Search

CN-116045799-B - Angle sensing device and method

CN116045799BCN 116045799 BCN116045799 BCN 116045799BCN-116045799-B

Abstract

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

Inventors

  • LIU CHUNXIAO

Assignees

  • 上海智位机器人股份有限公司

Dates

Publication Date
20260508
Application Date
20221229

Claims (7)

  1. 1. An angle sensing device, comprising: The rotating structure comprises a rotating disc and N magnets arranged on the rotating disc, wherein the N magnets are circumferentially distributed on the rotating disc, and N is larger than 1; The detection structure is arranged opposite to the rotating structure and comprises a detection disc and S magnetic resistance chips arranged on the detection disc, wherein the S magnetic resistance chips are symmetrically distributed on the detection disc about a first datum line, S is greater than 1 and S is greater than N, and the first datum line passes through the circle center of the detection disc; in a first direction, the projection of the magnetic resistance chip on the rotating disc is overlapped with a magnet rotating path, and the first direction is perpendicular to the plane of the rotating disc; The N magnets at least comprise a1 st magnet and a2 nd magnet; the S magneto-resistance chips at least comprise a1 st magneto-resistance chip and a 2 nd magneto-resistance chip; The included angle between the 1 st magnet and the center of the rotating disc is equal to the included angle between the 1 st magnetic resistance chip and the center of the detecting disc, and the included angle between the 1 st magnet, the 2 nd magnet and the center of the rotating disc is not equal to 180 degrees and not equal to 90 degrees; the angle sensing device further comprises a signal processor, wherein the signal processor is electrically connected with the magnetic resistance chips and is used for determining the angle information of the rotating disc according to the output signals of the magnetic resistance chips.
  2. 2. The angle sensing device of claim 1, wherein the S magnetoresistive chips are symmetrically distributed about a center of a circle on the sense disk.
  3. 3. The angle sensing device of claim 1, wherein the 1 st magnetoresistive chip and the 2 nd magnetoresistive chip are located on the same side of the first datum line; or the 1 st magnetic resistance chip and the 2 nd magnetic resistance chip are positioned on different sides of the first datum line.
  4. 4. The angle sensing device of claim 1, wherein the N magnets further comprise a 3 rd magnet; The working state of the angle sensing device at least comprises a first rotation state; The first rotation state is specifically that, in the first direction, the 1 st magnet overlaps the 1 st magnetoresistive chip, the 2 nd magnet overlaps the 2 nd magnetoresistive chip, and the 3 rd magnet does not overlap any of the magnetoresistive chips.
  5. 5. The angle sensing device of claim 1, wherein the magnetoresistive chip comprises a magnetoresistive switch; The reluctance switch is used for sensing the magnet to switch the on-off state.
  6. 6. The angle sensing device of claim 5, wherein in the first direction, a projection of the magnet onto the detection disc overlaps the magnetoresistive chip to switch the magnetoresistive switch to a first switch state, and wherein a projection of the magnet onto the detection disc does not overlap the magnetoresistive chip to switch the magnetoresistive switch to a second switch state; the first switch state is closed and the second switch state is open, or the first switch state is open and the second switch state is closed.
  7. 7. An angle sensing method, characterized in that it is applied to an angle sensing device according to any one of claims 1 to 6, the method comprising: Driving the rotating disc in the rotating structure to rotate so that N magnets on the rotating disc synchronously rotate; And determining the angle information of the rotating disc according to the output signals of the S magnetoresistive chips in the detection structure.

Description

Angle sensing device and method Technical Field The invention relates to the technical field of angle detection, in particular to an angle sensing device and an angle sensing method. Background The angle sensor is a sensor for detecting angle change, has wide application in various industries and can realize the requirement of angle control of a rotating mechanism. For example, the angle sensor can be applied to a barrier gate system to detect the swing angle of a gate rod. Or the angle sensor may be used in meteorological equipment for wind direction measurement. The angle sensor may also be applied in micro devices. At present, the angle sensor needs to detect angles through more magnetic resistance chips, so that the cost and the power consumption of the whole circuit are high. Disclosure of Invention The invention provides an angle sensing device and an angle sensing method, which are used for solving the problems of high cost and high power consumption of the existing angle sensor. According to an aspect of the present invention, there is provided an angle sensing apparatus including: The rotating structure comprises a rotating disc and N magnets arranged on the rotating disc, wherein the N magnets are circumferentially distributed on the rotating disc, and N is larger than 1; The detection structure is arranged opposite to the rotating structure and comprises a detection disc and S magnetic resistance chips arranged on the detection disc, wherein the S magnetic resistance chips are symmetrically distributed on the detection disc about a first datum line, S is greater than 1 and S is greater than N, and the first datum line passes through the circle center of the detection disc; In a first direction, the projection of the magnetic resistance chip on the rotating disc is overlapped with the rotating path of the magnet, and the first direction is perpendicular to the plane of the rotating disc. Further, the S magnetic resistance chips are symmetrically distributed on the detection disc around the circle center. Further, the S magnetic resistance chips are uniformly distributed on the circumference of the detection disc. Further, the N magnets at least comprise a1 st magnet and a 2 nd magnet; the S magneto-resistance chips at least comprise a1 st magneto-resistance chip and a 2 nd magneto-resistance chip; the included angle between the 1 st magnet and the center of the rotating disc is equal to the included angle between the 1 st magnetic resistance chip and the center of the detecting disc, and the included angle between the 1 st magnet, the 2 nd magnet and the center of the rotating disc is not equal to 180 degrees. Further, the 1 st magneto-resistive chip and the 2 nd magneto-resistive chip are located on the same side of the first datum line; or the 1 st magnetic resistance chip and the 2 nd magnetic resistance chip are positioned on different sides of the first datum line. Further, the N magnets further include a 3 rd magnet; The working state of the angle sensing device at least comprises a first rotation state; The first rotation state is specifically that, in the first direction, the 1 st magnet overlaps the 1 st magnetoresistive chip, the 2 nd magnet overlaps the 2 nd magnetoresistive chip, and the 3 rd magnet does not overlap any of the magnetoresistive chips. Further, the magneto-resistive chip comprises a magneto-resistive switch; The reluctance switch is used for sensing the magnet to switch the on-off state. Further, in the first direction, the projection of the magnet on the detection disc is overlapped with the magnetic resistance chip to enable the magnetic resistance switch to be switched into a first switch state, and the projection of the magnet on the detection disc is not overlapped with the magnetic resistance chip to enable the magnetic resistance switch to be switched into a second switch state; the first switch state is closed and the second switch state is open, or the first switch state is open and the second switch state is closed. Further, the angle sensing device further comprises a signal processor, wherein the signal processor is electrically connected with the magnetic resistance chips and is used for determining the angle information of the rotating disc according to the output signals of the magnetic resistance chips. According to another aspect of the present invention, there is provided an angle sensing method applied to an angle sensing device as described above, the method comprising: Driving the rotating disc in the rotating structure to rotate so that N magnets on the rotating disc synchronously rotate; And determining the angle information of the rotating disc according to the output signals of the S magnetoresistive chips in the detection structure. In the embodiment of the invention, N magnets are arranged on a rotating disc of a rotating structure, the N magnets are circumferentially distributed on the rotating disc, S magnetic resistance chips are symmetrical