Rocker mechanism, displacement detection method thereof and handle

Abstract

The invention relates to a rocker mechanism and a displacement detection method and a handle thereof, and the rocker mechanism comprises a mounting seat which is provided with a movable rocker; the magnetic element is arranged on the rocker; the at least four electromagnetic sensors are arranged on the substrate opposite to the magnetic element, and two of the four electromagnetic sensors are arranged at intervals in the first direction; the other two are arranged at intervals along the second direction; the signal processing unit is used for respectively acquiring detection signals of the four electromagnetic sensors and carrying out differential operation on the detection signals of the two electromagnetic sensors arranged along the same direction to generate displacement output signals in a first direction and a second direction; wherein when the magnetic element is pressed down along with the rocker, the detection signals of the two electromagnetic sensors arranged in the same direction change synchronously, so that the difference operation result is kept unchanged or the change is smaller than a preset threshold value. By adopting the scheme, the stability and the accuracy of displacement detection can be improved on the basis of keeping the original output signal channel.

Description

Technical Field

[0001] This invention relates to the field of handheld control terminal technology, and in particular to a joystick mechanism and its displacement detection method, and a handle. Background Technology

[0002] Joysticks, as common human-computer interaction input components, are widely used in game controllers, remote control devices, and industrial control. Existing joysticks are typically used to detect swing displacement along two orthogonal directions and input the corresponding displacement signals to the controller on the motherboard to achieve directional control or position input.

[0003] With the development of magnetic induction sensing technology, the combination of magnets and electromagnetic sensors for joystick displacement detection has gradually become the mainstream solution. This type of solution uses a magnet whose spatial position changes with the swing of the joystick, and a fixed electromagnetic sensor detects the changes in the magnetic field, thereby obtaining the displacement information of the joystick in different directions. It has advantages such as simple structure, long life, and wear resistance.

[0004] However, the displacement detection scheme for the current rocker mechanism still needs improvement. Summary of the Invention

[0005] This invention provides a rocker mechanism and its displacement detection method, as well as a handle, which can improve the stability and accuracy of displacement detection while maintaining the original output signal channel.

[0006] A joystick mechanism, comprising: Mounting base, wherein a movable rocker arm is provided on the mounting base; A magnetic element is disposed on the rocker arm, and its spatial position changes with the swinging and pressing actions of the rocker arm; At least four electromagnetic sensors are disposed on a substrate opposite to the magnetic element. Two of the four electromagnetic sensors are arranged at intervals along a first direction to detect the swing angle of the rocker arm about a second direction. The remaining two of the four electromagnetic sensors are arranged at intervals along the second direction to detect the swing angle of the rocker arm about the first direction. The signal processing unit acquires the detection signals of the four electromagnetic sensors respectively, and performs differential operation on the detection signals of two electromagnetic sensors arranged in the same direction to generate corresponding displacement output signals in the first and second directions. When the magnetic element is pressed down by the rocker arm, the detection signals of the two electromagnetic sensors arranged in the same direction change synchronously, so that the differential calculation result remains unchanged or changes less than a preset threshold.

[0007] In one embodiment, when the joystick is in its initial state, the two electromagnetic sensors in the first direction are symmetrically arranged about the projection of the magnetic element onto the substrate, and the two electromagnetic sensors in the second direction are symmetrically arranged about the projection of the magnetic element onto the substrate.

[0008] In one embodiment, the differential calculation result of the two electromagnetic sensors arranged along the first direction is used as the first displacement output signal; The differential calculation result of the two electromagnetic sensors arranged along the second direction is used as the second displacement output signal.

[0009] In one embodiment, the signal processing unit includes a first operational amplifier and a second operational amplifier, wherein: The first input terminal of the first operational amplifier is connected to the first electromagnetic sensor of two electromagnetic sensors arranged along the first direction, and the second input terminal of the first operational amplifier is connected to the second electromagnetic sensor of the two electromagnetic sensors, so as to differentially amplify the detection signals of the two electromagnetic sensors and output the first displacement output signal. The first input terminal of the second operational amplifier is connected to the third electromagnetic sensor among the two electromagnetic sensors arranged along the second direction, and the second input terminal of the second operational amplifier is connected to the fourth electromagnetic sensor among the two electromagnetic sensors, so as to differentially amplify the detection signals of the two electromagnetic sensors and output the second displacement output signal.

[0010] In one embodiment, the signal processing unit further includes: A first resistor connected to the first electromagnetic sensor and the first input terminal of the first operational amplifier, with the second terminal of the first resistor grounded; a second resistor connected to the second input terminal of the second electromagnetic sensor and the first operational amplifier, with the second terminal of the second resistor grounded; and a first feedback branch connected to the second input terminal and the output terminal of the first operational amplifier, the first feedback branch including: a first feedback resistor and a second feedback resistor, with the second terminal of the second feedback resistor grounded; A third resistor connected to the third electromagnetic sensor and the first input terminal of the second operational amplifier, the second terminal of the third resistor being grounded; a fourth resistor connected to the fourth electromagnetic sensor and the second input terminal of the second operational amplifier, the second terminal of the fourth resistor being grounded; and a second feedback branch connected to the second input terminal and the output terminal of the second operational amplifier, the second feedback branch including: a third feedback resistor and a fourth feedback resistor, the second terminal of the fourth feedback resistor being grounded.

[0011] In one embodiment, the signal processing unit includes: The system comprises a third operational amplifier, a fourth operational amplifier, and a fifth operational amplifier, wherein: the third operational amplifier is connected to the first electromagnetic sensor of two electromagnetic sensors arranged along the first direction; the fourth operational amplifier is connected to the second electromagnetic sensor of the two electromagnetic sensors; and the output terminals of the third and fourth operational amplifiers are connected to the fifth operational amplifier, which outputs the first displacement output signal; wherein the third and fourth operational amplifiers respectively constitute a signal conditioning circuit with a first predetermined amplification factor. The system includes a sixth operational amplifier, a seventh operational amplifier, and an eighth operational amplifier, wherein: the sixth operational amplifier is connected to the third electromagnetic sensor among two electromagnetic sensors arranged along the second direction; the seventh operational amplifier is connected to the fourth electromagnetic sensor among the two electromagnetic sensors; and the output terminals of the sixth and seventh operational amplifiers are connected to the eighth operational amplifier; the eighth operational amplifier outputs the second displacement output signal; and the sixth and seventh operational amplifiers respectively constitute signal conditioning circuits with a second predetermined amplification factor.

[0012] In one embodiment, the signal processing unit further includes: A fifth resistor is connected to the first electromagnetic sensor and the first input terminal of the third operational amplifier, and the second terminal of the fifth resistor is grounded; a third feedback branch and a first filter branch are connected to the second input terminal of the third operational amplifier, the third feedback branch includes a fifth feedback resistor and a sixth feedback resistor, and the first filter branch includes a first filter resistor and a first filter capacitor, and the first filter capacitor is grounded; A sixth resistor is connected to the second electromagnetic sensor and the first input terminal of the fourth operational amplifier, and the second terminal of the sixth resistor is grounded; a fourth feedback branch and a second filter branch are connected to the second input terminal of the fourth operational amplifier, the fourth feedback branch includes a seventh feedback resistor and an eighth feedback resistor, and the second filter branch includes a second filter resistor and a second filter capacitor, and the second filter capacitor is grounded; A first output resistor and a second output resistor are provided at the output terminal of the fifth operational amplifier, and the second terminal of the second output resistor is grounded; A seventh resistor is connected to the first input terminal of the third electromagnetic sensor and the sixth operational amplifier, with its second terminal grounded; a fifth feedback branch and a third filter branch are connected to the second input terminal of the sixth operational amplifier, the fifth feedback branch including a ninth feedback resistor and a tenth feedback resistor, the third filter branch including a third filter resistor and a third filter capacitor, and the third filter capacitor being grounded; an eighth resistor is connected to the first input terminal of the fourth electromagnetic sensor and the seventh operational amplifier, with its second terminal grounded; a sixth feedback branch and a fourth filter branch are connected to the second input terminal of the seventh operational amplifier, the sixth feedback branch including an eleventh feedback resistor and a twelfth feedback resistor, the fourth filter branch including a fourth filter resistor and a fourth filter capacitor, and the fourth filter capacitor being grounded; The third and fourth output resistors are set at the output terminals of the eighth operational amplifier, and the second terminal of the fourth output resistor is grounded.

[0013] In one embodiment, the signal processing unit includes: A first analog-to-digital converter is connected to a first electromagnetic sensor and a second electromagnetic sensor, respectively, of two electromagnetic sensors arranged along the first direction; a first processor is connected to the output terminal of the first analog-to-digital converter; a first digital-to-analog converter is connected to the output terminal of the first processor and outputs the first displacement output signal. The second analog-to-digital converter is connected to the third and fourth electromagnetic sensors of the two electromagnetic sensors arranged along the second direction, respectively; the second processor is connected to the output terminal of the second analog-to-digital converter; the second digital-to-analog converter is connected to the output terminal of the second processor and outputs the second displacement output signal.

[0014] A handle comprising the rocker mechanism described in any of the foregoing embodiments.

[0015] A displacement detection method for a rocker mechanism, the rocker mechanism comprising: a mounting base, a movable rocker arm disposed on the mounting base, and a magnetic element disposed on the rocker arm; the displacement detection method comprising: Acquire the detection signals of two electromagnetic sensors that are distributed around the magnetic element and spaced apart along a first direction and two electromagnetic sensors that are spaced apart along a second direction; Differential processing is performed on the detection signals of two electromagnetic sensors arranged in the same direction to generate displacement output signals corresponding to the first and second directions; wherein, in response to the rocker arm being pressed down, the detection signals of the electromagnetic sensors change synchronously, so that the displacement output signal obtained by the differential processing remains unchanged or changes less than a preset threshold. The processed displacement output signal is output through two displacement signal output ports.

[0016] By arranging at least four electromagnetic sensors spaced apart along a first and second direction around the magnetic element, and performing differential calculations on the detection signals from the electromagnetic sensors arranged in the same direction, this invention can effectively detect the joystick's swing displacement by utilizing the differences in magnetic field change characteristics between the joystick's swinging and pressing actions, while suppressing interference from the pressing action on the displacement detection results. This solution requires no additional output signal channels, improving the stability of joystick displacement detection with only two displacement signals output, making it particularly suitable for applications with limited motherboard interface resources that only support two joystick inputs. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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.

[0018] Figure 1 This is a schematic diagram of a rocker mechanism according to an embodiment of this application; Figure 2 for Figure 1 Exploded view of the rocker mechanism shown; Figure 3 for Figure 1 A cross-sectional view of the rocker mechanism shown; Figure 4 This is a partial circuit structure diagram of a rocker mechanism according to an embodiment of this application; Figure 5 This is a schematic diagram showing the installation position of an electromagnetic sensor in one embodiment of this application; Figure 6 This is a schematic diagram of the first signal processing unit according to an embodiment of this application; Figure 7 for Figure 6 A schematic diagram of the partial structure of the first type of signal processing unit is shown; Figure 8 for Figure 6 A schematic diagram of the partial structure of the first type of signal processing unit is shown; Figure 9 This is a schematic diagram of the principle of the second type of signal processing unit in the embodiments of this application; Figure 10 for Figure 9 A schematic diagram of the specific structure of the second type of signal processing unit is shown; Figure 11This is a schematic diagram of the third signal processing unit in the embodiments of this application; Figure 12 This is a flowchart of a displacement detection method in one embodiment of this application. Detailed Implementation

[0019] The following detailed description of preferred embodiments is a preferred mode for carrying out the invention. This description is not intended to be limiting; it is provided to illustrate the general principles of the invention.

[0020] It should be understood that, for ease of understanding of the present invention, the terms "installation," "connection," "coupling," and "installation" in the following description refer to the connection relationships shown in the drawings. For example, "connection" can refer to a permanent connection or a detachable connection. Furthermore, "connection" can also refer to a direct connection or an indirect connection, or a connection via other auxiliary components. Therefore, the above terms should not be construed as limiting the actual connections of the various elements of the present invention.

[0021] It should be understood that the terms "length," "width," "top," "bottom," "front," "rear," "left," "right," "vertical," "horizontal," "upper," "lower," "external," and "internal" refer to the orientation or positioning relationship in the accompanying drawings to facilitate understanding of the invention, but do not limit the actual location or orientation of the invention. Therefore, the above terms should not be construed as limiting the actual location of the various elements of the invention.

[0022] It should be understood that the terms "first," "second," "an," "a," and "one" in the following description refer to "at least one" or "one or more" in the embodiments. In particular, the term "a" may refer to "one" in one embodiment and "more than one" in another embodiment. Therefore, the above terms should not be construed as limiting the actual number of elements of the present invention.

[0023] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0024] As described in the background section, the displacement detection scheme for current rocker mechanisms still needs improvement.

[0025] During the research and testing of existing joystick displacement detection solutions, the inventors discovered that the controller on the current gamepad motherboard typically only reserves two analog input pins to receive displacement detection signals of the joystick along the X and Y axes, respectively. This interface is highly universal and stable in the industry, and it is difficult to add additional signal channels without modifying the motherboard design.

[0026] When using magnetic induction to detect joystick displacement, the inventors further discovered that in addition to oscillating around the X and Y axes, joysticks typically also have a downward pressing action. This pressing action causes a change in the distance between the magnet and the magnetic sensor, altering the overall magnetic field strength sensed by the sensor. In traditional magnetic induction detection schemes, this change is easily misinterpreted as displacement along the X or Y axis, leading to jumps and drifts in the joystick output signal under the current controller interface that only supports two inputs.

[0027] To address the aforementioned issues, the inventors initially attempted to improve the situation by adding an independent sensor or output signal channel for detecting the pressing action. However, this solution required a redesign of the controller interface on the mainboard of the handle, which was difficult to be compatible with existing hardware platforms, resulting in high implementation costs and poor versatility.

[0028] Building upon this foundation, the inventors shifted their analysis to the characteristics of magnetic field changes themselves. Through experiments and analysis, they discovered that the swinging motion of the joystick causes the detection signals from the magnetic sensors located on either side of the magnet to exhibit a characteristic of increasing and decreasing, while the downward pressing motion of the joystick causes the detection signals from multiple magnetic sensors to change synchronously. Based on this difference, the inventors realized that by performing differential operations on the detection signals of the symmetrically arranged magnetic sensors, the synchronous changes caused by the downward pressing motion could be canceled out or significantly weakened in the output signal, while the swinging motion could be effectively preserved.

[0029] Based on this concept, the inventors further designed a structure with at least four electromagnetic sensors arranged along the X and Y axes. In the signal processing unit, the detection signals from two electromagnetic sensors arranged in the same direction were differentially processed to generate displacement signals corresponding to the X and Y axes. In this way, without increasing the number of output pins or changing the interface of the controller's mainboard, accurate detection of the joystick's swing displacement and effective suppression of interference from downward pressure actions were achieved.

[0030] In summary, this invention provides a joystick displacement detection scheme that effectively distinguishes between joystick swinging and pressing actions, and suppresses the influence of pressing actions on displacement detection results, without increasing the number of motherboard interfaces or changing the existing hardware platform structure. This significantly improves the stability and accuracy of displacement detection.

[0031] To enable those skilled in the art to better understand, implement and realize the embodiments of the present invention, the following exemplary description is provided with reference to the accompanying drawings.

[0032] First, a brief description of the rocker mechanism in this application will be given.

[0033] See Figures 1 to 3 ,in, Figure 1This is a schematic diagram of a rocker mechanism according to an embodiment of this application; Figure 2 for Figure 1 Exploded view of the rocker mechanism shown; Figure 3 for Figure 1 The cross-sectional view of the rocker mechanism shown.

[0034] See Figure 1 The joystick mechanism 10 can be installed on the shell of the game controller (not shown). During use, the operator can control virtual objects through the joystick mechanism 10.

[0035] See Figure 2 The rocker mechanism 10 includes a mounting base 11, a rocker arm 13, a rocker stick 15, and a magnetic element 17. The rocker arm 13 is movably mounted on the mounting base 11. The rocker stick 15 includes an inner rod 151 and an outer rod 153. The inner rod 151 and the outer rod 153 are approximately hollow cylinders, and the inner rod 151 has a first end 1511 and a second end 1513. The first end 1511 is slidably fitted to the mounting base 11, and the second end 1513 passes through the outer rod 153. The outer rod 153 is linked with the rocker arm 13, meaning that the outer rod 153 can drive the rocker arm 13 to move relative to the mounting base 11. In some embodiments, the end of the outer rod 153 away from the inner rod 151 can be used to mount a keycap. The user can drive the outer rod 153 to move relative to the mounting base 11 through the keycap, thereby driving the inner rod 151 to move relative to the mounting base 11.

[0036] A magnetic element 17 is disposed on the inner rod 151 and is configured to correspond with the electromagnetic sensor 19, so that the outer rod 153 can drive the magnetic element 17 to move relative to the electromagnetic sensor 19 through the inner rod 151. In some embodiments, the magnetic element 17 is a magnet, and the electromagnetic sensor 19 is a Hall element.

[0037] The electromagnetic sensor 19 is fixed in position relative to the mounting base 11. For example, the electromagnetic sensor 19 is connected to the circuit board (e.g., the mainboard) of the game controller, and the circuit board is fixed to the outer shell of the game controller. The mounting base 11 is fixed to the circuit board or the outer shell. When the user drives the outer rod 153 to move relative to the mounting base 11 via the keycap, the outer rod 153 drives the magnetic element 17 to move relative to the electromagnetic sensor 19 via the inner rod 151. The magnetic field of the magnet changes relative to the Hall element, and the Hall element can detect the movement of the magnet, thereby generating a detection signal. In other embodiments, the electromagnetic sensor 19 can be a TMR (Tunnel Magnetoresistance) element.

[0038] See Figure 3The inner rod 151 has a mounting groove 151a extending axially along the inner rod 151. The magnetic element 17 is housed within the mounting groove 151a and fixed to the inner rod 151. In some embodiments, the mounting groove 151a is a blind groove, with its opening facing away from the outer rod 153 or the keycap. The magnetic element 17 is cylindrical and coaxially arranged with both the inner rod 151 and the outer rod 153. The cylindrical magnetic element 17 can be engaged and fixed to the inner rod 151 via the mounting groove 151a, thereby improving the assembly efficiency of the magnetic element 17 and the inner rod 151. One end of the cylindrical magnet can be an N pole, and the other end can be an S pole. Considering engineering errors, the coaxial arrangement of the magnetic element 17, inner rod 151, and outer rod 153 simplifies the detection algorithm of the electromagnetic sensor 19 for the magnetic element 17. For example, when the outer rod 153 rotates clockwise and counterclockwise around the same axis by the same angle, the change in the magnetic field of the magnet has a symmetrical characteristic, thereby simplifying the detection algorithm, reducing detection delay, and improving detection accuracy. Furthermore, the axis of the magnetic element 17 can pass through the electromagnetic sensor 19. Alternatively, the axis of the magnetic element 17 can pass through the center (or centroid) of the electromagnetic sensor 19 to simplify the detection algorithm, reduce detection delay, and improve detection accuracy. Of course, in other embodiments, the magnetic element 17 can be a rectangular magnet or a magnet of other shapes.

[0039] Furthermore, the mounting base 11 has a groove 11a on the side opposite to the inner rod 151. The groove 11a is used to accommodate at least part of the electromagnetic sensor 19. The groove 11a can be used for the alignment of the electromagnetic sensor 19 and the magnetic element 17, making the internal structure of the game controller more compact. Specifically, the electromagnetic sensor 19 is usually integrated on the circuit board of the game controller and protrudes from the surface of the circuit board. The circuit board integrates the control circuit of the game controller. After the joystick mechanism 10 is assembled onto the circuit board, the mounting base 11 is fixed to the circuit board, so that the position of the electromagnetic sensor 19 and the mounting base 11 remains unchanged. The part of the electromagnetic sensor 19 protruding from the circuit board can be partially or completely accommodated in the groove 11a, avoiding the direct superposition of the height of the mounting base 11 and the electromagnetic sensor 19, which is conducive to the compactness of the internal structure of the game controller. Of course, the setting of the groove 11a can also reduce the distance between the electromagnetic sensor 19 and the magnetic element 17. Since the magnetic field of a magnet is usually stronger closer to the magnetic pole surface, this structural setting can make it easier for the electromagnetic sensor 19 to detect small changes in the magnetic field, thereby improving the detection accuracy.

[0040] See Figure 2 and Figure 3 The rocker arm 15 also includes an elastic element 155 disposed in the mounting base 11. One end of the elastic element 155 abuts against the outer rod 153, and the other end of the elastic element 155 abuts against the inner rod 151.

[0041] See Figure 3The outer rod 153 has a through hole 153a and an annular groove 153b spaced apart from the through hole 153a. One end of the elastic member 155 is accommodated in the annular groove 153b. The first end 1511 of the inner rod 151 has a limiting groove 151b corresponding to the annular groove 153b, and the opposite end of the elastic member 155 is limited in the limiting groove 151b. Through the cooperation of the annular groove 153b and the limiting groove 151b, both ends of the elastic member 155 can be limited to prevent lateral movement of both ends of the elastic member 155 during the movement of the outer rod 153 and the inner rod 151 relative to the mounting base 11.

[0042] Correspondingly, combined Figures 1 to 3 See Figure 4 The diagram shown is a partial circuit structure diagram of a rocker mechanism according to an embodiment of this application, and... Figure 5 The diagram shown below illustrates the placement of an electromagnetic sensor according to one embodiment of this application. Figure 4 and Figure 5 As shown, the rocker mechanism 10 includes: Mounting base 11, on which a movable rocker arm 15 is provided; The magnetic element 17 is mounted on the rocker arm 15 and its spatial position changes with the swinging and pressing motion of the rocker arm 15. At least four electromagnetic sensors (e.g., Figure 4 The four electromagnetic sensors shown are the first electromagnetic sensor 21, the second electromagnetic sensor 22, the third electromagnetic sensor 23 and the fourth electromagnetic sensor 24, which are disposed on the substrate 25 opposite to the magnetic element 17. Two of the four electromagnetic sensors are arranged at intervals along the first direction to detect the swing angle of the rocker arm 15 around the second direction; the remaining two of the four electromagnetic sensors are arranged at intervals along the second direction to detect the swing angle of the rocker arm 15 around the first direction. The signal processing unit 30 acquires the detection signals of the four electromagnetic sensors respectively, and performs differential operation on the detection signals of two electromagnetic sensors arranged in the same direction to generate corresponding displacement output signals in the first and second directions. When the magnetic element 17 is pressed down by the rocker arm 15, the detection signals of the two electromagnetic sensors arranged in the same direction change synchronously, so that the differential calculation result remains unchanged or changes less than a preset threshold.

[0043] In this embodiment, the working principle of the rocker detection structure is as follows: When the rocker arm 15 is in its normal swinging state, the rocker arm 15 tilts around the mounting base 11, causing the magnetic element 17 disposed on the rocker arm 15 to shift in position in a first direction or a second direction. As the distance between the magnetic element 17 and the electromagnetic sensors at different positions on the substrate changes, the two electromagnetic sensors arranged in the same direction will generate detection signals with different amplitudes.

[0044] The signal processing unit 30 can obtain the displacement output signal that characterizes the swing amplitude and swing direction of the rocker arm 15 by performing differential operation on the two detection signals.

[0045] As a non-limiting example, when the joystick 15 swings around the first direction, a difference will occur between the detection signals of the two electromagnetic sensors arranged along the second direction, while the changes in the detection signals of the two electromagnetic sensors arranged along the first direction are basically the same. At this time, the signal processing unit 30 outputs a second displacement output signal, while the first displacement output signal used to characterize the swing angle of the joystick 15 around the second direction remains basically unchanged.

[0046] Similarly, when the rocker arm 15 swings around the second direction, a difference will occur between the detection signals of the two electromagnetic sensors arranged along the first direction, while the detection signals of the two electromagnetic sensors arranged along the second direction will change in a basically consistent manner. At this time, the signal processing unit 30 outputs the first displacement output signal, while the second displacement output signal, which is used to characterize the swing angle of the rocker arm 15 around the first direction, remains basically unchanged.

[0047] At the same time, when the magnetic element 17 is pressed down by the rocker arm 15, the magnetic element 17 as a whole is displaced in a direction perpendicular to the substrate, causing the magnetic field strength received by the two electromagnetic sensors arranged in the same direction to change synchronously.

[0048] Since the synchronous change has a basically consistent effect on the two electromagnetic sensors, after the signal processing unit 30 performs differential operation on it, the differential result remains unchanged or changes less than a preset threshold, thereby avoiding interference of the pressing action on the swing detection results of the rocker arm 15 in the first and second directions.

[0049] In other words, the embodiments of the present invention achieve accurate detection of the joystick's spatial swing displacement through symmetrically arranged electromagnetic sensors and differential signal processing, and effectively suppress common-mode interference caused by the downward pressing action, thereby improving the accuracy and stability of joystick detection.

[0050] It should be noted that, firstly, in Figure 4 In the illustrated structure, the dashed line connecting the electromagnetic sensor and the magnetic element is used to indicate that the electromagnetic sensor and the magnetic element can interact, not to indicate their connection relationship; secondly, Figure 4 The four electromagnetic sensors shown are for illustrative purposes only, illustrating how different sensors work together to output displacement signals in different directions. In practical applications, different numbers of electromagnetic sensors can be used depending on the requirements.

[0051] With the above arrangement of electromagnetic sensors and magnetic components, detection signals during the joystick's movement can be acquired. In practical applications, to reduce the impact of inconsistent spacing between electromagnetic sensors on the stability of the differential signal, the arrangement of the electromagnetic sensors can be further optimized.

[0052] like Figure 5 As shown, at least four electromagnetic sensors include four electromagnetic sensors (i.e., first electromagnetic sensor 21, second electromagnetic sensor 22, third electromagnetic sensor 23 and fourth electromagnetic sensor 24), and in the current view, the four electromagnetic sensors are respectively disposed on the left, right, upper and lower sides of the magnetic element, and are symmetrically distributed on the substrate 25 (e.g., cross-shaped symmetrical distribution).

[0053] Specifically, when the joystick is in the initial state (corresponding to the state where no force is applied), two electromagnetic sensors in the first direction (e.g., the first electromagnetic sensor 21 and the second electromagnetic sensor 22) are symmetrically arranged with respect to the projection of the magnetic element 17 on the substrate 25, and two electromagnetic sensors in the second direction (e.g., the third electromagnetic sensor 23 and the fourth electromagnetic sensor 24) are symmetrically arranged with respect to the projection of the magnetic element 17 on the substrate 25.

[0054] More specifically, four electromagnetic sensors are arranged symmetrically in pairs along a first direction and a second direction. Two electromagnetic sensors symmetrically distributed along the first direction are used to detect the swing angle of the rocker arm 15 along the second direction; the two electromagnetic sensors symmetrically distributed along the second direction are used to detect the swing angle of the rocker arm 15 along the first direction. By placing the electromagnetic sensors on the left, right, top, and bottom sides of the magnet in a cross-shaped symmetrical distribution, the changes in the detection signals of the electromagnetic sensors in corresponding directions are more pronounced when the rocker arm swings around different axes, while the changes in electromagnetic sensors in non-corresponding directions tend to be consistent. This improves the differential calculation's ability to distinguish the swing direction and enhances the directionality, sensitivity, and accuracy of displacement detection.

[0055] In one embodiment, two electromagnetic sensors arranged along the first direction (corresponding to...) Figure 5 The differential calculation result of the two electromagnetic sensors (one on the left and one on the right) is used as the first displacement output signal; the two electromagnetic sensors arranged along the second direction (corresponding to...) Figure 5 The differential calculation result of the two electromagnetic sensors (one on the upper side and one on the lower side) is used as the second displacement output signal.

[0056] Specifically, when the joystick is displaced, the position of the magnetic element relative to the electromagnetic sensor changes, which in turn causes the magnetic field strength sensed by the electromagnetic sensor located in different positions to change accordingly.

[0057] Specifically, two electromagnetic sensors arranged along the first direction output a first detection signal and a second detection signal, respectively. The differential operation is performed on these two detection signals, and the result is used as the output signal along the first displacement. Since differential operation can effectively suppress common-mode interference, it can improve the accuracy and stability of displacement detection in the second direction.

[0058] At the same time, two electromagnetic sensors arranged along the second direction output a third detection signal and a fourth detection signal respectively. By performing a differential operation on the third detection signal and the fourth detection signal, the result of the differential operation is used as the output signal along the second displacement.

[0059] The second direction is independent of the first direction. For example, they can be two mutually perpendicular directions, thus simplifying the detection of the displacement state of the object being detected in a two-dimensional plane.

[0060] In other words, by differentially processing the output signals of electromagnetic sensors distributed at different positions on the magnetic element, the present invention obtains a first displacement output signal and a second displacement output signal respectively. This not only enables multi-directional displacement detection, but also ensures that the displacement detection results of the joystick in different swing directions do not interfere with each other, avoiding output misjudgment caused by multi-directional coupling and improving the accuracy of joystick displacement detection.

[0061] By adopting the above scheme, the signal sensed by the electromagnetic sensor can be obtained, and then the detection signals of the corresponding electromagnetic sensors can be differentially processed.

[0062] While maintaining a consistent overall framework, this solution can be implemented in three different ways depending on varying implementation conditions and application requirements. These three methods are identical in design goals and basic principles, differing only in specific implementation paths and technical focuses, as detailed below: Example

[0063] In Example 1, see Figures 6 to 8 ,in, Figure 6 This is a schematic diagram of the first signal processing unit according to an embodiment of this application. Figure 7 and Figure 8 for Figure 6 The schematic diagram of a partial structure of the signal processing unit shown is as shown in Figures 6 to 67. Figure 8 As shown, the signal processing unit 30 may include a first operational amplifier 301 and a second operational amplifier 302, wherein: The first input terminal of the first operational amplifier 301 is connected to the first electromagnetic sensor 21 of the two electromagnetic sensors arranged along the first direction, and the second input terminal of the first operational amplifier 301 is connected to the second electromagnetic sensor 22 of the two electromagnetic sensors, so as to differentially amplify the detection signals of the two electromagnetic sensors and output a first displacement output signal. The first input terminal of the second operational amplifier 302 is connected to the third electromagnetic sensor 23 of the two electromagnetic sensors arranged along the second direction, and the second input terminal of the second operational amplifier 302 is connected to the fourth electromagnetic sensor 24 of the two electromagnetic sensors, so as to differentially amplify the detection signals of the two electromagnetic sensors and output a second displacement output signal.

[0064] Specifically, the first electromagnetic sensor 21 and the second electromagnetic sensor 22, arranged along the first direction, are used to detect changes in the magnetic field caused by the movement of the magnetic element with the rocker arm. The two electromagnetic sensors are respectively connected to the first input terminal and the second input terminal of the first operational amplifier 301. The first operational amplifier 301 forms a differential amplifier circuit, and its output terminal is used to output the corresponding first displacement output signal.

[0065] When the joystick swings around the first direction, the detection signals of the two electromagnetic sensors located on both sides of the first direction show a change characteristic of one increasing and the other decreasing. After differential processing by the first operational amplifier 301, a displacement signal that changes with the swing direction and amplitude is formed at the output end.

[0066] When the joystick is pressed down, the magnetic components move closer to the substrate, and the detection signals of the two electromagnetic sensors change synchronously. After differential amplification, the difference remains unchanged or the change amplitude is significantly reduced, thus effectively suppressing the interference caused by the pressing action in the output displacement signal.

[0067] By setting up a set of symmetrical electromagnetic sensors and corresponding differential amplifier circuits along the second direction, the second displacement output signal can be obtained respectively.

[0068] Thus, without adding additional output channels, the detection of the joystick's swing displacement along two orthogonal directions was achieved, and the influence of the pressing action on the displacement detection results was suppressed.

[0069] This embodiment has a simple structure and uses a pure analog differential method for signal processing, without the need to introduce a digital processing unit. It has the advantages of simple circuit, fast response speed and low latency, and is suitable for application scenarios of gamepad motherboards with limited interface resources.

[0070] In some embodiments, the signal processing unit may further include: A first resistor R1 is connected to the first input terminal of the first electromagnetic sensor 21 and the first operational amplifier 301, and the second terminal of the first resistor R1 is grounded to GND; a second resistor R2 is connected to the second input terminal of the second electromagnetic sensor 22 and the first operational amplifier 301, and the second terminal of the second resistor R2 is grounded to GND; and a first feedback branch (not shown in the figure) is connected to the second input terminal and the output terminal of the first operational amplifier 301. The first feedback branch includes: a first feedback resistor R3 and a second feedback resistor R4, and the second terminal of the second feedback resistor R4 is grounded to GND.

[0071] Specifically, the signal processing unit in Embodiment 1 consists of two resistive sensors and an operational amplifier, used to implement differential measurement functions.

[0072] Under the action of power supply voltage VCC, when the movement of the joystick is detected, the first electromagnetic sensor 21 and the second electromagnetic sensor 22 can generate corresponding resistances. Thus, the first electromagnetic sensor 21 and the first resistor R1 form a voltage divider circuit, and the second electromagnetic sensor 22 and the second resistor R2 form a voltage divider circuit, thereby converting the resistance value on the electromagnetic sensor into the corresponding voltage signal.

[0073] The voltage divided by the first electromagnetic sensor 21 is connected to the non-inverting input of the first operational amplifier 301, and the voltage divided by the second electromagnetic sensor 22 is connected to the inverting input through the first feedback branch. Under the action of negative feedback, the first operational amplifier 301 automatically adjusts the output voltage to make the voltages at its two input terminals tend to be equal, so that the output voltage VoutX changes with the relative changes of the first electromagnetic sensor 21 and the second electromagnetic sensor 22.

[0074] The circuit output Vout X is proportional to the difference between the signals of the first electromagnetic sensor 21 and the second electromagnetic sensor 22, which can effectively reflect the change in the difference between the first electromagnetic sensor 21 and the second electromagnetic sensor 22, thereby accurately detecting the first displacement output signal.

[0075] More specifically, when the joystick is swinging, it moves toward one side, causing the induced magnetic field on the first electromagnetic sensor 21 to be greater than the induced magnetic field on the second electromagnetic sensor 22, or vice versa. Thus, the orientation of the remote sensing can be determined based on the differential signal.

[0076] When the joystick is pressed down, the distance between the first electromagnetic sensor 21 and the second electromagnetic sensor 22 and the joystick is the same. In this way, the induced magnetic field on the first electromagnetic sensor 21 is basically the same as the induced magnetic field on the second electromagnetic sensor 22, so the output differential signal is basically 0, which can determine that the joystick is pressed down.

[0077] In contrast, the signal processing unit may also include: A third resistor R5 is connected to the first input terminal of the third electromagnetic sensor 23 and the second operational amplifier 302, and the second terminal of the third resistor R5 is grounded; a fourth resistor R6 is connected to the second input terminal of the fourth electromagnetic sensor 24 and the second operational amplifier 302, and the second terminal of the fourth resistor R6 is grounded; and a second feedback branch (not shown in the figure) is connected to the second input terminal and the output terminal of the second operational amplifier 302. The second feedback branch includes a third feedback resistor R7 and a fourth feedback resistor R8, and the second terminal of the fourth feedback resistor R8 is grounded to GND.

[0078] For the displacement detection mechanism in the second direction, please refer to the description of displacement detection in the first direction. Example

[0079] In Example 2, see Figure 9 and Figure 10 ,in, Figure 9 This is a schematic diagram of the principle of the second type of signal processing unit in the embodiments of this application. Figure 10 for Figure 9 The schematic diagram of a partial structure of the signal processing unit shown is as follows: Figure 9 and Figure 10 As shown, the signal processing unit 30 may include: The third operational amplifier 303, the fourth operational amplifier 304, and the fifth operational amplifier 305 are configured such that: the third operational amplifier 303 is connected to the first electromagnetic sensor 21 of the two electromagnetic sensors arranged along the first direction; the fourth operational amplifier 304 is connected to the second electromagnetic sensor 22 of the two electromagnetic sensors; and the output terminals of the third operational amplifier 303 and the fourth operational amplifier 304 are connected to the fifth operational amplifier 305, which outputs a first displacement output signal; wherein the third operational amplifier 303 and the fourth operational amplifier 304 respectively constitute a signal conditioning circuit with a first predetermined amplification factor.

[0080] The sixth operational amplifier 306, the seventh operational amplifier 307, and the eighth operational amplifier 308 are provided. The sixth operational amplifier 306 is connected to the third electromagnetic sensor 23 of the two electromagnetic sensors arranged along the second direction. The seventh operational amplifier 307 is connected to the fourth electromagnetic sensor 24 of the two electromagnetic sensors. The output terminals of the sixth operational amplifier 306 and the seventh operational amplifier 307 are connected to the eighth operational amplifier 308. The eighth operational amplifier 308 outputs a second displacement output signal. The sixth operational amplifier 306 and the seventh operational amplifier 307 respectively constitute signal conditioning circuits with a second predetermined amplification factor.

[0081] In Example 2, a displacement detection structure based on amplitude adjustment and differential combination is adopted to further improve the symmetry, stability and sensitivity adjustment capability of displacement detection.

[0082] Specifically, two electromagnetic sensors arranged in the same direction are connected to operational amplifiers. These two operational amplifiers and the operational amplifier itself constitute signal conditioning circuits, used to amplify the detection signals of the corresponding electromagnetic sensors. The amplification factor is set through their respective feedback branches.

[0083] Next, the outputs of the two operational amplifiers are connected to the non-inverting input and the inverting input of the third operational amplifier, respectively, so that the third operational amplifier forms a differential amplifier circuit, and its output is used to output the corresponding first displacement output signal.

[0084] With the above structure, even if two electromagnetic sensors symmetrically arranged in the same direction have differences in sensitivity, installation position or magnetic circuit conditions, the amplitude of the two detection signals can be matched by setting the amplification factor of the corresponding operational amplifier, thereby improving the symmetry and stability of differential processing.

[0085] Thus, when the joystick swings around the first direction, the detection signals of the two electromagnetic sensors corresponding to the second displacement output signal exhibit a change characteristic of one increasing and the other decreasing. After amplitude adjustment and differential amplification, a displacement signal with adjustable amplitude and continuous change is formed at the output end.

[0086] When the joystick is pressed down, the detection signals of the two electromagnetic sensors change synchronously. After being processed by the first two operational amplifiers, they still maintain synchronous characteristics. When differential amplification is performed in the third operational amplifier, their synchronous changes are canceled out or significantly weakened, thus effectively suppressing the interference caused by the pressing action in the output displacement signal.

[0087] When the joystick swings around the second direction, the detection signals of the two electromagnetic sensors corresponding to the first displacement output signal have similar change characteristics, which will not be elaborated here.

[0088] This embodiment adopts a pure analog circuit structure, and completes amplitude adjustment and differential processing at the signal front end, which reduces sampling delay and quantization error. It has the advantages of low delay, fast response and continuously adjustable sensitivity, and is particularly suitable for joystick application scenarios with high requirements for real-time performance and operation consistency.

[0089] In some embodiments, see Figure 10 The signal processing unit may also include: A fifth resistor R9 is connected to the first input terminal of the first electromagnetic sensor 21 and the third operational amplifier 303, and the second terminal of the fifth resistor R9 is grounded; a third feedback branch (not shown in the figure) and a first filter branch (not shown in the figure) are connected to the second input terminal of the third operational amplifier 303. The third feedback branch includes a fifth feedback resistor R10 and a sixth feedback resistor R11, and the first filter branch includes a first filter resistor R12 and a first filter capacitor C11, and the first filter capacitor C11 is grounded.

[0090] The sixth resistor R12 is connected to the first input terminal of the second electromagnetic sensor 22 and the fourth operational amplifier 304, and the second terminal of the sixth resistor R12 is grounded; the fourth feedback branch (not shown in the figure) and the second filter branch (not shown in the figure) are connected to the second input terminal of the fourth operational amplifier 304. The fourth feedback branch includes: the seventh feedback resistor R14 and the eighth feedback resistor R15. The second filter branch includes: the second filter resistor R16 and the second filter capacitor C2, and the second filter capacitor C2 is grounded.

[0091] The first output resistor R17 and the second output resistor R18 are set at the output terminal of the fifth operational amplifier 305, and the second terminal of the second output resistor R18 is grounded to GND. Specifically, by setting the fifth resistor R9, the signal output by the first electromagnetic sensor 21 can be initially converted or biased, so that the signal input to the third operational amplifier 303 is within a suitable operating range, thereby improving the stability and accuracy of subsequent signal amplification.

[0092] The fifth feedback resistor R10 and the sixth feedback resistor R11, connected in series, are used to set and control the gain of the third operational amplifier 303. By properly configuring the resistance ratio of the fifth feedback resistor R10 and the sixth feedback resistor R11, linear amplification or suppression of the input signal can be achieved, thereby meeting the signal processing requirements of different application scenarios.

[0093] By configuring the first filtering branch, the signal input to the third operational amplifier 303 can be low-pass filtered, effectively suppressing high-frequency noise or transient interference signals, thereby improving the system's ability to identify target signals and its anti-interference capability. Similarly, the fourth operational amplifier 304 has the same or similar operating mechanism as the third operational amplifier 303.

[0094] More specifically, when the joystick is swinging, it moves towards one side, causing the induced magnetic field on the first electromagnetic sensor 21 to be greater than the induced magnetic field on the second electromagnetic sensor 22, or vice versa. Thus, the swing direction of the joystick can be determined based on the differential signal.

[0095] When the joystick is pressed down, the distance between the first electromagnetic sensor 21 and the second electromagnetic sensor 22 and the joystick is the same. In this way, the induced magnetic field on the first electromagnetic sensor 21 is basically the same as the induced magnetic field on the second electromagnetic sensor 22, so the output differential signal is basically 0, which can determine that the joystick is pressed down.

[0096] In contrast, the signal processing unit may also include: A seventh resistor is connected to the first input terminal of the third electromagnetic sensor and the sixth operational amplifier, with its second terminal grounded; a fifth feedback branch and a third filter branch are connected to the second input terminal of the sixth operational amplifier, the fifth feedback branch including a ninth feedback resistor and a tenth feedback resistor, and the third filter branch including a third filter resistor and a third filter capacitor, with the third filter capacitor grounded; an eighth resistor is connected to the first input terminal of the fourth electromagnetic sensor and the seventh operational amplifier, with its second terminal grounded; a sixth feedback branch and a fourth filter branch are connected to the second input terminal of the seventh operational amplifier, the sixth feedback branch including an eleventh feedback resistor and a twelfth feedback resistor, and the fourth filter branch including a fourth filter resistor and a fourth filter capacitor, with the fourth filter capacitor grounded.

[0097] The third and fourth output resistors are set at the output terminals of the eighth operational amplifier, with the second terminal of the fourth output resistor grounded.

[0098] For the displacement detection mechanism in the second direction, please refer to the description of displacement detection in the first direction.

[0099] In some embodiments, the first predetermined amplification factor of the third operational amplifier and the fourth operational amplifier is set through their respective feedback branches, and the first predetermined amplification factors of the third operational amplifier and the fourth operational amplifier may be the same or different.

[0100] Specifically, when the third operational amplifier and the fourth operational amplifier are used to amplify the same type of signal in parallel, their first predetermined amplification factor can be set to be the same to ensure the gain consistency between different signal channels; while when the third operational amplifier and the fourth operational amplifier are used to process signals with different amplitude ranges or different precision requirements, their first predetermined amplification factor can be set to be different to meet the amplification requirements of the corresponding signals respectively.

[0101] By using the above method, the amplification factor of the third and fourth operational amplifiers can be independently or synchronously controlled by adjusting the parameters of the feedback branch without changing the overall circuit topology, thus improving the flexibility and applicability of the circuit design.

[0102] Similarly, the second predetermined amplification factor of the sixth operational amplifier and the seventh operational amplifier is set through their respective feedback branches, and the second predetermined amplification factor of the sixth operational amplifier and the seventh operational amplifier may be the same or different.

[0103] It should be noted that, in Figure 7 , Figure 8 and Figure 10 The schematic diagram also shows the voltage input terminal and ground terminal of the operational amplifier, where the voltage input terminal is used to input the power supply voltage VCC, and the ground terminal is used to ground GND. Example

[0104] In Example 3, see Figure 11 The schematic diagram of the third signal processing unit in the embodiments of this application is shown below. Figure 11 As shown, the signal processing unit includes: The first analog-to-digital converter 306 is connected to the first electromagnetic sensor 21 and the second electromagnetic sensor 22, which are arranged along the first direction respectively; the first processor 307 is connected to the output terminal of the first analog-to-digital converter 306; the first digital-to-analog converter 308 is connected to the output terminal of the first processor 307 and outputs a first displacement output signal.

[0105] In Embodiment 3, when the joystick is displaced along the first direction, the first electromagnetic sensor 21 and the second electromagnetic sensor 22, arranged along the first direction, will output corresponding analog voltage signals respectively. The first analog-to-digital converter 306 samples the analog signals from the first electromagnetic sensor 21 and the second electromagnetic sensor 22, converts the sampling results into digital signals, and sends them to the first processor 307 (e.g., a microcontroller MCU).

[0106] The first processor 307 performs calculations on the digital signal based on preset parameters, such as differential calculation, proportional calculation, or compensation processing on the sampled values ​​of the two sensors, to obtain a processing result corresponding to the displacement along the first direction. Subsequently, the first processor 307 outputs the processing result to the first digital-to-analog converter 308, which converts the processing result into an analog voltage signal and outputs it as the first displacement output signal.

[0107] In this way, in single-axis displacement detection, while keeping the hardware structure consistent, different sensitivity settings and output range adjustments can be achieved by changing the configuration in the first processor; at the same time, the processing result is converted into an analog signal output via the first digital-to-analog converter, which facilitates compatibility with existing analog interface systems.

[0108] Therefore, the embodiments of the present invention improve the flexibility and scalability of the system while ensuring detection accuracy and system consistency, and reduce hardware design and maintenance costs.

[0109] The second analog-to-digital converter 309 is connected to the third electromagnetic sensor 23 and the fourth electromagnetic sensor 24 of the two electromagnetic sensors arranged along the second direction, respectively; the second processor 310 is connected to the output terminal of the second analog-to-digital converter 309; the second digital-to-analog converter 311 is connected to the output terminal of the second processor 310 and outputs the second displacement output signal.

[0110] For the displacement detection mechanism in the second direction, please refer to the description of displacement detection in the first direction.

[0111] This invention also provides a handle, which may include the rocker mechanism described in any of the foregoing embodiments.

[0112] The controller can include a game controller.

[0113] This invention also provides a displacement detection method for a rocker mechanism. This displacement detection method can be applied to a rocker mechanism, which may include the rocker mechanism described in any of the foregoing embodiments.

[0114] For example, the rocker mechanism includes: a mounting base, on which a movable rocker arm is disposed, and a magnetic element disposed on the rocker arm.

[0115] Accordingly, see Figure 12 The flowchart of a displacement detection method in one embodiment of this application is shown below. Figure 12 As shown, the following steps can be performed: S121, acquire the detection signals of two electromagnetic sensors that are distributed around the magnetic element and spaced apart along a first direction and two electromagnetic sensors that are spaced apart along a second direction.

[0116] S121, differential processing is performed on the detection signals of two electromagnetic sensors arranged in the same direction to generate displacement output signals corresponding to the first and second directions; wherein, in response to the rocker arm being pressed down, the detection signals of the electromagnetic sensors change synchronously, so that the displacement output signal obtained by the differential processing remains unchanged or changes less than a preset threshold.

[0117] S123 outputs the processed displacement output signal through two displacement signal output ports.

[0118] For a more detailed description of the displacement detection method, please refer to the example above.

[0119] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0120] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A rocker mechanism, characterized in that include: Mounting base, wherein a movable rocker arm is provided on the mounting base; A magnetic element is disposed on the rocker arm, and its spatial position changes with the swinging and pressing actions of the rocker arm; At least four electromagnetic sensors are disposed on a substrate opposite to the magnetic element. Two of the four electromagnetic sensors are arranged at intervals along a first direction to detect the swing angle of the rocker arm about a second direction. The remaining two of the four electromagnetic sensors are arranged at intervals along the second direction to detect the swing angle of the rocker arm about the first direction. The signal processing unit acquires the detection signals of the four electromagnetic sensors respectively, and performs differential operation on the detection signals of two electromagnetic sensors arranged in the same direction to generate corresponding displacement output signals in the first and second directions. When the magnetic element is pressed down by the rocker arm, the detection signals of the two electromagnetic sensors arranged in the same direction change synchronously, so that the differential calculation result remains unchanged or changes less than a preset threshold.

2. The rocker mechanism of claim 1, wherein: When the joystick is in its initial state, the two electromagnetic sensors in the first direction are symmetrically arranged about the projection of the magnetic element onto the substrate, and the two electromagnetic sensors in the second direction are symmetrically arranged about the projection of the magnetic element onto the substrate.

3. The rocker mechanism according to claim 2, characterized in that: The differential calculation result of the two electromagnetic sensors arranged along the first direction is used as the first displacement output signal; The differential calculation result of the two electromagnetic sensors arranged along the second direction is used as the second displacement output signal.

4. The rocker mechanism of claim 1, wherein The signal processing unit includes a first operational amplifier and a second operational amplifier, wherein: The first input terminal of the first operational amplifier is connected to the first electromagnetic sensor of two electromagnetic sensors arranged along the first direction, and the second input terminal of the first operational amplifier is connected to the second electromagnetic sensor of the two electromagnetic sensors, so as to differentially amplify the detection signals of the two electromagnetic sensors and output the first displacement output signal. The first input terminal of the second operational amplifier is connected to the third electromagnetic sensor among the two electromagnetic sensors arranged along the second direction, and the second input terminal of the second operational amplifier is connected to the fourth electromagnetic sensor among the two electromagnetic sensors, so as to differentially amplify the detection signals of the two electromagnetic sensors and output the second displacement output signal.

5. The rocker mechanism of claim 4, wherein, The signal processing unit further includes: A first resistor connected to the first electromagnetic sensor and the first input terminal of the first operational amplifier, with the second terminal of the first resistor grounded; a second resistor connected to the second input terminal of the second electromagnetic sensor and the first operational amplifier, with the second terminal of the second resistor grounded; and a first feedback branch connected to the second input terminal and the output terminal of the first operational amplifier, the first feedback branch including: a first feedback resistor and a second feedback resistor, with the second terminal of the second feedback resistor grounded; A third resistor connected to the third electromagnetic sensor and the first input terminal of the second operational amplifier, the second terminal of the third resistor being grounded; a fourth resistor connected to the fourth electromagnetic sensor and the second input terminal of the second operational amplifier, the second terminal of the fourth resistor being grounded; and a second feedback branch connected to the second input terminal and the output terminal of the second operational amplifier, the second feedback branch including: a third feedback resistor and a fourth feedback resistor, the second terminal of the fourth feedback resistor being grounded.

6. The rocker mechanism of claim 1, wherein, The signal processing unit includes: The system comprises a third operational amplifier, a fourth operational amplifier, and a fifth operational amplifier, wherein: the third operational amplifier is connected to the first electromagnetic sensor of two electromagnetic sensors arranged along the first direction; the fourth operational amplifier is connected to the second electromagnetic sensor of the two electromagnetic sensors; and the output terminals of the third and fourth operational amplifiers are connected to the fifth operational amplifier, which outputs the first displacement output signal; wherein the third and fourth operational amplifiers respectively constitute a signal conditioning circuit with a first predetermined amplification factor. The system includes a sixth operational amplifier, a seventh operational amplifier, and an eighth operational amplifier, wherein: the sixth operational amplifier is connected to the third electromagnetic sensor among two electromagnetic sensors arranged along the second direction; the seventh operational amplifier is connected to the fourth electromagnetic sensor among the two electromagnetic sensors; and the output terminals of the sixth and seventh operational amplifiers are connected to the eighth operational amplifier; the eighth operational amplifier outputs the second displacement output signal; and the sixth and seventh operational amplifiers respectively constitute signal conditioning circuits with a second predetermined amplification factor.

7. The rocker mechanism of claim 6, wherein The signal processing unit further includes: A fifth resistor is connected to the first electromagnetic sensor and the first input terminal of the third operational amplifier, and the second terminal of the fifth resistor is grounded; a third feedback branch and a first filter branch are connected to the second input terminal of the third operational amplifier, the third feedback branch includes a fifth feedback resistor and a sixth feedback resistor, and the first filter branch includes a first filter resistor and a first filter capacitor, and the first filter capacitor is grounded; A sixth resistor is connected to the second electromagnetic sensor and the first input terminal of the fourth operational amplifier, and the second terminal of the sixth resistor is grounded; a fourth feedback branch and a second filter branch are connected to the second input terminal of the fourth operational amplifier, the fourth feedback branch includes a seventh feedback resistor and an eighth feedback resistor, and the second filter branch includes a second filter resistor and a second filter capacitor, and the second filter capacitor is grounded; A first output resistor and a second output resistor are provided at the output terminal of the fifth operational amplifier, and the second terminal of the second output resistor is grounded; A seventh resistor is connected to the first input terminal of the third electromagnetic sensor and the sixth operational amplifier, and the second terminal of the seventh resistor is grounded; a fifth feedback branch and a third filter branch are connected to the second input terminal of the sixth operational amplifier, the fifth feedback branch includes a ninth feedback resistor and a tenth feedback resistor, and the third filter branch includes a third filter resistor and a third filter capacitor, and the third filter capacitor is grounded; An eighth resistor is connected to the first input terminal of the fourth electromagnetic sensor and the seventh operational amplifier, and the second terminal of the eighth resistor is grounded; a sixth feedback branch and a fourth filter branch are connected to the second input terminal of the seventh operational amplifier, the sixth feedback branch includes an eleventh feedback resistor and a twelfth feedback resistor, and the fourth filter branch includes a fourth filter resistor and a fourth filter capacitor, and the fourth filter capacitor is grounded; The third and fourth output resistors are set at the output terminals of the eighth operational amplifier, and the second terminal of the fourth output resistor is grounded.

8. The rocker mechanism of claim 1, wherein, The signal processing unit includes: A first analog-to-digital converter is connected to a first electromagnetic sensor and a second electromagnetic sensor, respectively, of two electromagnetic sensors arranged along the first direction; a first processor is connected to the output terminal of the first analog-to-digital converter; a first digital-to-analog converter is connected to the output terminal of the first processor and outputs the first displacement output signal. The second analog-to-digital converter is connected to the third and fourth electromagnetic sensors of the two electromagnetic sensors arranged along the second direction, respectively; the second processor is connected to the output terminal of the second analog-to-digital converter; the second digital-to-analog converter is connected to the output terminal of the second processor and outputs the second displacement output signal.

9. A handle characterized in that Includes the rocker mechanism as described in any one of claims 1-8.

10. A method of displacement detection of a rocker mechanism, the rocker mechanism comprising: A mounting base, wherein a movable rocker arm is provided on the mounting base, and a magnetic element is provided on the rocker arm, characterized in that the displacement detection method includes: Acquire the detection signals of two electromagnetic sensors that are distributed around the magnetic element and spaced apart along a first direction and two electromagnetic sensors that are spaced apart along a second direction; Differential processing is performed on the detection signals of two electromagnetic sensors arranged in the same direction to generate displacement output signals corresponding to the first and second directions; wherein, in response to the rocker arm being pressed down, the detection signals of the electromagnetic sensors change synchronously, so that the displacement output signal obtained by the differential processing remains unchanged or changes less than a preset threshold. The processed displacement output signal is output through two displacement signal output ports.

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