Patent Publication Number: US-2023152097-A1

Title: Sensor and electronic device

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is based upon and claims the benefit of priority from Japanese Patent Application No.2021-187034, filed on Nov. 17, 2021; the entire contents of which are incorporated herein by reference. 
     FIELD 
     Embodiments described herein relate generally to a sensor and an electronic device. 
     BACKGROUND 
     There is a sensor such as a gyro sensor or the like. It is desirable to improve the detection accuracy of a sensor and an electronic device. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a schematic diagram illustrating a sensor according to a first embodiment; 
         FIG.  2    is a schematic diagram illustrating operations of the sensor according to the first embodiment; 
         FIGS.  3 A to  3 C  are schematic diagrams illustrating operations of the sensor according to the first embodiment; 
         FIGS.  4 A and  4 B  are schematic views illustrating the sensor according to the first embodiment; 
         FIG.  5    is a schematic plan view illustrating a part of the sensor according to the first embodiment; 
         FIGS.  6 A and  6 B  are schematic views illustrating a sensor according to a second embodiment; 
         FIG.  7    is a schematic diagram illustrating operations of the sensor according to the second embodiment; 
         FIG.  8    is a schematic plan view illustrating a part of the sensor according to the second embodiment; 
         FIG.  9    is a schematic view illustrating an electronic device according to a third embodiment; and 
         FIGS.  10 A to  10 H  are schematic views illustrating applications of the electronic device. 
     
    
    
     DETAILED DESCRIPTION 
     According to one embodiment, a sensor includes a sensor element, and a controller. The sensor element includes a first sensor part. The first sensor part includes a first movable part which can vibrate. Vibration of the first movable part includes a first component in a first direction and a second component in a second direction. The second direction crosses the first direction. The controller is configured to perform a first mode operation, a second mode operation, and a third mode operation. In the first mode operation, the controller is configured to derive a first rotation angle of the first movable part based on a first amplitude of the first component and a second amplitude of the second component. In the second mode operation, the controller is configured to derive a first angular velocity of the first movable part based on a change of a control signal. The control signal causes a rotation angle of the first movable part to be constant. In the third mode operation, the controller is configured to supply a third mode signal to the first sensor part. The third mode signal causes the rotation angle of the first movable part to change. 
     According to one embodiment, a sensor includes a sensor element, and a controller. The sensor element includes a first sensor part and a second sensor part. The first sensor part includes a first movable part which can vibrate. Vibration of the first movable part includes a first component in a first direction and a second component in a second direction. The second direction crosses the first direction. The second sensor part includes a second movable part which can vibrate. Vibration of the second movable part includes a third component in a third direction and a fourth component in a fourth direction. The fourth direction crosses the third direction. The controller is configured to perform a first mode operation, a second mode operation, a third mode operation, and a fourth mode operation. In the first mode operation, the controller is configured to derive a first rotation angle of the first movable part based on a first amplitude of the first component and a second amplitude of the second component. In the second mode operation, the controller is configured to derive a second angular velocity of the second movable part based on a change of a control signal. The control signal causes a rotation angle of the second movable part to be constant. In the third mode operation, the controller is configured to supply a third mode signal to the first sensor part. The third mode signal causes a rotation angle of the first movable part to change. In the fourth mode operation, the controller is configured to supply a fourth mode signal to the second sensor part. The fourth mode signal causes the rotation angle of the second movable part to change. 
     According to one embodiment, an electronic device includes the sensor described above, and a circuit controller. The circuit controller is configured to control a circuit based on a signal obtained from the sensor. 
     Various embodiments are described below with reference to the accompanying drawings. 
     The drawings are schematic and conceptual; and the relationships between the thickness and width of portions, the proportions of sizes among portions, etc., are not necessarily the same as the actual values. The dimensions and proportions may be illustrated differently among drawings, even for identical portions. 
     In the specification and drawings, components similar to those described previously or illustrated in an antecedent drawing are marked with like reference numerals, and a detailed description is omitted as appropriate. 
     First Embodiment 
       FIG.  1    is a schematic diagram illustrating a sensor according to a first embodiment. 
     As shown in  FIG.  1   , a sensor  110  according to the first embodiment includes a sensor element  10 D and a controller  70 . The sensor element  10 D includes a first sensor part  10 U. The first sensor part  10 U includes a first movable part  10 M that can vibrate. The vibration of the first movable part  10 M includes a first component in a first direction D1 and a second component in a second direction D2. The second direction D2 crosses the first direction D1. The first movable part  10 M vibrates, for example, along an elliptical orbit having these components. 
     For example, the controller  70  includes a first detector  71   a , a second detector  71   b , and a third detector  71   c . The first detector  71   a  is configured to detect the amplitude (first amplitude Ax) of the first component in the first direction D1 based on the signal obtained from the first sensor part  10 U. The second detector  71   b  is configured to detect the amplitude (second amplitude Ay) of the second component in the second direction D2 based on the signal obtained from the first sensor part  10 U. 
     The third detector  71   c  is configured to derive a rotation angle θ based on a ratio of the first amplitude Ax and the second amplitude Ay, for example. For example, the rotation angle θ corresponds to, for example, tan-1 (-Ay / Ax). 
     The controller  70  is configured to perform a first mode operation OP 1 , a second mode operation OP 2 , and a third mode operation OP 3 . These operations are switched and performed. 
     For example, the controller  70  includes, for example, a mode controller  75 . The first to third mode operations OP 1  to OP 3  are switched by the operation of the mode controller  75 . 
     In the first mode operation OP 1 , the controller  70  is configured to derive the first rotation angle θ1 of the first movable part  10 M based on the first amplitude Ax of the first component and the second amplitude Ay of the second component. In the first mode operation OP 1 , the rotation angle θ based on the above ratio is output as the first rotation angle θ1. The first mode operation OP 1  corresponds to, for example, a WA (Whole Angle) mode. 
     For example, the controller  70  includes a first drive circuit  72   a  and a second drive circuit  72   b . A first drive signal Vd1 is supplied from the first drive circuit  72   a  to the first sensor part  10 U. A second drive signal Vd2 is supplied from the second drive circuit  72   b  to the first sensor part  10 U. These drive signals cause the first movable part  10 M to vibrate. 
     For example, an external force (acceleration) accompanied by rotation is applied to the first sensor part  10 U. The vibration state (rotation angle) of the first movable part  10 M changes according to the external force. For example, the vibration state changes due to the action of Coriolis force. Due to the change in the vibration state, the first amplitude Ax of the first component and the second amplitude Ay of the second component change. By detecting the ratio of these amplitudes, the rotation angle generated by the external force can be detected. 
     In the second mode operation OP 2 , the controller  70  is configured to derive a first angular velocity Ω1 of the first movable part based on a change of a control signal Sc0 so that the rotation angle of the first movable part  10 M becomes constant. As described above, for example, the rotation angle of the first movable part  10 M changes according to the external force. In the second mode operation OP 2 , when the external force is applied, the control signal Sc0 in which the rotation angle does not change and becomes constant is detected. For example, in the second mode operation OP 2 , the first drive signal Vd1 and the second drive signal Vd2 change based on the control signal Sc0. By controlling the control signal Sc0, the rotation angle of the first movable part  10 M can be made constant regardless of the rotation due to the external force. By detecting such a control signal Sc0 (or the first drive signal Vd1 and the second drive signal Vd2), the angular velocity due to the external force (first angular velocity Ω1) can be known. The second mode operation OP 2  corresponds to, for example, the FR (Force Rebalance) mode. 
     In the third mode operation OP 3 , the controller  70  is configured to supply a third mode signal Sm3 (for example, a voltage signal) to the first sensor part  10 U. The third mode signal Sm3 arbitrarily changes the rotation angle of the first movable part  10 M. For example, the controller  70  supplies a third mode control signal Sc3, which is the basis of the third mode signal Sm3, to the first drive circuit  72   a  and the second drive circuit  72   b . The third mode signal Sm3 based on the third mode control signal Sc3 is supplied to the first sensor part  10 U from the first drive circuit  72   a  and the second drive circuit  72   b . The third mode signal Sm3 can vibrate the first movable part  10 M at an arbitrary (desired) angle of rotation. The third mode operation OP 3  is, for example, a VR (Virtual Rotation) mode. The third mode operation OP 3  is performed, for example, at the time of calibrating the sensor. 
     As will be described later, in the first mode operation OP 1 , when the angular velocity of the vibration of the first movable part  10 M is high, the first rotation angle θ1 can be detected with high accuracy. In the second mode operation OP 2 , when the angular velocity of the vibration of the first movable part  10 M is low, the first angular velocity Ω1 can be detected with high accuracy. By switching and performing these operation modes, it is possible to detect with high accuracy over a wide dynamic range. On the other hand, the third mode operation OP 3  is configured to be performed in which the first movable part  10 M is vibrated at an arbitrary rotation angle. This facilitates calibration. According to the embodiment, it is possible to provide a sensor capable of improving accuracy. 
     As shown in  FIG.  1   , the first angular velocity Ω1 may be derived from the first rotation angle θ1 obtained in the first mode operation OP 1 . For example, the first angular velocity Ω1 is configured to be derived by performing a differential operation on the first rotation angle θ1. 
     As shown in  FIG.  1   , the first rotation angle θ1 may be derived from the first angular velocity Ω1 obtained in the second mode operation OP 2 . For example, the first rotation angle θ1 is configured to be derived by integrating the first angular velocity Ω1. 
     Hereinafter, an example of the operation of the controller  70  will be described. 
       FIG.  2    is a schematic diagram illustrating the operation of the sensor according to the first embodiment, 
     As shown in  FIG.  2   , the mode controller  75  performs a mode control process (step S 10 ). For example, the first sensor part  10 U has a first state ST1 and a second state ST2. The first state ST1 is a detection state. The second state ST2 is a calibration state. In the second state ST2, for example, no external force is substantially applied to the first sensor part  10 U. The second state ST2 is, for example, a stationary state. 
     The first state ST1 and the second state ST2 may be switched, for example, by setting of the user. Alternatively, the mode controller  75  may detect a vibration state (for example, angular velocity) of the first movable part  10 M, and distinguish the detection state or the calibration state based on the detection result. 
     In the second state ST2, the third mode operation OP 3  is performed (step S 13 ). 
     For example, in the first state ST1, the angular velocity Q is detected (estimated) (step S 14 ). The detection of the angular velocity Q is performed by, for example, the angular velocity detector  76 . The angular velocity detector  76  is included in the controller  70 . The detection of the angular velocity Q may be performed by, for example, the first detector  71   a  and the second detector  71   b . 
     The mode controller  75  selects the first mode operation OP 1  and the second mode operation OP 2  based on the detected angular velocity Q (mode control process: step S 10 ). For example, the controller  70  performs the second mode operation OP 2  when the detected angular velocity Q of the first movable part  10 M is not more than a first threshold value Qth (step S 12 ). The controller  70  performs the first mode operation OP 1  when the detected angular velocity Q exceeds the first threshold value Qth (step S 11 ). 
     In the first state ST1, the selection of the first mode operation OP 1  and the second mode operation OP 2  may be repeatedly performed according to the detected angular velocity Q. 
     As described above, in the first mode operation OP 1 , the controller  70  derives the first rotation angle θ1 based on a ratio of the first amplitude Ax of the first component and the second amplitude Ay of the second component. In the second mode operation OP 2 , the controller  70  derives the first angular velocity Ω1 based on a change of the control signal Sc0 so that the vibration state of the first movable part  10 M becomes constant. 
     Hereinafter, an example of the characteristics of the sensor in the first to third mode operations OP 1  to OP 3  will be described. 
       FIGS.  3 A to  3 C  are schematic diagrams illustrating operations of the sensor according to the first embodiment. 
       FIGS.  3 A to  3 C  correspond to the first to third mode operations OP 1  to OP 3 , respectively. The horizontal axis of these figures is the angular velocity Q. The vertical axis of these figures is the detected value Dv. These figures correspond to the sensitivity characteristic diagrams. 
     In the first mode operation OP 1  of  FIG.  3 A , the obtained detected value Dv is the rotation angle. The rotation angle corresponds to the time integration of the angular velocity Q. As shown in  FIG.  3 A , in the first mode operation OP 1 , when the absolute value of the angular velocity Q is large, the detected value Dv changes with high sensitivity according to the angular velocity Q. However, when the absolute value of the angular velocity Q is small (region δΩ), it is difficult to obtain an accurate detected value Dv. In the first mode operation OP 1 , there is a dead region (region 6 Ω). Except for the dead region, the detected value Dv changes with a stable high sensitivity with respect to the angular velocity Q. 
     In the second mode operation OP 2  of  FIG.  3 B , the detected value Dv obtained is a voltage. The voltage is substantially proportional to the angular velocity Q. However, as shown in  FIG.  3 B , there is a bias δV in the detected value Dv. The bias δV depends on, for example, the temperature characteristics of the sensor. As shown in  FIG.  3 B , in the second mode operation OP 2 , the detected value Dv changes depending on the variation of the proportionality coefficient and the like. In the second mode operation OP 2 , when the absolute value of the angular velocity Q is large, the accuracy of the detected value Dv is low. However, when the absolute value of the angular velocity Q is small, a relatively accurate detected value Dv can be obtained except for the effect of the bias δV. The first angular velocity Ω1 can be derived from the detected value Dv (voltage) obtained in the second mode operation OP 2 . 
     The characteristics in the first mode operation OP 1  and the characteristics in the second mode operation OP 2  are complementary. By switching and performing these operations, highly accurate detection becomes possible over a wide range of angular velocities. 
     As shown in  FIG.  3 C , in the third mode operation OP 3 , an angular velocity Q including an arbitrary bias Ωvr can be applied. Calibration of any state can be performed. 
     Hereinafter, an example of the structure of the sensor  110  will be described. 
       FIGS.  4 A and  4 B  are schematic views illustrating the sensor according to the first embodiment. 
       FIG.  4 A  is a plan view.  FIG.  4 B  is a cross-sectional view taken along the line Z1-Z2 of  FIG.  4 A . 
     As shown in  FIGS.  4 A and  4 B , the first sensor part  10 U includes a base body  50 S, a first fixed part  10 F, and a first supporter  10 S. The base body  50 S includes a first base body region  50 S a . The first fixed part  10 F is fixed to the first base body region  50 S a . The first supporter  10 S is supported by the first fixed part  10 F. The first supporter  10 S supports the first movable part  10 M. As shown in  FIG.  4 B , a first gap g1 is provided between the base body  50 S and the first supporter  10 S, and between the base body  50 S and the first movable part  10 M. The first sensor part  10 U is, for example, a MEMS (Micro Electro Mechanical Systems) element. 
     As shown in  FIG.  4 B , a direction from the first base body region  50 S a  to the first fixed part  10 F (for example, the stacking direction) is defined as a Z-axis direction. One direction perpendicular to the Z-axis direction is defined as an X-axis direction. A direction perpendicular to the Z-axis direction and the X-axis direction is defined as a Y-axis direction. 
     As shown in  FIG.  4 A , in a plane crossing the Z-axis direction (stacking direction from the first base body region  50 S a  to the first fixed part 10F) (for example, the X-Y plane), the first movable part  10 M is provided around at least a part of the first fixed part  10 F. The first movable part  10 M has, for example, an annular shape. 
     As shown in  FIG.  4 A , the controller  70  may be provided on the base body  50 S. The memory part  70 M may be provided on the base body  50 S. The memory part  70 M is configured to store, for example, information (for example, information) necessary for control and processing in the controller  70 . 
     As shown in  FIGS.  4 A and  4 B , in this example, the sensor  110  may include a housing  80 . The housing  80  surrounds the sensor element  10 D. The atmospheric pressure in a space  80   a  inside the housing  80  (see  FIG.  4 B ) is less than 1 atm. 
     As shown in  FIG.  4 B , for example, the housing  80  includes a first member  81   a  and a second member  81   b . The second member  81   b  is connected with the first member  81   a . The first member  81   a  is, for example, a bottom portion. The second member  81   b  is, for example, a lid portion.  FIG.  4 A  illustrates a state in which the second member  81   b  is removed. 
     The sensor element  10 D is between the first member  81   a  and the second member  81   b . A direction from the first member  81   a  to the second member  81   b  corresponds to the Z-axis direction. 
     As shown in  FIGS.  4 A and  4 B , the housing  80  further includes a side member  82 . The side member  82  is connected with the first member  81   a  and the second member  81   b . There is the sensor element  10 D between multiple regions of the side member  82  in a direction crossing the direction from the first member  81   a  to the second member  81   b  (Z-axis direction). 
     As shown in  FIG.  4 A , the side member  82  includes first to fourth side member regions  82   a  to  82   d . For example, in the X-axis direction, the sensor element  10 D is between the first side member region  82   a  and the second side member region  82   b . For example, in the Y-axis direction, the sensor element  10 D is between the third side member region  82   c  and the fourth side member region  82   d . The sensor element  10 D is airtightly sealed in the space  80   s  inside the housing  80 . 
     As shown in  FIG.  4 B , the base body  50 S is fixed to the first member  81   a . A second gap g2 is provided between the first movable part  10 M (first sensor part 10U) and the second member  81   b . A third gap g3 is provided between the first movable part  10 M (first sensor part 10U) and the side member  82 . These gaps allow the first movable part  10 M to move. 
     The first sensor part  10 U is, for example, an angle gyro sensor. The first sensor part  10 U is, for example, a RIG (Rate Integrating Gyroscope). The first sensor part  10 U can directly measure the rotation angle of the detection target. 
       FIG.  5    is a schematic plan view illustrating a part of the sensor according to the first embodiment. 
     As shown in  FIG.  5   , the first sensor part  10 U includes the first fixed part  10 F, the first supporter  10 S, and a first sensor counter electrode  10 CE. As described above, the first fixed part  10 F is fixed to the first base body region  50 S a  (see  FIG.  4 B ). The first supporter  10 S is supported by the first fixed part  10 F. The first supporter  10 S supports the first movable part  10 M. The first sensor counter electrode  10 CE faces the first movable part  10 M. 
     As shown in  FIG.  5   , the first movable part  10 M includes a first vibration electrode  11 E and a second vibration electrode  12 E. The first sensor counter electrode  10 CE includes a first counter vibration electrode  11 CE and a second counter vibration electrode  12 CE. The first counter vibration electrode  11 CE faces the first vibration electrode  11 E. The second counter vibration electrode  12 CE faces the second vibration electrode  12 E. 
     A direction from the first fixed part  10 F to the first counter vibration electrode  11 CE and a direction from the first fixed part  10 F to the second counter vibration electrode  12 CE cross the Z-axis direction (the direction from the first base body region  50 S a  to the first fixed part 10F). In this example, a direction from the first fixed part  10 F to the first counter vibration electrode  11 CE is along the Z-axis direction. A direction from the first fixed part  10 F to the second counter vibration electrode  12 CE is along the Y-axis direction. 
     The direction from the first fixed part  10 F to the first counter vibration electrode  11 CE (for example, the X-axis direction) crosses the direction from the first fixed part  10 F to the second counter vibration electrode  12 CE (for example, the Y-axis direction). 
     For example, the controller  70  is configured to supply the first drive signal Vd1 (for example, the first drive voltage) between the first vibration electrode  11 E and the first counter vibration electrode  11 CE. The controller  70  supplies the second drive signal Vd2 (for example, the second drive voltage) between the second vibration electrode  12 E and the second counter vibration electrode  12 CE. The first movable part  10 M vibrates due to these drive signals. Vibration has components in two directions. 
     As shown in  FIG.  5   , the first movable part  10 M includes a first sensing electrode  11   s E and a second sensing electrode  12   s E. The first sensor counter electrode  10 CE includes a first counter sensing electrode  11 C s E and a second counter sensing electrode  12 C s E. The first counter sensing electrode  11 C s E faces the first sensing electrode  11   s E. The second counter sensing electrode  12 C s E faces the second sensing electrode  12   s E. 
     The first fixed part  10 F is between the first vibration electrode  11 E and the first sensing electrode  11   s E. The first fixed part  10 F is between the second vibration electrode  12 E and the second sensing electrode  12   s E. For example, with the vibration of the first movable part  10 M, the first sense signal Vs1 is generated between the first sensing electrode  11   s E and the first counter sensing electrode  11 C s E. For example, with the vibration of the first movable part  10 M, the second sense signal Vs2 is generated between the second sensing electrode  12   s E and the second counter sensing electrode  12 C s E. The controller  70  acquires these signals. 
     The controller  70  includes, for example, a first amplifier  17   a  and a second amplifier  17   b . The first sense signal Vs1 is input to the first amplifier  17   a . The second sense signal Vs2 is input to the second amplifier  17   b . The sense signal is amplified by these amplifiers. 
     In the first mode operation OP 1 , the controller  70  detects a first rotation angle θ1 (see  FIG.  1   ) based on the signal amplified by the above amplifier. As described above, in the first mode operation OP 1 , the controller  70  derives the first rotation angle θ1 (see  FIG.  1   ) based on the first sense signal Vs1 between the first sensing electrode  11   s E and the first counter sensing electrode  11 C s E, and the second sense signal Vs2 between the second sensing electrodes  12   s E and the second counter sensing electrode  12 C s E. 
     In the second mode operation OP 2 , the controller  70  supplies, for example, a signal (a first drive signal Vd1 and a second drive signal Vd2) based on a control signal Sc0 (see  FIG.  1   ) to at least one of the first counter vibration electrode  11 CE or the second counter vibration electrode  12 CE. For example, the first drive signal Vd1 based on the control signal Sc0 is supplied between the first vibration electrode  11 E and the first counter vibration electrode  11 CE. For example, the second drive signal Vd2 based on the control signal Sc0 is supplied between the second vibration electrode  12 E and the second counter vibration electrode  12 CE. Based on the signal amplified by the amplifier described above, the controller  70  supplies the control signal Sc0 to the first sensor part  10 U so that the vibration state of the first movable part  10 M becomes constant (see  FIG.  1   ). The controller  70  is configured to derive the first angular velocity Ω1 based on the change of the control signal Sc0, for example. 
     In the third mode operation OP 3 , the controller  70  supplies a signal corresponding to the third mode signal Sm3 (for example, voltage) to at least one of the first counter vibration electrode  11 CE or the second counter vibration electrode  12 CE. 
     The first gap g1 (see  FIG.  4 B ) is provided between the base body  50 S and the first vibration electrode  11 E, the second vibration electrode  12 E, the first sensing electrode  11   s E, and the second sensing electrode  12   s E. 
     The first counter vibration electrode  11 CE, the second counter vibration electrode  12 CE, the first counter sensing electrode  11 C s E, and the second counter sensing electrode  12 C s E are fixed to the base body  50 S. 
     Second Embodiment 
       FIGS.  6 A and  6 B  are schematic views illustrating a sensor according to a second embodiment. 
       FIG.  6 A  is a plan view.  FIG.  6 B  is a cross-sectional view taken along the line Z3-Z4 of  FIG.  6 A . 
     As shown in  FIGS.  6 A and  6 B , a sensor  120  according to the embodiment includes the sensor element  10 D and the controller  70 . In the sensor  120 , the sensor element  10 D includes the first sensor part  10 U and a second sensor part  20 U. Except for the second sensor part  20 U, the configuration of the sensor  120  may be the same as the configuration of the sensor 110. 
     For example, the first sensor part  10 U includes the first movable part  10 M that can vibrate. The vibration of the first movable part  10 M includes a first component of the first direction D1 and a second component of the second direction D2 crossing the first direction D1 (see  FIG.  1   ). 
     For example, the second sensor part  20 U includes a second movable part  20 M that can vibrate. The vibration of the second movable part  20 M includes a third component in a third direction and a fourth component in a fourth direction crossing the third direction. The third direction may be along one of the first direction D1 and the second direction D2 (for example, the first direction D1). The fourth direction may be along the other one of the first direction D1 and the second direction D2 (for example, the second direction D2). 
     In this example, the sensor element  10 D includes the base body  50 S. As shown in  FIG.  6 B , the base body  50 S includes the first base body region  50 S a  and a second base body region 50Sb. 
     The first sensor part  10 U includes the first fixed part  10 F  and the first supporter  10 S. The first fixed part  10 F is fixed to the first base body region  50 S a . The first supporter  10 S is supported by the first fixed part  10 F. The first supporter  10 S supports the first movable part  10 M. The first gap g1 is provided between the base body  50 S and the first supporter  10 S, and between the base body  50 S and the first movable part  10 M. 
     The second sensor part  20 U includes a second fixed part  20 F and a second supporter  20 S. The second fixed part  20 F is fixed to the second base body region 50Sb. The second supporter  20 S is supported by the second fixed part  20 F. The second supporter  20 S supports the second movable part  20 M. A fourth gap g4 is provided between the base body  50 S and the second supporter  20 S, and between the base body  50 S and the second movable part  20 M. 
     In this example as well, the housing  80  is provided. As shown in  FIG.  6 B , the housing  80  includes the first member  81   a  and the second member  81   b . The second gap g2 is provided between the first movable part  10 M (first sensor part 10U) and the second member  81   b . The third gap g3 is provided between the first movable part  10 M (first sensor portion 10U) and the side member  82 . A fifth gap g5 is provided between the second movable part  20 M (second sensor part 20U) and the second member  81   b . A sixth gap g6 is provided between the second movable part  20 M (second sensor part 20U) and the side member 82. 
     Hereinafter, an example of the operation in the sensor  120  will be described. 
       FIG.  7    is a schematic diagram illustrating operations of the sensor according to the second embodiment. 
       FIG.  7    illustrates operations of the controller  70  in the sensor  120 . 
     As shown in  FIG.  7   , the sensor  120  is provided with the first state ST1 and the second state ST2. As described above, the first state ST1 is the detection state. The second state ST2 is the calibration state. 
     In the first state ST1, a first mode operation OP 1  is applied to the first sensor part  10 U. In the first state ST1, a second mode operation OP 2  is applied to the second sensor part  20 U. In the second state ST2, a third mode operation OP 3  is applied to the first sensor part  10 U. In the second state ST2, a fourth mode operation OP4 is applied to the second sensor part  20 U. Such operations are controlled by the controller  70 . 
     The controller  70  is configured to perform the first mode operation OP 1 , the second mode operation OP 2 , the third mode operation OP 3 , and the fourth mode operation OP4. The first mode operation OP 1  and the third mode operation OP 3  are switched and performed. The second mode operation OP 2  and the fourth mode operation OP4 are switched and performed. 
     In the first mode operation OP 1 , the controller  70  is configured to derive the first rotation angle θ1 of the first sensor part  10 U based on the first amplitude Ax of the first component and the second amplitude Ay of the second component. 
     In the second mode operation OP 2 , the controller70 is configured to derive a second angular velocity Ω2 of the second sensor part  20 U based on a change in the control signal Sc0 (see  FIG.  1   ) so that the rotation angle of the second movable part  20 M becomes constant. 
     In the third mode operation OP 3 , the controller  70  is configured to supply the third mode signal Sm3 for changing the rotation angle of the first movable part  10 M to the first sensor part  10 U. In the third mode operation OP 3 , the first movable part  10 M can be vibrated at an arbitrary rotation angle (third mode angle). 
     In the fourth mode operation OP4, the controller  70  is configured to supply a fourth mode signal Sm4 for changing the rotation angle of the second movable part  20 M to the second sensor part  20 U. In the fourth mode operation OP4, the second movable part  20 M can be vibrated at an arbitrary rotation angle (fourth mode angle). For example, at the time of calibration, the third mode operation OP 3  and the fourth mode operation OP4 are performed. 
     As described above with respect to the first embodiment, for example, the first angular velocity Ω1 may be derived from the first rotation angle θ1 obtained in the first mode operation OP 1 . The second angle of rotation θ2 may be derived from the second angular velocity Ω2 obtained in the second mode operation OP 2 , 
     In the first state ST1, a calculation result VA1 based on the first rotation angle θ1 derived in the first mode operation OP 1  and the second angular velocity Ω2 derived in the second mode operation OP 2  may be output from the controller  70 . 
     For example, the controller  70  may include an angle calculator  77 . The angle calculator  77  is configured to output tile calculation result VA1 derived by the calculation based on the first rotation angle θ1 and the second angular velocity Ω2. The calculation result VA1 is a rotation angle. In another example, the calculation result VA1 is an angular velocity. For example, the calculation result VA1 includes one of the first rotation angle θ1 and the second rotation angle θ2 derived from the second angular velocity Q2. For example, when the angular velocity Q exceeds the threshold value Qth, the first rotation angle θ1 is output as the calculation result VA1. For example, when the angular velocity Q is not more than the threshold value Qth, the second rotation angle θ2 derived from the second angular velocity Ω2 may be output as the calculation result VA1. 
     In another example, multiple regions are defined with respect to the angular velocity Q, and in the multiple regions, the calculation result of the detection result by the first mode operation OP 1  and the calculation result of the detection result by the second mode operation OP 2  are output as the calculation result VA1. The content of the calculation may be changed according to the multiple regions relating to the angular velocity Q. In the calculation, for example, a weight related to the detection result by the first mode operation OP 1  and the detection result by the second mode operation OP 2  may be set. The weight may be changed depending on the multiple regions with respect to the angular velocity Q. 
     The sensor  120  can detect with high accuracy in a wide dynamic range. 
     In the sensor  120 , the configuration of the first sensor part  10 U may be the same as the configuration of the first sensor part  10 U in the sensor  110  (see  FIG.  5   ). For example, as described with respect to  FIG.  5   , the first movable part  10 M includes the first vibration electrode  11 E and the second vibration electrode  12 E. The first sensor counter electrode  10 CE includes the first counter vibration electrode  11 CE facing the first vibration electrode  11 E and the second counter vibration electrode  12 CE facing the second vibration electrode  12 E. The direction from the first fixed part  10 F to the first counter vibration electrode  11 CE and the direction from the first fixed part  10 F to the second counter vibration electrode  12 CE cross the stacking direction (from the first base body region  50 S a  to the first fixed part 10F) (see  FIG.  5   ). The direction from the first fixed part  10 F to the first counter vibration electrode  11 CE crosses the direction from the first fixed part  10 F to the second counter vibration electrode  12 CE (see  FIG.  5   ). 
     As described with respect to  FIG.  5   , the first movable part  10 M includes the first sensing electrode  11   s E and the second sensing electrode  12   s E. The first sensor counter electrode  10 CE includes the first counter sensing electrode  11 C s E facing the first sensing electrode  11   s E and the second counter sensing electrode  12 C s E facing the second sensing electrode  12   s E. The first fixed part  10 F is between the first vibration electrode  11 E and the first sensing electrode  11   s E. The first fixed part  10 F is between the second vibration electrode  12 E and the second sensing electrode  12   s E. 
     Hereinafter, an example of the second sensor part  20 U will be described. 
       FIG.  8    is a schematic plan view illustrating a part of the sensor according to the second embodiment, 
       FIG.  8    illustrates the second sensor part  20 U. As shown in  FIG.  8   , the second sensor part  20 U includes the second fixed part  20 F, the second supporter  20 S, and a second sensor counter electrode  20 CE. As described above, the second fixed part  20 F is fixed to the second base body region 50Sb (see  FIG.  6 B ). The second supporter  20 S is supported by the second fixed part  20 F. The second supporter  20 S supports the second movable part  20 M. The second sensor counter electrode  20 CE faces the second movable part  20 M. 
     The second movable part  20 M includes a third vibration electrode  23 E and a fourth vibration electrode  24 E. The second sensor counter electrode  20 CE includes a third counter vibration electrode  23 CE facing the third vibration electrode  23 E and a fourth counter vibration electrode  24 CE facing the fourth vibration electrode  24 E. A direction from the second fixed part  20 F to the third counter vibration electrode  23 CE and a direction from the second fixed part  20 F to the fourth counter vibration electrode  24 CE cross the above-mentioned stacking direction (for example, the Z-axis direction). The direction from the second fixed part  20 F to the third counter vibration electrode  23 CE (for example, the X-axis direction) crosses the direction from the second fixed part  20 F to the fourth counter vibration electrode  24 CE (for example, the Y-axis direction). 
     The second movable part  20 M includes a third sensing electrode  23   s E and a fourth sensing electrode  24   s E. The second sensor counter electrode  20 CE includes a third counter sensing electrode  23 C s E facing the third sensing electrode  23   s E and a fourth counter sensing electrode  24 C s E facing the fourth sensing electrode  24   s E. The second fixed part  20 F is between the third vibration electrode  23 E and the third sensing electrode  23   s E. The second fixed part  20 F is between the fourth vibration electrode  24 E and the fourth sensing electrode  24   s E. 
     For example, with the vibration of the second movable part  20 M, a third sense signal Vs3 is generated between the third sensing electrode  23   s E and the third counter sensing electrode  23 C s E. For example, with the vibration of the second movable part  20 M, a fourth sense signal Vs4 is generated between the fourth sensing electrode  24   s E and the fourth counter sensing electrode  24 C s E. The controller  70  acquires these signals. 
     The controller  70  includes, for example, a third amplifier  17   c  and a fourth amplifier  17   d . The third sense signal Vs3 is input to the third amplifier  17   c . The fourth sense signal Vs4 is input to the fourth amplifier  17   d . The sense signals are amplified by these amplifiers. 
     The controller  70  supplies a third drive signal Vd3 to the third counter vibration electrode  23 CE. The third drive signal Vd3 is applied between the third vibration electrode  23 E and the third counter vibration electrode  23 CE. The controller  70  supplies a fourth drive signal Vd4 to the fourth counter vibration electrode  24 CE, The fourth drive signal Vd4 is applied between the fourth vibration electrode  24 E and the fourth counter vibration electrode  24 CE. These drive signals cause the second movable part  20 M to vibrate. 
     For example, in the second mode operation OP 2 , the third drive signal Vd3 and the fourth drive signal Vd4 change based on the control signal Sc0 (see  FIG.  1   ) for the second sensor part  20 U. By controlling the control signal Sc0, the vibration of the second movable part  20 M can be made constant regardless of the rotation due to the external force. By detecting such a control signal Sc0 (or third drive signal Vd3 and fourth drive signal Vd4), the angular velocity due to an external force can be known. The second mode operation OP 2  corresponds to, for example, an FR mode. 
     For example, in the fourth mode operation OP4, the controller  70  supplies a signal corresponding to the fourth mode signal Sm4 (for example, voltage) to at least one of the third counter vibration electrode  23 CE and the fourth counter vibration electrode  24 CE, 
     Third Embodiment 
     The third embodiment relates to an electronic device. 
       FIG.  9    is a schematic view illustrating the electronic device according to the third embodiment. 
     As shown in  FIG.  9   , an electronic device according to the third embodiment includes the sensor according to the first embodiment or the second embodiment, and the circuit controller  170 . In this example, the sensor  110  is drawn as the sensor. The circuit controller  170  is configured to control a circuit  180  based on a signal S1 obtained from the sensor  110 . The circuit  180  is, for example, a control circuit or the like of a drive device 185. According to the embodiment, the circuit  180  or the like for controlling the drive device  185  can be controlled with high accuracy based on the detection result with high accuracy. 
       FIGS.  10 A to  10 H  are schematic views illustrating applications of the electronic device. 
     As shown in  FIG.  10 A , the electronic device  310  may be at least a part of a robot. As shown in  FIG.  10 B , the electronic device  310  may be at least a part of a machining robot provided in a manufacturing plant or the like. As shown in  FIG.  10 C , the electronic device  310  may be at least a part of an automatic guided vehicle such as in a plant. As shown in  FIG.  10 D , the electronic device  310  may be at least a part of a drone (unmanned aircraft). As shown in  FIG.  10 E , the electronic device  310  may be at least a part of an airplane. As shown in  FIG.  10 F , the electronic device  310  may be at least a part of a ship. As shown in  FIG.  10 G , the electronic device  310  may be at least a part of a submarine. As shown in  FIG.  10 H , the electronic device  310  may be at least a part of an automobile. The electronic device  310  according to the third embodiment may Include, for example, at least one of a robot or a mobile body. 
     The embodiment may include the following configurations (e.g., technical proposals). 
     Configuration 1 
     A sensor, comprising:
     a sensor element; and   a controller,   the sensor element including a first sensor part,   the first sensor part including a first movable part which can vibrate, vibration of the first movable part including a first component in a first direction and a second component in a second direction, the second direction crossing the first direction,   the controller being configured to perform a first mode operation, a second mode operation, and a third mode operation,   in the first mode operation, the controller being configured to derive a first rotation angle of the first movable part based on a first amplitude of the first component and a second amplitude of the second component,   in the second mode operation, the controller being configured to derive a first angular velocity of the first movable part based on a change of a control signal, the control signal causing a rotation angle of the first movable part to be constant, and   in the third mode operation, the controller being configured to supply a third mode signal to the first sensor part, the third mode signal causing the rotation angle of the first movable part to change.   

     Configuration 2 
     The sensor according to Configuration 1, wherein 
     in the first mode operation, the controller is configured to derive the first rotation angle based on a ratio of the first amplitude of the first component and the second amplitude of the second component. 
     Configuration 3 
     The sensor according to Configuration 1 or 2, wherein 
     the controller performs the third mode operation at a time of calibrating the first sensor part. 
     Configuration 4 
     The sensor according to any one of Configurations 1 to 3, wherein
     the controller performs the second mode operation when an angular velocity of the first movable part is not more than a first threshold value, and   the controller performs the first mode operation when the angular velocity of the first movable part exceeds the first threshold value.   

     Configuration 5 
     The sensor according to any one of Configurations 1 to 4, wherein
     the first sensor part includes
   a base body including a first base body region,   a first fixed part fixed to the first base body region,   a first supporter supported by the first fixed part and supporting the first movable part,   a first sensor counter electrode facing the first movable part, and   
   a first gap is provided between the base body and the first supporter, and between the base body and the first movable part.   

     Configuration 6 
     The sensor according to Configuration 5, wherein 
     in a plane crossing a direction from the first base body region to the first fixed part, the first movable part is provided around at least a part of the first fixed part. 
     Configuration 7 
     The sensor according to Configuration 5, wherein
     the first movable part includes a first vibration electrode and a second vibration electrode,   the first sensor counter electrode includes a first counter vibration electrode facing the first vibration electrode and a second counter vibration electrode facing the second vibration electrode,   a direction from the first fixed part to the first counter vibration electrode and a direction from the first fixed part to the second counter vibration electrode cross a direction from the first base body region to the first fixed part, and   the direction from the first fixed part to the first counter vibration electrode crosses the direction from the first fixed part to the second counter vibration electrode.   

     Configuration 8 
     The sensor according to Configuration 7, wherein
     the first movable part includes a first sensing electrode and a second sensing electrode,   the first sensor counter electrode includes a first counter sensing electrode facing the first sensing electrode and a second counter sensing electrode facing the second sensing electrode,   the first fixed part is between the first vibration electrode and the first sensing electrode, and   the first fixed part is between the second vibration electrode and the second sensing electrode.   

     Configuration 9 
     The sensor according to Configuration 8, wherein 
     the controller derives the first rotation angle based on a first sense signal between the first sensing electrode and the first counter sensing electrode, and a second sense signal between the second sensing electrode and the second counter sensing electrode in the first mode operation. 
     Configuration 10 
     The sensor according to any one of Configurations 7 to 9, wherein 
     the controller supplies a signal based on the control signal to at least one of the first counter vibration electrode or the second counter vibration electrode in the second mode operation. 
     Configuration 11 
     The sensor according to any one of Configurations 7 to 9, wherein 
     the controller supplies the third mode signal to at least one of the first counter vibration electrode or the second counter vibration electrode in the third mode operation. 
     Configuration 12 
     A sensor, comprising:
     a sensor element; and   a controller,   the sensor element including a first sensor part and a second sensor part,   the first sensor part including a first movable part which can vibrate, vibration of the first movable part including a first component in a first direction and a second component in a second direction, the second direction crossing the first direction,   the second sensor part including a second movable part which can vibrate, vibration of the second movable part including a third component in a third direction and a fourth component in a fourth direction, the fourth direction crossing the third direction,   the controller being configured to perform a first mode operation, a second mode operation, a third mode operation, and a fourth mode operation,   in the first mode operation, the controller being configured to derive a first rotation angle of the first movable part based on a first amplitude of the first component and a second amplitude of the second component,   in the second mode operation, the controller being configured to derive a second angular velocity of the second movable part based on a change of a control signal, the control signal causing a rotation angle of the second movable part to be constant,   in the third mode operation, the controller being configured to supply a third mode signal to the first sensor part, the third mode signal causing a rotation angle of the first movable part to change, and   in the fourth mode operation, the controller being configured to supply a fourth mode signal to the second sensor part, the fourth mode signal causing the rotation angle of the second movable part to change.   

     Configuration 13 
     The sensor according to Configuration 12, wherein
     the controller includes an angle calculator, and   the angle calculator is configured to output a calculation result derived by calculation based on the second angular velocity.   

     Configuration 14 
     The sensor according to Configuration 13, wherein
     the sensor element further includes a base body including a first base body region and a second base body region,   the sensor part includes
   a first fixed part fixed to the first base body region   a first supporter supported by the first fixing apt and supporting the first movable part, and   a first sensor counter electrode facing the first movable part,   
   a first gap is provided between the base body and the first supporter, and between the base body and the first movable part,   the second sensor part includes
   a second fixed part fixed to the second base body region,   a second supporter supported by the second fixed part and supporting the second movable part, and   a second sensor counter electrode facing the second movable part, and   
   a fourth gap is provided between the base body and the second supporter, and between the base body and the second movable part.   

     Configuration 15 
     The sensor according to Configuration 14, wherein
     the first movable part includes a first vibration electrode and a second vibration electrode,   the first sensor counter electrode includes a first counter vibration electrode facing the first vibration electrode and a second counter vibration electrode facing the second vibration electrode,   a direction from the first fixed part to the first counter vibration electrode and a direction from the first fixed part to the second counter vibration electrode cross a stacking direction from the first base body region to the first fixed part,   the direction from the first fixed part to the first counter vibration electrode the direction from the first fixed part to the second counter vibration electrode,   the second movable part includes a third vibration electrode and a fourth vibration electrode,   the second sensor counter electrode includes a third counter vibration electrode facing the third vibration electrode, and a fourth counter vibration electrode facing the fourth vibration electrode,   a direction from the second fixed part to the third counter vibration electrode and a direction from the second fixed part to the fourth counter vibration electrode cross the stacking direction, and   the direction from the second fixed part to the third counter vibration electrode crosses the direction from the second fixed part to the fourth counter vibration electrode.   

     Configuration 16 
     The sensor according to Configuration 15, wherein
     the first movable part includes a first sensing electrode and a second sensing electrode,   the first sensing electrode includes a first counter sensing electrode facing the first sensing electrode, and a second counter sensing electrode facing the second sensing electrode,   the first fixed part is between the first vibration electrode and the first sensing electrode,   the first fixed part is between the second vibration electrode and the second sensing electrode,   the second movable part includes a third sensing electrode and a fourth sensing electrode,   the second sensor counter electrode includes a third counter sensing electrode facing the third sensing electrode, and a fourth counter sensing electrode facing the fourth sensing electrode,   the second fixed part is between the third vibration electrode and the third sensing electrode, and   the second fixed part is between the fourth vibration electrode and the fourth sensing electrode.   

     Configuration 17 
     The sensor according to any one of Configurations 1 to 16, further comprising:
     a housing surrounding the sensor element,   an atmospheric pressure in a space inside the housing is less than 1 atm.   

     Configuration 18 
     The sensor according to Configuration 17, wherein
     the housing includes a first member, and a second member connected with the first member,   the sensor element is between the first member and the second member,   the base body is fixed to the first member, and   a gap is provided between the first movable part and the second member.   

     Configuration 19 
     An electronic device; comprising:
     the sensor according to any one of Configurations 1 to 18; and   a circuit controller configured to control a circuit based on a signal obtained from the sensor.   

     According to the embodiment, a sensor and an electronic device can be provided in which accuracy can be improved. 
     Hereinabove, exemplary embodiments of the invention are described with reference to specific examples. However, the embodiments of the invention are not limited to these specific examples. For example, one skilled in the art may similarly practice the invention by appropriately selecting specific configurations of components included in sensors such as sensor elements, sensor parts, movable parts, fixed parts, supporters, base bodies, controllers, etc., from known art. Such practice is included in the scope of the invention to the extent that similar effects thereto are obtained. 
     Further, any two or more components of the specific examples may be combined within the extent of technical feasibility and are included in the scope of the invention to the extent that the purport of the invention is included. 
     Moreover, all sensors practicable by an appropriate design modification by one skilled in the art based on the sensors described above as embodiments of the invention also are within the scope of the invention to the extent that the purport of the invention is included. 
     Various other variations and modifications can be conceived by those skilled in the art within the spirit of the invention, and it is understood that such variations and modifications are also encompassed within the scope of the invention. 
     While certain embodiments have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the inventions. Indeed, the novel embodiments described herein may be embodied in a variety of other forms; furthermore, various omissions, substitutions and changes in the form of the embodiments described herein may be made without departing from the spirit of the inventions. The accompanying claims and their equivalents are intended to cover such forms or modifications as would fall within the scope and spirit of the invention.