the first body portion and the second body portion open, and when the angle difference decreases, the first body It may be determined that the part and the second body part are closed.
  • the first inertial sensor unit is a first acceleration sensor unit configured to detect a first acceleration of the first body unit
  • the second inertia sensor unit is configured to detect a second acceleration of the second body unit. It may be a configured second acceleration sensor unit.
  • the inertia information of the first rotational motion is first acceleration information of the first body part detected by the first acceleration sensor
  • the inertia information of the second rotational motion is the second body part detected by the second acceleration sensor. It may be second acceleration information.
  • the control unit may include a first x-axis and a first z of the first acceleration detected by the first acceleration sensor when an angle of the fold axis formed by the fold axis in the magnetic north direction is within the blind spot section of the magnetic sensor of the predetermined angle.
  • a first acceleration vector defined by an axis component and a second acceleration vector defined by a second x-axis and a second z-axis component of the second acceleration detected by the second acceleration sensor unit are obtained, and the first and It may be configured to calculate an angle between the second acceleration vectors as a real-time angle between the first body portion and the second body portion.
  • the first inertial sensor unit is a first angular velocity sensor unit configured to detect a first angular velocity of the first body unit
  • the second inertia sensor unit is configured to detect a second angular velocity of the second body unit. It may be a configured second angular velocity sensor unit.
  • the inertia information of the first rotational motion is the first angular velocity of the first body part, centered on the folding axis, detected by the first angular speed sensor
  • the inertia information of the second rotational motion is detected by the second angular speed sensor. It may be a second angular velocity of the second body portion centered on the folding axis.
  • the control unit may include the first and second angular velocities detected by the first and second angular velocity sensor units, respectively, when the fold axis angle formed by the fold shaft in the magnetic north direction is within the blind spot section of the magnetic sensor at the predetermined angle.
  • the first and second angular velocity components of each of the first axis are integrated over time from the entry point where the fold shaft enters the inside of the blind spot section of the magnetic sensor, and the first and second body parts rotate around the fold axis from the entry point.
  • Each of the first and second rotation angles ⁇ 1 and ⁇ 2 is calculated in real time, and the calculated first and second rotation angles ⁇ 1 and ⁇ 2 are the angles between the first and second body parts at the point of entry.
  • Reflecting on may be configured to calculate the real-time angle between the first body portion and the second body portion.
  • the first angular velocity component and the second angular velocity component may each mean an angular velocity component centered on the folded axis of the first and second body parts.
  • the first inertial sensor unit may be an acceleration sensor unit configured to detect an acceleration of the first body
  • the second inertial sensor unit may be an angular velocity sensor unit configured to detect an angular velocity of the second body.
  • the inertia information of the first rotational motion may be an acceleration of the first body part detected by the acceleration sensor
  • the inertia information of the second rotational motion may be an angular velocity of the second body part detected by the angular velocity sensor.
  • the control unit when the folding shaft angle formed by the folding shaft in the magnetic north direction is within the blind spot section of the magnetic sensor at the predetermined angle, the folding shaft is adjusted by using the acceleration of the first body part detected by the acceleration sensor.
  • the first rotation angle ( ⁇ 1) in which the first body portion rotates around the folding axis from the point of entry into the magnetic sensor blind spot section is calculated in real time, and the second body portion detected by the angular velocity sensor unit By integrating the angular velocity over time, a second rotation angle ( ⁇ 2) at which the second body portion rotates around the folding axis from the entry point is calculated in real time, and the calculated first rotation angle ( ⁇ 1) and the second It may be configured to calculate a real-time angle between the first body portion and the second body portion by reflecting the rotation angle ⁇ 2 to the angle between the first and second body portions at the point of entry.
  • the control unit includes a reference vector defined as an acceleration component in the three-axis direction of the first body part detected by the acceleration sensor unit at the point of entry, and the acceleration sensor unit from the point of entry. It may be configured to calculate an angle between the real-time vectors on the plane of the first body part between the real-time vectors detected by the 3-axis acceleration component of the first body part as the first rotation angle ⁇ 1 of the first body part.
  • the first orientation information corresponds to a magnitude of an external magnetic field component in at least the first direction and the second direction from the origin.
  • the first direction is an arbitrary direction substantially parallel to the plane of the first body part
  • the second direction is a substantially normal direction to the plane of the first body part
  • the third direction is the plane of the second body part
  • the fourth direction may be a substantially normal direction to a plane of the second body part.
  • control unit obtains the first orientation vector mapped by the first orientation information and the second orientation vector mapped by the second orientation information, respectively, and the first orientation vector and It may be configured to calculate an angle between the second orientation vectors.
  • the first magnetic sensor unit comprises a first fluxgate device configured to detect an external magnetic field component in at least a first direction, a second fluxgate device configured to detect an external organ field component in a second direction, And at least the first and second driving currents required for driving the first and second fluxgate devices are applied, respectively, and magnetic fields and external application by the first and second driving currents from the first and second fluxgate devices are applied.
  • It may be a first magnetic fluxgate sensor unit including a first driving/detecting unit configured to detect the first orientation information by receiving first and second pickup voltages induced by a magnetic field, respectively.
  • the second magnetic sensor unit includes a third fluxgate device configured to detect an external magnetic field component in at least a third direction, a fourth fluxgate device configured to detect an external magnetic field component in a fourth direction, and at least the third and fourth fluxes.
  • the third and fourth driving currents required for driving the gate element are applied, respectively, and the third and fourth magnetic fields induced by the third and fourth driving currents and the externally applied magnetic fields are induced from the third and fourth fluxgate elements.
  • It may be a second magnetic fluxgate sensor unit including a second driving/detecting unit configured to receive each of the pickup voltages and detect the second orientation information.
  • the first direction is an arbitrary direction substantially parallel to the plane of the first body part
  • the second direction is a substantially normal direction to the plane of the first body part
  • the third direction is the plane of the second body part It may be an arbitrary direction substantially parallel
  • the fourth direction may be a substantially normal direction to a plane of the second body part.
  • the apparatus for measuring an angle between two body parts of the foldable device is provided on the first body part and the second body part, respectively, and configured to provide an interface function with a user, and It may further include a second interface unit.
  • the control unit controls the first and second interface units to operate as one integrated interface unit or as separate independent interface units according to the calculated size of the angle between the first body and the second body.
  • the foldable device may reversibly move from a state in which the first body portion and the second body portion are combined with a hinge axis and folded to overlap each other to an unfolded state to form the same plane, It may be a foldable communication device further comprising a display unit disposed on one surface of the first and second members.
  • the first and second body parts, the first and second body parts that are foldably coupled to each other around a folding axis This method is performed in a foldable device including a first magnetic sensor unit and a first inertial sensor unit installed on a body, a second magnetic sensor unit and a second inertial sensor unit installed on the second body, and a control unit.
  • the inter-angle measurement method includes the steps of: generating first orientation information representing a direction in which the first body portion is directed by detecting the magnitude of an external magnetic field applied to the first magnetic sensor unit; Generating second azimuth information representing each direction of the second body by detecting the magnitude of the external magnetic field applied to the second magnetic sensor unit; Detecting, by the first inertia sensor unit, inertia information of the first rotational movement corresponding to a rotation angle of the first body unit when the first body unit performs a first rotational movement about the folding axis; Detecting, by the second inertia sensor unit, inertia information of the second rotational movement corresponding to a rotation angle of the second body unit when the second body unit performs a second rotational movement about the folding axis; Determining whether the folded axis angle formed by the folded axis in the magnetic north direction exceeds a magnetic sensor blind spot section of a predetermined angle; When the folded axis angle formed by the folded axis in the magnetic north direction
  • the determining may include, in the control unit, the magnitude of the magnetic field component in the y-axis direction substantially parallel to the direction of the fold axis, detected by the first or second magnetic sensor unit. Based on the folding axis angle, it may include the step of determining whether the magnetic sensor is within or exceeds the blind spot section.
  • the magnetic sensor blind spot section at a predetermined angle is a conical three-dimensional space region having an intersection between the extension line of the folded axis and the extension line in the magnetic north direction as a vertex, and the magnetic north direction as a central axis, and the conical 3
  • the conical bus line of the dimensional space region may be 45 degrees or less from the central axis.
  • the calculating of the second real-time angle may include: while the folding axis angle formed by the folding axis in the magnetic north direction is within the blind spot section of the magnetic sensor of the predetermined angle, the control unit comprises the first Using the inertia information of the rotational motion and the inertia information of the second rotational motion, the first rotational angle of the first body part ( ⁇ 1) and the second rotational angle of the second body part ( ⁇ 2) are calculated around the folding axis, , The calculated first rotation angle ⁇ 1 and the second rotation angle ⁇ 2 are reflected in the angle between the first and second body parts at the time when the folding shaft enters the blind spot section of the magnetic sensor, and the It may include calculating a real-time angle between the first body portion and the second body portion.
  • a first acceleration sensor unit is used as the first inertial sensor unit to reduce the first acceleration of the first body unit to the first rotation.
  • the step of detecting as motion inertia information wherein the'detecting the inertia information of the second rotational motion' includes a second acceleration sensor unit used as the second inertia sensor unit to measure the second acceleration of the second body unit. It may include the step of detecting as the inertia information of the second rotational motion.
  • the control unit comprises the first acceleration sensor unit A first acceleration vector defined by a first x-axis and a first z-axis component of the first acceleration of the first body part detected by, and the second body part detected by the second acceleration sensor part.
  • a first angular velocity sensor unit is used as the first inertial sensor unit to reduce the first angular velocity of the first body unit to the first rotation.
  • the step of detecting as the inertia information of the motion wherein the'step of detecting the inertia information of the second rotational motion' includes a second angular velocity sensor unit used as the second inertial sensor unit to determine the second angular velocity of the second body unit. It may include the step of detecting as the inertia information of the second rotational motion.
  • the control unit performs the first and second The first angular velocity component of the first angular velocity and the second angular velocity component of the second angular velocity, respectively detected by the angular velocity sensor unit, are integrated over time from the entry point where the folding shaft enters the blind spot section of the magnetic sensor.
  • First and second rotation angles ( ⁇ 1, ⁇ 2) rotated around the folding axis from the point of entry of the first and second body parts are calculated in real time, respectively, and the calculated first and second rotation angles ( ⁇ 1, ⁇ 2) are calculated in real time.
  • the first angular velocity component and the second angular velocity component may each mean an angular velocity component centered on the folding axis of the first and second body parts.
  • an acceleration sensor unit is used as the first inertia sensor unit to determine the acceleration of the first body unit as the inertia information of the first rotational movement.
  • the angular velocity sensor unit is used as the second inertia sensor unit to detect the angular velocity of the second body unit as the inertia information of the second rotational movement. It may include.
  • the control unit is detected by the acceleration sensor unit.
  • the first rotation angle ⁇ 1 at which the first body part rotates around the fold axis from the point of entry of the fold shaft into the magnetic sensor blind spot section is calculated in real time.
  • Integrating the angular velocity of the second body portion detected by the angular velocity sensor unit over time to calculate a second rotation angle ⁇ 2 at which the second body portion rotates about the folding axis from the point of entry in real time The first body portion and the second body portion by reflecting the calculated first rotation angle ( ⁇ 1) and the second rotation angle ( ⁇ 2) to the angle between the first and second body parts at the point of entry. It may include the step of calculating the real-time angle between the liver.
  • the first rotation angle ⁇ 1 is a reference vector defined as an acceleration component in the 3-axis direction of the first body part detected by the acceleration sensor unit at the entry point, and after the entry point From, it may be determined as an angle between real-time vectors on the plane of the first body part between real-time vectors, which are defined as acceleration components in the 3-axis direction of the first body part detected by the acceleration sensor part.
  • the first orientation information is determined by the magnitude of an external magnetic field component in at least the first direction and the second direction from the origin. It may be information that can be mapped to a first orientation vector connecting the determined first point.
  • the second orientation information may be information that can be mapped to a second orientation vector connecting a second point determined by the magnitude of an external magnetic field component in the third direction and the fourth direction from the origin.
  • the first direction is an arbitrary direction substantially parallel to the plane of the first body part
  • the second direction is a substantially normal direction to the plane of the first body part
  • the third direction is the plane of the second body part It may be an arbitrary direction substantially parallel
  • the fourth direction may be a substantially normal direction to a plane of the second body part.
  • the first magnetic sensor unit comprises a first fluxgate element configured to detect at least an external magnetic field component in the first direction, and a second fluxgate configured to detect an external organ field component in the second direction. It may be a device and a first magnetic fluxgate sensor unit including a first driving/detecting unit.
  • the second magnetic sensor unit at least the sensor comprises at least a third fluxgate element configured to detect an external magnetic field component in the third direction, a fourth fluxgate element configured to detect an external magnetic field component in the fourth direction, and a second drive It may be a second magnetic fluxgate sensor unit including a / detection unit.
  • the step of generating the first orientation information is performed by the first driving/detecting unit and flowing an AC driving current through at least the driving coils of the first and second fluxgate elements, respectively, under a condition in which an external magnetic field is applied. Detecting first and second pick-up voltages respectively induced in the pick-up coils of the first and second fluxgate elements while giving them; Detecting a time point of occurrence of a first voltage peak from the profile of the first pick-up voltage and detecting a point of occurrence of a second voltage peak from the profile of the second pick-up voltage every period; And a first shift amount at the time of occurrence of the first voltage peak and a second shift amount at the time of occurrence of the second voltage peak compared to a time of occurrence of the voltage peak when the external magnetic field is not applied, as the first orientation information.
  • the step of generating the second orientation information is performed by the second driving/detecting unit and flowing an AC driving current through at least the driving coils of the third and fourth fluxgate elements, respectively, under a condition in which an external magnetic field is applied.
  • the method of measuring the angle between two body parts of the foldable device is by calculating the first and second origin offset sizes of each of the first and second magnetic fluxgate sensor units in an initial state.
  • the first and second magnetic fluxes are applied by applying the first and second origin offset sizes. It may further include calibrating the origin offset of each of the gate sensor unit.
  • the step of calibrating the origin offset comprises: a measurement sensitivity in an x-axis direction, a measurement sensitivity in a y-axis direction, and a z-axis of each fluxgate element of the first and second magnetic fluxgate sensor units.
  • the sensitivity gain may be determined as a ratio between a difference between a maximum value and a minimum value of a magnetic field and a difference between a maximum value and a minimum value at the point of occurrence of the measured voltage peak.
  • the angle between two body parts of the foldable device can be accurately measured in real time in any direction or in any posture without causing a blind spot section of a magnetic sensor according to the posture and/or direction of the foldable device.
  • the angle between two body parts of a foldable device can be accurately measured in time regardless of the acceleration motion and power on/off of all or part of the foldable device.
  • the angle between the two body parts is measured by using magnetic field information detected by the magnetic sensor units.
  • the orientation information of the two body parts measured by the magnetic sensor units is only affected by the magnitude of each direction of the Earth's magnetic field applied from the outside. Even if the power of the foldable device is turned off and then turned on again, if there is no change in the magnitude of the Earth's magnetic field applied from the outside, the orientation information of the two body parts also remains unchanged by turning on after the power is turned off. In other words, since there is no error in measuring the angle between the two body parts due to the power on/off, it is possible to accurately measure the angle between the two body parts.
  • FIG. 1 is a block diagram showing the configuration of an apparatus for measuring an angle between two body parts that are foldable and coupled to a foldable device according to an exemplary embodiment of the present invention.
  • FIG. 2 illustrates a case in which the inter-angle measurement apparatus of FIG. 1 implemented by a combination of a pair of magnetic sensor units and a pair of acceleration sensor units is applied to a portable foldable device according to an exemplary embodiment of the present invention.
  • FIG. 3 illustrates a case in which the inter-angle measurement apparatus of FIG. 1 implemented by a combination of a pair of magnetic sensor units and a pair of angular velocity sensor units is applied to a portable foldable device according to another exemplary embodiment of the present invention.
  • FIG. 4 is a diagram illustrating a configuration of a three-axis magnetic fluxgate sensor unit used as an exemplary embodiment of the first and second magnetic sensor units in the apparatus for measuring an angle between the foldable device according to an embodiment of the present invention.
  • FIG. 5 conceptually illustrates the internal configuration of a three-axis fluxgate element of a magnetic fluxgate sensor unit.
  • FIG. 6 is a block diagram showing the configuration of an apparatus for measuring an angle between two bodies of a foldable device implemented using a combination of two sets of a magnetic fluxgate sensor unit and an acceleration sensor unit or an angular velocity sensor unit according to an embodiment of the present invention.
  • FIG. 7 is an exemplary diagram for explaining the principle of operation of a fluxgate device for measuring the strength of an externally applied magnetic field (earth magnetic field).
  • FIG. 8 is a flowchart showing an overall procedure of a method of measuring an angle between two body parts of a foldable device according to an embodiment of the present invention.
  • FIG. 9 is a waveform diagram for explaining a method of measuring a point of occurrence of a voltage peak from a profile of a pick-up voltage induced due to a magnetic field generated when an AC drive current flows through the drive coil and an external magnetic field applied to the pick-up coil.
  • FIG. 10 is a flowchart illustrating a method of generating first and second orientation information representing directions directed by first and second body parts from a pickup voltage profile according to an exemplary embodiment of the present invention.
  • FIG. 11 is a detailed flowchart illustrating a procedure of calculating the time intervals of the first and second voltage peaks in step S120 of FIG. 10.
  • FIG. 12 is a diagram illustrating a blind spot section of a magnetic sensor in which measurement noise of a magnetic sensor unit is large.
  • FIG. 13 is a graph showing measurement noise distribution of a magnetic sensor unit according to an angle formed by a fold axis of a foldable device with a magnetic north direction.
  • FIG. 15 is a diagram illustrating first and second body parts using first and second angular velocity sensors of the device of FIG. 3 when the folded shaft enters the blind spot section of the magnetic sensor according to an exemplary embodiment of the present invention. It is a diagram for explaining the principle of measuring the angle between them.
  • 16 is a first and second body using an acceleration sensor unit and an angular velocity sensor unit respectively installed in the first and second body parts when the folding shaft enters the blind spot section of the magnetic sensor according to an exemplary embodiment of the present invention. It is a diagram for explaining the principle of measuring the angle between parts.
  • 17 illustrates a method of determining an increase or decrease in an angle between two body parts based on a correlation between the rotation angle of the first body part and the rotation angle of the second body part.
  • FIG. 19 is a diagram for describing a method of calibrating a magnetic fluxgate sensor unit according to an exemplary embodiment of the present invention.
  • 20 is a flowchart illustrating a procedure of measuring an angle between two body parts by applying calibration to magnetic fluxgate sensor parts according to an exemplary embodiment of the present invention.
  • 21 shows a result of a simulation of the performance of the apparatus for measuring an angle between two body parts of a foldable device according to the present invention.
  • FIG. 1 is a block diagram showing the configuration of a device for measuring an angle between two body parts joined in a foldable structure according to an exemplary embodiment of the present invention.
  • an apparatus 20 for measuring an angle between a foldable device includes a first magnetic sensor unit 13, a second magnetic sensor unit 14, and a first inertial sensor unit 16.
  • a second inertial sensor unit 17 and a control unit 15 may be included.
  • the apparatus 20 for measuring an angle between the foldable devices may be installed on the foldable device 10 in which the first body part 2 and the second body part 4 are collapsible around the folding shaft 6. have.
  • the first magnetic sensor unit 13 and the first inertial sensor unit 16 are installed on the first body unit 2
  • the second magnetic sensor unit 14 and the second inertial sensor unit 17 are the second body Each can be installed in the unit (4).
  • the first magnetic sensor unit 13 and the second magnetic sensor unit 14 may be implemented as vector magnetometers that measure components of the Earth's magnetic field. An azimuth and an inclination angle may be measured using components of the magnetic field strength measured using three orthogonal vector magnetic sensor units.
  • the vector magnetic sensor unit applicable to the present invention includes a rotating coil magnetometer, a Hall effect magnetometer, a magneto-resistive device, a fluxgate magnetometer, and the like. Can be lifted.
  • the present invention is not limited thereto, and any magnetic sensor capable of detecting geomagnetism can be used as the magnetic sensor unit of the present invention.
  • the first and second magnetic sensor parts 13 and 14 detect the behavior of the first body part 2 and the second body part 4, respectively, so that the first and second body parts 2 and 4 face each other.
  • First and second orientation information indicating a direction may be generated and output to the control unit 15.
  • the first inertial sensor unit 16 installed on the first body 2 collects inertia information of the rotational motion corresponding to the rotation angle when the first body 2 rotates around the folding shaft 6. It may be a sensor unit configured to detect.
  • the first inertial sensor unit 16 may be an acceleration sensor unit capable of measuring acceleration, which is linear inertia information, or an angular velocity sensor unit capable of measuring angular velocity, which is rotational inertia information.
  • the second inertial sensor unit 17 installed on the second body 4 is the inertia information of the rotational motion corresponding to the rotation angle when the second body 4 rotates around the folding shaft 6 It may be a sensor unit configured to detect.
  • the second inertial sensor unit 17 may also be an acceleration sensor unit capable of measuring acceleration, which is linear inertia information, or an angular velocity sensor unit capable of measuring angular velocity, which is rotational inertia information.
  • the control unit 15 uses the first and second orientation information provided by the first and second magnetic sensor units 13 and 14, or the first and second inertial sensor units 16 and 17 And the second rotational motion inertia information may be used in real time to calculate an angle between the first body part 3 and the second body part 4.
  • the control unit 15 may be implemented as a hardware component, a software component, and/or a combination of a hardware component and a software component.
  • the control unit 15 includes, for example, a central processing unit (CPU), a processor, a System on Chip (SoC), a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, It may be implemented in hardware such as a field programmable array (FPA), programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions, and software having a predetermined function.
  • CPU central processing unit
  • SoC System on Chip
  • ALU arithmetic logic unit
  • ALU a digital signal processor
  • microcomputer It may be implemented in hardware such as a field programmable array (FPA), programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions, and software having a predetermined function.
  • FPA field programmable array
  • PLU programmable logic unit
  • microprocessor or any other device capable of executing and responding to instructions, and software having a predetermined function.
  • the software determines whether the direction of the folding shaft 6 of the two body parts 2 and 4 belongs to the so-called magnetic sensor blind spot section (details on this will be described later), and according to the determination result, the first and The first and second rotational motion inertia measured by the first and second azimuth information detected by the second magnetic sensor unit (13, 14) or measured by the first and second inertial sensor units (16, 17)
  • Various functions described below may be included, including a function of calculating the angle between the two body parts 2 and 4 using information. Details on this will be described later.
  • the inter-angle measurement device 20 may further include first and second interface units 11 and 12.
  • Each of the first and second interface units 11 and 12 receives a predetermined instruction or request from the user through an input means, transmits the received instruction or request to the control unit 15, and is processed by the control unit 15 according to the received instruction or request. Interfacing with the user can be performed by outputting the result through the output means.
  • the foldable device 10 may be defined as an electronic device including first and second interface units 11 and 12. The first and second interface units 11 and 12 may be part of the first body portion 2 and the second body portion 4 of the foldable device 10.
  • the first interface unit 11 may include an input device such as a keyboard for receiving an operation from a user
  • the second interface unit 12 is a user input through the first interface unit 11. It may be a configuration unit including a display unit for outputting the result of the instruction according to the manipulation of to the user.
  • the foldable device 10 may be implemented as an electronic device such as a notebook computer.
  • the first and second interface units 11 and 12 may be touch screen units implemented as displays such as LCD, LED, or OLED.
  • the first and second interface units 11 and 12 may provide an interfacing function with a user through a method of receiving a touch manipulation from a user and outputting a processing result of an instruction according thereto.
  • the foldable device 10 may be implemented as an electronic device such as a foldable smartphone or a foldable tablet PC.
  • FIGS. 2, 4, and 5 are exemplary configurations of the 3-axis magnetic fluxgate sensor units 50 in detail.
  • the inter-angle measuring device 20-1 will be described in detail with reference to FIGS. 2, 4, and 5 together.
  • the portable foldable device 30 may include first and second body parts 32 and 34, a coupling part 35, and a flexible display 40.
  • the first body part 32 and the second body part 34 may be connected to each other through a connection unit 35.
  • the coupling part 35 is disposed between one side of the first body part 32 and one side of the second body part 34 to combine the two to be folded or unfolded through itself. It may be a bonding structure.
  • the first body portion 32 and the second body portion 34 may be folded or unfolded around the coupling portion 35. That is, the first body portion 32 and the second body portion 34 may be configured to allow a change in the angle ⁇ between a folded position and an unfolded position.
  • the first body portion 32 and the second body portion 34 may have a flat plate shape.
  • the flexible display 40 may be disposed to cover all of the first and second body portions 32 and 34 and one surface of the coupling portion 35.
  • the first body portion 32 and the second body portion 34 may be directly connected to each other without using a separate coupling portion 35 as a medium. In that case, the boundary line between the first body portion 32 and the second body portion 34 connected to each other may be the folding shaft 37.
  • the coupling part 35 may be implemented with, for example, a hinge mechanism.
  • Specific examples of the portable foldable device 30 including a hinge structure are disclosed by U.S. Patent Publications US2017-0364123A, US2018-0024593A, US2019-0079561A, and the like, and the contents disclosed in these publications are included as part of the present invention. I want to.
  • the first and second interface units 11 and 12 may be implemented in various forms within a range capable of providing an interfacing function with a user through a user's manipulation input and instruction result output.
  • the first and second interface units 11 and 12 may be implemented as a touch screen unit.
  • the first and second interface units 11 and 12 are each independently It can be controlled to operate as a separate interface unit.
  • one flexible display 40 is functionally divided by the coupling portion 35 to function as a display 40a for the first interface unit and a display 40b for the second interface unit 12. have.
  • the display 40c on the coupling part 35 may function as a blank area.
  • the controller 15 is a single interface unit in which the entire displays 40a, 40b, and 40c are integrated. It can be controlled to operate as. In this case, the integrated interface unit can provide an enlarged screen compared to the previous case.
  • the foldable device 10 may also be implemented as various types of electronic devices having a structure in which the above-described first and second body parts 11 and 12 are combined to be foldable with respect to the coupling part 35. .
  • the interval angle measuring device 20-1 in order to measure the angle between the first body portion 32 and the second body portion 34, is inside the first body portion 32 or It may include a first magnetic fluxgate sensor unit 50a and a first acceleration sensor unit 100a installed on the outer surface.
  • the first magnetic fluxgate sensor unit 50a is provided as the first magnetic sensor unit 13 to detect first orientation information of the first body unit 32.
  • the first acceleration sensor unit 100a is provided as an example of the first inertial sensor unit 16 to detect a first acceleration of the first body unit 32.
  • the inertia information of the first rotational motion of the first body part 32 is first acceleration information of the first body part 32 measured by the first acceleration sensor part 100a.
  • the interval angle measurement device 20-1 may include a second magnetic fluxgate sensor unit 50b and a second acceleration sensor unit 100b installed inside or on the outer surface of the second body unit 34.
  • the second magnetic fluxgate sensor unit 50b is provided as the second magnetic sensor unit 14 to detect second orientation information of the second body unit 34.
  • the second acceleration sensor unit 100b is provided as an example of the second inertial sensor unit 17 and may detect a second acceleration of the second body unit 34.
  • the inertia information of the second rotational motion of the second body part 34 is the second acceleration information of the second body part 34 measured by the second acceleration sensor part 100b.
  • the first and second magnetic fluxgate sensor units 50a and 50b and the first and second acceleration sensor units 100a and 100b may be electrically connected to the control unit 15, respectively.
  • the control unit 15 may be installed on the inner or outer surface of any one of the first body portion 32 and the second body portion 34. This control unit 15 may be adopted as a means for controlling the overall operation of the foldable device 30 or may be a dedicated control unit introduced for the purpose of measuring an interposition angle according to the present invention.
  • the control unit 15 is based on the vector value in the Y-axis direction detected by the first and second magnetic fluxgate sensor units 50a and 50b, that is, the magnitude of the magnetic field component in the Y-axis direction, and the two body parts 32 , 34) may be configured to determine whether an angle (hereinafter referred to as “folding axis angle”) formed by the magnetic north direction is within or exceeding the magnetic sensor blind spot section.
  • the Y-axis direction of the first and second magnetic fluxgate sensor units 50a and 50b may be substantially parallel to the direction of the folding axis 37.
  • control unit 15 includes the first and second magnetic fluxgate sensor units 50a and 50b based on the determination result as to whether the folded axis angle belongs to the magnetic sensor blind spot section (this will be described later).
  • the angle between the two body parts 32 and 34 may be calculated by using the detection information of or by using the detection information of the first and second acceleration sensor units 100a and 100b.
  • the first magnetic fluxgate sensor part 50a may be installed on the inner or outer surface of the first body part 32, and the second magnetic fluxgate sensor part 50b is the inner or outer surface of the second body part 34. Can be installed on.
  • the first magnetic fluxgate sensor unit 50a and the second magnetic fluxgate sensor unit 50b may be implemented as a three-axis fluxgate sensor, for example.
  • the three-axis fluxgate sensor is an x-axis fluxgate element 62, a y-axis fluxgate element 64, and a z-axis that can detect magnetic field components in the three directions of the x-axis, y-axis, and z-axis that are orthogonal to each other.
  • a fluxgate device 66 may be included.
  • the magnetic field measurement direction of the y-axis fluxgate element 64 is substantially parallel to the folding axis 37 direction (y-axis direction in FIG. 2)
  • the magnetic field measurement direction of the x-axis fluxgate element 62 is substantially parallel to the first direction
  • the height direction of the z-axis fluxgate element 66 is substantially parallel to the second direction.
  • the first direction is a direction substantially parallel to the plane of the first body 32.
  • the second direction may be a substantially normal direction to the plane of the first body 32. 2 illustrates a case in which the first direction is a direction substantially orthogonal to the folding shaft 37.
  • the magnetic field measurement direction of the y-axis fluxgate element 64 is substantially parallel to the folding axis 37 direction
  • the x-axis fluxgate element 62 May be installed in the second body portion 34 so that the magnetic field measurement direction of) is substantially parallel to the third direction
  • the height direction of the z-axis fluxgate element 66 is substantially parallel to the fourth direction.
  • the third direction may be a direction substantially parallel to the plane of the second body part 34
  • the fourth direction may be a substantially normal direction to the plane of the second body part 34.
  • the first magnetic fluxgate sensor unit 50a and the second magnetic fluxgate sensor unit 50b do not include the y-axis fluxgate element 64, respectively, and the x-axis and z-axis fluxgates It may be implemented as a two-axis fluxgate sensor including only the elements 62 and 66. Even in this case, the arrangement directions of the x-axis fluxgate elements 62 and the z-axis fluxgate elements 66 of the first magnetic fluxgate sensor unit 50a and the second magnetic fluxgate sensor unit 50b, respectively, are 3 It is the same as the arrangement direction in the axial fluxgate sensor.
  • the first and second magnetic fluxgate sensor units 50a and 50b disposed on the first and second body parts 32 and 34, respectively, are applied from the outside, regardless of the state in which the foldable device 30 is disposed. By detecting the strength of the magnetic field, the angle between the first and second body parts 32 and 34 may be measured. In addition, even when the foldable device 30 is turned on again after the power is turned off, the angle between the first and second body parts 32 and 34 can be accurately measured without separate calibration.
  • the first and second acceleration sensor units 100a and 100b each include acceleration sensors in the x, y, and z axis directions of the Cartesian coordinate system to measure the acceleration of the first and second body parts 32 and 34 in a three-dimensional space. Each can be detected.
  • the acceleration sensors in the x-axis and y-axis directions of the first acceleration sensor unit 100a are substantially parallel to the plane (x1-y1 plane) of the first body part 32, and the acceleration sensor in the z-axis direction is the first body part ( 32) is substantially perpendicular to the plane (z1 direction), and in particular, the acceleration sensor in the y-axis direction may be installed to be substantially parallel to the folding axis 37 (y1 direction).
  • the first acceleration information of the first body part 32 detected by the first acceleration sensor unit 100a is the first acceleration sensor detected by the x-axis direction acceleration sensor and the z-axis direction acceleration sensor of the first acceleration sensor unit 100a, respectively.
  • the first x-axis (x1) acceleration component and the first z-axis (z1) acceleration component of the body portion 32 may be included.
  • the acceleration information of the second body portion 34 detected by the second acceleration sensor unit 100b is a second acceleration sensor detected by the x-axis direction acceleration sensor and the z-axis direction acceleration sensor of the second acceleration sensor unit 100b, respectively. It may include an acceleration component of the second x-axis (x2) and an acceleration component of the second z-axis (z2) of the body portion 34.
  • the value after the output of the first and second acceleration sensor if La displacement vector x, which defines the displacement of the (100a, 100b), the first and second acceleration sensor (100a, 100b) is d 2 x / dt 2 to be.
  • the first and second acceleration sensor units 100a and 100b may always basically output a value corresponding to the gravitational acceleration in the direction of the center of the earth.
  • Earth's gravity is 1G of gravitational acceleration in the vertical direction, and 1G is detected when the horizontal acceleration sensor is inclined and reacts to gravity at 90 degrees, that is, vertical. Therefore, the acceleration value detected by the uniaxial acceleration sensor inclined at an angle of ⁇ to the earth's surface in the earth's gravitational field can be expressed as sin ⁇ .
  • the acceleration value measured on the x-axis of the acceleration sensor is 0.5G
  • the angle at which the x-axis of the acceleration sensor is inclined from the ground is 30 degrees.
  • the acceleration sensor units 100a and 100b detect 0G as acceleration in the x-axis direction and 1G as acceleration in the y-axis direction, respectively, the acceleration sensor units 100a and 100b are in a state of standing in the y-axis direction.
  • the acceleration sensor units 100a and 100b are lying in the x-axis direction.
  • the acceleration sensor units 100a and 100b have an inclination of 45 degrees in the x-axis direction
  • the type of acceleration sensor is typically a piezo-resistance type acceleration sensor that detects fluctuations in piezo-resistance installed in the center of the element with a bridge circuit to obtain a corresponding acceleration value, and responds by detecting a change in distance between electrodes as a capacitance.
  • a capacitance method is known to obtain an acceleration value.
  • Piezoresistive acceleration sensors have the advantage of being able to mount three axes in one element, but have a drawback of large current consumption.
  • the capacitive acceleration sensor has an advantage of being integrated with a CMOS circuit, but it has a disadvantage of increasing the size when a 3-axis sensor is configured. Both of these methods can be applied to the present invention.
  • 3 is an inter-angle measuring device 20- implemented by a combination of a pair of magnetic fluxgate sensor units 50a and 50b and a pair of angular velocity sensor units 150a and 150b according to another exemplary embodiment of the present invention. The case where 2) is applied to the portable foldable device 30 is illustrated.
  • the inter-angle measuring apparatus 20-2 shown in FIG. 3 is, compared to the inter-angle measuring apparatus 20-1 shown in FIG. 2, the angular velocity sensor units 150a and 150b instead of the acceleration sensor units 100a and 100b. ) Is adopted, but the rest of the configuration is the same. That is, the inter-angle measuring device 20-2 includes a first magnetic fluxgate sensor unit 50a, a first angular velocity sensor unit 150a, and a second body installed on the inner or outer surface of the first body unit 32. A second magnetic fluxgate sensor unit 50b and a second angular velocity sensor unit 150b installed on the inner or outer surface of the unit 34 may be included. Since the first and second magnetic fluxgate sensor units 50a and 50b are the same as those of the inter-angle measuring device 20-1 shown in FIG. 2, a description thereof may be referred to.
  • the type of angular velocity sensor includes an optical gyro sensor using the Sagnac effect, and the Coriolis force generated in a direction perpendicular to the direction of movement, which is proportional to the rotational movement speed when the user performs rotational movement, into an electrical signal.
  • There is a MEMS type gyro sensor that detects the angular velocity and both can be used as the first and second angular velocity sensor units 150a and 150b of the present invention.
  • the first and second angular velocity sensor units 150a and 150b respectively include angular velocity sensors in the x, y, and z axis directions of the Cartesian coordinate system to measure the angular velocity of the first and second body portions 32 and 34 in a three-dimensional space. Each can be detected.
  • the angular velocity sensors in the x-axis and y-axis directions of the first angular velocity sensor unit 150a are substantially parallel to the plane (x1-y1 plane) of the first body portion 32, and the angular velocity sensor in the z-axis direction is the first body portion ( 32) is substantially perpendicular to the plane (z1 direction), and in particular, the y-axis direction acceleration sensor is disposed substantially parallel to the fold shaft 37 (y1 direction) to detect the y-axis direction acceleration component.
  • the angular velocity sensors in the x-axis and y-axis directions of the second angular velocity sensor unit 150b are substantially parallel to the plane (x2-y2 plane) of the second body portion 34, and the angular velocity sensor in the z-axis direction is the second body. It is substantially perpendicular to the plane of the portion 34 (z2 direction), and in particular, the y-axis direction angular velocity sensor may be installed to be substantially parallel to the folding shaft 37 (y2 direction).
  • the output value of the angular velocity sensor is angular velocity d ⁇ x /dt.
  • the y-axis and z-axis angular velocity sensors are the same.
  • the first and second angular velocity sensor units 150a and 150b can immediately know the angular velocity from the sensor output value without special signal processing.
  • the controller 15 may calculate the rotation angle of the first and second body parts 32 and 34 by time-integrating the angular speeds output from the first and second angular speed sensor parts 150a and 150b.
  • the inter-angle measuring device may have a configuration in which the configuration of the inter-angle measuring device 20-1 of FIG. 2 and the configuration of the inter-angle measuring apparatus 20-2 of FIG. 3 are mixed.
  • the inter-angle measurement device includes a first magnetic fluxgate sensor unit 50a and a first acceleration sensor unit 100a installed on the first body unit 32, and includes a second body unit ( A second magnetic fluxgate sensor unit 50b and a second angular velocity sensor unit 150b installed at 34) may be included.
  • the inter-angle measuring device includes a first magnetic fluxgate sensor unit 50a and a first angular velocity sensor unit 150a installed on the first body unit 32, and includes a second body unit ( A second magnetic fluxgate sensor unit 50b and a second acceleration sensor unit 100b installed at 34) may be included.
  • the controller 15 when the angle formed by the folding shaft 37 with the magnetic north direction is greater than a predetermined angle (magnetic sensor blind spot section), the controller 15 is The angle between the first and second body parts 32 and 34 may be measured using the measured values of the two magnetic sensor parts 13 and 14 respectively installed on the body part 34. However, when the angle formed by the folding shaft 37 with the magnetic north direction is less than or equal to the predetermined angle (magnetic sensor blind spot section), the controller 15 is The angle between the two body parts 32 and 34 may be calculated using the acceleration information and the angular speed information of the second body part 34 measured by the second angular speed sensor part 150b.
  • a three-axis magnetic fluxgate sensor unit 50 used as the first and second magnetic fluxgate sensor units 50a and 50b in the inter-angle measurement devices 20-1 and 20-2.
  • the printed circuit board (PCB) 52, the three-axis fluxgate elements 62, 64, 66, the driving/detecting unit 70, and these (52, 62, 64, 66, 70) are solidly integrated into one body. It may include a packaging portion 54 for coupling.
  • the x-axis, y-axis, and z-axis fluxgate elements 62, 64, and 66 of the 3-axis magnetic fluxgate sensor unit 50 each have magnetic field components in three directions (x, y, z-axis directions) that are orthogonal to each other. It may be mounted on the printed circuit board 52 so as to be detectable.
  • the x-axis fluxgate element 62 is attached to the insulating substrate 62-1, the rod-shaped magnetic material 62-2 and the magnetic material 62-2 extending in the x-axis direction and disposed on the insulating substrate 62-1.
  • a driving coil 62-3 having both ends of the winding and connected to the driving/detecting unit 70, and a pickup coil 62-4 wound around the magnetic body 62-2 and connected to the driving/detecting unit 70 may be included.
  • the driving coil 62-3 and the pickup coil 62-4 may be wound around the magnetic body 62-2 in the form of a solenoid coil.
  • the y-axis fluxgate device 64 may also be configured substantially the same as the x-axis fluxgate device 62. That is, the y-axis fluxgate element 64 may also include an insulating substrate 64-1, a magnetic material 64-2, a driving coil 64-3, and a pickup coil 64-4. However, there is a difference only in that the rod-shaped magnetic body 64-2 extends in the y-axis direction.
  • the z-axis fluxgate element 66 may also include an insulating substrate 66-1, a magnetic material 66-2, a driving coil 66-3, and a pickup coil 66-4.
  • the magnetic body 66-2 may be configured in a form in which a plurality of magnetic bodies 66-2 having a low height are arranged on the same plane.
  • the plurality of magnetic bodies 66-2 may be wound with one driving coil 66-3 and one pickup coil 66-4, respectively. That is, the driving coils 66-3 wound around the plurality of magnetic bodies 66-2 may be connected in series, and the pickup coil 66-4 may also be connected in series.
  • Each magnetic body 66-2 may extend in a cylindrical or elliptical shape in the z-axis direction.
  • the magnetic fluxgate sensor unit 50 configured in this form can reduce the height of the z-axis fluxgate element 66 in the z-axis direction, so that it is easy to mount on a small mobile electronic device such as a foldable smartphone.
  • the magnetic bodies 62-2, 64-2, 66-2 can be made of magnetic materials having low coercivity, high permeability, and fast saturation magnetization.
  • the magnetic bodies 62-2, 64-2, and 66-2 may be manufactured in a rod shape having a laminated thin film structure by alternately stacking a plurality of layers of NiFe thin films with Al 2 O 3 insulator thin films.
  • Such magnetic bodies 62-2, 64-2, 66-2 may have a narrow hysteresis loop and a high squareness in a square shape.
  • the driving/detecting unit 70 provides AC current (e.g., a triangular wave, a sine wave, etc.) required for driving each of the three-axis fluxgate elements 62, 64, 66, and the driving coils 62-3, 64-3, 66-3.
  • Can supply to Pickup voltage is induced in each pickup coil (62-4, 64-4, 66-4) by the time-varying magnetic field generated by the driving current flowing through each driving coil (62-3, 64-3, 66-3).
  • the profile of the pickup voltage induced in each pickup coil (62-4, 64-4, 66-4) due to the magnetization reversal characteristic of each magnetic body (62-2, 64-2, 66-2) A first voltage peak and a negative second voltage peak occur. Unless specifically blocked, an external magnetic field such as the Earth's magnetic field may be applied to each of the pickup coils 62-4, 64-4, 66-4.
  • the spacing between the two voltage peaks may be varied depending on the magnitude of the earth's magnetic field applied to each of the pickup coils 62-4, 64-4, and 66-4 from the outside. Please refer to the description).
  • the driving/detecting unit 70 applies the AC driving current to each of the driving coils 62-3, 64-3, 66-3, and each pickup coil 62-4, It is possible to detect the pickup voltage induced in 64-4, 66-4).
  • the driving/detecting unit 70 detects the degree of shift of the point of occurrence of the voltage peak included in the detected pick-up voltage profile (the degree of shift compared to the case where the externally applied magnetic field is 0) to obtain the strength of the earth's magnetic field. have.
  • the strength of the earth's magnetic field may be calculated by calculating the time difference between the generation points of the two voltage peaks.
  • the strength of the Earth's magnetic field thus obtained can be mapped to the coordinates of a point in a three-dimensional coordinate system.
  • the coordinates of one point can define an azimuth vector that connects the one point from the origin in the three-dimensional coordinate system.
  • the orientation vector may be information representing a direction in which the body part 32 or 34 in which the fluxgate sensor part 50 is installed is directed.
  • the first driving/detecting unit 70a of the first magnetic fluxgate sensor unit 50a may obtain a first orientation vector representing the direction in which the first body unit 32 is directed.
  • the second driving/detecting unit 70b of the second magnetic fluxgate sensor unit 50b may obtain a second orientation vector representing the direction in which the first body unit 32 is directed.
  • all of the three-axis fluxgate elements 62, 64, and 66 may be used as described above, but the x-axis fluxgate element 62 and the z-axis fluxgate element ( It is of course possible to use only 66).
  • the driving/detecting unit 70 is disposed on the printed circuit board 52 for a package together with the three-axis fluxgate elements 62, 64, 66, and the three-axis fluxgate elements 62, 64, 66 through die bonding. And can be electrically connected. Then, it may be integrated through, for example, molding 54 using an epoxy resin.
  • the first magnetic fluxgate sensor unit 50a and the second magnetic fluxgate sensor unit 50b may be implemented as a three-axis magnetic fluxgate sensor unit 50 as illustrated in FIGS. 4 and 5.
  • the first and second magnetic fluxgate sensor units 50a and 50b may be installed at arbitrary positions inside or outside the first body 32 and the second body 34, respectively.
  • the first magnetic fluxgate sensor unit 50a and the second magnetic fluxgate sensor unit 50b may be mounted inside the bezel or housing of the first body 32 and the second body 34, respectively. I can.
  • the x-axis fluxgate element 62 and the y-axis fluxgate element 64 of the first magnetic fluxgate sensor unit 50a have their magnetic field measurement directions substantially parallel to the plane of the first body 32. There may be two directions, and the magnetic field measurement direction of the z-axis fluxgate element 66 may be a substantially normal direction with respect to the plane of the first body part 32. In this case, the magnetic field measurement direction of the y-axis fluxgate element 64 may be installed parallel to the direction of the folding axis 37, but is not limited thereto and may be installed tilted with the direction of the folding axis 37. have.
  • the x-axis fluxgate element 62 and the y-axis fluxgate element 64 may be in any two directions whose magnetic field measurement directions are substantially parallel to the plane of the second body 34, and the z-axis fluxgate element
  • the magnetic field measurement direction of 66 may be a direction substantially normal to the plane of the second body portion 34.
  • the direction of measuring the magnetic field of the y-axis fluxgate element 64 may be installed parallel to the direction of the folding axis 37, but is not limited thereto.
  • it may be installed inclined with respect to the folding shaft 37 direction. Even if the y-axis fluxgate element 64 is installed in this way, the x-axis component value of the magnetic field can be calculated when the y-axis fluxgate element 64 is not installed in an inclined manner.
  • the meaning of'substantially parallel' with the planes of the body parts 32 and 34 is not only completely parallel in a strict sense, but a slight error (for example, an error within approximately ⁇ 10°) between two directions. It needs to be understood in the sense encompassing up to'parallel'.
  • the meaning of the'substantial normal direction' to the plane of the body parts 32 and 34 is also a slight error from the normal incidence direction as well as the complete normal incidence direction with respect to the plane of the body parts 32 and 34 It needs to be understood as including'similar normal direction' with an error within).
  • the first magnetic flux gate sensor unit 50a can detect the orientation information directed by the first body unit 32 while moving together with the first body unit 32, and the second magnetic flux
  • the gate sensor part 50b may detect direction information directed by the second body part 34 while moving together with the second body part 34.
  • 4 shows the magnetic field measurement direction of the x-axis fluxgate device 62 of each of the first magnetic fluxgate device 50b and the second magnetic fluxgate device 50b is orthogonal to the folding axis 37 direction, and the y-axis flux
  • the magnetic field measurement direction of the gate element 64 is an example of a case where it is installed in parallel with the direction of the folding shaft 37.
  • FIG. 4 a case in which the first magnetic fluxgate element 50b and the second magnetic fluxgate element 50b are installed as shown in FIG. 4 will be described as an example.
  • FIG. 6 is a diagram illustrating the configuration of the inter-angle measuring devices according to embodiments of the present invention, including the inter-angle measuring devices 20-1 and 20-2 of the two body parts 32 and 34 shown in FIGS. 2 and 3. It is an integrated block diagram.
  • a first magnetic fluxgate sensor unit 50a and a first inertial sensor unit 16 may be disposed on the first body unit 32.
  • the first inertial sensor unit 16 may be a first acceleration sensor unit 100a or a first angular velocity sensor unit 150a.
  • a second magnetic fluxgate sensor part 50b and a second inertial sensor part 17 may be disposed on the second body part 34.
  • the second inertial sensor unit 178 may be a second acceleration sensor unit 100b or a second angular velocity sensor unit 150b.
  • the first magnetic fluxgate sensor unit 50a may include a first fluxgate 60a and a first driving/detecting unit 70a.
  • the second magnetic fluxgate sensor unit 50b may include a second fluxgate 60b and a second driving/detecting unit 70b.
  • the first fluxgate 60a may be a three-axis fluxgate including x-axis, y-axis, and z-axis fluxgate elements 62, 64, and 66.
  • the first fluxgate 60a may be a two-axis fluxgate including the x-axis 62 and the z-axis fluxgate element 66.
  • the second flux gate 60b may also have the same configuration as the first flux gate 60a.
  • a two-axis fluxgate will be described by taking a three-axis fluxgate as an example.
  • the first driving/detecting unit 70a may include a first fluxgate driving unit 72a and a first pickup signal processing unit 74a.
  • the first fluxgate driving unit 72a includes driving coils 62-3, 64-3, 66- of the x-axis, y-axis, and z-axis fluxgate elements 62, 64, 66 of the first fluxgate 60a.
  • AC driving current eg, AC triangular wave, AC sinusoidal current, etc.
  • each of the driving coils 62-3, 64-3, 66-3 passes through an alternating current cycle of magnetic saturation (magnetization -> demagnetization -> magnetization in the reverse direction -> demagnetization, etc.). 64-2, 66-2).
  • the magnetic field and the earth magnetic field generated by the AC driving current flowing through the driving coils 62-3, 64-3, 66-3 are the x-axis, y-axis, and z-axis fluxgate elements 62 of the first fluxgate 60a. , 64, 66) can pass through each of the pickup coils (62-4, 64-4, 66-4). Accordingly, a voltage can be induced in each of the pickup coils 62-4, 64-4, and 66-4.
  • the first pickup signal processing unit 74a may detect pickup voltages induced to each of the pickup coils 62-4, 64-4, and 66-4, respectively.
  • first and second voltage peaks occur in the profile of each pickup voltage in every cycle due to the magnetization reversal characteristics of each magnetic body 62-2, 64-2, and 66-2.
  • the time interval between the two voltage peaks may vary according to the magnitude and direction of the Earth's magnetic field applied to the corresponding pickup coils 62-4, 64-4, and 66-4.
  • the strength of the external magnetic field applied to the three pickup coils 62-4, 64-4, and 66-4 can be calculated in this way.
  • the intensity of the three external magnetic fields can be mapped to the coordinates of one point in the three-dimensional coordinate system.
  • the orientation vector connecting the origin of the 3D coordinate system to the one point may represent an orientation vector directed by the first body part 32 in which the first magnetic fluxgate sensor part 50a is installed.
  • the first pickup signal processing unit 74a may provide the direction vector information obtained as above to the control unit 15.
  • the second driving/detecting unit 70b may also have the same configuration as the first driving/detecting unit 70a. Therefore, the second fluxgate driving unit 72b of the second driving/detecting unit 70b is configured to drive coils of the x-axis, y-axis and z-axis fluxgate elements 62, 64, 66 of the second fluxgate 60b. 62-3, 64-3, 66-3) can be applied with an AC driving current (eg, AC triangular wave, AC sinusoidal current, etc.).
  • the second pick-up signal processor calculates the strength of the external magnetic field applied to the three pick-up coils 62-4, 64-4, 66-4, and uses it to determine azimuth vector information directed by the second body part 34. Can be obtained and provided to the control unit 15.
  • the first driving/detecting unit 70a and the second driving/detecting unit 70b may be implemented with circuits and software configured to perform the above functions and signal processing operations. For example, it can be implemented with a dedicated ASIC chip and embedded program.
  • the first acceleration sensor unit 100a may detect the first acceleration information of the first body unit 32 and provide it to the control unit 15, and the second acceleration sensor unit 100b includes the second body unit 34 The second acceleration of may be detected and provided to the control unit 15.
  • the first angular velocity sensor unit 150a may detect the first angular acceleration information of the first body unit 32 and provide it to the control unit 15, and the second angular velocity sensor unit 150b is the second body unit 34 The second angular velocity of may be detected and provided to the control unit 15.
  • the control unit 15 may measure the angle between the two body parts 32 and 34 using the detection information provided in real time from these sensor units.
  • FIG. 7 is an exemplary diagram for explaining the operating principle of the fluxgate elements 62, 64, 66 of the magnetic fluxgate sensor unit 50 according to an embodiment of the present invention.
  • FIGS. 7(a), (d), and (g) show the structure of a fluxgate device according to the present embodiment.
  • a fluxgate element having a rod structure represents the x-axis and y-axis fluxgate elements 62 and 64
  • a fluxgate element having a circular structure represents a z-axis fluxgate element 66.
  • D is a driving coil
  • P is a pickup coil
  • C is a magnetic material.
  • 7(b), (e), and (h) show a hysteresis loop or MH (hysteresis loop) according to the magnetic properties of the magnetic body C constituting each of the fluxgate elements 62, 64, and 66. magnetization-magnetic field) loop).
  • 7(c), (f), and (i) show waveforms of the pickup voltage generated in the pickup coil P.
  • FIGS. 7A, 7B, and 7C the description will be made on the assumption that there is no externally applied magnetic field (ie, the Earth's magnetic field).
  • a triangular wave current ie, drive current
  • a magnetic field is formed inside the drive coil D.
  • a voltage is induced in the pickup coil P.
  • the voltage induced to the pickup coil P may be a waveform in the form of a voltage peak indicated by a solid line in (c) of FIG. 7.
  • the occurrence of the voltage peak is closely related to the magnetic properties of the magnetic body C of the fluxgate device.
  • the voltage peak occurs because the voltage induced in the pickup coil P is proportional to the amount of change per time (that is, dM/dt) of the magnetization value of the magnetic body C.
  • dM/dt the amount of change per time
  • the magnetization curve of the magnetic body C inside the fluxgate elements 62, 64, 66 follows the trajectory of the order 1 to 8 in Fig. 7(b). Changes. If the magnetic body (C) has a magnetic hysteresis curve with an excellent angle ratio, the magnetization value may change rapidly in the section 2 ⁇ 3 where the magnetization direction of the magnetic body (C) changes from -M to +M.
  • a first voltage peak may occur in the pickup coil P in a section in which a sudden change in magnetization value 2M occurs.
  • a second voltage peak having a sign opposite to the first voltage peak may occur in the pickup coil P.
  • the time interval T1 at which the first voltage peak and the second voltage peak occur is A ⁇ s.
  • FIG. 7(d), (e), and (f) show a case where an external magnetic field is applied from the left to the right of the fluxgate elements 62, 64, and 66.
  • an external magnetic field from left to right is applied to the fluxgate elements 62 and 64
  • the MH loop formed in the magnetic body C is applied to the magnetic body C as shown in Fig. 7(e). It may be shifted to the right, for example, by the amount of the external magnetic field.
  • An external magnetic field such as the Earth's magnetic field, can act as a DC bias magnetic field. That is, the external magnetic field can expand a magnetic domain composed of magnetic spindles that are substantially parallel to the magnetic field application direction inside the magnetic body (C). It can be shifted in the direction of or in the negative direction.
  • the magnetic field (B) formed in the driving coil (D) by the driving current in the solenoid-type fluxgate elements (62, 64, 66) and the electromotive force (E) induced in the pickup coil (P) are, respectively, in the following mathematics. It can be derived by Equations 1 and 2.
  • L is the inductance of the pickup coil (P)
  • di/dt is the current change inducing an electromotive force to the pickup coil (P)
  • ⁇ is a constant according to the characteristics of the magnetic material
  • N is the winding of the pickup coil (P).
  • S is the cross-sectional area of the pickup coil P
  • l is the average magnetic path length.
  • the electromotive force induced in the pickup coil of the fluxgate element is determined only by the current, the number of windings, and the characteristics of the magnetic material.
  • the fluxgate element is unlikely to be involved in problems such as changes in external environment such as temperature and electromagnetic waves. Therefore, when the magnetic properties of the fluxgate sensor 50 are fixed and the design and specifications of the fluxgate device such as current and number of windings are determined, the orientation data (external magnetic field component) of the magnetic field measurement direction of each of the three-axis fluxgate devices is determined. You can get it.
  • each fluxgate element 62, 64, 66 of the magnetic fluxgate sensor unit 50a, 50b measures externally applied magnetic fields, that is, the X-axis, Y-axis and Z-axis components of the Earth's magnetic field. can do. Accordingly, the first and second magnetic fluxgate sensor units 50a and 50b are irrespective of the arrangement state of the foldable device 30 and the power on/off operation, the first body 32 and the second body ( First and second orientation information representing the direction in which 34) is directed may be output, respectively. The first and second orientation information may be expressed as three-dimensional coordinates in a coordinate system determined based on the Earth's magnetic field.
  • the control unit 15 uses a component of the earth's magnetic field measured by the y-axis fluxgate element 64 of the first or second magnetic fluxgate sensor unit 50a, 50b to determine the longitudinal direction of the y-axis fluxgate element 64. (This direction is substantially the same as the y1-axis direction or the y2-axis direction in FIGS. 2 and 3) and the angle formed by the magnetic north direction can be calculated.
  • the control unit 15 is a magnetic sensor in which the direction of the folding shaft 37 is preset based on the calculated angle and the angle between the folding shaft 37 and the longitudinal direction of the y-axis fluxgate element 64 given as a known value. Whether it is within the blind spot section can be determined.
  • the control unit 15 When the direction of the folding shaft 37 does not enter the magnetic sensor blind spot section, the control unit 15 provides first and second orientation information respectively output from the first and second magnetic fluxgate sensor units 50a and 50b.
  • the angle between the first and second body parts 32 and 34 may be calculated by using.
  • the first and second azimuth information may be mapped to 3D coordinates in a 3D coordinate system, and thus may correspond to the first and second azimuth vectors, respectively.
  • an angle between the first and second orientation vectors may be an angle between the first body portion 32 and the second body portion 34.
  • the control unit 15 can measure the angle between the first and second body parts 32 and 34 by calculating an angle between the first and second orientation vectors based on this principle.
  • control unit 15 includes a first orientation vector formed by a three-dimensional coordinate corresponding to the origin of the coordinate system and the first orientation information, and a first orientation vector formed by a three-dimensional coordinate corresponding to the origin of the coordinate system and the second orientation information
  • the angle between the first and second body parts 32 and 34 may be measured through a method of calculating the angle between the two orientation vectors.
  • the controller 15 replaces the first and second magnetic fluxgate sensor units 50a and 50b with a first inertial sensor unit (that is, the first Using the detection information of the acceleration sensor unit 100a or the first angular velocity sensor unit 150a) and the second inertial sensor unit (that is, the second acceleration sensor unit 100b or the second angular velocity sensor unit 150b)
  • the angle between the first and second body parts 32 and 34 may be calculated.
  • FIG. 8 is a flowchart showing the overall execution process of a method of measuring an angle between two body parts 32 and 34 of the foldable device 30 according to an embodiment of the present invention.
  • a method of measuring the angle between the two body parts 32 and 34 of the foldable device 30 will be described with reference to FIGS. 1 to 3 and 8 using the space angle measuring apparatus 20-1.
  • calibration for converting the center value into a vector located at the origin (0, 0, 0) of the 3D space may be performed (S50).
  • This calibration measures the signals of the magnetic field components in the three directions of x, y, z of each of the first and second magnetic fluxgate sensor units 50a and 50b in various directions, and the measured x, y, z 3 This can be done using the maximum and minimum values of the signal of the axial magnetic field component. Details regarding this will be described later with reference to FIG. 19.
  • the first and second magnetic fluxgate sensor units 50a and 50b whose origin offsets are calibrated detect the behavior of the first and second body parts 32 and 34, respectively, and detect the first and second body parts 32 and 34, respectively. ) May generate first and second orientation information representing directions that are directed respectively.
  • the controller 15 receives first and second orientation information of the first and second body parts 32 and 34 from the first and second magnetic fluxgate sensor parts 50a and 50b, respectively (S100).
  • step S100 the principle that the first and second magnetic fluxgate sensor units 50a and 50b can respectively output first and second orientation information determined according to the magnitude of the externally applied magnetic field such as the Earth's magnetic field is further explained. It will be described in detail.
  • the pick-up voltage is induced in each of the pick-up coils 62-4, 64-4, and 66-4 by the magnetization reversal characteristic.
  • positive and negative voltage peaks may occur in every cycle.
  • the points of occurrence of the first and second voltage peaks are shifted according to the magnitude of an externally applied magnetic field such as the earth's magnetic field.
  • Each fluxgate element 62, 64, 66 is applied to each fluxgate element 62, 64, 66 using the shift degree of the first and second voltage peaks or the time interval between the first and second voltage peaks.
  • the magnitude of the Earth's magnetic field component can be detected.
  • the magnitude of the triaxial component of the Earth's magnetic field detected by each fluxgate element 62, 64, 66 of the first magnetic fluxgate sensor unit 50a is the direction of the first body 32 in which it is installed. It may be representative first direction information. That is, the first orientation information may be information on the size of an external magnetic field component detected by each fluxgate element of the first magnetic fluxgate sensor unit 50a. This information may be obtained from information on the occurrence time of the voltage peak appearing in the pickup voltage profile of the corresponding fluxgate device. Similarly, the magnitude of the magnetic field detected by each of the flux gate elements 62, 64, 66 of the second magnetic fluxgate sensor unit 50b in the three-axis direction represents the direction of the second body part 34 in which it is installed. It may be the second direction information.
  • the second orientation information may also be obtained from information on the occurrence time of the voltage peak appearing in the pickup voltage profile of the corresponding fluxgate device.
  • a series of signal processing operations for extracting the first and second orientation information from the pickup voltage induced in the pickup coil P may be performed by the first and second pickup signal processing units 74a and 74b.
  • FIG. 9 is a diagram illustrating a method of measuring the point of occurrence of a voltage peak from the profile (B) of the induced pickup voltage because the magnetic field generated when the AC driving current (A) flows through the driving coil and an external magnetic field are applied to the pickup coil. It is a waveform diagram.
  • 10 is a flowchart illustrating a method of generating first and second orientation information representing directions directed by the first and second body parts 32 and 34 from a pickup voltage profile according to an exemplary embodiment of the present invention.
  • . 11 is a flowchart illustrating a method of calculating the time intervals of the first and second voltage peaks in step S120 of FIG. 10 in detail.
  • the first fluxgate sensor unit 50a installed on the first body 32 will be described with reference to FIGS. 9 to 11 as an example. The following description can be applied equally to the second fluxgate 50b installed on the second body 32.
  • the first and second fluxgate sensor units 50a and 50b have a three-axis fluxgate element.
  • the first flux gate driving unit 72a drives an AC triangular wave as shown in Fig. 9A with a waveform of one cycle in each of the driving coils 62-3, 64-3, 66-3 of the first fluxgate 60a.
  • Current can be supplied (S112, S114).
  • each driving coil (62-3, 64-3, 66-3) functions as a solenoid and the magnetic material (62-2) , 64-2, 66-2).
  • the time-varying magnetic field penetrates the inside of the pickup coils 62-4, 64-4, 66-4, and the profile shown in Fig. 9(B) is in each of the pickup coils 62-4, 64-4, 66-4.
  • Pickup voltage (V out ) having a can be induced.
  • the first pickup signal processing unit 74a may detect analog pickup voltage V out signals from each of the pickup coils 62-4, 64-4, and 66-4 (S116).
  • the first pickup signal processing unit 74a amplifies the analog pickup voltage (V out ) signals, performs filtering processing to remove noise, and then performs signal processing such as chopping, and converts it into digital data of the pickup voltage profile. Yes (S118).
  • the first pick-up signal processing unit 74a may find the point of occurrence of the voltage peak by using the digital data of each of the converted pick-up voltage profiles (S120).
  • the point of occurrence of the voltage peak for each cycle may be a value corresponding to the magnitude of an external magnetic field applied to the corresponding fluxgate element.
  • the point of occurrence of the voltage peak detected in the pickup voltage profile of the x-axis fluxgate device 62 may be a value corresponding to the magnitude of a component in the x-axis direction of an external magnetic field applied to the x-axis fluxgate device 62.
  • the voltage peak can occur twice.
  • the first pickup signal processing unit 74a generates a positive first voltage peak (V p ) in the pickup voltage profile of each of the three fluxgate elements 62, 64, and 66 every cycle ( P1) and the occurrence point P2 of the negative second voltage peak (-V p ) can be detected.
  • the time interval T d between the two voltage peaks V p and -V p occurrence points P1 and P2 can be calculated.
  • step S120 shows the procedure of step S120 for finding the point of occurrence of the voltage peak in more detail.
  • step S120 for example, two voltage peaks (V p , -V p ) from the pickup voltage profile data of the current period of the x-axis fluxgate element 62 aligned in the first direction occur (P1, P2). How to detect is described in more detail.
  • values representing magnitudes of the voltages of the initial predetermined section Sb may be determined and calculated as the base voltage V b.
  • the base voltage V b of the current period may be determined as an average value, a median value, etc. of the voltages of the initial predetermined section Sb (S130).
  • a first reference voltage (+V r ) may be obtained by adding a gap voltage (V g ) of a predetermined size to the base voltage (V b) of the current period (S132 ).
  • the gap voltage V g may be determined to be a value having a sufficient size to distinguish between the noise and the peak voltage so as to avoid erroneous detection due to noise.
  • a second reference voltage (-V r ) having the same magnitude as the first reference voltage (+V r ) and opposite signs can be obtained.
  • Two reference voltages (+V r , -V r ), which are positive and negative, are calculated, and then the voltage values after the predetermined period (Sb) in the pickup voltage profile of the current period are calculated as the first and second reference voltage values (+V r , Compared with -V r ), two points of time (P1, P2) that become equal to each other may be detected (S134).
  • the two detected times P1 and P2 may be times when the pickup voltage enters a section of a first voltage peak (+V p ) and a section of a second voltage peak (-V p ), respectively.
  • the time interval between the two viewpoints P1 and P2 is the first direction component of the external magnetic field applied to the pickup coil 62-4 of the x-axis fluxgate element 62 arranged to measure the magnetic field in the first direction. It can be viewed as a value corresponding to the size.
  • the first pickup signal processing unit 74a outputs the magnitude of the external magnetic field applied to the x-axis fluxgate element 62, that is, the first direction component of the Earth's magnetic field, as, for example, 10-bit digital data.
  • the two times P1 and P2 it is possible to detect the two times P1 and P2 by dividing one period into 1024 times.
  • the two viewpoints P1 and P2 it is also possible to detect the two viewpoints P1 and P2 by dividing one period into a larger number of viewpoints than, for example, 1024 viewpoints.
  • the time interval between the two viewpoints P1 and P2 may be output as a value of 512.
  • the value of the time interval between the two points of time (P1, P2) may increase or decrease from 512.
  • I can.
  • the x-axis fluxgate element 62 is fabricated so that the time interval between the two viewpoints P1 and P2 increases by 70 from 512 to 582 when an external magnetic field of 0.5 Gauss is applied.
  • the time interval between the two points of time P1 and P2 decreases from 512 to 70, and 432 may be output.
  • This increase may be a value that linearly changes according to the magnitude of the first direction component of the externally applied magnetic field applied to the pickup coil 62-4 of the x-axis fluxgate element 62.
  • the time interval between the two viewpoints P1 and P2 can be measured as having a displacement of 35.
  • the first pickup signal processing unit 74b of the first magnetic fluxgate sensor unit 50a has two voltages from the pickup voltage profile data of the current period of the z-axis fluxgate element 66 arranged to measure the magnetic field in the second direction.
  • the peak (V p , -V p ) occurrence point (P1, P2) can be obtained in the same way as above.
  • the second pickup signal processing unit 74b includes two voltage peaks from the pickup voltage profile data of the current period of each of the x-axis and z-axis fluxgate elements 62 and 66 arranged to measure magnetic fields in the third and fourth directions.
  • V p , -V p The point of occurrence (P1, P2) can be obtained in the same way as above.
  • the first pick-up signal processing unit 74a is the first magnetic flux gate sensor unit 50a of the x-axis fluxgate element 62 of the pickup voltage profile measured every period between the two voltage peak generation points (P1, P2). One time difference can be calculated. In addition, in the pickup voltage profile of the z-axis fluxgate element 62 of the first magnetic fluxgate sensor unit 50a, the second time difference between the two voltage peak generation points P1 and P2 measured every cycle may be calculated. (S136). The second pickup signal processing unit 74a is also in the same manner as the voltage peak generation point P1 from the two pickup voltage profiles of the x-axis and z-axis fluxgate elements 62 and 66 of the second magnetic fluxgate sensor unit 50b. The third and fourth time differences between P2) can be calculated.
  • time difference information between the two voltage peak occurrence points is provided as above for each period. It may be generated as first and second orientation information of the first and second body parts 32 and 34 (S122).
  • Step S122 in calculating the angle between the first and second body parts 32 and 34, a direction substantially parallel to the planes of the first body part 32 and the second body part 34 and the plane It is necessary to measure the external magnetic field component in the substantially normal direction.
  • the x-axis fluxgate element 62 and the y-axis fluxgate element 64 Both detection information may be used, but only one of the two detection information may be used.
  • the magnetic field measurement direction of the fluxgate element used for external magnetic field measurement needs to be a direction not parallel to the folding axis 37.
  • the first driving/detecting unit 70a includes the first and second voltage profiles of the first flux gate 60a, for example, the x-axis fluxgate device 62 and the z-axis fluxgate device 66, respectively. You can find the time difference.
  • the first and second time difference may be first orientation information of a corresponding period.
  • the second driving/detecting unit 70b includes the third and third voltage profiles of each of the x-axis fluxgate elements 62 and z-axis fluxgate elements 66 of the second fluxgate 60b, respectively, in each cycle.
  • the fourth time difference (information on the occurrence time of the voltage peak) can be obtained, respectively.
  • the third and fourth time differences may be second orientation information of a corresponding period.
  • the first pick-up signal processing unit 74a is the point of occurrence of two voltage peaks measured every cycle in the pickup voltage profile of the y-axis fluxgate element 64 of the first magnetic fluxgate sensor unit 50a.
  • the fifth time difference between (P1, P2) may be further calculated. This information may be further included in the first orientation information.
  • the second pick-up signal processing unit 74b is also a second voltage peak between the two voltage peak generation points P1 and P2 measured every period in the pickup voltage profile of the y-axis fluxgate element 64 of the second magnetic fluxgate sensor unit 50b. 6 more time difference can be calculated. This information may be further included in the second orientation information.
  • Each of the first orientation information and the second orientation information has a fold axis 37 of the first body part 32 and the second body part 34 as a y-axis, and a point on the fold axis 37 It can be viewed as coordinate information mapped to a point in the 3D coordinate system as the origin.
  • the first orientation information may be a first orientation vector representing a direction in which the first body 32 is directed in the 3D coordinate system.
  • the second orientation information may be a second orientation vector indicating a direction in which the second body portion 34 is directed in the 3D coordinate system.
  • the first and second time difference information or the first, second and second The first azimuth information composed of 5 time difference information may be mapped to coordinates of a point in the three-dimensional coordinate system to be information representing the azimuth phase ⁇ 1 directed by the first body part 32.
  • the third and fourth time difference information or the third, fourth and sixth time difference information is also mapped to the coordinates of another point in the three-dimensional coordinate system, so that the azimuth phase ( ⁇ ) directed by the second body part 34 is 2 ) can be representative information.
  • Initial calibration may be performed on each of the first and second magnetic fluxgate sensor units 50a and 50b in order to convert to the azimuth angle information directed by the body part 34 (S50).
  • the origin point offset 115 of each fluxgate element 62, 64, 66 of the first and second magnetic fluxgate sensor units 50a, 50b obtained through the calibration is first and second orientations. It can be reflected when calculating information.
  • the sensitivity gain can be obtained and the sensitivity gain can be reflected.
  • the reflection of the origin offset 115 and the sensitivity gain may be processed inside the first and second magnetic fluxgate sensor units 50a and 50b or may be processed by the control unit 15. Details on obtaining and reflecting the origin offset 115 and the sensitivity gain will be described later.
  • the first and second pickup signal processing units 74a and 74b use the first and second azimuth information obtained as above as information representing the azimuth angles of the first body 32 and the second body 34, respectively, and the control unit 15 ) Can be provided (S124).
  • the first and second orientation information may be provided to the control unit 15 by collecting information of each period or several periods.
  • step S114 The series of processing from step S114 to step S124 for obtaining the first orientation information and the second orientation information may be repeatedly performed every cycle of the AC drive current until an instruction to terminate the inter-angle measurement is given. (S126, S128).
  • the first and the second in place of obtaining the time difference of the voltage peak generating time point (P1, P), the first voltage peak (+ V p) generated the point (P1) or the second voltage in the step S120 It is also possible to obtain only the point of occurrence (P2) of the peak (-V p ).
  • the magnitude of the external magnetic field can be determined by only information on the occurrence point P1 of the first voltage peak (+V p ) or the occurrence point P2 of the second voltage peak (-V p ).
  • the magnitude of the external magnetic field can be known by using the time interval between the time when the voltage peak occurs when no external magnetic field is applied and the time when the voltage peak occurs when the external magnetic field is applied.
  • the voltage peak generation time may be calculated using the analog pickup voltage profile as it is without converting to digital data. For this, it is necessary to provide a separate circuit for detecting the point of occurrence of the voltage peak.
  • control unit 15 is based on the magnitude of the magnetic field component in the y-axis direction (y-axis vector component) detected by the first or second magnetic fluxgate sensor unit 50a or 50b. ) It can be determined whether the angle between the earth's magnetic north direction belongs to the'magnetic sensor blind spot section' (S200).
  • the magnetic sensor blind spot section is a three-dimensional conical spatial region within a predetermined angular range with the crossing point between the extension line of the folding axis 37 and the extension line in the magnetic north direction of the earth as a vertex.
  • the portable foldable device 30 in which the inter-angle measuring devices 20-1, 20-2, etc. are installed may have a variable posture depending on the state of use, and the longitudinal direction of the folding shaft 37 is also changed accordingly.
  • the first and second magnetic fluxgate sensor units 50a and 50b can guarantee the accuracy of detection information when the strength of the input earth's magnetic field is sufficient.
  • the x-axis and z-axis fluxgate sensors of the first and second magnetic fluxgate sensor units 50a and 50b are disposed to be substantially perpendicular to the folding axis 37. The strength of the magnetic field detected by these x-axis and z-axis fluxgate sensors is used to calculate the orientation information of the first and second body parts 32 and 34.
  • the x-axis and z-axis fluxgate sensors are substantially perpendicular to the magnetic north direction, so that the earth's magnetic field cannot be substantially detected.
  • a large error may be included in the first and second orientation information output from the first and second magnetic fluxgate sensor units 50a and 50b.
  • the detection errors of the first and second magnetic fluxgate sensor units 50a and 50b increase.
  • the error of the measurement angle of the magnetic fluxgate sensor unit 50 is not very large.
  • the interposition angle becomes 45 degrees or less, the error of the measurement angle gradually starts to increase.
  • the interposition angle is about 30 degrees, an error of 10 degrees or more occurs in the measurement angle, and when the inter-angle is 20 degrees or less, a measurement angle error of 20 degrees or more occurs.
  • an intersection point between the extension line of the folding shaft 37 and the extension line in the magnetic north direction is a vertex, and a region a-a', which is a conical three-dimensional space with the magnetic north direction as the central axis, corresponds to the magnetic sensor blind spot section.
  • the conical space corresponding to the magnetic sensor blind spot section may be set to a space in which the angle formed by the conical busbar with the magnetic north direction is, for example, 45 degrees or less. In this case, when the angle formed by the folded shaft 37 with the magnetic north direction exceeds 45 degrees, it can be seen that the direction of the folded shaft 37 is located outside the magnetic sensor blind spot section.
  • the first and second orientation information measured by the first and second magnetic fluxgate sensor units 50a and 50b can be regarded as accurate.
  • the angle formed by the folding shaft 37 with the magnetic north direction is 45 degrees or less, it can be seen that the direction of the folding shaft 37 has entered the blind spot section of the magnetic sensor. In this case, it can be seen that the error of the first and second orientation information measured by the first and second magnetic fluxgate sensor units 50a and 50b exceeds an allowable level.
  • the threshold value of the blind spot section of the magnetic sensor may be preset in a program executed by the controller 15.
  • the control unit 15 includes the first or second magnetic fluxgate sensor unit 50a or 50b based on the first or second orientation information provided in real time from the first or second magnetic fluxgate sensor unit 50a or 50b.
  • the length direction of the y-axis fluxgate element 64 of can be calculated.
  • the calculated angle between the longitudinal direction of the y-axis fluxgate element 64 and the direction of the folding axis 37 is information that can be known in advance. Accordingly, the direction of the extension of the folding shaft 37 can also be known.
  • the control unit 15 may determine whether the fold shaft 37 enters the blind spot section of the magnetic sensor by calculating the angle between the calculated direction of the fold shaft 37 and the magnetic north direction.
  • the controller 15 may divide the calculation of the angle between the two body parts 32 and 34 into two cases as follows according to whether the folding shaft 37 enters the blind spot section of the magnetic sensor. In both cases, the angle between the two body parts 32 and 34 may be calculated by using the detection information of different sensor parts (S250).
  • the fold shaft 37 does not enter the magnetic sensor blind spot section. That is, when the angle formed by the folded shaft 37 with the magnetic north direction is greater than the angle of the set magnetic sensor blind spot section.
  • the strength of the magnetic field detected by the first and second magnetic fluxgate sensor units 50a and 50b may contain only an allowable small error.
  • the control unit 15 uses the first and second orientation information measured by the first and second magnetic fluxgate sensor units 50a and 50b, respectively, to provide real-time between the first and second body parts 32 and 34. It is possible to calculate the interval (S300). That is, the controller 15 may calculate an angle between the first body 32 and the second body 34 using the first and second orientation information input in step S100.
  • the first and second orientation information is information indicating the orientation that the first and second body portions 32 and 34 are directed.
  • the first and second orientation information of the first and second body parts 32 and 34 may be expressed as coordinates in a three-dimensional coordinate system determined based on the Earth's magnetic field.
  • step S300 the controller 15 may measure an angle between the first and the body parts 32 and 34 by calculating an angle between the first and second orientation vectors.
  • the angle ( ⁇ ) between the first direction vector ( U ) and the second direction vector ( V ) can be obtained using the following equation.
  • Angle ( ⁇ ) between the thus obtained between a first orientation vector (U) with a second orientation vector (U) is the angle between the between the first body portion 32 and the second body portion (34).
  • step S250 when the fold shaft 37 enters the magnetic sensor blind spot section, the strength of the magnetic field detected by the first and second magnetic sensor units 50a, 50b exceeds an allowable degree. A large error is included.
  • the control unit 15 instead of the orientation information detected by the first magnetic fluxgate sensor unit 50a and the second magnetic fluxgate sensor unit 50b, the first and second inertial sensor units 16 , Using the rotational motion inertia information of the first body part 2 and the rotational motion inertia information of the second body part 4 detected in real time by 17), the first body part 2 and the second body part ( 4) It is possible to calculate the real-time interval between the liver (S350).
  • the control unit 15 includes a first acceleration of the first body 32 detected by the first and second acceleration sensor units 100a and 100b in real time.
  • Information and second acceleration information of the second body portion 34 may be provided.
  • the acceleration information of the first body part 32 is the first x-axis (x1) of the first body part 32 detected by the acceleration sensor in the x-axis direction and the acceleration sensor in the z-axis direction of the first acceleration sensor part 100a, respectively. It may be a first acceleration vector including an acceleration component and a first z-axis (z1) acceleration component.
  • the acceleration information of the second body part 34 is the second x-axis of the second body part 34 detected by the acceleration sensor in the x-axis direction and the acceleration sensor in the z-axis direction of the second acceleration sensor part 100b, respectively.
  • x2) It may be a second acceleration vector including an acceleration component and a second z-axis (z2) acceleration component.
  • the controller 15 may calculate an angle between the first and second acceleration vectors ( ⁇ 1+ ⁇ 2). The calculated angle between the first and second acceleration vectors is a real-time angle between the first and second body parts 32 and 34.
  • 15 is a first and second angular velocity sensor unit 150a of the device 20-2 of FIG. 3 when the folding shaft 37 enters the blind spot section of the magnetic sensor according to an exemplary embodiment of the present invention.
  • 150b) is a view for explaining the principle of measuring the angle between the first and second body parts 32 and 34.
  • the control unit 15 includes the first and second body parts 32 measured by the first and second angular velocity sensor units 150a and 150b, respectively, instead of the detection values of the magnetic fluxgate sensor units 50a and 50b.
  • the angle between the two body parts 32 and 34 can be calculated using the angular velocity information of, 34).
  • the angular velocity information of the first body portion 32 centered on the folded shaft 37 is the y1-axis angular velocity sensor among the three-axis (x1, y1, z1 axes) angular velocity sensors of the first angular velocity sensor unit 150a. This is the angular velocity information to be detected.
  • the angular velocity information of the second body portion 34 centered on the folded shaft 37 is the y2-axis angular velocity sensor among the three-axis (x2, y2, z2 axes) angular velocity sensors of the second angular velocity sensor unit 150a. This is the angular velocity information to be detected.
  • the control unit 15 includes information on the y1-axis angular velocity of the first body portion 32 provided from the first angular velocity sensor unit 150a and the second body portion 34 provided from the second angular velocity sensor unit 150b.
  • Each of the y2-axis angular velocity information of can be integrated. This integration may be performed over time from the point of entry when the angle of the fold axis formed by the fold shaft 37 with the magnetic north direction enters the blind spot section of the magnetic sensor.
  • the control unit 15 calculates the first and second rotation angles ⁇ 1 and ⁇ 2 rotated around the folding shaft 37 from the point of entry of the first and second body parts 32 and 34. Each can be calculated in real time.
  • the control unit 15 reflects the calculated first and second rotation angles ⁇ 1 and ⁇ 2 to the angle between the first and second body parts 32 and 34 at the point of entry, so that the first body part 32 ) And the real-time angle between the second body portion 34 may be obtained (S450).
  • 16 is a first acceleration sensor unit 100a and a second body unit installed on the first body 32 when the folding shaft 37 enters the magnetic sensor blind spot section according to an exemplary embodiment of the present invention. It is a view for explaining the principle of measuring the angle between the first and second body parts (32, 34) using the second angular velocity sensor unit (150b) installed in 34).
  • the first acceleration sensor unit 100a installed in the first body 32 may detect acceleration information of the first body 32
  • the second The second angular velocity sensor unit 150b installed on the body portion 34 may detect angular velocity information of the second body portion 34.
  • the control unit 15 is a second body part 34 detected by the second angular velocity sensor part 150b.
  • the second rotation angle ⁇ 2 can be calculated in real time by integrating the angular velocity of) over time.
  • the second rotation angle ⁇ 2 may be an angle in which the second body portion 34 rotates around the fold shaft 37 from an entry point where the fold shaft 37 enters the blind spot section of the magnetic sensor.
  • the control unit 15 uses the acceleration of the first body 32 detected by the first acceleration sensor unit 100a to rotate the first rotation angle ⁇ 1 around the folding shaft 37. Can be calculated in real time.
  • the calculated first rotation angle ⁇ 1 may be an angle in which the first body part 32 rotates from an entry point where the folding shaft 37 enters the magnetic sensor blind spot section.
  • the fold shaft 37 is applied to the three-axis acceleration sensors of the first acceleration sensor unit 100A at a point in time when the folded shaft 37 enters the self-sensor war zone.
  • the x, y, z axis acceleration components measured by can be defined as a reference vector Vr(x 0 , y 0 , z 0 ). Also, measured by the three-axis acceleration sensors of the first acceleration sensor unit 100A at time t according to the movement of the first body 32 from the time when the folded shaft 37 enters the magnetic sensor's war zone.
  • the x, y, z axis acceleration components can be defined as real-time vectors Vt(x t , y t , z t ).
  • the control unit 15 is a projection vector on the xz-plane of the reference vector Vr(x 0 , y 0 , z 0 ) and the real-time vector Vt (x t , y t , z t ), that is, the plane of the first body 32
  • the angle between Vr' and Vt' can be calculated.
  • the calculated interval angle is the first rotation angle ⁇ 1.
  • the angle between the projection vectors Vr' and Vt' can be obtained by using Equation 3.
  • the controller 15 can calculate the first rotation angle ⁇ 1 of the first body 32 by using the first rotational motion inertia information such as acceleration or angular velocity of the first body 32.
  • the second rotation angle ⁇ 2 of the second body portion 34 may be calculated using second rotational motion inertia information such as acceleration or angular velocity of the second body portion 34.
  • the control unit 15 reflects the calculated first and second rotation angles ⁇ 1 and ⁇ 2 to the angles between the first and second body parts 32 and 34 at the point of entry. 2 It is possible to calculate an angle between the body parts 32 and 34 in real time (S450).
  • 17 shows a method of determining the increase or decrease of the angle between the two body parts 32 and 34 based on the correlation between the rotation angle of the first body part 32 and the rotation angle of the second body part 32.
  • (a) represents the angle between the two body parts 32 and 34 when the foldable device 30 is viewed in a direction parallel to the folding shaft 37.
  • the increase or decrease in the angle between the two body parts 32 and 34 may be determined by a correlation between the measured first rotation angle ⁇ 1 and the second rotation angle ⁇ 2.
  • the second rotation angle ( ⁇ 2) minus the first rotation angle ( ⁇ 1) increases, the first body 32 and the second body 34 open, and when the angle difference decreases, the first body It may be determined that the portion 32 and the second body portion 34 are closed.
  • FIG. 18 is a graph comparing the accuracy of measuring the interval angle between two cases with different configurations of the interval angle measuring device.
  • Figure 18 (a) is a magnetic flux gate sensor unit (50a, 50b) is installed in each of the first and second body parts (32, 34), the angle between the two body parts (32, 34) It shows the case of measuring.
  • FIG. 18(b) shows a magnetic fluxgate sensor part 50a and an acceleration sensor part 100a installed on the first body part 32 according to an embodiment of the present invention, and the magnetic flux in the second body part 34 It shows a case in which the angle between the two body parts 32 and 34 is measured with the angle measuring device in which the gate sensor unit 50b and the angular velocity sensor unit 150b are installed.
  • the Y unit vector on the horizontal axis is a value obtained by normalizing the strength of the magnetic field detected by the y-axis fluxgate sensor 64 of the first and second magnetic flux gate sensor units 50a and 50b.
  • the longitudinal direction of the y-axis fluxgate sensor 64 (which is substantially the same as the direction of the folded axis 37) is orthogonal to the earth's magnetic north direction, and the Y-axis unit vector value As this increases in the positive or negative direction, the longitudinal direction of the y-axis fluxgate sensor 64 becomes more and more parallel with the magnetic north direction, and becomes completely parallel when it becomes equal to 1 or -1.
  • a predetermined subsequent operation may be performed according to the angle between the first and second body parts 32 and 34 calculated by performing step S300 or performing steps S350 and S400 (S450).
  • the subsequent operation may be a predetermined control or processing.
  • the control to change the interface mode provided to the user through the first and second interface units 11 and 12 can be performed. I can.
  • the control unit 15 is configured with the first and second interface units according to the angle between the first and second body parts 32 and 34.
  • the size of the image or video output through (11, 12) can be varied.
  • an image or image may be output only through one of the first and second interface units 11 and 12, or different images or images may be output through the first and second interface units 11 and 12, respectively. can do.
  • the controller 15 calculates the interposition angle before You can also perform calibration processing.
  • the size of the origin offset 115 of each fluxgate element of the first and second magnetic fluxgate sensor units 50a and 50b may be previously stored in the data storage unit of the control unit 15.
  • the control unit 15 may also reflect the sensitivity gain.
  • FIG. 19 is a diagram for describing a method of calibrating a magnetic fluxgate sensor unit according to an exemplary embodiment of the present invention.
  • the center point of the magnitude of the external magnetic field measured by each of the fluxgate elements 62, 64, 66 may be separated by a predetermined distance from the origin (O).
  • the predetermined distance is referred to herein as the origin offset 115. If the origin offset 115 is not calibrated, an error may occur in measuring the angle between the two body parts 32 and 34.
  • the origin offset 115 is the time difference from the start of one period of the pickup voltage in the pickup voltage profile of each fluxgate element of the magnetic fluxgate sensor unit 50 to the occurrence of a voltage peak when no external magnetic field is applied, or It can be defined as the equivalent strength of the external magnetic field.
  • the original point offset 115 of the first and second magnetic fluxgate sensor units 50a and 50b installed on the two body parts 32 and 34 of the foldable device 30, respectively, has not been calibrated yet. It is assumed to be in the initial state.
  • the two body parts (32, 34) are completely overlaid on top or spread to form the same plane, that is, in a state where the angle ( ⁇ ) is 0 degrees or 180 degrees, for example, while rotating 360 degrees while being positioned parallel to the xy plane. You can measure the magnitude of the x-axis and y-axis components of the magnetic field.
  • the center of the trajectory 110 of the x-axis and y-axis components of the external magnetic field obtained in this measurement may be separated by the origin offset 115 from the origin O as shown in FIG. 19. If you measure the angle in this state, accurate angle measurement cannot be made.
  • the first magnetic fluxgate sensor unit 50a outputs the maximum value (Xmax) of the x-axis component of the external magnetic field
  • the second magnetic fluxgate sensor unit 50b determines the maximum value (Ymax) of the y-axis component.
  • the size of the angle between the two body parts 32 and 34 is measured as ⁇ 1, but the actual angle is ⁇ 2 measured at the origin O.
  • the size of the origin offset 115 may be calculated in advance and applied to the calculation of the interposition angle. Through this, it is possible to more accurately calculate the interval angle.
  • 20 is a flowchart illustrating a procedure of measuring an angle between two body parts by applying calibration to magnetic fluxgate sensor parts according to an exemplary embodiment of the present invention.
  • the size of the origin offset 115 of the first and second magnetic fluxgate sensor units 50a and 50b installed on the two body parts 32 and 34 of the foldable device 30, respectively, is calculated. can do.
  • the calculated origin offset size 115 may be stored in the data storage unit (S400).
  • the two body parts 32 and 34 of the foldable device 30 are completely stacked on top of each other, or the state is unfolded to form the same plane (that is, a state in which the angle between the foldable device 30 is 0 degrees or 180 degrees. ), the foldable device 30 is rotated 360 degrees while maintaining parallel to the xy plane.
  • the voltage peak at the time of occurrence of the voltage peak is measured in the pickup voltage profile of each fluxgate element 62, 64, 66 of each of the first and second magnetic fluxgate sensor units 50a, 50b, and the voltage in the xy plane.
  • the trajectory of change at the point of peak occurrence can be obtained.
  • the change trajectory at the point of occurrence of the voltage peak in the pickup voltage profile of each of the first and second magnetic fluxgate sensor units 50a and 50b is a circle or an ellipse. , Or may be a crushed circle.
  • the change trajectory 110 at the point of occurrence of the voltage peak may have a maximum value (Xmax) and a minimum value (Xmin) in the x-axis direction, and a maximum value (Ymax) and a minimum value ( Ymin).
  • the change trajectory at the point of occurrence of the voltage peak can be obtained from the pickup voltage profile of each fluxgate element in the same way.
  • the maximum value Zmax and the minimum value Zmin can be obtained in the z-axis direction.
  • the center (O') of the change trajectory at the point of occurrence of the voltage peak in the three axis directions thus obtained does not coincide with the origin (O).
  • the degree of inconsistency may correspond to the size of the origin offset 115.
  • the size of the origin offset 115 initially possessed by each of the fluxgate elements 62, 64 and 66 of the first and second magnetic fluxgate sensor units 50a and 50b can be calculated using the following equation.
  • the origin offset size obtained for each of the fluxgate elements 62, 64, and 66 of the first and second magnetic fluxgate sensor units 50a and 50b may be stored in advance in a data storage unit (not shown).
  • the origin offset obtained in advance and stored in the data storage unit can be applied.
  • the origin offset may be reflected when the magnetic fluxgate sensor units 50a and 50b detect the first and second orientation information. That is, when generating the first and second azimuth information in step S122 of the flowchart of FIG. 10, the corresponding origin offset size stored in the data storage unit of the first and second magnetic fluxgate sensor units 50a, 50b is read, Can be reflected (S410).
  • the first and second azimuth information provided by the first and second magnetic fluxgate sensor units 50a and 50b to the control unit 15 in step S124 is azimuth information to which the origin offset size is applied.
  • the controller 15 may calculate an angle between the first and second body parts 32 and 34 using the first and second azimuth information in which the size of the origin offset is calibrated (S420).
  • control unit 15 may perform a predetermined control or processing based on the calculated interval.
  • the origin offset may be reflected in the control unit 15.
  • the size of the origin offset may be previously stored in the data storage unit of the control unit 15.
  • the first and second magnetic fluxgate sensor units 50a and 50b may provide the controller 15 with first and second azimuth information in a state in which the origin offset is not calibrated.
  • the control unit 15 reads the origin offset size stored in the data storage unit and reflects it in the first and second orientation information provided by the first and second magnetic fluxgate sensor units 50a and 50b. can do. In this way, the angle between the first and second body parts 32 and 34 may be calculated using the first and second azimuth information calibrated by the origin offset size.
  • the sensitivity gain may be defined as a ratio between a difference between a maximum value and a minimum value of a magnetic field used when calibrating an origin offset, and a difference between a maximum value and a minimum value at the point of occurrence of a measured voltage peak.
  • the sensitivity gain can be applied by multiplying the sensitivity gain after reflecting the size of the origin offset at the time when the measured voltage peak occurs.
  • the value obtained by applying the sensitivity gain in this way can be the magnitude of the magnetic field depending on the type of the gain, and can be unit vectors for each of the x, y, and z axes.
  • the origin offset can be obtained by other methods.
  • Another way to obtain the origin offset size is to apply a magnetic field of the same size but opposite direction in both directions of the x-axis from the outside, and at that time, obtain the point of occurrence of the voltage peak, respectively, and the center value of these two values and the distance between the origin. The distance can also be calculated as the size of the origin offset on the x-axis.
  • both the y-axis and the z-axis may be measured to calculate the offset size of the x, y, and z-axes.
  • 21 shows a result of a simulation of the performance of the apparatus for measuring an angle between two body parts of a foldable device according to the present invention.
  • the horizontal axis is the actual angle between the two body parts 32 and 34
  • the vertical axis is the magnetic fluxgate sensor part 50a, 50b and the two body parts 32, according to the embodiment of the present invention. It is a value obtained by measuring the angle between the two body parts 32 and 34 by using the angle measuring device 20 configured to be respectively disposed on 34). Although there is some error between the actual angle and the measured angle, it can be seen that the overall trend of the two values changing from 0 degrees to 180 degrees is similar. By analyzing the pattern of the error that occurs between the actual angle and the measurement angle, you will be able to obtain an error correction amount that can cancel the error. If you apply the error correction amount to the angle between measurements, you will get a more accurate measurement angle.

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Abstract

Sont divulgués, un dispositif et un procédé de mesure de l'angle d'un dispositif pliable. Des première et seconde parties de capteur magnétique du dispositif pliable peuvent détecter des amplitudes de champs magnétiques externes appliqués, respectivement, et peuvent générer des première et seconde informations d'orientation, respectivement. Des première et seconde parties de capteur d'inertie peuvent détecter des informations d'inertie concernant des premier et second mouvements de rotation, respectivement. Un dispositif de commande peut calculer l'angle entre les première et seconde parties de corps en temps réel à l'aide des première et seconde informations d'orientation dans un cas dans lequel un angle d'axe de pliage entre un axe de pliage et la direction nord magnétique dépasse une plage d'angles morts de capteur magnétique. Le dispositif de commande peut calculer l'angle entre les première et seconde parties de corps en temps réel à l'aide des informations d'inertie concernant des premier et second mouvements de rotation dans d'autres cas. Les première et seconde parties de capteur magnétique peuvent être mises en œuvre comme parties de capteur de grille de flux magnétique, et les première et seconde parties de capteur d'inertie peuvent être mises en œuvre comme parties de capteur d'accélération ou parties de capteur de vitesse angulaire.
PCT/KR2020/015927 2019-04-29 2020-11-12 Procédé de mesure d'angle entre deux parties de corps d'un dispositif pliable, et dispositif associé WO2021101171A1 (fr)

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CN117813568A (zh) 2021-08-10 2024-04-02 三星电子株式会社 包括用于识别折叠状态的霍尔传感器的电子装置
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KR20140117120A (ko) * 2013-03-26 2014-10-07 삼성전자주식회사 방위각 보정 방법 및 그 전자 장치
KR20200126317A (ko) * 2019-04-29 2020-11-06 일진머티리얼즈 주식회사 폴더블 디바이스의 두 몸체부의 사이각 측정 방법 및 이를 위한 장치

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113819880A (zh) * 2021-09-27 2021-12-21 江苏星图智能科技有限公司 牵引挂车夹角实时获取方法
CN113850723A (zh) * 2021-09-27 2021-12-28 江苏星图智能科技有限公司 牵引挂车360度环视拼接方法

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