An angle sensing device and method

Abstract

The application discloses an angle sensing device and method, which comprises a rotating structure, the rotating structure comprising a rotating disc and N magnets arranged on the rotating disc, the N magnets being distributed in a circle on the rotating disc, N being greater than 1; a detection structure, the detection structure comprising a detection disc and S magnetoresistance chips arranged on the detection disc, the S magnetoresistance chips being symmetrically distributed about a first reference line on the detection disc, S being greater than 1 and S being greater than N, the first reference line passing through the center of the detection disc; in a first direction, the projection of the magnetoresistance chip on the rotating disc overlaps the rotating path of the magnet, the first direction being perpendicular to the plane where the rotating disc is located. In the embodiment of the application, the angle sensing device has a simple structure, can realize more angle detection by using a smaller number of magnetoresistance chips, improves the angle detection precision, reduces the cost and power consumption, and is easy to use in practice.

Description

Technical Field

[0001] This invention relates to the field of angle detection technology, and more particularly to an angle sensing device and method. Background Technology

[0002] An angle sensor is a sensor used to detect changes in angle. It is widely used in various industries and can meet the needs of angle control of rotating mechanisms.

[0003] For example, angle sensors can be used in barrier gate systems to detect the swing angle of the gate arm. Alternatively, angle sensors can be used in meteorological equipment for wind direction measurement. Angle sensors can also be used in miniature devices.

[0004] Currently, angle sensors require a large number of magnetoresistive chips for angle detection, resulting in high overall circuit cost and high power consumption. Summary of the Invention

[0005] This invention provides an angle sensing device and method to solve the problems of high cost and high power consumption of existing angle sensors.

[0006] According to one aspect of the present invention, an angle sensing device is provided, comprising:

[0007] A rotating structure, comprising a rotating disk and N magnets disposed on the rotating disk, wherein the N magnets are circumferentially distributed on the rotating disk, and N is greater than 1;

[0008] A detection structure is disposed opposite to the rotating structure. The detection structure includes a detection disk and S magnetoresistive chips disposed on the detection disk. The S magnetoresistive chips are symmetrically distributed on the detection disk about a first reference line, where S is greater than 1 and S is greater than N. The first reference line passes through the center of the detection disk.

[0009] In a first direction, the projection of the magnetoresistive chip onto the rotating disk overlaps with the rotation path of the magnet, and the first direction is perpendicular to the plane where the rotating disk is located.

[0010] Furthermore, the S magnetoresistive chips are symmetrically distributed about the center of the detection disk.

[0011] Furthermore, the S magnetoresistive chips are evenly distributed circumferentially on the detection disk.

[0012] Furthermore, the N magnets include at least a first magnet and a second magnet;

[0013] The S magnetoresistive chips include at least a first magnetoresistive chip and a second magnetoresistive chip;

[0014] The angle between the first magnet, the second magnet and the center of the rotating disk is equal to the angle between the first magnetoresistive chip, the second magnetoresistive chip and the center of the detection disk, and the angle between the first magnet, the second magnet and the center of the rotating disk is not equal to 180°.

[0015] Furthermore, the first magnetoresistive chip and the second magnetoresistive chip are located on the same side of the first reference line;

[0016] Alternatively, the first magnetoresistive chip and the second magnetoresistive chip may be located on different sides of the first reference line.

[0017] Furthermore, the N magnets also include a third magnet;

[0018] The operating states of the angle sensing device include at least a first rotation state;

[0019] Specifically, in the first rotation state, the first magnet overlaps with the first magnetoresistive chip in the first direction, the second magnet overlaps with the second magnetoresistive chip, and the third magnet does not overlap with any of the magnetoresistive chips.

[0020] Furthermore, the magnetoresistive chip includes a magnetoresistive switch;

[0021] The magnetoresistive switch is used to sense the magnet to switch the on / off state.

[0022] Furthermore, in the first direction, when the projection of the magnet on the detection disk overlaps with the magnetoresistive chip, the magnetoresistive switch is switched to a first switching state; when the projection of the magnet on the detection disk does not overlap with the magnetoresistive chip, the magnetoresistive switch is switched to a second switching state.

[0023] The first switch is in a closed state and the second switch is in an open state, or the first switch is in an open state and the second switch is in a closed state.

[0024] Furthermore, the angle sensing device also includes a signal processor, which is electrically connected to the magnetoresistive chip and is used to determine the angle information of the rotating disk based on the output signals of each of the magnetoresistive chips.

[0025] According to another aspect of the present invention, an angle sensing method is provided, applied to the angle sensing device described above, the method comprising:

[0026] The rotating disk in the rotating structure is driven to rotate, causing the N magnets on the rotating disk to rotate synchronously;

[0027] The angle information of the rotating disk is determined based on the output signals of the S magnetoresistive chips in the detection structure.

[0028] In this embodiment of the invention, N magnets are arranged on the rotating disk of the rotating structure, and the N magnets are distributed circumferentially on the rotating disk. S magnetoresistive chips are arranged on the detection disk of the detection structure, and the S magnetoresistive chips are symmetrically distributed about a first reference line on the detection disk. In a first direction, the projection of the magnetoresistive chip onto the rotating disk overlaps with the rotation path of the magnet. The rotation of the rotating disk drives the magnet to rotate. When the magnet passes over the magnetoresistive chip, the magnetoresistive chip can detect the change in the direction of the magnetic field and output a corresponding electrical signal. The angle sensing device can obtain the angle information of the rotating disk based on the output signals of each magnetoresistive chip. In this embodiment of the invention, the angle sensing device has a simple structure, can achieve more angle detections with fewer magnetoresistive chips, improves the angle detection accuracy, and reduces cost and power consumption, making it easy to use in practice.

[0029] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the rotating structure provided in an embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of the detection structure provided in an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of an angle sensing device provided in an embodiment of the present invention;

[0034] Figure 4 yes Figure 3 A sectional view along A-A';

[0035] Figure 5 This is a schematic diagram of the rotation of the angle sensing device provided in an embodiment of the present invention;

[0036] Figure 6 This is a schematic diagram of another angle sensing device provided in an embodiment of the present invention;

[0037] Figure 7 This is a schematic diagram of another angle sensing device provided in an embodiment of the present invention;

[0038] Figure 8This is a rotational schematic diagram of another angle sensing device provided in an embodiment of the present invention;

[0039] Figure 9 This is a schematic diagram of another angle sensing device provided in an embodiment of the present invention;

[0040] Figure 10 This is a schematic diagram of another angle sensing device provided in an embodiment of the present invention;

[0041] Figure 11 This is a schematic diagram of another angle sensing device provided in an embodiment of the present invention;

[0042] Figure 12 This is a schematic diagram of another angle sensing device provided in an embodiment of the present invention;

[0043] Figure 13 This is a schematic diagram of an angle sensing method provided in an embodiment of the present invention. Detailed Implementation

[0044] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0045] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0046] Figure 1 This is a schematic diagram of the rotating structure provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the detection structure provided in an embodiment of the present invention. Figure 3 This is a schematic diagram of an angle sensing device provided in an embodiment of the present invention. Figure 4 yes Figure 3A cross-sectional view along A-A'. The angle sensing device provided in this embodiment includes: a rotation structure 11, which includes a rotating disk 12 and N magnets 13 disposed on the rotating disk 12. The N magnets 13 are circumferentially distributed on the rotating disk 12, and N is greater than 1; a detection structure 14 disposed opposite to the rotation structure 11, which includes a detection disk 15 and S magnetoresistive chips 16 disposed on the detection disk 15. The S magnetoresistive chips 16 are symmetrically distributed on the detection disk 15 about a first reference line B-B', and S is greater than 1 and S is greater than N. The first reference line B-B' passes through the center 0b of the detection disk 15; in the first direction Z, the projection of the magnetoresistive chip 16 on the rotating disk 12 overlaps with the magnet rotation path 17, and the first direction Z is perpendicular to the plane where the rotating disk 12 is located. Figure 3 It is the projection of the detection structure 14 onto the rotating structure 11.

[0047] In this embodiment, the angle sensing device includes a rotating structure 11, which includes a rotating disk 12 and N magnets 13 disposed on the rotating disk 12. The N magnets 13 are arranged in a circle on the rotating disk 12. The rotating disk 12 can be a gear or other rotatable component. The rotating disk 12 rotates about its center Oa. The shape of the rotating disk 12 can be circular, but is not specifically limited. In other embodiments, the shape of the rotating disk can also be elliptical, square, or other shapes. If the shape of the rotating disk is not circular, its center can be the geometric center of the rotating disk. The N magnets 13 are fixedly disposed on the same side of the rotating disk 12, and the N magnets 13 are spaced apart on the rotating disk 12 and arranged in a circle on the rotating disk 12. The rotation of the rotating disk 12 will drive the magnets 13 on it to rotate synchronously. When the rotating disk 12 rotates, the magnet rotation path 17 of the N circumferentially distributed magnets 13 is the same path. Figure 1 The path shown by the dashed line 17 is the magnet rotation path 17 of magnet 13. When the rotating disk 12 rotates clockwise or counterclockwise around the center Oa, N magnets 13 rotate synchronously along the magnet rotation path 17. For example, N equals 2, but is not limited to this.

[0048] It is understood that the rotating structure 11 also includes other components that drive the rotating disk 12 to rotate; only some components are shown here. For example, the rotating structure 11 also includes a motor or transmission assembly (not shown), etc. The motor or transmission assembly drives the rotating disk 12 to rotate, thereby causing N magnets 13 to rotate synchronously along the magnet rotation path 17. The magnets 13 can be any type of magnet suitable for the angle sensing device; for example, the magnets 13 can be samarium cobalt magnets or neodymium iron boron permanent magnets, but are not limited to these types. The shape of the magnets 13 can be circular, in which case the magnets 13 can be composed of two semicircles, which are the south pole (S pole) and the north pole (N pole), respectively; however, the shape of the magnets 13 can also be other shapes, not limited to circular.

[0049] The angle sensing device includes a detection structure 14, which is disposed opposite to and spaced apart from the rotation structure 11. The detection structure 14 is fixedly disposed in the angle sensing device. The detection structure 14 includes a detection disk 15 and S magnetoresistive chips 16 disposed on the detection disk 15. The S magnetoresistive chips 16 are symmetrically distributed on the detection disk 15 about a first reference line B-B', which passes through the center Ob of the detection disk 15. For example, S=4, magnetoresistive chips 16a and 16b are symmetrically distributed on the detection disk 15 about the first reference line B-B', and magnetoresistive chips 16d and 16c are symmetrically distributed on the detection disk 15 about the first reference line B-B'.

[0050] The detection disk 15 can be a support plate, and the magnetoresistive chips 16 are fixedly disposed on the same side of the detection disk 15. The shape of the detection disk 15 can be circular, but is not specifically limited; in other embodiments, the shape of the detection disk can also be elliptical, square, or other shapes, and the center of the detection disk can be its geometric center. S magnetoresistive chips 16 are spaced apart on the detection disk 15 and symmetrically distributed on the detection disk 15 about the first reference line B-B', and the center Ob of the detection disk 15 coincides with the center Oa of the rotating disk 12 in the first direction Z. Figure 2 As shown, S equals 4, and 4 magnetoresistive chips 16 are spaced apart on the detection disk 15 and symmetrically distributed on the detection disk 15 about the first reference line B-B'; however, S is not limited to 4, and relevant practitioners can reasonably design the number of magnetoresistive chips according to the product requirements.

[0051] S magnetoresistive chips 16 are symmetrically distributed on the detection disk 15 about the first reference line B-B'. Their distribution can be uniformly distributed circumferentially or not. In this embodiment, the S magnetoresistive chips 16 can be symmetrically distributed on the detection disk 15 about the first reference line B-B', and their distribution can be non-uniformly distributed circumferentially. Figure 2 As shown, S = 4, meaning there are at least two adjacent magnetoresistive chips 16 whose angle with the center Ob is not equal to 90 degrees. In subsequent embodiments, S magnetoresistive chips can be selected and symmetrically distributed on the detection disk about the first reference line B-B', and their distribution pattern is uniformly distributed around the circumference.

[0052] It should be noted that the magnetoresistive chip 16 can be disposed on the side surface of the detection structure 14 facing away from the rotating structure 11, or the magnetoresistive chip can also be disposed on the side surface of the detection structure facing the rotating structure; the magnet 13 can be disposed on the side surface of the rotating structure 11 facing the detection structure 14, or the magnet can be disposed on the side surface of the rotating structure facing away from the detection structure.

[0053] It is understood that the detection structure 14 also includes other components for angle detection; only some components are shown here. An optional angle sensing device also includes a signal processor (not shown), which is electrically connected to the magnetoresistive chips and used to determine the angle information of the rotating disk based on the output signals of each magnetoresistive chip. The signal processor is connected to each magnetoresistive chip separately and is used to collect the output signals of the magnetoresistive chips. The information processor can determine the angle information of the rotating disk based on the output signals of the S magnetoresistive chips. The signal processor can be integrated into the detection structure 14, but it can also be located in an area outside the detection structure 14.

[0054] In the first direction Z, the projection of the magnetoresistive chip 16 onto the rotating disk 12 overlaps with the magnet rotation path 17, and the first direction Z is perpendicular to the plane of the rotating disk 12. The detection structure 14 remains stationary, while the rotating disk 12 rotates about its center Oa. This rotation of the rotating disk 12 causes the magnet 13 on it to rotate synchronously, resulting in a change in the position of the magnet 13 relative to the magnetoresistive chip 16 in the detection structure 14. Since the projection of the magnetoresistive chip 16 onto the rotating disk 12 overlaps with the magnet rotation path 17 in the first direction Z, when the rotating disk 12 causes the magnet 13 to rotate along the magnet rotation path 17, there is a possibility that the magnet 13 rotates above the magnetoresistive chip 16. Here, "the magnet 13 rotates above the magnetoresistive chip 16" means that the magnet 13 and the magnetoresistive chip 16 overlap in the first direction Z. When magnet 13 rotates, the direction of the magnetic field rotates accordingly. When magnet 13 passes above magnetoresistive chip 16, the magnetic field of magnet 13 affects magnetoresistive chip 16. Magnetoresistive chip 16 can detect the change in magnetic field direction and output a corresponding electrical signal. The angle sensing device can obtain the angle information of rotating disk 12 based on the output signals of each magnetoresistive chip 16.

[0055] Specifically, when the rotating disk 12 rotates, the N magnets 13 and S magnetoresistive chips 16 will have multiple different position or rotation states in the first direction. Each position state can represent a certain orientation angle of the rotating disk 12. The S magnetoresistive chips 16 can detect the change in the magnetic field direction of the N magnets 13, thereby outputting an electrical signal corresponding to that position state. For example, the N magnets 13 and S magnetoresistive chips 16 are in the first direction Z... Figure 3In the indicated positional state, the S magnetoresistive chips 16 output electrical signals based on the changes in the magnetic field direction of the N magnets 13. The angle sensing device can determine the positional state of the N magnets 13 and the S magnetoresistive chips 16 in the first direction Z based on the output signals of the S magnetoresistive chips 16. Based on this positional state, the angle sensing device can determine the azimuth angle of the rotating disk 12, and can also obtain the rotation angle increment of the rotating disk 12 based on the difference between two azimuth angles, or obtain the rotation direction of the rotating disk 12 based on the two azimuth angles, etc. This angle information includes at least one of the azimuth angle, rotation angle, and rotation direction of the rotating disk, but is not limited to these. When the magnetoresistive chips and magnets overlap in the first direction, the output signal of the magnetoresistive chips is indicated by the digit "1"; when the magnetoresistive chips and magnets do not overlap in the first direction, the output signal of the magnetoresistive chips is indicated by the digit "0".

[0056] Figure 5 This is a schematic diagram of the rotation of the angle sensing device provided in an embodiment of the present invention. Figure 5 As shown, when the rotating disk 12 rotates, the angle sensing device switches from the first rotation state to the second rotation state, and then from the second rotation state to the third rotation state.

[0057] When the rotating disk 12 rotates counterclockwise, magnet 13a rotates above magnetoresistive chip 16a, and magnet 13b rotates above magnetoresistive chip 16b. Magnetoresistive chips 16a and 16b are affected by the magnetic field direction of magnets 13a and 13b and output corresponding first electrical signals (represented by the number "1"). Magnetoresistive chips 16c and 16d are not affected by the magnetic field direction of magnet 13 and output corresponding second electrical signals (represented by the number "0"). Magnetoresistive chips 16a to 16d constitute the first rotation state (1, 1, 0, 0). The angle sensing device can determine the position state of N magnets 13 and S magnetoresistive chips 16 in the first direction Z based on the output signals of each magnetoresistive chip 16, and then determine the orientation angle of the rotating disk 12 based on the position state. This orientation angle is the angle corresponding to the first rotation state (1, 1, 0, 0).

[0058] As the rotating disk 12 continues to rotate counterclockwise, magnet 13a rotates to the position between magnetoresistive chips 16a and 16d, and magnet 13b rotates to the position between magnetoresistive chips 16a and 16b. Then, magnetoresistive chips 16a, 16b, 16c, and 16d are not affected by the magnetic field direction of magnet 13 and output corresponding second electrical signals (represented by the digit "0"). Magnetoresistive chips 16a to 16d constitute the second rotation state (0, 0, 0, 0). The angle sensing device determines the orientation angle of the rotating disk 12 based on the output signals of each magnetoresistive chip 16. This orientation angle is the angle corresponding to the second rotation state (0, 0, 0, 0).

[0059] As the rotating disk 12 continues to rotate counterclockwise, magnet 13a rotates to above magnetoresistive chip 16d, and magnet 13b rotates to between magnetoresistive chips 16a and 16b. Magnetoresistive chip 16d is affected by the magnetic field direction of magnet 13a and outputs a corresponding first electrical signal (represented by the number "1"). Magnetoresistive chips 16a, 16b, and 16c are not affected by the magnetic field direction of magnet 13a and output a corresponding second electrical signal (represented by the number "0"). Magnetoresistive chips 16a to 16d constitute the third rotation state (0, 0, 0, 1). The angle sensing device determines the orientation angle of the rotating disk 12 based on the output signals of each magnetoresistive chip 16. This orientation angle is the angle corresponding to the third rotation state (0, 0, 0, 1).

[0060] Similarly, as the rotating disk 12 rotates, the magnetoresistive chips 16a to 16d form various rotation states. The angle sensing device determines the orientation angle of the rotating disk 12 based on the output signal of each magnetoresistive chip 16, thereby realizing the detection of various orientation angles.

[0061] It should be noted that the device under test (DUT) is connected to and rotates synchronously with the rotating disk 12. The angle information of the rotating disk 12 is used to characterize the angle information of the DUT. For example, the DUT can be a wind-driven device in meteorological equipment. The wind-driven device is connected to the rotating disk 12. Driven by wind, the wind-driven device rotates to drive the rotating disk 12 to rotate. The angle information of the rotating disk 12 detected by the angle sensor can characterize the rotation direction and angle of the wind-driven device, realizing wind force and wind direction measurement. Alternatively, the DUT can be a gate arm in a barrier gate system. The gate arm is connected to the rotating disk 12. The gate arm swings to drive the rotating disk 12 to rotate. The angle information of the rotating disk 12 detected by the angle sensor can characterize the swing angle and swing direction of the gate arm. Angle sensors can be applied in various industries, and are not limited to these.

[0062] In this embodiment, N is greater than or equal to 2 and S is greater than or equal to 3, but this is not a limitation; in other embodiments, N and S can be set as needed, for example, N is greater than or equal to 1 and S is greater than or equal to 1. With at least two magnets 13 in the rotation structure 11 and at least three magnetoresistive chips 16 in the detection structure 14, the angle sensing device can detect at least S+2 position states, thereby achieving at least S+2 angle detections. Magnets 13 are low-cost, and having at least two magnets 13 in the rotation structure 11 does not significantly increase the cost of the angle sensing device; magnetoresistive chips 16 are high-cost and consume a lot of power. The detection structure 14 can achieve at least S+2 angle detections with S magnetoresistive chips, thus achieving more angle detections with fewer magnetoresistive chips, reducing cost and power consumption, and improving angle detection accuracy.

[0063] Using four magnetoresistive chips with one magnet allows for detection at five angles. Using five magnetoresistive chips with one magnet allows for detection at six angles. In this embodiment, using four magnetoresistive chips with two magnets allows for detection at six angles. Using four magnetoresistive chips with three magnets allows for detection at nine angles. The magnetoresistive chip's output signal is set to 1 when the magnet is positioned above it; and to 0 when the magnet does not overlap with the magnetoresistive chip in the first direction.

[0064] Table 1 shows the positional configurations of 4 magnetoresistive chips with 1 magnet. Table 2 shows the positional configurations of 5 magnetoresistive chips with 1 magnet. Table 3 shows the positional configurations of 4 magnetoresistive chips with 2 magnets. Table 4 shows the positional configurations of 4 magnetoresistive chips with 3 magnets.

[0065] Table 1

[0066] Chip A Chip B Chip C Chip D State 1 0 0 0 0 State 2 0 0 0 1 State 3 0 0 1 0 State 4 0 1 0 0 State 5 1 0 0 0

[0067] As shown in Table 1, the four magnetoresistive chips A to D, together with one magnet, can be combined to form five position states, representing four orientation angles and one first angle of the rotating disk. The four orientation angles can be 0 degrees, 90 degrees, 180 degrees and 270 degrees respectively. The first angle corresponding to position state 1 is an angle other than the four orientation angles, but the orientation angles are not limited to these.

[0068] Table 2

[0069] Chip A Chip B Chip C Chip D Chip E State 1 0 0 0 0 0 State 2 0 0 0 0 1 State 3 0 0 0 1 0 State 4 0 0 1 0 0 State 5 0 1 0 0 0 State 6 1 0 0 0 0

[0070] As shown in Table 2, the five magnetoresistive chips A to E, together with one magnet, can be combined to form six position states, representing five orientation angles and one first angle of the rotating disk. The five orientation angles can be 0 degrees, 72 degrees, 144 degrees, 216 degrees and 288 degrees respectively. The first angle corresponding to position state 1 is an angle other than the five orientation angles, but the orientation angles are not limited to these.

[0071] Table 3

[0072]

[0073]

[0074] As shown in Table 3, the four magnetoresistive chips A to D, combined with two magnets, can form 11 position states. However, considering that in practice, with only two magnets installed, each magnetoresistive chip can detect the magnet at most twice in one revolution, meaning that each column of each magnetoresistive chip can only contain at most two "1"s, after analyzing the table and eliminating invalid states, this combination can actually form 7 valid position states, representing the four orientation angles, one first angle, and one second angle of the rotating disk. The four orientation angles can be 0 degrees, 90 degrees, 180 degrees, and 270 degrees, respectively. If the angle between the two magnets is 45 degrees, then the second angle is one of 45, 135, 225, and 315 degrees. The first angle corresponding to position state 1 is any angle other than the four orientation angles and the second angle, but the orientation angle is not limited to these.

[0075] Compared to using four magnetoresistive chips with one magnet, this embodiment only requires adding one low-cost magnet, allowing four magnetoresistive chips with two magnets to detect six angles, thus improving angle detection accuracy without significantly increasing costs.

[0076] Compared to using 5 magnetoresistive chips with 1 magnet, this embodiment reduces the number of magnetoresistive chips to 4, allowing for the use of 4 magnetoresistive chips with 2 magnets to detect 6 angles. This reduces power consumption and cost while maintaining the same detection accuracy.

[0077] Table 4

[0078]

[0079]

[0080] Table 4 shows that four magnetoresistive chips A to D, combined with three magnets, can create 15 position states. However, considering that in practice, with only three magnets installed, each magnetoresistive chip can detect the magnet at most three times in one revolution, meaning that each column of each magnetoresistive chip can only contain a maximum of three "1"s, by analyzing the table, states 6 and 11-15 can be selectively excluded, but are not limited to this exclusion combination. This combination can actually create nine effective position states, representing eight azimuth angles and one first angle of the rotating disk. The eight azimuth angles can be 0 degrees, 45 degrees, 90 degrees, 135 degrees, 180 degrees, 225 degrees, 270 degrees, and 315 degrees, respectively. The first angle corresponding to position state 1 is any angle other than the eight azimuth angles, but the azimuth angles are not limited to these.

[0081] Compared to using 4 magnetoresistive chips with 1 magnet, this embodiment only adds 2 low-cost magnets, allowing 4 magnetoresistive chips with 3 magnets to detect 9 angles, significantly improving angle detection accuracy without substantially increasing costs.

[0082] Compared to using 5 magnetoresistive chips with 1 magnet, this embodiment reduces the number of magnetoresistive chips to 4 and increases the number of magnets to 3. It can use 4 magnetoresistive chips with 3 magnets to detect 9 angles, which improves detection accuracy while reducing power consumption and cost.

[0083] As described above, the projection of the magnetoresistive chip onto the rotating disk overlaps with the rotation path of the magnet. The center of the magnetoresistive chip does not need to be aligned with the center of the magnet. Neither the magnetoresistive chip nor the magnet needs to be installed at the center of the rotating disk. Therefore, in practical use, there are few restrictions on the installation of the magnetoresistive chip and the magnet, making them easy to install and use.

[0084] In this embodiment of the invention, N magnets are arranged on the rotating disk of the rotating structure, and the N magnets are distributed circumferentially on the rotating disk. S magnetoresistive chips are arranged on the detection disk of the detection structure, and the S magnetoresistive chips are symmetrically distributed about a first reference line on the detection disk. In a first direction, the projection of the magnetoresistive chip onto the rotating disk overlaps with the rotation path of the magnet. The rotation of the rotating disk drives the magnet to rotate. When the magnet passes over the magnetoresistive chip, the magnetoresistive chip can detect the change in the direction of the magnetic field and output a corresponding electrical signal. The angle sensing device can obtain the angle information of the rotating disk based on the output signals of each magnetoresistive chip. In this embodiment of the invention, the angle sensing device has a simple structure, can achieve more angle detections with fewer magnetoresistive chips, improves the angle detection accuracy, and reduces cost and power consumption, making it easy to use in practice.

[0085] S magnetoresistive chips can be symmetrically distributed about the center of the detection disk. Options include S = 4 and N = 2. Figure 6 This is a schematic diagram of another angle sensing device provided in an embodiment of the present invention. Figure 6 As shown, exemplarily, S=4, and four magnetoresistive chips 16a to 16d are disposed on the detection disk 15. Magnetoresistive chips 16a and 16b are symmetrically distributed on the detection disk 15 about the first reference line B-B', and magnetoresistive chips 16d and 16c are symmetrically distributed on the detection disk 15 about the first reference line B-B'. Simultaneously, magnetoresistive chips 16a and 16c are symmetrically distributed on the detection disk 15 about the center point Ob, and magnetoresistive chips 16d and 16b are symmetrically distributed on the detection disk 15 about the center point Ob.

[0086] Figure 2 and Figure 6 different, Figure 2 Magnetoresistive chips 16a and 16c are not symmetrically distributed around the center Ob, and magnetoresistive chips 16d and 16b are not symmetrically distributed around the center Ob. Based on this, relevant professionals can reasonably and flexibly design the number and distribution of magnetoresistive chips in the detection disk according to product requirements.

[0087] S magnetoresistive chips can be selected and evenly distributed circumferentially on the detection disk. The S magnetoresistive chips are symmetrically distributed on the detection disk about a first reference line; their distribution can be either circumferentially uniform or non-circumferentially uniform. In this embodiment, S magnetoresistive chips can be symmetrically distributed on the detection disk about the first reference line, and their distribution is circumferentially uniform. S can be set to 4, and N to 2.

[0088] Figure 7 This is a schematic diagram of another angle sensing device provided in an embodiment of the present invention. Figure 7 As shown, exemplarily, S=4, and four magnetoresistive chips 16a to 16d are disposed on the detection disk 15. Magnetoresistive chips 16a and 16b are symmetrically distributed on the detection disk 15 about the first reference line B-B', and magnetoresistive chips 16d and 16c are symmetrically distributed on the detection disk 15 about the first reference line B-B'. Simultaneously, the magnetoresistive chips 16a, 16b, 16c, and 16d are evenly distributed circumferentially on the detection disk 15, so the angle between adjacent magnetoresistive chips 16 and the center Ob is 90 degrees.

[0089] Figure 2 and Figure 7 different, Figure 2 The S magnetoresistive chips in the detection disk are not evenly distributed circumferentially. Based on this, relevant professionals can design the number and distribution of magnetoresistive chips in the detection disk in a reasonable and flexible manner according to product requirements.

[0090] The system can select N magnets, including at least the first magnet and the second magnet; S magnetoresistive chips, including at least the first magnetoresistive chip and the second magnetoresistive chip; the angle between the first magnet and the second magnet and the center of the rotating disk is equal to the angle between the first magnetoresistive chip and the second magnetoresistive chip and the center of the detection disk, and the angle between the first magnet and the second magnet and the center of the rotating disk is not equal to 180°.

[0091] refer to Figure 5 As shown, the center of the detection disk overlaps with the center Oa of the rotating disk 12, and the projections of the S magnetoresistive chips 16 onto the rotating disk 12 overlap with the magnet rotation path 17. For example, S = 4, N = 2. The N magnets 13 include at least a first magnet 13a and a second magnet 13b; the S magnetoresistive chips 16 include a first magnetoresistive chip 16a, a second magnetoresistive chip 16b, a third magnetoresistive chip 16c, and a fourth magnetoresistive chip 16d. The angle between the first magnet 13a, the second magnetoresistive chip 13b and the center Oa of the rotating disk is equal to the angle between the first magnetoresistive chip 16a, the second magnetoresistive chip 16b and the center of the detection disk (overlapping with Oa), both being θ. 11 Where θ 11 Not equal to 180°. For example... Figure 5 As shown, θ 11 It is an obtuse angle, but not limited to this.

[0092] Based on this, the rotating disk 12 rotates, resulting in the first rotation state (1, 1, 0, 0). In this state, magnet 13a rotates above magnetoresistive chip 16a, and magnet 13b rotates above magnetoresistive chip 16b. The rotating disk 12 continues to rotate, resulting in the second rotation state (0, 0, 0, 0). In this state, magnet 13a rotates between magnetoresistive chips 16a and 16d, and magnet 13b rotates between magnetoresistive chips 16b and 16a. The rotating disk 12 continues to rotate, resulting in the third rotation state (0, 0, 0, 1). In this state, magnet 13a rotates above magnetoresistive chip 16d, and magnet 13b rotates between magnetoresistive chips 16b and 16a. This process continues, and as the rotating disk 12 rotates, magnetoresistive chips 16a to 16d occupy various rotation states. The angle sensing device determines the orientation angle of the rotating disk 12 based on the output signals of each magnetoresistive chip 16, thereby achieving the detection of multiple orientation angles.

[0093] refer to Figure 5 As shown, the first magnetoresistive chip 16a and the second magnetoresistive chip 16b can be located on different sides of the first reference line B-B'. Then, the angle between the first magnet and the second magnet and the center of the rotating disk is designed according to the included angle between the first magnetoresistive chip 16a and the second magnetoresistive chip 16b.

[0094] In other embodiments, the first magnetoresistive chip and the second magnetoresistive chip may be located on the same side of the first reference line, and the angle between the first magnet and the second magnet and the center of the rotating disk may be designed accordingly based on the angle between the first magnetoresistive chip and the second magnetoresistive chip.

[0095] Figure 8 This is a rotational schematic diagram of another angle sensing device provided in an embodiment of the present invention. Figure 8 As shown, the center of the detection disk overlaps with the center Oa of the rotating disk 12, and the projections of the S magnetoresistive chips 16 onto the rotating disk 12 overlap with the magnet rotation path 17. For example, S = 4, N = 2. The N magnets 13 include at least a first magnet 13a and a second magnet 13b; the S magnetoresistive chips 16 include a first magnetoresistive chip 16a, a second magnetoresistive chip 16d, a third magnetoresistive chip 16c, and a fourth magnetoresistive chip 16b. The angle between the first magnet 13a, the second magnetoresistive chip 13b and the center Oa of the rotating disk is equal to the angle between the first magnetoresistive chip 16a, the second magnetoresistive chip 16d and the center of the detection disk (overlapping with Oa), both being θ. 12 Where θ 12 Not equal to 180°. For example... Figure 8 As shown, θ 12 It is an acute angle, but not limited to this.

[0096] Based on this, the rotating disk 12 rotates, resulting in the first rotation state (1, 0, 0, 1). In this state, magnet 13a rotates above magnetoresistive chip 16a, and magnet 13b rotates above magnetoresistive chip 16d. The rotating disk 12 continues to rotate, resulting in the second rotation state (0, 0, 0, 0). In this state, magnet 13a rotates between magnetoresistive chips 16a and 16d, and magnet 13b rotates between magnetoresistive chips 16d and 16c. The rotating disk 12 continues to rotate, resulting in the third rotation state (0, 0, 1, 0). In this state, magnet 13b rotates above magnetoresistive chip 16c, and magnet 13a rotates between magnetoresistive chips 16d and 16c. This process continues, and as the rotating disk 12 rotates, magnetoresistive chips 16a to 16d occupy various rotation states. The angle sensing device determines the orientation angle of the rotating disk 12 based on the output signals of each magnetoresistive chip 16, thereby achieving the detection of multiple orientation angles. As shown in Table 3, the four magnetoresistive chips 16, together with the two magnets 13, can be combined to form six effective position states, thereby enabling the detection of six angles of the rotating disk 12.

[0097] The optional N magnets also include a third magnet; the operating states of the angle sensing device include at least a first rotation state, specifically, in a first direction, the first magnet overlaps with the first magnetoresistive chip, the second magnet overlaps with the second magnetoresistive chip, and the third magnet does not overlap with any magnetoresistive chip. Optionally, S=4 and N=3.

[0098] Figure 9 This is a schematic diagram of another angle sensing device provided in an embodiment of the present invention. Figure 9 As shown, S magnetoresistive chips 16 can be selected and evenly distributed in a circle on the detection disk, but are not limited to this. Three magnets 13 are provided on the rotating disk 12: magnet 13a, magnet 13b, and magnet 13c. Four magnetoresistive chips 16 are provided in the detection disk: magnetoresistive chip 16a, magnetoresistive chip 16b, magnetoresistive chip 16c, and magnetoresistive chip 16d. The angle between magnet 13a and magnet 13b and the center Oa of the rotating disk is equal to the angle between magnetoresistive chip 16a and magnetoresistive chip 16b and the center of the detection disk (coinciding with Oa).

[0099] The third magnet 13c is arranged such that, in the first direction, when the first magnet 13a overlaps with one magnetoresistive chip and the second magnet 13b overlaps with another magnetoresistive chip, the third magnet 13c does not overlap with any magnetoresistive chip. For example, the angle sensing device operates in a first rotation state. In this first rotation state, in the first direction, the first magnet 13a overlaps with the first magnetoresistive chip 16a, the second magnet 13b overlaps with the second magnetoresistive chip 16b, and the third magnet 13c does not overlap with any magnetoresistive chip. At this time, the angle between the first magnet 13a, the second magnet 13b, and the center Oa of the rotating disk is equal to the angle between the first magnetoresistive chip 16a, the second magnetoresistive chip 16b, and the center of the detection disk (coinciding with Oa).

[0100] Specifically, such as Figure 9 As shown, the third magnet 13c can be positioned between the first magnet 13a and the second magnet 13b. Then, the angle between the first magnet 13a, the third magnet 13c, and the center Oa of the rotating disk is θ. 21 The angle between the third magnet 13c, the second magnet 13b, and the center Oa of the rotating disk is θ. 22 The angle between the first magnet 13a, the second magnet 13b and the center Oa of the rotating disk is (θ). 21 +θ 22 ). (θ) 21 +θ 22 θ is equal to the angle between the two magnetoresistive chips. 21 θ is not equal to the angle between any two magnetoresistive chips. 22 Not equal to the angle between any two magnetoresistive chips, (θ) 21 +θ 22 () is not equal to 180°. For example... Figure 9 As shown, (θ) 21 +θ 22 ) is 90 degrees, θ 21 and θ 22 All angles are acute, but not limited to these.

[0101] Figure 10 This is a schematic diagram of another angle sensing device provided in an embodiment of the present invention. Figure 10 and Figure 9 Different. Specifically, Figure 10 In the rotating disk 12, the first magnet 13a, the second magnet 13b, and the third magnet 13c are arranged sequentially. The angle θ between the first magnet 13a, the second magnet 13b, and the center Oa of the rotating disk is θ. 31 The angle between the second magnet 13b, the third magnet 13c and the center Oa of the rotating disk is θ. 32 The angle between the first magnet 13a, the third magnet 13c and the center Oa of the rotating disk is θ. 33 θ 31 It is equal to the angle between the two magnetoresistive chips, θ32 θ is not equal to the angle between any two magnetoresistive chips. 33 θ is not equal to the angle between any two magnetoresistive chips. 31 Not equal to 180°. For example... Figure 10 As shown, θ 31 It is 90 degrees, θ 32 and θ 33 All angles are obtuse, but not limited to these. As shown in Table 4, the four magnetoresistive chips 16, together with the three magnets 13, can be combined to form nine effective position states, realizing the detection of nine angles of the rotating disk 12. These nine angles include 0 degrees, 45 degrees, 90 degrees, 135 degrees, 180 degrees, 225 degrees, 270 degrees, 315 degrees, and other angles. Figure 10 In this configuration, the N magnets are distributed relatively evenly, which is more conducive to the distribution of the center of gravity during actual use.

[0102] Figure 11 This is a schematic diagram of another angle sensing device provided in an embodiment of the present invention. Figure 11 and Figure 10 Different. Specifically, Figure 11 In the diagram, the angle between the first magnet 13a, the second magnet 13b, and the center Oa of the rotating disk is θ. 41 The angle between the second magnet 13b, the third magnet 13c and the center Oa of the rotating disk is θ. 42 The angle between the first magnet 13a, the third magnet 13c and the center Oa of the rotating disk is (θ). 41 +θ 42 ). θ 41 It is equal to the angle between the two magnetoresistive chips, θ 42 Not equal to the angle between any two magnetoresistive chips, (θ) 41 +θ 42 θ is not equal to the angle between any two magnetoresistive chips. 41 Not equal to 180°. For example... Figure 11 As shown, θ 41 It is 90 degrees, θ 42 For acute angle, (θ) 41 +θ 42 () is an obtuse angle, but is not limited to this.

[0103] Figure 12 This is a schematic diagram of another angle sensing device provided in an embodiment of the present invention. Figure 12 and Figure 11 Different. Specifically, Figure 12 In the diagram, the angle between the first magnet 13a, the second magnet 13b, and the center Oa of the rotating disk is θ. 51 The angle between the first magnet 13a, the third magnet 13c and the center Oa of the rotating disk is θ. 52 The angle between the second magnet 13b, the third magnet 13c and the center Oa of the rotating disk is (θ). 51+θ 52 ). θ 51 It is equal to the angle between the two magnetoresistive chips, θ 52 Not equal to the angle between any two magnetoresistive chips, (θ) 51 +θ 52 θ is not equal to the angle between any two magnetoresistive chips. 51 Not equal to 180°. For example... Figure 12 As shown, θ 51 It is 90 degrees, θ 52 For acute angle, (θ) 51 +θ 52 () is an obtuse angle, but is not limited to this.

[0104] In other embodiments, the S magnetoresistive chips are symmetrically distributed on the detection disk about the first reference line. The distribution can be either uniformly distributed around the circumference or not.

[0105] As shown in Table 4, the four magnetoresistive chips 16, together with the three magnets 13, can be combined to form nine effective position states, enabling the detection of nine angles of the rotating disk 12. These nine angles include 0 degrees, 45 degrees, 90 degrees, 135 degrees, 180 degrees, 225 degrees, 270 degrees, 315 degrees, and other angles.

[0106] The optional magnetoresistive chip includes a magnetoresistive switch; the magnetoresistive switch is used to sense a magnet to switch between on and off states. Optionally, in a first direction, the projection of the magnet on the detection disk overlaps with the magnetoresistive chip, causing the magnetoresistive switch to switch to a first switching state; if the projection of the magnet on the detection disk does not overlap with the magnetoresistive chip, the magnetoresistive switch to switch to a second switching state; the first switching state is closed and the second switching state is open, or the first switching state is open and the second switching state is closed.

[0107] In this embodiment, the magnetoresistive chip includes a magnetoresistive switch, which switches between on and off states due to the magnetic field of the magnet. During the rotation of the rotating disk, when the magnet is above the magnetoresistive chip, the magnetoresistive switch is in the closed state; when the magnet does not overlap with the magnetoresistive chip in the first direction, the magnetoresistive switch is in the open state. The signal processor in the angle sensing device can then obtain the output signals from S magnetoresistive chips and determine the angle information of the rotating disk based on these output signals. When the magnetoresistive switch of the magnetoresistive chip is closed, the magnetoresistive chip outputs a high level, and the signal processor marks the high level as 1; when the magnetoresistive switch of the magnetoresistive chip is open, the magnetoresistive chip outputs a low level, and the signal processor marks the low level as 0.

[0108] Referring to Table 4, when there is a magnet above magnetoresistive chip A, the magnetoresistive switch of magnetoresistive chip A is closed, and the magnetoresistive switch of magnetoresistive chip BD is open. The signal processor then receives the high-level signal output from magnetoresistive chip A and the low-level signals output from magnetoresistive chip BD. Based on these high and low level signals, state 5 (1, 0, 0, 0) can be determined, and the angle information of the rotating disk can be determined based on state 5.

[0109] In other embodiments, the magnetoresistive switch may be switched to the open state when the magnet is above the magnetoresistive chip, and switched to the closed state when the magnet does not overlap with the magnetoresistive chip in the first direction; or, the magnetoresistive chip may be configured to output a low level when the magnetoresistive switch is closed and output a high level when the magnetoresistive switch is open.

[0110] Based on the same inventive concept, embodiments of the present invention also provide an angle sensing method, which is applied to the angle sensing device described in any of the above embodiments. Figure 13 This is a schematic diagram of an angle sensing method provided in an embodiment of the present invention, as shown below. Figure 13 As shown, the angle sensing method includes:

[0111] Step S1: Drive the rotating disk in the rotating structure to rotate, so that the N magnets on the rotating disk rotate synchronously;

[0112] Step S2: Determine the angle information of the rotating disk based on the output signals of the S magnetoresistive chips in the detection structure.

[0113] In this embodiment, N magnets are fixed on the rotating disk, and S magnetoresistive chips are placed on the detection structure below the rotating disk. The magnets and magnetoresistive chips do not need to be placed at the axis of rotation. This reduces the number of magnetoresistive chips used while maintaining the same resolution, and the detection distance can even reach 4mm. If higher resolution angle detection is required, this method can be extended.

[0114] In this embodiment of the invention, N magnets are arranged on the rotating disk of the rotating structure, and the N magnets are distributed circumferentially on the rotating disk. S magnetoresistive chips are arranged on the detection disk of the detection structure, and the S magnetoresistive chips are symmetrically distributed about a first reference line on the detection disk. In a first direction, the projection of the magnetoresistive chip onto the rotating disk overlaps with the rotation path of the magnet. The rotation of the rotating disk drives the magnet to rotate. When the magnet passes over the magnetoresistive chip, the magnetoresistive chip can detect the change in the direction of the magnetic field and output a corresponding electrical signal. The angle sensing device can obtain the angle information of the rotating disk based on the output signals of each magnetoresistive chip. In this embodiment of the invention, the angle sensing device has a simple structure, can achieve more angle detections with fewer magnetoresistive chips, improves the angle detection accuracy, and reduces cost and power consumption, making it easy to use in practice.

[0115] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. An angle sensing device, characterized in that, include: A rotating structure, comprising a rotating disk and N magnets disposed on the rotating disk, wherein the N magnets are circumferentially distributed on the rotating disk, and N is greater than 1; A detection structure is disposed opposite to the rotating structure. The detection structure includes a detection disk and S magnetoresistive chips disposed on the detection disk. The S magnetoresistive chips are symmetrically distributed on the detection disk about a first reference line, where S is greater than 1 and S is greater than N. The first reference line passes through the center of the detection disk. In a first direction, the projection of the magnetoresistive chip onto the rotating disk overlaps with the rotation path of the magnet, and the first direction is perpendicular to the plane where the rotating disk is located; The N magnets include at least the first magnet and the second magnet; The S magnetoresistive chips include at least a first magnetoresistive chip and a second magnetoresistive chip; The angle between the first magnet, the second magnet and the center of the rotating disk is equal to the angle between the first magnetoresistive chip, the second magnetoresistive chip and the center of the detection disk, and the angle between the first magnet, the second magnet and the center of the rotating disk is not equal to 180° and not equal to 90°. The angle sensing device further includes a signal processor, which is electrically connected to the magnetoresistive chip and is used to determine the angle information of the rotating disk based on the output signals of each magnetoresistive chip.

2. The angle sensing device according to claim 1, characterized in that, The S magnetoresistive chips are symmetrically distributed about the center of the detection disk.

3. The angle sensing device according to claim 1, characterized in that, The first magnetoresistive chip and the second magnetoresistive chip are located on the same side of the first reference line; Alternatively, the first magnetoresistive chip and the second magnetoresistive chip may be located on different sides of the first reference line.

4. The angle sensing device according to claim 1, characterized in that, The N magnets also include a third magnet; The operating states of the angle sensing device include at least a first rotation state; Specifically, in the first rotation state, the first magnet overlaps with the first magnetoresistive chip in the first direction, the second magnet overlaps with the second magnetoresistive chip, and the third magnet does not overlap with any of the magnetoresistive chips.

5. The angle sensing device according to claim 1, characterized in that, The magnetoresistive chip includes a magnetoresistive switch; The magnetoresistive switch is used to sense the magnet to switch the on / off state.

6. The angle sensing device according to claim 5, characterized in that, In the first direction, when the projection of the magnet on the detection disk overlaps with the magnetoresistive chip, the magnetoresistive switch is switched to a first switching state; when the projection of the magnet on the detection disk does not overlap with the magnetoresistive chip, the magnetoresistive switch is switched to a second switching state. The first switch is in a closed state and the second switch is in an open state, or the first switch is in an open state and the second switch is in a closed state.

7. An angle sensing method, characterized in that, The method, applied to the angle sensing device as described in any one of claims 1-6, comprises: The rotating disk in the rotating structure is driven to rotate, causing the N magnets on the rotating disk to rotate synchronously; The angle information of the rotating disk is determined based on the output signals of the S magnetoresistive chips in the detection structure.

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