Method, apparatus and device for determining mover information, and storage medium

Abstract

The application discloses a mover information determination method and device, equipment and storage medium, and relates to the technical field of conveying. The method is applied to a mover information determination device, the mover information determination device is used for identifying a mover moving on a stator and a position of the mover; a magnetic stripe is installed on the mover, and a plurality of Hall sensors and a plurality of anisotropic magnetoresistance (AMR) sensors are installed on the stator; the method comprises the following steps: acquiring sensing data of each AMR sensor and sensing data of each Hall sensor; determining a target position of the magnetic stripe according to the sensing data of each AMR sensor; determining encoding data of the magnetic stripe according to the target position and the sensing data of each Hall sensor; and determining a target mover corresponding to the encoding data according to a preset corresponding relationship between the encoding data and the mover. Therefore, the technical problem of low efficiency in identifying the mover in the related art can be solved.

Description

Technical Field

[0001] This application relates to a method, apparatus, device, and storage medium for determining motion information, and relates to the field of transport technology. Background Technology

[0002] In the field of conveying technology, conveying systems are mainly used to transport goods, including various conveying equipment such as chain drives, belt drives, and wheel drives, which can realize the rapid transfer of goods and significantly improve production efficiency.

[0003] In related technologies, all moving parts in a conveying system have a unique identifiable marker, primarily identified through infrared or radio frequency identification (RFID) modes. However, during system initialization, each moving part needs to re-move to the infrared or RFID reader / writer before it can be identified. This results in low efficiency for moving part identification. Summary of the Invention

[0004] This invention provides a method, apparatus, device, and storage medium for determining mover information, to at least solve the technical problem of low efficiency in identifying movers in related technologies. The technical solution of this application is as follows:

[0005] According to a first aspect of the embodiments of this application, a method for determining mover information is provided. This method is applied to a mover information determining device, which identifies a mover moving on a stator and the position of the mover. A magnetic strip is mounted on the mover, and multiple Hall sensors and multiple anisotropic magnetoresistive (AMR) sensors are mounted on the stator. The method includes: acquiring sensing data from each AMR sensor and sensing data from each Hall sensor; determining a target position of the magnetic strip based on the sensing data from each AMR sensor; determining encoded data of the magnetic strip based on the target position and the sensing data from each Hall sensor; and determining a target mover corresponding to the encoded data based on a preset correspondence between the encoded data and the mover.

[0006] In one possible implementation, the sensing data of each AMR sensor includes first sensing data and second sensing data; the first sensing data represents the sine value of the AMR sensor and the magnetic strip; the second sensing data represents the cosine value of the AMR sensor and the magnetic strip; determining the target position of the magnetic strip based on the sensing data of each AMR sensor includes: determining a target AMR sensor from a plurality of AMR sensors based on the sensing data of each AMR sensor; and determining the target position of the magnetic strip based on the position of the target AMR sensor.

[0007] In one possible implementation, determining the target AMR sensor from multiple AMR sensors based on the sensing data of each AMR sensor includes: determining the magnetic field strength of each AMR sensor based on the sensing data of each AMR sensor; and identifying the AMR sensor with a magnetic field strength greater than a preset magnetic field strength as the target AMR sensor.

[0008] In one possible implementation, determining the target position of the magnetic strip based on the position of the target AMR sensor includes: calculating the ratio of the first sensing data to the second sensing data of the target sensor; and determining the target position of the magnetic strip based on the ratio and the position of the target AMR sensor.

[0009] In one possible implementation, determining the encoded data of the magnetic strip based on the target location and the sensing data of each Hall sensor includes: determining the target Hall sensor corresponding to the target location based on the positional relationship between the Hall sensor and the AMR sensor; and determining the encoded data of the magnetic strip based on the sensing data of the target Hall sensor.

[0010] According to a second aspect of the embodiments of this application, a mover information determining device is provided. This device is used to identify a mover moving on a stator and the position of the mover. A magnetic strip is mounted on the mover, and multiple Hall sensors and multiple anisotropic magnetoresistive (AMR) sensors are mounted on the stator. The device includes: an acquisition unit and a determining unit; the acquisition unit is used to acquire sensing data from each AMR sensor and sensing data from each Hall sensor; the determining unit is used to determine a target position of the magnetic strip based on the sensing data from each AMR sensor; the determining unit is further used to determine encoded data of the magnetic strip based on the target position and the sensing data from each Hall sensor; the determining unit is further used to determine a target mover corresponding to the encoded data based on a preset correspondence between the encoded data and the mover.

[0011] In one possible implementation, in the above-described motion information determining device, the sensing data of each AMR sensor includes first sensing data and second sensing data; the first sensing data is used to represent the sine value of the AMR sensor and the magnetic strip; the second sensing data is used to represent the cosine value of the AMR sensor and the magnetic strip; the determining unit is specifically used to: determine the target AMR sensor from multiple AMR sensors based on the sensing data of each AMR sensor; and determine the target position of the magnetic strip based on the position of the target AMR sensor.

[0012] In one possible implementation, in the above-mentioned motion information determination device, the determination unit is specifically used to: determine the magnetic field strength of each AMR sensor based on the sensing data of each AMR sensor; and determine the AMR sensor with a magnetic field strength greater than a preset magnetic field strength as the target AMR sensor.

[0013] In one possible implementation, in the above-described motion information determining device, the determining unit is specifically used to: calculate the ratio of the first sensing data to the second sensing data of the target sensor; and determine the target position of the magnetic strip based on the ratio and the position of the target AMR sensor.

[0014] In one possible implementation, in the above-mentioned mover information determination device, the determination unit is specifically used for: determining the target Hall sensor corresponding to the target position based on the positional relationship between the Hall sensor and the AMR sensor; and determining the encoded data of the magnetic strip based on the sensing data of the target Hall sensor.

[0015] According to a third aspect of the embodiments of this application, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute instructions to implement the method of the first aspect described above and any possible implementation thereof.

[0016] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, which, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, enables the electronic device to perform the methods of the first aspect and any possible implementation thereof.

[0017] According to a fifth aspect of the embodiments of this application, a computer program product is provided, the computer program product including computer instructions, which, when executed on an electronic device, cause the electronic device to perform the method described in the first aspect and any possible implementation thereof.

[0018] The technical solution of the first aspect provided by the embodiments of this application has at least the following beneficial effects:

[0019] The technical solution provided in this application first acquires the sensing data of each AMR sensor and each Hall sensor. Then, based on the sensing data of each AMR sensor, the target position of the magnetic strip is determined. Next, based on the target position and the sensing data of each Hall sensor, the encoded data of the magnetic strip is determined. Further, based on the preset correspondence between the encoded data and the mover, the target mover corresponding to the encoded data is determined. In this way, by installing multiple Hall sensors and multiple AMR sensors on the stator, the position of the mover can be determined first by the AMR sensors, and then the mover information can be identified by the Hall sensors. This can be achieved without the mover moving during the initialization of the conveying system, thus improving the efficiency of identifying the mover moving on the stator. Even with increased track complexity, different movers can be identified accurately and quickly.

[0020] It should be noted that the technical effects of any of the implementation methods in aspects two through five can be found in the technical effects of the corresponding implementation methods in aspect one, and will not be repeated here.

[0021] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0022] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

[0023] Figure 1 This is a flowchart illustrating a method for determining mover information according to an exemplary embodiment;

[0024] Figure 2 This is a flowchart illustrating a method for determining mover information according to an exemplary embodiment;

[0025] Figure 3 This is a flowchart illustrating a method for determining mover information according to an exemplary embodiment;

[0026] Figure 4 This is a flowchart illustrating a method for determining mover information according to an exemplary embodiment;

[0027] Figure 5 This is a flowchart illustrating yet another method for determining motion information according to an exemplary embodiment;

[0028] Figure 6 This is a block diagram illustrating a mover information determination device according to an exemplary embodiment;

[0029] Figure 7 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Detailed Implementation

[0030] In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, the specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0031] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application 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 this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0032] Before providing a detailed introduction to the method for determining motion information provided in this application, let's first briefly introduce the application scenarios involved in this application.

[0033] In the field of conveying technology, conveying systems are mainly used to transport goods, including various conveying equipment such as chain drives, belt drives, and wheel drives, which can realize the rapid transfer of goods and significantly improve production efficiency.

[0034] In related technologies, all moving parts in a conveying system have a unique identifiable marker, primarily identified through infrared or radio frequency identification (RFID) modes. However, when the conveying system initializes or restarts after a power outage, each moving part needs to re-move to the infrared or RFID reader / writer for it to be identified.

[0035] In related technologies, another method for motion identification in conveying systems employs a first-mover pattern. In this first-mover pattern, among all the moving motions on the stator, one motion is different from the others; this first motion can be identified by the conveying system, and the other motions are arranged in a preset order. However, this identification method is only applicable to single-track conveying systems. When the track complexity increases, such as with track bifurcations, the sorting problem arises.

[0036] Figure 1 This is a flowchart illustrating a method for determining mover information according to an exemplary embodiment. The method can be applied to a mover information determining device, which identifies a moving mover on a stator and its position. A magnetic strip is mounted on the mover, and multiple Hall effect sensors and multiple anisotropic magnetoresistive (AMR) sensors are mounted on the stator. The following description uses the application of this method to a mover information determining device as an example to illustrate the method. Figure 1 As shown, the method for determining the moving part information includes the following steps:

[0037] S101, the mover information determination device acquires the sensing data of each AMR sensor and the sensing data of each Hall sensor.

[0038] As one possible implementation, when the AMR sensor and the Hall sensor output sensing data, the motion information determination device acquires the sensing data of each AMR sensor and each Hall sensor through a wired or wireless connection.

[0039] S102, The moving part information determination device determines the target position of the magnetic strip based on the sensing data of each AMR sensor.

[0040] As one possible implementation, the mover information determination device determines the target AMR sensor from multiple AMR sensors based on the sensing data of each AMR sensor.

[0041] Furthermore, the mover information determination device determines the target position of the magnetic strip based on the position of the target AMR sensor.

[0042] It should be noted that the sensing data of each AMR sensor includes first sensing data and second sensing data; the first sensing data is used to represent the sine value of the AMR sensor and the magnetic strip; the second sensing data is used to represent the cosine value of the AMR sensor and the magnetic strip.

[0043] S103, the moving part information determination device determines the coded data of the magnetic strip based on the target position and the sensing data of each Hall sensor.

[0044] As one possible implementation, the mover information determination device determines the target Hall sensor corresponding to the target position based on the positional relationship between the Hall sensor and the AMR sensor.

[0045] Furthermore, the mover information determination device determines the coded data of the magnetic strip based on the sensing data of the target Hall sensor.

[0046] S104. The mover information determination device determines the target mover corresponding to the coded data based on the preset correspondence between the coded data and the mover.

[0047] As one possible implementation, the mover information determination device queries the target mover corresponding to the coded data from the preset correspondence between coded data and movers.

[0048] For example, coded data 10010 corresponds to mover 1, coded data 10011 corresponds to mover 2, coded data 11010 corresponds to mover 3, coded data 10110 corresponds to mover 4, and coded data 10000 corresponds to mover 5. When the coded data is 10110, the mover information determining device determines that the target mover corresponding to coded data 10110 is mover 4.

[0049] Understandably, the technical solution provided in this application first acquires the sensing data of each AMR sensor and each Hall sensor. Then, based on the sensing data of each AMR sensor, the target position of the magnetic strip is determined. Next, based on the target position and the sensing data of each Hall sensor, the encoded data of the magnetic strip is determined. Further, based on the preset correspondence between the encoded data and the mover, the target mover corresponding to the encoded data is determined. In this way, by installing multiple Hall sensors and multiple AMR sensors on the stator, the position of the mover can be determined first by the AMR sensors, and then the mover information can be identified by the Hall sensors. During the initialization of the conveying system, the mover does not need to move, which can reduce the initialization time, reduce the complexity of the initialization process, and improve the efficiency of identifying the mover moving on the stator. Even if the complexity of the track increases, different movers can be identified accurately and quickly.

[0050] In some embodiments, the sensing data of each AMR sensor includes first sensing data and second sensing data; the first sensing data represents the sine value of the AMR sensor and the magnetic strip; the second sensing data represents the cosine value of the AMR sensor and the magnetic strip. This is to enable determination of the target position of the magnetic strip, such as... Figure 2 As shown, in the method for determining motion information provided in this application embodiment, the above-mentioned S102 specifically includes the following steps:

[0051] S201, The mover information determination device determines the target AMR sensor from multiple AMR sensors based on the sensing data of each AMR sensor.

[0052] As one possible implementation, the mover information determination device determines the magnetic field strength of each AMR sensor based on the sensing data of each AMR sensor.

[0053] Furthermore, the mover information determination device identifies AMR sensors with magnetic field strength greater than a preset magnetic field strength as target AMR sensors.

[0054] S202, The moving part information determination device determines the target position of the magnetic strip based on the position of the target AMR sensor.

[0055] As one possible implementation, the motion information determination device calculates the ratio of the first sensing data to the second sensing data of the target sensor.

[0056] Furthermore, the mover information determination device determines the target position of the magnetic strip based on the ratio and the position of the target AMR sensor.

[0057] As is understood, the technical solution provided in this application determines the target AMR sensor from multiple AMR sensors based on the sensing data of each AMR sensor; and determines the target position of the magnetic strip based on the position of the target AMR sensor. Thus, a method for determining the target position of a magnetic strip is implemented.

[0058] In some embodiments, in order to be able to determine the target AMR sensor, such as Figure 3 As shown, in the method for determining motion information provided in this application embodiment, the above-mentioned S201 specifically includes the following steps:

[0059] S301, The mover information determination device determines the magnetic field strength of each AMR sensor based on the sensing data of each AMR sensor.

[0060] As one possible implementation, the mover information determination device calculates the square of the first sensing data and the square of the second sensing data for each AMR sensor.

[0061] Then, the mover information determining device determines the magnetic field strength of the AMR sensor by the sum of the squares of the first sensing data and the squares of the second sensing data.

[0062] Understandably, since the angle of the magnetic field of an AMR sensor is approximately linearly related to the actual distance of the magnetic strip when the magnetic strip is at a certain distance from the moving part, the position of the magnetic strip and the magnetic field strength can be calculated based on the magnetic field angle.

[0063] S302, the mover information determination device determines the AMR sensor with a magnetic field strength greater than the preset magnetic field strength as the target AMR sensor.

[0064] In practical applications, the motion information determination device normalizes the calculated magnetic field strength, and AMR sensors with a magnetic field strength greater than 1 are identified as target AMR sensors.

[0065] In some embodiments, in order to determine the target location of the magnetic strip, such as Figure 4 As shown, in the method for determining motion information provided in this application embodiment, the above-mentioned S202 specifically includes the following steps:

[0066] S401, The motion information determination device calculates the ratio of the first sensing data to the second sensing data of the target sensor.

[0067] S402, The moving part information determination device determines the target position of the magnetic strip based on the ratio and the position of the target AMR sensor.

[0068] As one possible implementation, the mover information determination device calculates the arctangent of the ratio to obtain the angle between the target AMR sensor and the magnetic strip.

[0069] Furthermore, the mover information determination device determines the target position of the magnetic strip based on the angle and the position of the target AMR sensor.

[0070] In practical applications, when the magnetic poles in the magnetic strip are directly facing the target AMR sensor, the angle is 0 degrees, and the magnetic poles are aligned with the target AMR sensor. When the target AMR sensor is between the two magnetic poles, the angle is 180 degrees.

[0071] When the angle is other than that, it indicates that there is a certain offset between the target AMR sensor and the magnetic pole. The target position of the magnetic strip can be determined by the position of the target AMR sensor and the angle.

[0072] In some embodiments, in order to determine the coded data of the magnetic strip, such as Figure 5 As shown, in the method for determining motion information provided in this application embodiment, the above-mentioned S103 specifically includes the following steps:

[0073] S501, the mover information determination device determines the target Hall sensor corresponding to the target position based on the positional relationship between the Hall sensor and the AMR sensor.

[0074] As one possible implementation, the mover information determination device queries the positional relationship between the Hall sensor and the AMR sensor to find the target Hall sensor corresponding to the target position.

[0075] In practical applications, the mover information determination device can also query the target Hall sensor corresponding to each target AMR sensor by the positional relationship between the Hall sensor and the AMR sensor.

[0076] S502, The moving part information determination device determines the coded data of the magnetic strip based on the sensing data of the target Hall sensor.

[0077] As one possible implementation, the mover information determination device acquires the sensing data from the target Hall sensor and parses and generates the coded data of the magnetic strip.

[0078] It should be noted that Hall effect sensors can identify the magnetic poles in a magnetic strip.

[0079] For example, the mover information determination device can encode level N as 0 and level S as 1, or it can encode level N as 1 and level S as 0. In this way, the mover information determination device can generate a string of binary numbers based on the sensing data of the target Hall sensor.

[0080] In practical applications, since an n-digit binary number can have 2... nThe number of poles in the magnetic strip is determined based on the number of moving parts on the stator.

[0081] Understandably, the technical solution provided in this application determines the target Hall sensor corresponding to the target location based on the positional relationship between the Hall sensor and the AMR sensor. Then, the encoded data of the magnetic strip is determined based on the sensing data of the target Hall sensor. Since the Hall sensor can only output high and low levels and can only identify N-level or S-level signals, it cannot determine the presence of a magnetic strip. Because there is a magnetic strip at the target location, the encoded data of the magnetic strip, and thus the information of the mover, can be determined based on the sensing data of the target Hall sensor corresponding to the target location.

[0082] The foregoing mainly describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, the motion information determination device or electronic device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0083] This application embodiment can, based on the above method, exemplarily divide the motion information determining device or electronic device into functional modules. For example, the motion information determining device or electronic device may include functional modules corresponding to each functional division, or two or more functions may be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division; in actual implementation, there may be other division methods.

[0084] For example, embodiments of this application also provide a device for determining motion information.

[0085] In some embodiments, Figure 6 This is a block diagram illustrating a mover information determination device 600 according to an exemplary embodiment. (Refer to...) Figure 6 The mover information determination device is used to identify the mover moving on the stator and the position of the mover; a magnetic strip is installed on the mover, and multiple Hall sensors and multiple anisotropic magnetoresistive (AMR) sensors are installed on the stator; the mover information determination device 600 includes an acquisition unit 601 and a determination unit 602.

[0086] The acquisition unit 601 is used to acquire the sensing data of each AMR sensor and the sensing data of each Hall sensor.

[0087] The determining unit 602 is used to determine the target position of the magnetic strip based on the sensing data of each AMR sensor.

[0088] The determining unit 602 is also used to determine the encoded data of the magnetic strip based on the target position and the sensing data of each Hall sensor.

[0089] The determining unit 602 is also used to determine the target mover corresponding to the encoded data based on the preset correspondence between the encoded data and the mover.

[0090] Optionally, the sensing data of each AMR sensor includes first sensing data and second sensing data; the first sensing data is used to represent the sine value of the AMR sensor and the magnetic strip; the second sensing data is used to represent the cosine value of the AMR sensor and the magnetic strip; such as Figure 6 As shown, the determining unit 602 provided in this embodiment is specifically used for:

[0091] The target AMR sensor is determined from multiple AMR sensors based on the sensing data of each AMR sensor.

[0092] The target position of the magnetic strip is determined based on the position of the target AMR sensor.

[0093] Optional, such as Figure 6 As shown, the determining unit 602 provided in this embodiment is specifically used for:

[0094] The magnetic field strength of each AMR sensor is determined based on the sensing data from each AMR sensor.

[0095] AMR sensors with a magnetic field strength greater than a preset magnetic field strength are identified as target AMR sensors.

[0096] Optional, such as Figure 6 As shown, the determining unit 602 provided in this embodiment is specifically used for:

[0097] Calculate the ratio of the first sensing data to the second sensing data of the target sensor.

[0098] The target position of the magnetic strip is determined based on the ratio and the position of the target AMR sensor.

[0099] Optional, such as Figure 6 As shown, the determining unit 602 provided in this embodiment is specifically used for:

[0100] Based on the positional relationship between the Hall sensor and the AMR sensor, determine the target Hall sensor corresponding to the target position.

[0101] The coded data of the magnetic strip is determined based on the sensing data of the target Hall sensor.

[0102] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0103] Figure 7 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Figure 7 As shown, the electronic device 700 includes, but is not limited to, a processor 701 and a memory 702.

[0104] The memory 702 described above is used to store the executable instructions of the processor 701. It is understood that the processor 701 is configured to execute instructions to implement the motion information determination method in the above embodiments.

[0105] It should be noted that those skilled in the art will understand that Figure 7 The electronic device structure shown does not constitute a limitation on the electronic device; the electronic device may include, but is not limited to, other electronic devices. Figure 7 This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0106] Processor 701 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in memory 702, and by calling data stored in memory 702, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. Processor 701 may include one or more processing units. Optionally, processor 701 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into processor 701.

[0107] The memory 702 can be used to store software programs and various data. The memory 702 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, application programs required by at least one functional module (such as a determination unit, processing unit, etc.), etc. Furthermore, the memory 702 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0108] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 702 including instructions, which can be executed by a processor 701 of an electronic device 700 to implement the motion information determination method in the above embodiments.

[0109] In actual implementation, Figure 6 The functions of the acquisition unit 701 and the determination unit 702 can both be provided by Figure 7 The processor 701 calls the computer program stored in the memory 702 to implement the process. The specific execution process can be found in the description of the mover information determination method in the previous embodiment, and will not be repeated here.

[0110] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device.

[0111] In an exemplary embodiment, this application also provides a computer program product including one or more instructions, which can be executed by the processor 701 of an electronic device to complete the motion information determination method in the above embodiments.

[0112] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the processor of the electronic device, they implement the various processes of the above-described method for determining motion information and achieve the same technical effect as the above-described method for determining motion information. To avoid repetition, they will not be described again here.

[0113] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0114] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0115] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the classified units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0116] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0117] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, essentially, or the part that contributes to the prior art, or a complete or partial classification of the technical solution, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0118] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for determining motion information, applied to a motion information determining device, characterized in that, The mover information determination device is used to identify the mover moving on the stator and the position of the mover; A magnetic strip is mounted on the mover, and multiple Hall sensors and multiple anisotropic magnetoresistive (AMR) sensors are mounted on the stator; the method includes: Acquire sensing data from each AMR sensor and each Hall sensor; The target position of the magnetic strip is determined based on the sensing data of each AMR sensor; Based on the target location and the sensing data of each Hall sensor, the encoded data of the magnetic strip is determined; Based on the preset correspondence between encoded data and movers, the target mover corresponding to the encoded data is determined.

2. The method according to claim 1, characterized in that, The sensing data of each AMR sensor includes first sensing data and second sensing data; the first sensing data is used to represent the sine value of the AMR sensor and the magnetic strip; the second sensing data is used to represent the cosine value of the AMR sensor and the magnetic strip. Determining the target position of the magnetic strip based on the sensing data of each AMR sensor includes: Based on the sensing data of each AMR sensor, the target AMR sensor is determined from the plurality of AMR sensors; The target position of the magnetic strip is determined based on the position of the target AMR sensor.

3. The method according to claim 2, characterized in that, The step of determining the target AMR sensor from the plurality of AMR sensors based on the sensing data of each AMR sensor includes: The magnetic field strength of each AMR sensor is determined based on the sensing data of each AMR sensor. The AMR sensor with a magnetic field strength greater than a preset magnetic field strength is identified as the target AMR sensor.

4. The method according to claim 2, characterized in that, Determining the target position of the magnetic strip based on the position of the target AMR sensor includes: Calculate the ratio of the first sensing data to the second sensing data of the target AMR sensor; The target position of the magnetic strip is determined based on the ratio and the position of the target AMR sensor.

5. The method according to any one of claims 1-4, characterized in that, The step of determining the encoded data of the magnetic strip based on the target location and the sensing data of each Hall sensor includes: Based on the positional relationship between the Hall sensor and the AMR sensor, determine the target Hall sensor corresponding to the target position; The encoded data of the magnetic strip is determined based on the sensing data of the target Hall sensor.

6. A device for determining mover information, characterized in that, The mover information determination device is used to identify the mover moving on the stator and the position of the mover; the mover is equipped with a magnetic strip, and the stator is equipped with multiple Hall sensors and multiple anisotropic magnetoresistive (AMR) sensors; the device includes: an acquisition unit and a determination unit; The acquisition unit is used to acquire the sensing data of each AMR sensor and the sensing data of each Hall sensor. The determining unit is used to determine the target position of the magnetic strip based on the sensing data of each AMR sensor; The determining unit is further configured to determine the encoded data of the magnetic strip based on the target position and the sensing data of each Hall sensor; The determining unit is further configured to determine the target mover corresponding to the encoded data based on the preset correspondence between encoded data and movers.

7. The apparatus according to claim 6, characterized in that, The sensing data of each AMR sensor includes first sensing data and second sensing data; the first sensing data is used to represent the sine value of the AMR sensor and the magnetic strip; the second sensing data is used to represent the cosine value of the AMR sensor and the magnetic strip; the determining unit is specifically used for: Based on the sensing data of each AMR sensor, the target AMR sensor is determined from the plurality of AMR sensors; The target position of the magnetic strip is determined based on the position of the target AMR sensor.

8. The apparatus according to claim 7, characterized in that, The determining unit is specifically used for: The magnetic field strength of each AMR sensor is determined based on the sensing data of each AMR sensor. The AMR sensor with a magnetic field strength greater than a preset magnetic field strength is identified as the target AMR sensor.

9. The apparatus according to claim 7, characterized in that, The determining unit is specifically used for: Calculate the ratio of the first sensing data to the second sensing data of the target AMR sensor; The target position of the magnetic strip is determined based on the ratio and the position of the target AMR sensor.

10. The apparatus according to any one of claims 6-9, characterized in that, The determining unit is specifically used for: Based on the positional relationship between the Hall sensor and the AMR sensor, determine the target Hall sensor corresponding to the target position; The encoded data of the magnetic strip is determined based on the sensing data of the target Hall sensor.

11. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the method as described in any one of claims 1 to 5.

12. A computer-readable storage medium, characterized in that, When the computer-executable instructions stored in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device is capable of performing the method as described in any one of claims 1 to 5.

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