A motion measurement device and method based on an array of hall sensors

Abstract

The application provides a motion measuring device and method based on a Hall sensor array, which comprises a bearing mechanism, a trolley, a Hall sensor array and a control acquisition component. The bearing mechanism forms a predetermined straight motion path through a support frame. The trolley slides along the path under the action of gravity and carries a permanent magnet at the bottom through the Hall sensor array. The Hall sensor array is fixed along the predetermined straight motion path. Multiple Hall sensors correspond to preset physical positions respectively and output trigger signals as switch elements when the permanent magnet passes. The control acquisition component records the trigger time of each Hall sensor and determines the corresponding physical distance with at least two Hall sensors. The difference between the trigger times is combined to calculate the speed and displacement of the trolley. The application associates the switch trigger signal of the Hall sensor with the preset physical position, thereby improving the stability and repeatability of the motion measurement of the inclined plane trolley.

Description

Technical Field

[0001] This invention relates to the field of motion measurement technology, and in particular to a motion measurement device and method based on a Hall sensor array. Background Technology

[0002] Experiments involving inclined plane cart motion typically require obtaining motion parameters such as the cart's arrival time, velocity, or displacement at different positions. Existing methods include manually reading data, using mechanical limit switches, photoelectric sensors, and Hall effect sensors to collect the time it takes for the cart to pass a certain detection point, and then combining this data with the distance between the detection points to calculate the motion parameters.

[0003] When using Hall effect sensors for vehicle motion detection, the Hall sensors are typically used as switching elements. When a permanent magnet on the vehicle passes near the Hall sensor, the Hall sensor outputs a trigger signal, and the control unit obtains the trigger time when the vehicle passes the corresponding detection point. This type of application mainly focuses on the presence or absence of the trigger signal and the trigger time, and does not fully utilize the preset physical position of the Hall sensor in the device and the physical distance between adjacent Hall sensors as a spatial reference for motion parameter calculation.

[0004] Therefore, there is a need for a motion measurement device and method that can convert the preset physical positions and physical spacing of multiple Hall sensors into a fixed-distance time measurement spatial reference based on the trigger signal output by the Hall sensor as a switching element, so as to obtain reliable trigger time and motion parameters synchronously during the movement of the vehicle. Summary of the Invention

[0005] To address at least one of the aforementioned technical problems, the present invention provides a motion measurement device and method based on a Hall sensor array. This device fixes multiple Hall sensors along a predetermined straight motion path, records the trigger time by a control acquisition component, and calculates the vehicle speed based on the difference between the physical distance between at least two Hall sensors and the trigger time. Furthermore, the vehicle displacement can be determined based on the number of triggered Hall sensors, the physical distance between adjacent triggered Hall sensors, and the initial physical position.

[0006] On one hand, the present invention provides a motion measurement device based on a Hall sensor array, including a support mechanism, a trolley, a Hall sensor array, and a control and acquisition component.

[0007] The supporting mechanism includes a runway and a support frame for supporting the runway. The support frame tilts the runway, forming a predetermined straight-line motion path along the length of the runway. The predetermined straight-line motion path refers to the direction of linear motion of the vehicle defined by the extension direction of the runway. The vehicle is positioned on the runway and slides down the predetermined straight-line motion path under the action of gravity. A permanent magnet is provided at the bottom of the vehicle.

[0008] The Hall sensor array comprises multiple Hall sensors fixed at intervals along a predetermined linear motion path, each Hall sensor corresponding to a preset physical position. The preset physical position refers to the fixed installation position of the Hall sensor in the device coordinate or track length direction; the distance between two preset physical positions of Hall sensors is the physical spacing. The physical spacing can be predetermined during assembly or determined by the fixed soldering position of the Hall sensor on the circuit board.

[0009] The control and acquisition unit is electrically connected to the Hall sensor array and is configured to record the trigger time of each Hall sensor in response to the passage of a permanent magnet, and to calculate the vehicle's speed based on the physical distance between at least two Hall sensors and the difference in trigger time. The trigger time refers to the point in time recorded by the control and acquisition unit when the Hall sensor outputs a trigger signal due to the permanent magnet moving into its sensing range.

[0010] In one embodiment, Hall sensors are arranged in groups, with each group including a first Hall sensor and a second Hall sensor. The spacing between adjacent groups of Hall sensors is 4.0 cm, and the spacing between the first and second Hall sensors within each group is 1.5 cm. Thus, two Hall sensors within the same group can provide time difference measurements over a short distance, and two adjacent groups of Hall sensors can provide multi-point measurements along the path.

[0011] In one embodiment, the Hall sensor array includes a circuit board extending along a predetermined linear motion path, with multiple Hall sensors fixed to the circuit board, which is fixed relative to the runway. By uniformly supporting multiple Hall sensors on the circuit board, the Hall sensors can output trigger signals as switching elements while corresponding to stable preset physical positions and spacings, facilitating the control of the acquisition components to correlate trigger time with spatial position.

[0012] In one embodiment, the supporting mechanism further includes a base plate, one end of the track is rotatably connected to the base plate, and the other end of the track is supported by a support frame, so that the track can be selected to form an inclination angle of 5°, 10°, or 15°. Thus, by the rotational coordination of the track relative to the base plate and the multi-stage support coordination of the support frame, the motion data of the trolley under different inclination angles can be obtained.

[0013] In one embodiment, the support frame is an integrated stepped support frame, which has primary, secondary, and tertiary support sections of different heights. The other end of the runway is selectively supported by one of the primary, secondary, or tertiary support sections. Thus, by supporting the other end of the runway with support sections of different heights, the runway can be tilted at angles of 5°, 10°, or 15°.

[0014] In another embodiment, the support frame includes a support plate fixed to the base plate. The support plate has a first positioning engagement part, a second positioning engagement part, and a third positioning engagement part arranged at intervals along the height direction. A support pin is provided at the other end of the runway. The support pin can be selected to engage with one of the first positioning engagement parts, the second positioning engagement part, or the third positioning engagement part. Thus, by engaging the support pin with positioning engagement parts at different heights, the runway can be tilted at angles of 5°, 10°, or 15°.

[0015] In one embodiment, the vehicle includes a body, rolling supports disposed on both sides of the body, and a counterweight disposed within the body. The rolling supports are in rolling contact with the track, and the counterweight is used to adjust the force on the rolling supports on both sides of the body. A permanent magnet is fixed to the bottom of the body. The rolling supports can be bearings, rollers, or other components capable of rolling and supporting the body along the track. The counterweight can be clay, metal counterweights, resin counterweights, or other counterweight materials or structures capable of changing the weight distribution of the vehicle.

[0016] In one embodiment, a permanent magnet is disposed at the bottom of the vehicle and faces the Hall sensor array, with at least a portion of the lower end of the permanent magnet protruding from the bottom surface of the vehicle. As the vehicle slides down a predetermined straight path, the permanent magnet passes the sensing side of the Hall sensor array. The sensing side refers to the side of the Hall sensor array facing the trajectory of the permanent magnet and capable of receiving changes in the magnetic field of the permanent magnet.

[0017] In one embodiment, the track includes two guide rails that extend along a predetermined straight path and are spaced apart from each other. A circuit board is disposed between the two guide rails. The trolley slides down the path defined by the two guide rails, and a permanent magnet passes over the circuit board along with the trolley. Thus, the two guide rails constrain the direction of movement of the trolley, and the circuit board is located below the trolley and within the area traversed by the permanent magnet, facilitating stable triggering of the Hall sensor array.

[0018] On the other hand, the present invention provides a motion measurement method based on a Hall sensor array, the method employing the aforementioned motion measurement device based on a Hall sensor array, comprising: S1: Make the trolley slide down the predetermined straight path under the action of gravity; S2: The triggering time of each Hall sensor in response to the passing of the permanent magnet is recorded by controlling the acquisition component; S3: Calculate the speed of the vehicle based on the difference in physical distance and trigger time between at least two Hall sensors; S4: Determine the displacement of the trolley based on the number of triggered Hall sensors, the physical distance between adjacent triggered Hall sensors, and the initial physical position.

[0019] In one embodiment, in step S2, at least two Hall sensors are identified as the first Hall sensor and the second Hall sensor in the same group. The acquisition unit is controlled to record the trigger time of the first Hall sensor and the second Hall sensor, and the difference between their trigger times is used as the time difference between the trolley passing through the Hall sensors in the same group.

[0020] In one implementation, S1 to S4 are repeatedly executed under the same release condition to obtain multiple sets of trigger times and motion parameters, and the multiple sets of trigger times and motion parameters are processed by averaging, standard deviation or deviation range; and / or the release position of the trolley on the track or the tilt angle of the track is changed before repeating S1 to S4.

[0021] Compared with the prior art, the present invention has at least the following beneficial effects: First, the present invention fixes multiple Hall sensors at fixed intervals along a predetermined straight motion path, and controls the acquisition component to use the physical distance between at least two Hall sensors as a spatial quantity and the difference in trigger time as a time quantity, thereby forming a motion measurement method of fixed distance and time measurement.

[0022] Secondly, the present invention can fix multiple Hall sensors in a unified manner through a circuit board, so that the physical distance between the Hall sensors is maintained by the circuit board or assembly structure, thereby reducing the problems of easy position change and easy disturbance of wiring when the sensors are installed separately.

[0023] Third, the present invention can uniformly fix multiple Hall sensors on a circuit board, so that the Hall sensors, as switching elements, output trigger signals while corresponding to stable preset physical positions and physical spacing, which makes it easy to convert the trigger time into measurement data with spatial coordinate meaning. Furthermore, by screening the Hall sensors for consistency of Bh values, the influence of differences in hysteresis parameters of different Hall sensors on the trigger time can be reduced, and the consistency of multi-point measurement data can be improved.

[0024] Fourth, the present invention defines the movement path of the trolley by two guide rails and places the circuit board between the two guide rails, so that the permanent magnets, which are at least partially exposed on the bottom surface of the trolley, can pass over the Hall sensor array; at the same time, the force on the rolling support members on both sides of the trolley can be adjusted by the counterweight, which helps to maintain the relative position stability of the permanent magnets and the Hall sensor array.

[0025] Fifth, this invention can generate a data recording table based on the trigger times of one or more sets of Hall sensors. The data recording table can include fields such as magnet approach time, Hall displacement, time difference between two Hall sensors, average velocity of the physical distance, and instantaneous velocity. Through these data fields, the changes in time difference within the same physical distance, the changes in initial velocity at different release positions, and the deviation of repeated measurement data can be directly observed, thereby providing traceable data support for motion parameter measurement results. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of a motion measurement device based on a Hall sensor array according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the bearing mechanism in another embodiment of the present invention; Figure 3 This is an exploded view of the structure of the vehicle in one embodiment of the present invention; Figure 4 This is a flowchart of a motion measurement method based on a Hall sensor array according to an embodiment of the present invention.

[0027] Explanation of reference numerals in the attached figures: 1. Load-bearing mechanism; 11. Runway; 111. Guide rail; 12. Support frame; 121. Primary support; 122. Secondary support; 123. Tertiary support; 124. Support plate; 125. First positioning mating part; 126. Second positioning mating part; 127. Third positioning mating part; 128. Support pin; 13. Base plate; 2. Trolley; 21. Car body; 211. Accommodating groove; 22. Permanent magnet; 23. Rolling support; 24. Counterweight; 3. Hall sensor array; 4. Circuit board. Detailed Implementation

[0028] The embodiments of the present invention will now be described with reference to the accompanying drawings. It should be understood that the following embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0029] like Figure 1 As shown, this embodiment provides a motion measurement device based on a Hall sensor array, including a support mechanism 1, a trolley 2, a Hall sensor array 3, and a control and acquisition component (not shown in the figure).

[0030] See also Figure 1 The supporting mechanism 1 includes a runway 11 and a support frame 12 for supporting the runway 11. The support frame 12 causes the runway 11 to be inclined relative to the horizontal plane, and the runway 11 forms a predetermined straight-line motion path along its length. The trolley 2 is disposed on the runway 11 and slides down the predetermined straight-line motion path under the influence of gravity after release. That is to say, in this embodiment, the driving force of the trolley 2 mainly comes from the component of gravity along the inclined plane, and no additional driving mechanism such as a motor, traction rope or catapult is required.

[0031] In one specific embodiment, the supporting mechanism 1 further includes a base plate 13. One end of the runway 11 is rotatably connected to the base plate 13, and the other end of the runway 11 is supported by a support frame 12. The rotatable connection between the runway 11 and the base plate 13 forms the rotating end of the runway 11, and the end of the runway 11 supported by the support frame 12 forms the angle-adjusting end. In use, the rotating end can be used as the fulcrum to match different height positions of the angle-adjusting end and the support frame 12, thereby allowing the runway 11 to selectively form an inclination angle of 5°, 10°, or 15°.

[0032] In the first embodiment of the support frame, the support frame 12 is an integrated stepped support frame. The support frame 12 is fixed or placed on the base plate 13, and forms a primary support 121, a secondary support 122, and a tertiary support 123 in the height direction. The support height of the primary support 121, the secondary support 122, and the tertiary support 123 increases sequentially. The angle-adjusting end of the runway 11 is selectively overlapped or supported on the primary support 121, the secondary support 122, or the tertiary support 123 to form an inclination angle of 5°, 10°, or 15°, respectively. In this structure, the support frame 12 directly supports the runway 11 through support surfaces of different heights, which is simple in structure and facilitates quick switching between different slope angles.

[0033] like Figure 2 As shown, in the second embodiment of the support frame, the support frame 12 includes a support upright 124 fixed to the base plate 13. The support upright 124 can be a single upright or two uprights arranged opposite each other along the width direction of the runway 11. The support upright 124 is provided with a first positioning mating part 125, a second positioning mating part 126, and a third positioning mating part 127 along the height direction. The heights of each positioning mating part are different and correspond to the inclination angles of the runway 11 of 5°, 10°, and 15°, respectively. The positioning mating part can be a positioning groove, a positioning hole, an open groove, or other positioning structure that can mate with a pin.

[0034] In the second support frame embodiment, the angle-adjusting end of the runway 11 is provided with a support pin 128, which extends along the width direction of the runway 11. When adjusting the tilt angle, the support pin 128 is selectively inserted into or passed through the first positioning fitting part 125, the second positioning fitting part 126, or the third positioning fitting part 127, so that the angle-adjusting end of the runway 11 is positioned at the corresponding height. After the support pin 128 cooperates with the positioning fitting part, it can both support the runway 11 and restrict the sliding of the angle-adjusting end of the runway 11 along the length direction of the base plate 13, thereby improving the positioning stability of the runway 11 at the corresponding tilt angle.

[0035] Both the first and second support frame embodiments described above can be used in combination with the same track 11, trolley 2, Hall sensor array 3, and control and acquisition components. That is, the support frame 12 can be an integrated stepped support frame, or it can be a structure where the support plate 124 and support pin 128 cooperate. As long as the track 11 can form an inclination angle of 5°, 10°, or 15° relative to the base plate 13, it can be used in the motion measurement device of this embodiment.

[0036] Combination Figure 3 The trolley 2 includes a body 21, a permanent magnet 22, rolling support members 23, and a counterweight 24. The bottom of the body 21 has mounting holes or grooves for mounting the permanent magnet 22. The permanent magnet 22 is disposed in the mounting holes or grooves and fixed to the bottom of the body 21 with adhesive. In this embodiment, at least part of the lower end of the permanent magnet 22 protrudes through the mounting holes or grooves and is exposed on the bottom surface of the body 21, so that the permanent magnet 22 faces the Hall sensor array 3. The body 21 may also have a receiving groove 211, in which the counterweight 24 is disposed to adjust the weight distribution of the trolley 2. The counterweight 24 can be clay, a metal counterweight block, a resin counterweight block, a sand-encapsulated component, or other counterweight materials or structures capable of changing the weight distribution of the trolley 2. By adjusting the position or weight of the counterweight 24, the force on the rolling support members 23 on both sides of the body 21 can be made more balanced. Rolling supports 23 are disposed on both sides of the vehicle body 21 and roll in contact with the track 11. In an optional embodiment, the rolling supports 23 can be bearings, rollers, or other components with rolling support functions; as long as they can support the vehicle body 21 to move along the track 11, they can be used in this embodiment. When the vehicle 2 passes the Hall sensor array 3, the permanent magnets 22, which are at least partially exposed on the bottom surface of the vehicle body 21, can sequentially enter the sensing range of each Hall sensor.

[0037] The Hall sensor array 3 includes multiple Hall sensors fixed at intervals along a predetermined linear motion path. Each Hall sensor corresponds to a preset physical position. This preset physical position does not refer to the instantaneous spatial position when the permanent magnet 22 triggers the Hall sensor, but rather to the fixed installation position of the Hall sensor body along the length of the runway 11. When the control acquisition unit calculates motion parameters, it uses the preset physical position of the Hall sensor as a spatial reference.

[0038] The distance between the preset physical positions of two Hall sensors is the physical spacing. For example, when the control acquisition unit selects the i-th Hall sensor and the j-th Hall sensor for speed calculation, the physical spacing between them can be determined based on the preset physical positions of the i-th Hall sensor and the j-th Hall sensor, and the difference in their trigger times can be used as the time difference corresponding to the car 2 passing through this physical spacing.

[0039] The control and acquisition unit is electrically connected to the Hall sensor array 3. The control and acquisition unit may include one or more of a microcontroller, acquisition board, serial communication module, and host computer, or other electronic components capable of recording Hall sensor trigger signals and performing motion parameter calculations. The control and acquisition unit records the trigger time of each Hall sensor in response to the passing of the permanent magnet 22, and calculates the speed of the vehicle 2 based on the physical distance between at least two Hall sensors and the difference in trigger time. The control and acquisition unit can also determine the displacement of the vehicle 2 based on the number of triggered Hall sensors, the physical distance between adjacent triggered Hall sensors, and the initial physical position.

[0040] In an optional implementation, the control acquisition unit stores a correspondence table between Hall sensor numbers and preset physical positions. After the trolley 2 slides down and sequentially triggers the Hall sensors, the control acquisition unit generates data records according to the triggering order. These data records may include Hall sensor numbers, preset physical positions, trigger times, differences between adjacent trigger times, physical distances, speeds, and release condition identifiers. The release condition identifier can be used to distinguish between different release positions, different runway tilt angles, or different numbers of repeated measurements under the same release condition. The initial physical position can be the physical position corresponding to a predetermined release position, or it can be the preset physical position corresponding to the first triggered Hall sensor; the Hall displacement can represent the displacement determined based on the preset physical position of the triggered Hall sensor, with the initial physical position as a reference. With this setting, the control acquisition unit can not only output single measurement results but also aggregate multiple repeated measurement results, facilitating comparison of trigger times, time differences, and speed data at the same spatial location.

[0041] In one specific embodiment, the Hall sensor array 3 includes multiple groups of Hall sensors, each group comprising a first Hall sensor and a second Hall sensor. The spacing between adjacent groups of Hall sensors is 4.0 cm, and the spacing between the first and second Hall sensors within each group is 1.5 cm. The control acquisition unit can record the trigger times of the first and second Hall sensors within the same group, and use the difference between their trigger times as the time difference for the vehicle 2 to pass through the same group of Hall sensors, thereby obtaining the vehicle speed near that group's location.

[0042] In one specific embodiment, multiple Hall sensors undergo consistency screening before installation. The Bh value is the hysteresis parameter of the Hall sensor, which represents the difference between the magnetic induction intensity at the operating point and the magnetic induction intensity at the release point of the Hall sensor; the relative error of the Bh value of the screened Hall sensors is controlled within 3%. Therefore, each Hall sensor has relatively similar hysteresis characteristics, which helps to reduce triggering time deviations caused by individual sensor differences.

[0043] See also Figure 1 In one specific embodiment, the Hall sensor array 3 includes a circuit board 4. The circuit board 4 extends along a predetermined linear motion path, and multiple Hall sensors are fixed to the circuit board 4. The circuit board 4 is fixed relative to the track 11, so that the physical spacing between the multiple Hall sensors does not change during the experiment due to the swing of the connection line or the individual disassembly and reassembly of the sensors. The circuit board 4 can be connected to a control and acquisition component, which can uniformly acquire the trigger signals of the multiple Hall sensors. It should be noted that the circuit board 4 is a preferred carrier for fixing multiple Hall sensors; in other embodiments, the multiple Hall sensors can also be fixed to the track 11, mounting strips, brackets, or other mounting carriers fixed relative to the track 11, as long as the multiple Hall sensors can be fixed at intervals along the predetermined linear motion path and correspond to preset physical positions respectively.

[0044] See also Figure 1 In one specific embodiment, the track 11 includes two guide rails 111 extending along a predetermined straight movement path and spaced apart from each other. A circuit board 4 is disposed between the two guide rails 111, and the trolley 2 slides down the path defined by the two guide rails 111. A permanent magnet 22 passes over the circuit board 4 with the trolley 2, and the portion of the permanent magnet 22 exposed on the bottom surface of the trolley body 21 faces the sensing side of the Hall sensor array 3. Thus, the two guide rails 111 constrain the lateral position of the trolley 2, and the circuit board 4, located between the two guide rails 111, reduces the probability of lateral displacement of the permanent magnet 22 relative to the Hall sensor array 3.

[0045] In a specific prototype, the dimensions of the base plate 13 can be 80.0cm × 8.5cm × 0.8cm, the dimensions of the runway 11 can be 52.8cm × 5.8cm, and the dimensions of the circuit board 4 can be 30.0cm × 2.2cm; the support heights of the primary support 121, the secondary support 122, and the tertiary support 123 can be 2.5cm, 7.5cm, and 12.5cm, respectively. The above dimensions are only one feasible example, and those skilled in the art can adjust them according to the runway length, the size of the trolley, the number of sensors, and the measurement range.

[0046] like Figure 4 As shown, Figure 4 A flowchart of the motion measurement method is shown, which includes the following steps.

[0047] S1: Cause the trolley 2 to slide down a predetermined straight path under the action of gravity. Specifically, place the trolley 2 on the inclined track 11, release the trolley 2 from the predetermined release position, and the trolley 2 slides down the track 11 under the action of gravity.

[0048] S2: The acquisition unit records the trigger time of each Hall sensor in response to the passing of the permanent magnet 22. Specifically, when the car 2 passes the Hall sensor array 3, the permanent magnet 22 passes sequentially through the sensing side of multiple Hall sensors. Each Hall sensor outputs a trigger signal under the action of the magnetic field, and the acquisition unit records the corresponding trigger time.

[0049] S3: Calculate the speed of the vehicle 2 based on the difference between the physical distance and trigger time between at least two Hall sensors. Specifically, two adjacent Hall sensors, the first Hall sensor and the second Hall sensor in the same group, or two other Hall sensors with known preset physical positions can be selected, and the speed of the vehicle 2 can be obtained based on the difference between the physical distance and trigger time between them.

[0050] In one data processing embodiment, the preset physical location of the i-th Hall sensor can be denoted as x. i Let its trigger time be t. i Let x be the preset physical position of the j-th Hall sensor. j Let its trigger time be t. j The physical distance L between the two Hall sensors ij =x j -x i The difference in trigger time Δt ij =t j -t i The speed v of car 2 when it passes through this physical distance ij =L ij / Δt ij For the same group of first and second Hall sensors, if the distance between them is 1.5 cm, then 1.5 cm can be used as the physical distance for velocity calculation of that group; if the distance between two adjacent groups of Hall sensors is 4.0 cm, then 4.0 cm can be used as the spatial reference for displacement or segment velocity calculation between adjacent groups. The above formula is used to illustrate the data processing method of the control acquisition component and does not limit the number of Hall sensors, the spacing value, or the specific calculation procedure.

[0051] In a further data processing embodiment, the control acquisition unit can also determine the midpoint t of the trigger time of two Hall sensors in the same group. m =(t i +t j ) / 2 is taken as the time position corresponding to this set of velocities, and the midpoint x of the physical positions of the two Hall sensors is used. m =(x i +x jThe spatial position corresponding to this set of velocities is 2 / 2. Therefore, the control and acquisition unit can associate and store the velocity data obtained from each set of Hall sensors with the corresponding time and spatial positions, forming a displacement-velocity data sequence or velocity-time data sequence distributed along a predetermined linear motion path.

[0052] S4: Determine the displacement of the vehicle 2 based on the number of triggered Hall sensors, the physical distance between adjacent triggered Hall sensors, and the initial physical position. Specifically, when multiple Hall sensors are triggered sequentially, the control acquisition unit can use the initial physical position as the displacement starting point and accumulate the physical distance between adjacent triggered Hall sensors according to the order of the triggered Hall sensors to obtain the displacement of the vehicle 2 along the predetermined straight-line motion path.

[0053] Specifically, if the initial physical position is denoted as x0, the preset physical position of the nth triggered Hall sensor is denoted as x. n Then the displacement of car 2 relative to its initial physical position can be expressed as s n =x n -x0; When storing data segment by segment based on the physical spacing between adjacent triggered Hall sensors, it can also be done according to s n The displacement is accumulated using the formula Σ[x(k)-x(k-1)], where x(k) represents the preset physical position of the k-th triggered Hall sensor, and x(k-1) represents the preset physical position of the (k-1)-th triggered Hall sensor. With this processing method, the displacement result comes from the fixed physical positions of the Hall sensors, rather than from manually estimated vehicle positions.

[0054] Under the same release condition, S1 to S4 can be repeated to obtain multiple sets of trigger times and motion parameters, and the average value, standard deviation, or deviation range of the multiple sets of trigger times and motion parameters can be processed. Alternatively, the release position of the trolley 2 on the track 11 can be changed, or the track 11 can be supported by one of the primary support 121, the secondary support 122, or the tertiary support 123 to change the tilt angle of the track 11, and then S1 to S4 can be repeated to obtain the trolley motion parameters under different conditions.

[0055] In repetitive measurement processing, the control acquisition unit can statistically analyze multiple measurements under the same release condition. For example, for the same motion parameter z1, z2, and z3 obtained from three repeated measurements, the average value z can be calculated. avg =(z1+z2+z3) / 3, and can be calculated according to σ=[((z1-z2 ... avg )^2+(z2-z avg )^2+(z3-z avgThe standard deviation is calculated using the formula )^2) / 3]^1 / 2, or the deviation range is determined based on the maximum and minimum values. This statistical result, along with the trigger time, Hall displacement, time difference, and velocity, can be written into a data record table to determine the stability of the collected results under the same release condition.

[0056] In one data processing embodiment, the control acquisition unit performs three repeated measurements on the same release condition, and writes the trigger time, Hall displacement, time difference between the two Hall sensors, and velocity data obtained from the three measurements into the same data recording table; wherein, the trigger time can also be recorded as the magnet approach time in the data recording table. Taking a set of test data as an example, the data recording table includes 14 sets of valid data; in the records numbered 1 to 7, the time difference between the two Hall sensors gradually decreases from 0.1160s to 0.0783s, while the Hall displacement increases from 0.0000m to 0.1169m, indicating that the passage time of the vehicle 2 between adjacent physical positions shortens as the displacement increases. Correspondingly, the instantaneous velocity obtained through multiple pairs of Hall sensors increases from 0.2977m / s to 0.6473m / s, and the velocity increment of adjacent data is approximately 0.05m / s to 0.06m / s. The above data shows that the Hall sensor array 3 can continuously acquire the motion state of the vehicle 2 at multiple fixed spatial nodes along a predetermined straight motion path.

[0057] In tests at different release positions, the control and acquisition unit can also store the release position and the initial velocity data in correspondence. For example, at the same runway inclination angle, the average initial velocities for the three release positions can be 0.3293 m / s, 0.5263 m / s, and 0.6343 m / s, respectively. Thus, the control and acquisition unit can distinguish the initial velocity differences caused by different release positions under the same inclination angle, while maintaining consistency in subsequent measurement procedures.

[0058] In the repeatability verification embodiment, the results of three repeated measurements under the same operating condition can be used to calculate the average value, standard deviation, or deviation range. For example, three measurements of a certain Hall displacement position are 0.0382m, 0.0384m, and 0.0382m, with an average value of 0.0383m and a standard deviation of 0.0001m; the repeatability deviation of the corresponding time difference and velocity data can also be controlled within 0.001. This result shows that the repeatability of trigger time acquisition and motion parameter calculation can be improved by using a fixed Hall sensor array 3, a relatively fixed circuit board 4, and a trolley movement path defined by two guide rails 111.

[0059] In a further data analysis embodiment, the control acquisition unit or the host computer connected to it can generate displacement-time relationships, velocity-time relationships, or velocity change-time relationships based on the data recording table. Taking three sets of test data with the same tilt angle but different release positions as an example, the displacement-time fitting relationship can be expressed as s=0.3534t. 2 +0.3891t+9E-05、s=0.3511t 2 +0.4735t+0.0002 and s=0.3571t 2 The coefficients of determination for all three fitting relationships are 1. The velocity-time fitting relationships can be expressed as v = 0.6737t + 0.4903, v = 0.6778t + 0.4080, and v = 0.6839t + 0.3064, with corresponding coefficients of determination ranging from 0.9913 to 0.9961. The velocity change-time fitting relationships can be expressed as Δv = 0.7193t + 0.4701, Δv = 0.7135t + 0.3799, and Δv = 0.7048t + 0.2782, with corresponding coefficients of determination ranging from 0.9838 to 0.9993. These fitting results are not necessary conditions for limiting the scope of protection of this invention, but rather illustrate that the apparatus and method of this embodiment can provide stable, continuous motion measurement data suitable for subsequent analysis.

[0060] In a model verification embodiment, the control acquisition component or its connected host computer can obtain the velocity change relationship based on velocity-time data. Taking test data at a release position of 30cm as an example, the velocity-time fitting relationship can be expressed as v = 0.6737t + 0.4903, where 0.4903 corresponds to the initial velocity term and 0.6737 corresponds to the slope of the velocity change over time. Based on the relationship between the area of ​​the velocity-time image and the displacement, the displacement estimation relationship s = 0.4903t + 0.5 × 0.6737t can be obtained. 2 That is, s = 0.4903t + 0.3369t 2 The displacement estimation relationship is consistent with the s=0.3534t obtained by data fitting at the same release position. 2 +0.3891t exhibits similar quadratic characteristics, indicating that the trigger time and physical position data acquired by the Hall sensor array can support the consistency verification between displacement-time and velocity-time. The above model verification is used to illustrate the analyzability of the data output and is not a necessary step for the motion measurement device of this invention.

[0061] It should be noted that the preset physical position of the Hall sensor and the corresponding magnetic induction switch position when the permanent magnet 22 triggers the Hall sensor are not entirely the same concept. The former refers to the fixed installation position of the Hall sensor in the device structure, while the latter refers to the position of the magnetic field when the permanent magnet 22 moves, causing the Hall sensor to output a trigger signal. The measuring device and method of the present invention use the preset physical position of the Hall sensor and its physical distance as the spatial reference for calculating motion parameters, thereby avoiding using unstable temporary installation positions or magnetic induction switch positions that are difficult to measure directly as the spatial reference.

[0062] The above-described embodiments and examples can be combined with each other when there is no conflict. For example, the embodiment in which the circuit board 4 fixes the Hall sensor array 3 can be combined with the embodiment in which the two guide rails 111 define the movement path of the trolley, or it can be combined with the data processing embodiment with multiple release positions, multiple tilt angles, or repeated measurements.

[0063] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A motion measurement device based on a Hall sensor array, characterized in that, include: The supporting mechanism includes a runway and a support frame for supporting the runway, so that the runway is inclined and forms a predetermined straight movement path along the length direction of the runway; A small car is placed on the track and slides down the predetermined straight path under the action of gravity; a permanent magnet is provided at the bottom of the small car. A Hall sensor array comprising a plurality of Hall sensors fixed at intervals along the predetermined linear motion path; The control acquisition unit, electrically connected to the Hall sensor array, is configured to record the trigger time of each Hall sensor generating a trigger signal in response to the passing of the permanent magnet, and to calculate the speed of the vehicle based on the difference between the physical distance between at least two Hall sensors and the trigger time.

2. The motion measuring device according to claim 1, characterized in that, The Hall sensors are arranged in groups, each group of Hall sensors includes a first Hall sensor and a second Hall sensor, the spacing between two adjacent groups of Hall sensors is 4.0 cm, and the spacing between the first Hall sensor and the second Hall sensor in each group is 1.5 cm.

3. The motion measuring device according to claim 1, characterized in that, The Hall sensor array includes a circuit board extending along the predetermined linear motion path, the plurality of Hall sensors being fixed to the circuit board, and the circuit board being fixed relative to the runway.

4. The motion measuring device according to claim 3, characterized in that, The track includes two guide rails that extend along the predetermined straight motion path and are spaced apart from each other. The circuit board is disposed between the two guide rails. The trolley slides down the path defined by the two guide rails, and the permanent magnet passes over the circuit board with the trolley.

5. The motion measuring device according to claim 1, characterized in that, The load-bearing mechanism also includes a base plate, one end of the track is rotatably connected to the base plate, and the other end of the track is supported by the support frame, so that the track can be selected to form an inclination angle of 5°, 10° or 15°.

6. The motion measuring device according to claim 5, characterized in that, The support frame is an integrated stepped support frame, which has a primary support section, a secondary support section and a tertiary support section of different heights. The other end of the track is selectively supported by one of the primary support section, the secondary support section or the tertiary support section.

7. The motion measuring device according to claim 5, characterized in that, The support frame includes a support plate fixed to the base plate. The support plate is provided with a first positioning engagement part, a second positioning engagement part, and a third positioning engagement part arranged at intervals along the height direction. The other end of the track is provided with a support pin. The support pin can be selected to engage with the first positioning engagement part, the second positioning engagement part, or the third positioning engagement part.

8. The motion measuring device according to claim 1, characterized in that, The trolley includes a body, rolling support members disposed on both sides of the body, and a counterweight disposed within the body. The rolling support members are in rolling contact with the track, and the counterweight is used to adjust the force on the rolling support members on both sides of the body. The permanent magnet is fixed to the bottom of the body.

9. A motion measurement method based on a Hall sensor array, characterized in that, The motion measuring device according to any one of claims 1 to 8 comprises: S1: Cause the trolley to slide down the predetermined straight-line motion path under the action of gravity; S2: The control and acquisition component records the trigger time of each Hall sensor in response to the passing of the permanent magnet, thereby generating a trigger signal; S3: Calculate the speed of the vehicle based on the difference between the physical distance and the trigger time between at least two of the Hall sensors; S4: Determine the displacement of the vehicle based on the number of triggered Hall sensors, the physical distance between adjacent triggered Hall sensors, and the initial physical position.

10. The motion measurement method based on a Hall sensor array according to claim 9, characterized in that, In step S2, at least two of the Hall sensors are identified as the first Hall sensor and the second Hall sensor in the same group. The control acquisition unit records the trigger time of the first Hall sensor and the second Hall sensor, and uses the difference between their trigger times as the time difference between the trolley passing through the Hall sensors in the same group.

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