Patent Description:
Rotary joint devices are often used for transmission of power and/or electrical signals between one structure and another structure in an electromechanical system that operates by causing a relative rotation between the two structures (e.g., stator and rotor). Example systems that employ rotary joint devices include remote sensing systems (e.g., RADARs, LIDARs, etc.) and robotic systems (e.g., for directing microphones, speakers, robotic components, etc.), among others. Japanese patent application publication no. <CIT> presents a sheet coil motor to remove unevenness of rotation by arranging a plurality of sheet coil layer-built units. International patent application publication no. <CIT> presents an axial rotary energy device which is arranged in a multi-phase electric current configuration. United States patent application publication no. <CIT> presents a printed circuit board motor which comprises a rotor plate embedded with magnets, an axle, and a printed circuit board stator. International patent application publication no. <CIT> presents a brushless DC electric motor which includes a magnetic rotor and a stator. United States patent application publication no. <CIT> presents an electric motor of the brushless DC type which comprises a generally planar rotor and a generally planar stator. United States patent application publication no. <CIT> presents a printed coil unit for use in a very thin type flat brushless motor or a linear actuator. United Kingdom patent application publication no. <CIT> presents an axial-gap electric machine with a stator comprising a planar insulation structure integrated with plural planar conducting layers. European patent application publication no. <CIT> presents an axial flux motor assembly comprising a stack of first and second discs arranged alternately such that there is a gap allowing rotation between each disc. Belgian patent application publication no. <CIT> presents flat electrical windings with lamellar conductors of rotating machines with an axial air gap. French patent application publication no. <CIT> presents rotating electrical machines whose windings are made of flat conductors, printed or otherwise formed on a dielectric support. French patent application publication no. <CIT> presents rotating electrical machines with axial air gap and with discoidal elements which use windings formed in flat conductors.

According to a first aspect of the invention, a device according to claim <NUM> including a first platform and a second platform is provided. According to a second aspect of the invention, a method according to claim <NUM> is provided.

These as well as other aspects, advantages, and alternatives, will become apparent to those of ordinary skill in the art by reading the following detailed description, with reference where appropriate to the accompanying figures.

The following detailed description describes various features and functions of the disclosed implementations with reference to the accompanying figures. In the figures, similar symbols identify similar components, unless context dictates otherwise. The illustrative implementations described herein are not meant to be limiting. It may be readily understood by those skilled in the art that certain aspects of the disclosed implementations can be arranged and combined in a wide variety of different configurations.

Within examples, a rotary joint device includes two platforms arranged such that a first side of a first platform (one of the stator and rotor platforms) remains within a predetermined distance to a second side of a second platform (the other of the stator and rotor platforms) in response to a relative rotation between the two platforms. In one example, the two platforms may include circularly shaped disks arranged coaxially to maintain an overlap between the two respective sides (separated by the predetermined distance) in response to rotation of any of the two platforms about a common axis of the two platforms.

In some implementations, the device also includes a plurality of magnets mounted to the first platform in a substantially circular arrangement about an axis of rotation of the first platform. In one example, the plurality of magnets can be implemented as permanent magnets (e.g., ferrimagnets, etc.) that are arranged along a periphery of a circularly shaped disk on a side of the disk (e.g., the first side) that is facing the second side of the second platform. Further, in this example, each magnet may have a magnetic pole facing the second platform that has an opposite magnetic polarity compared to an adjacent magnet in the circular arrangement. With this arrangement, for instance, magnetic field components may extend between the adjacent magnets to form a combined first-platform magnetic field. In another example, the plurality of magnets can be implemented as a printed ring magnet that is magnetized to have alternating magnetic polarities between adjacent sectors of the ring magnet.

In some implementations, the device also includes a plurality of conductive structures included in the second platform in a substantially coplanar arrangement around the axis of rotation. For example, the conductive structures can be implemented as patterned traces or tracks disposed in a first layer of a printed circuit board (PCB). Further, in some instances, the second platform also includes a second plurality of conductive structures that are also coplanar (e.g., disposed in a second layer of the PCB). The conductive structures in the first layer and the second layer can be electrically coupled (e.g., through PCB "vias," etc.) to form a coil extending around the axis of rotation to at least partially overlap one or more of the plurality of magnets.

In some implementations, the device also includes circuitry that causes an electrical current to flow through a conductive path which includes one or more of the conductive structures. The circuitry, for example, may include any combination of power sources, voltage regulators, current amplifiers, resistors, capacitors, inductors, controllers, wiring, among other examples. As a result, for instance, the electrical current may cause the conductive path (e.g., coil) to generate a second-platform magnetic field that interacts with the first-platform magnetic field associated with the plurality of magnets. Further, the interaction between the magnetic fields may induce a force (and/or torque) that causes a rotation of the first platform relative to the second platform and about the axis of rotation.

With this arrangement, in some instances, the device may allow controlling rotation of the first platform (e.g., rotor) by way of a PCB motor incorporated in the two platforms. Thus, instead of an implementation where a physically separate actuator is coupled to the first platform, this implementation may be more suitable for small rotary joint configurations by physically implementing the actuator as components included and/or mounted to the rotor and stator platforms for a more compact and/or efficient use of space in the rotary joint device.

In some implementations, the plurality of conductive structures can be arranged to define multiple separate conductive paths extending around the axis of rotation. For example, a first current-carrying coil extending around the axis of rotation can be formed by electrically coupling a subset of the conductive structures. Further, a second coil is interleaved with the first coil by electrically coupling another subset of the conductive structures. As a result, in this example, the area of the second platform overlapping the plurality of magnets in the first platform can be densely packed with conductive material (i.e., multiple coils or windings) to efficiently allow the device to selectively adjust the number of windings or coils for more precise control of the induced force or torque acting on the first platform. Thus, in some implementations, the plurality of conductive structures may include a plurality of spaced-apart conductive structures that are spaced apart by a substantially uniform distance. Additionally, in some instances, adjacent structures of the plurality of spaced-apart structures may be respectively included in different electrically conductive paths or coils.

Further, in some implementations, the device may include a gap between two particular adjacent conductive structures in the circular arrangement of conductive structures in the second platform. For example, the two particular structures can be spaced apart by a distance that is greater than the substantially uniform distance between other structures of the plurality of spaced-apart structures. In these implementations, the device also includes a magnetic field sensor (e.g., Hall effect sensor, etc.) disposed in the first-platform magnetic field and between the two particular structures to provide an output indicative of a characteristic of the first-platform magnetic field at a position of the magnetic field sensor. For example, in a PCB implementation, the magnetic field sensor and the two particular conductive structures can be disposed along the same side or layer of the PCB. Alternatively, for example, the two particular conductive structures can be included in a first layer of the PCB (e.g., along a side of the PCB facing the first platform), and the magnetic field sensor can be mounted to a second layer of the PCB (e.g., along a side of the PCB opposite to the side facing the first platform). Other examples are possible as well.

Through this process, the device can then determine an orientation of the first platform about the axis of rotation based on the output from the magnetic field sensor. For example, the sensor can measure an angle of the magnetic field between two adjacent magnets that are at least partially overlapping the gap or cut-out region where the sensor is located. The device can then process and keep track of the angle measurements from the sensor to determine the orientation of the first platform about the axis of rotation. Further, the gap between the two particular structures may allow for reducing interference between the magnetic field associated with the two adjacent magnets and the magnetic field associated with the electrical current flowing through the conductive structures in the second platform. As a result, for instance, the reliability and accuracy of sensor measurements can be improved.

With this arrangement, for example, the device can combine the functionality of an actuator that rotates the first platform and a magnetic encoder that uses the same plurality of magnets used by the actuator to measure and/or keep track of the orientation of the first platform. By doing so, for instance, the size, assembly costs, and maintenance costs of the device can be reduced relative to a device that includes separate components (e.g., magnets, etc.) for an actuator and a magnetic encoder (or other type of encoder).

Additionally, in some implementations, the plurality of magnets in the first platform may include an index magnet configured to have a characteristic that differs from a corresponding characteristic of other magnets of the plurality of magnets. In one example, the characteristic may relate to a positional or rotational displacement of the index magnet relative to the circular arrangement of the plurality of magnets. In other examples, the characteristic may relate to any combination of magnetization strength, magnetization direction, and/or magnetization pattern, among other examples.

In some examples, the first-platform magnetic field may have an irregularity in the region of the first-platform magnetic field associated with the index magnet (e.g., portion of the first-platform magnetic field extending between the index magnet and magnets adjacent to the index magnet). Additionally, the output of the magnetic field sensor can indicate this irregularity, and the device can use this indication as a basis for detecting that the first platform is at an "index" orientation or position about the axis of rotation. As a result, the device can determine an absolute position or orientation of the first platform about the axis of rotation by keeping track of the extent and direction of rotation of the first platform after detecting the index orientation or position of the first platform.

Other example arrangements, configurations, functionalities, and operations are possible as well and are described in greater detail within exemplary implementations herein.

Systems and devices in which example embodiments may be implemented will now be described in greater detail. In general, the embodiments disclosed herein can be used with any electromechanical system that includes a moveable component. An example system can provide for transmission of power and/or signals between the moveable component and other parts of the system. Illustrative embodiments described herein include vehicles that have moveable components such as sensors and wheels that communicate with other components of the vehicle and/or with one another. However, an example electromechanical system may also be implemented in or take the form of other devices, such as sensor platforms (e.g., RADAR platforms, LIDAR platforms, direction sensing platforms, etc.), robotic devices, industrial systems (e.g., assembly lines, etc.), medical devices (e.g., medical imaging devices, etc.), or mobile communication systems, among others. Further, it is noted that the term "vehicle" is broadly construed herein to cover any moving object including, for instance, an aerial vehicle, watercraft, spacecraft, a car, a truck, a van, a semi-trailer truck, a motorcycle, a golf cart, an off-road vehicle, a warehouse transport vehicle, a farm vehicle, or a carrier that rides on a track (e.g., roller coaster, trolley, tram, train car, etc.), among others.

<FIG> illustrates a vehicle <NUM>, according to an example embodiment. In particular, <FIG> shows a Right Side View, Front View, Back View, and Top View of the vehicle <NUM>. Although vehicle <NUM> is illustrated in <FIG> as a car, as noted above, other types of vehicles are possible as well. Furthermore, although vehicle <NUM> can be configured to operate autonomously, the embodiments described herein are also applicable to vehicles that are not configured to operate autonomously or that are configured to operate semi-autonomously. Thus, vehicle <NUM> is not meant to be limiting. As shown, vehicle <NUM> includes five sensor units <NUM>, <NUM>, <NUM>, <NUM>, and <NUM>, and four wheels, exemplified by wheel <NUM>.

In some embodiments, sensor units <NUM>-<NUM> may include any combination of sensors, such as global positioning system sensors, inertial measurement units, radio detection and ranging (RADAR) units, cameras, laser rangefinders, light detection and ranging (LIDAR) units, or acoustic sensors, among other possibilities.

As shown, sensor unit <NUM> is mounted to a top side of the vehicle <NUM> opposite to a bottom side of the vehicle <NUM> where the wheel <NUM> is mounted. Further, sensor units <NUM>-<NUM> are respectively mounted to respective sides of vehicle <NUM> other than the top side. As shown, sensor unit <NUM> is positioned at a front side of vehicle <NUM>, sensor <NUM> is positioned at a back side of vehicle <NUM>, the sensor unit <NUM> is positioned at a right side of vehicle <NUM>, and sensor unit <NUM> is positioned at a left side of vehicle <NUM>.

Although sensor units <NUM>-<NUM> are shown to be mounted in particular locations on vehicle <NUM>, in some embodiments, sensor units <NUM>-<NUM> can be mounted in other locations, either inside or outside vehicle <NUM>. For example, although sensor unit <NUM> as shown is mounted to a rear-view mirror of vehicle <NUM>, sensor unit <NUM> may alternatively be positioned in another location along the right side of vehicle <NUM>. Further, while five sensor units are shown, in some embodiments more or fewer sensor units may be included in vehicle <NUM>. However, for the sake of example, sensor units <NUM>-<NUM> are positioned as shown.

In some embodiments, one or more of sensor units <NUM>-<NUM> may include one or more movable mounts on which the sensors can be movably mounted. A movable mount may include, for example, a rotating platform. Alternatively or additionally, a movable mount may include a tilting platform. Sensors mounted on a tilting platform could be tilted within a given range of angles and/or azimuths, for example. A movable mount may take other forms as well.

In some embodiments, one or more of sensor units <NUM>-<NUM> may include one or more actuators configured to adjust a position and/or orientation of sensors in the sensor unit by moving the sensors and/or movable mounts. Example actuators include motors, pneumatic actuators, hydraulic pistons, relays, solenoids, and piezoelectric actuators, among others.

As shown, vehicle <NUM> includes one or more wheels such as wheel <NUM> that are configured to rotate to cause the vehicle to travel along a driving surface. In some embodiments, wheel <NUM> may include at least one tire coupled to a rim of wheel <NUM>. To this end, wheel <NUM> may include any combination of metal and rubber, or a combination of other materials. Vehicle <NUM> may include one or more other components in addition to or instead of those shown.

<FIG> is a simplified block diagram of a vehicle <NUM>, according to an example embodiment. Vehicle <NUM> may be similar to vehicle <NUM>, for example. As shown, vehicle <NUM> includes a propulsion system <NUM>, a sensor system <NUM>, a control system <NUM>, peripherals <NUM>, and a computer system <NUM>. In other embodiments, vehicle <NUM> may include more, fewer, or different systems, and each system may include more, fewer, or different components. Further, the systems and components shown may be combined or divided in any number of ways.

Propulsion system <NUM> may be configured to provide powered motion for the vehicle <NUM>. As shown, propulsion system <NUM> includes an engine/motor <NUM>, an energy source <NUM>, a transmission <NUM>, and wheels/tires <NUM>.

Engine/motor <NUM> may be or include any combination of an internal combustion engine, an electric motor, a steam engine, and a Stirling engine. Other motors and engines are possible as well. In some embodiments, propulsion system <NUM> may include multiple types of engines and/or motors. For instance, a gas-electric hybrid car may include a gasoline engine and an electric motor. Other examples are possible.

Energy source <NUM> may be a source of energy that powers the engine/motor <NUM> in full or in part. That is, engine/motor <NUM> may be configured to convert energy source <NUM> into mechanical energy. Examples of energy sources <NUM> include gasoline, diesel, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electrical power. Energy source(s) <NUM> may additionally or alternatively include any combination of fuel tanks, batteries, capacitors, and/or flywheels. In some embodiments, energy source <NUM> may provide energy for other systems of vehicle <NUM> as well.

Transmission <NUM> may be configured to transmit mechanical power from engine/motor <NUM> to wheels/tires <NUM>. To this end, transmission <NUM> may include a gearbox, clutch, differential, drive shafts, and/or other elements. In embodiments where transmission <NUM> includes drive shafts, the drive shafts may include one or more axles that are configured to be coupled to wheels/tires <NUM>.

Wheels/tires <NUM> of vehicle <NUM> may be configured in various formats, including a unicycle, bicycle/motorcycle, tricycle, or car/truck four-wheel format. Other wheel/tire formats are possible as well, such as those including six or more wheels. In any case, wheels/tires <NUM> may be configured to rotate differentially with respect to other wheels/tires <NUM>. In some embodiments, wheels/tires <NUM> may include at least one wheel that is fixedly attached to transmission <NUM> and at least one tire coupled to a rim of the wheel that could make contact with a driving surface. Wheels/tires <NUM> may include any combination of metal and rubber, or combination of other materials. Propulsion system <NUM> may additionally or alternatively include components other than those shown.

Sensor system <NUM> may include any number of sensors configured to sense information about vehicle <NUM> and/or an environment in which vehicle <NUM> is located, as well as one or more actuators <NUM> configured to modify a position and/or orientation of the sensors. As shown, sensor system <NUM> includes a Global Positioning System (GPS) <NUM>, an inertial measurement unit (IMU) <NUM>, a RADAR unit <NUM>, a laser rangefinder and/or LIDAR unit <NUM>, and a camera <NUM>. Sensor system <NUM> may include additional sensors as well, including, for example, sensors that monitor internal systems of vehicle <NUM> (e.g., an O<NUM> monitor, a fuel gauge, an engine oil temperature, etc.). Other sensors are possible as well. In some examples, sensor system <NUM> may be implemented as multiple sensor units each mounted to the vehicle in a respective position (e.g., top side, bottom side, front side, back side, right side, left side, etc.).

GPS <NUM> may include any sensor (e.g., location sensor) configured to estimate a geographic location of vehicle <NUM>. To this end, for example, GPS <NUM> may include a transceiver configured to estimate a position of vehicle <NUM> with respect to the Earth. IMU <NUM> may include any combination of direction sensors configured to sense position and orientation changes of the vehicle <NUM> based on inertial acceleration. Example IMU sensors include accelerometers, gyroscopes, other direction sensers, etc.. RADAR unit <NUM> may include any sensor configured to sense objects in an environment in which vehicle <NUM> is located using radio signals. In some embodiments, in addition to sensing the objects, RADAR unit <NUM> may be configured to sense the speed and/or heading of the objects.

Laser rangefinder or LIDAR unit <NUM> may include any sensor configured to sense objects in the environment in which vehicle <NUM> is located using light. In particular, laser rangefinder or LIDAR unit <NUM> may include one or more light sources configured to emit one or more beams of light and a detector configured to detect reflections of the one or more beams of light. Laser rangefinder or LIDAR <NUM> may be configured to operate in a coherent (e.g., using heterodyne detection) or an incoherent detection mode. In some examples, LIDAR unit <NUM> may include multiple LIDARs, with each LIDAR having a particular position and/or configuration suitable for scanning a particular region of an environment around vehicle <NUM>.

Camera <NUM> may include any camera (e.g., still camera, video camera, etc.) that can capture images of an environment of vehicle <NUM>. Actuator(s) <NUM> may include any type of actuator configured to adjust a position, orientation, and/or pointing direction of one or more of the sensors of system <NUM>. Example actuators include motors, pneumatic actuators, hydraulic pistons, relays, solenoids, and piezoelectric actuators, among other examples. Sensor system <NUM> may additionally or alternatively include components other than those shown.

Control system <NUM> may be configured to control operation of vehicle <NUM> and/or components thereof. To this end, control system <NUM> may include a steering unit <NUM>, a throttle <NUM>, a brake unit <NUM>, a sensor fusion algorithm <NUM>, a computer vision system <NUM>, a navigation or pathing system <NUM>, and an obstacle avoidance system <NUM>.

Steering unit <NUM> may be any combination of mechanisms configured to adjust the heading of vehicle <NUM>. Throttle <NUM> may be any combination of mechanisms configured to control the operating speed of engine/motor <NUM> and, in turn, the speed of vehicle <NUM>. Brake unit <NUM> may be any combination of mechanisms configured to decelerate vehicle <NUM>. For example, brake unit <NUM> may use friction to slow wheels/tires <NUM>. In some examples, brake unit <NUM> may also convert kinetic energy of wheels/tires <NUM> to an electric current.

Sensor fusion algorithm <NUM> may be an algorithm (or a computer program product storing an algorithm) configured to accept data from sensor system <NUM> as an input. The data may include, for example, data representing information sensed at the sensors of sensor system <NUM>. Sensor fusion algorithm <NUM> may include, for example, a Kalman filter, a Bayesian network, an algorithm for some of the functions of the methods herein, or any other algorithm. Sensor fusion algorithm <NUM> may further be configured to provide various assessments based on the data from sensor system <NUM>, including, for example, evaluations of individual objects and/or features in the environment in which vehicle <NUM> is located, evaluations of particular situations, and/or evaluations of possible impacts based on particular situations.

Computer vision system <NUM> may be any system configured to process and analyze images captured by camera <NUM> in order to identify objects and/or features in the environment in which vehicle <NUM> is located, including, for example, traffic signals and obstacles. To this end, computer vision system <NUM> may use an object recognition algorithm, a Structure from Motion (SFM) algorithm, video tracking, or other computer vision techniques. In some embodiments, computer vision system <NUM> may additionally be configured to map the environment, track objects, estimate the speed of obj ects, etc..

Navigation and pathing system <NUM> may be any system configured to determine a driving path for vehicle <NUM>. Navigation and pathing system <NUM> may additionally be configured to update the driving path dynamically while vehicle <NUM> is in operation. In some embodiments, navigation and pathing system <NUM> may be configured to incorporate data from sensor fusion algorithm <NUM>, GPS <NUM>, LIDAR unit <NUM>, and/or one or more predetermined maps of the environment of vehicle <NUM>, so as to determine a driving path for vehicle <NUM>. Obstacle avoidance system <NUM> may be any system configured to identify, evaluate, and avoid or otherwise negotiate obstacles in the environment in which vehicle <NUM> is located. Control system <NUM> may additionally or alternatively include components other than those shown.

Peripherals <NUM> (e.g., input interface, output interface, etc.) may be configured to allow vehicle <NUM> to interact with external sensors, other vehicles, external computing devices, and/or a user. To this end, peripherals <NUM> may include, for example, a wireless communication system <NUM>, a touchscreen <NUM>, a microphone <NUM>, and/or a speaker <NUM>.

Wireless communication system <NUM> may be any system configured to wirelessly couple to one or more other vehicles, sensors, or other entities, either directly or via a communication network. To this end, wireless communication system <NUM> may include an antenna and a chipset for communicating with the other vehicles, sensors, servers, or other entities either directly or via a communication network. Chipset or wireless communication system <NUM> in general may be arranged to communicate according to one or more types of wireless communication (e.g., protocols) such as Bluetooth, communication protocols described in IEEE <NUM> (including any IEEE <NUM> revisions), cellular technology (such as GSM, CDMA, UMTS, EV-DO, WiMAX, or LTE), Zigbee, dedicated short range communications (DSRC), and radio frequency identification (RFID) communications, among other possibilities. Wireless communication system <NUM> may take other forms as well.

Touchscreen <NUM> may be used by a user as an input interface to input commands to vehicle <NUM>. To this end, touchscreen <NUM> may be configured to sense at least one of a position and a movement of a user's finger via capacitive sensing, resistance sensing, or a surface acoustic wave process, among other possibilities. Touchscreen <NUM> may be capable of sensing finger movement in a direction parallel or planar to the touchscreen surface, in a direction normal to the touchscreen surface, or both, and may also be capable of sensing a level of pressure applied to the touchscreen surface. Touchscreen <NUM> may be formed of one or more translucent or transparent insulating layers and one or more translucent or transparent conducting layers. Touchscreen <NUM> may take other forms as well.

Microphone <NUM> may be configured to receive audio (e.g., a voice command or other audio input) from a user of vehicle <NUM>. Similarly, speakers <NUM> may be configured to output audio to the user of vehicle <NUM>. Peripherals <NUM> may additionally or alternatively include components other than those shown.

Computer system <NUM> may be configured to transmit data to, receive data from, interact with, and/or control one or more of propulsion system <NUM>, sensor system <NUM>, control system <NUM>, and peripherals <NUM>. To this end, computer system <NUM> may be communicatively linked to one or more of propulsion system <NUM>, sensor system <NUM>, control system <NUM>, and peripherals <NUM> by a system bus, network, and/or other connection mechanism (not shown).

In one example, computer system <NUM> may be configured to control operation of transmission <NUM> to improve fuel efficiency. As another example, computer system <NUM> may be configured to cause camera <NUM> to capture images of the environment. As yet another example, computer system <NUM> may be configured to store and execute instructions corresponding to sensor fusion algorithm <NUM>. Other examples are possible as well.

As shown, computer system <NUM> includes processor <NUM> and data storage <NUM>. Processor <NUM> may comprise one or more general-purpose processors and/or one or more special-purpose processors. To the extent processor <NUM> includes more than one processor, such processors could work separately or in combination. Data storage <NUM>, in turn, may comprise one or more volatile and/or one or more non-volatile storage components, such as optical, magnetic, and/or organic storage among other possibilities, and data storage <NUM> may be integrated in whole or in part with processor <NUM>.

In some embodiments, data storage <NUM> contains instructions <NUM> (e.g., program logic) executable by processor <NUM> to execute various vehicle functions. Data storage <NUM> may contain additional instructions as well, including instructions to transmit data to, receive data from, interact with, and/or control one or more of propulsion system <NUM>, sensor system <NUM>, control system <NUM>, and/or peripherals <NUM>. In some embodiments, data storage <NUM> also contains calibration data for one or more of the sensors in sensor system <NUM>. For example, the calibration data may include a mapping between previously obtained sensor measurements and one or more predetermined inputs to the sensors. Computer system <NUM> may additionally or alternatively include components other than those shown.

Power supply <NUM> may be configured to provide power to some or all of the components of vehicle <NUM>. To this end, power supply <NUM> may include, for example, a rechargeable lithium-ion or lead-acid battery. In some embodiments, one or more banks of batteries could be configured to provide electrical power. Other power supply materials and configurations are possible as well. In some embodiments, power supply <NUM> and energy source <NUM> may be implemented together as one component, as in some all-electric cars for instance.

In some embodiments, vehicle <NUM> may include one or more elements in addition to or instead of those shown. For example, vehicle <NUM> may include one or more additional interfaces and/or power supplies. Other additional components are possible as well. In such embodiments, data storage <NUM> may further include instructions executable by processor <NUM> to control and/or communicate with the additional components. Still further, while each of the components and systems are shown to be integrated in vehicle <NUM>, in some embodiments, one or more components or systems can be removably mounted on or otherwise connected (mechanically or electrically) to vehicle <NUM> using wired or wireless connections.

Within examples, a rotary joint may be configured as an interface between two structures of an electromechanical system, in which one or both of the two structures is configured to rotate or otherwise move relative to the other structure. To that end, in some implementations, a portion of the rotary joint (e.g., rotor) may be coupled to one structure of the example system and another portion (e.g., stator) may be coupled to the other structure of the example system. Additionally or alternatively, in some implementations, the rotary joint may be included within a structure arranged between two structures that rotate (or move) with respect to one another. For instance, an example rotary joint could be disposed in a robotic joint that couples two robotic links. Other implementations are possible as well.

<FIG> is a simplified block diagram of a device <NUM> that includes a rotary joint, according to an example embodiment. For example, device <NUM> can be used as an interface between moveable components of an electromechanical system, such as any of vehicles <NUM>, <NUM>, and/or any other electromechanical system. Thus, for instance, device <NUM> can be physically implemented as a rotary joint that facilitates power transmission between two moveable components of the system (or subsystem), such as a rotating platform that mounts sensors included in sensor units <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, sensor system <NUM>, among other examples. As shown, device <NUM> includes a first platform <NUM> and a second platform <NUM>.

First platform <NUM> comprises or is coupled to a rotor or other moveable component. For example, platform <NUM> can be configured to rotate relative to platform <NUM> and about an axis of rotation of platform <NUM> (e.g., rotor axis). Thus, within examples, platform <NUM> is configured as a rotating platform in a rotary joint configuration. As shown, platform <NUM> includes a sensor <NUM>, a controller <NUM>, a communication interface <NUM>, a power interface <NUM>, and one or more magnets <NUM>.

In some examples, platform <NUM> may comprise any solid material suitable for supporting and/or mounting various components of platform <NUM>. For instance, platform <NUM> may include a printed circuit board (PCB) that mounts communication interface <NUM> and/or other components of platform <NUM>. The PCB in this instance can also include circuitry (not shown) to electrically couple one or more of the components of platform <NUM> (e.g., sensor <NUM>, controller <NUM>, communication interface <NUM>, power interface <NUM>, etc.) to one another. The PCB in this instance can be positioned such that the mounted components are along a side of platform <NUM> facing or opposite to a corresponding side of platform <NUM>. With this arrangement, for instance, platforms <NUM> and <NUM> may remain within a predetermined distance to one another in response to a rotation of platform <NUM> relative to platform <NUM>.

Sensor <NUM> may include any combination of sensors mounted to platform <NUM>, such as one or more sensors of sensor system <NUM>, one or more of the sensors included in vehicle <NUM>, and/or any other sensor that can be mounted on platform <NUM>. A non-exhaustive list of example sensors may include direction sensors (e.g., gyroscopes), remote sensing devices (e.g., RADARs, LIDARs, etc.), sound sensors (e.g., microphones), among other examples.

Controller <NUM> may be configured to operate one or more of the components of first platform <NUM>. To that end, controller <NUM> may include any combination of general-purpose processors, special-purpose-processors, data storage, logic circuitry, and/or any other circuitry configured to operate one or more components of device <NUM>. In one implementation, similarly to computing system <NUM>, controller <NUM> includes one or more processors (e.g., processor <NUM>) that execute instructions (e.g., instructions <NUM>) stored in data storage (e.g., data storage <NUM>) to operate sensor <NUM>, interface <NUM>, etc. In another implementation, controller <NUM> alternatively or additionally includes circuitry wired to perform one or more of the functions and processes described herein for operating one or more components of device <NUM>. In one example, controller <NUM> can be configured to receive sensor data collected by sensor <NUM>, and to provide a modulated electrical signal indicative of the sensor data to communication interface <NUM>. For instance, the sensor data may indicate a measured orientation of sensor <NUM>, a scan of a surrounding environment, detected sounds, and/or any other sensor output of sensor <NUM>.

Communication interface <NUM> may include any combination of wireless or wired communication components (e.g., transmitters, receivers, antennas, light sources, light detectors, etc.) configured to transmit (e.g., signal <NUM>) and/or receive (e.g., signal <NUM>) data and/or instructions between platforms <NUM> and <NUM>. In one example, where communication interface <NUM> is an optical communication interface, interface <NUM> may include one or more light sources arranged to emit modulated light signal <NUM> for receipt by a light detector included in platform <NUM>. For instance, signal <NUM> may indicate sensor data collected by sensor <NUM>. Further, in this example, interface <NUM> may include a light detector for receiving modulated light signal <NUM> emitted from platform <NUM>. For instance, signal <NUM> may indicate instructions for operating sensor <NUM> and/or any other component coupled to platform <NUM>. In this instance, controller <NUM> can operate sensor <NUM> based on the received instructions detected via interface <NUM>.

Power interface <NUM> may include one or more components configured for wireless (or wired) transmission of power between platforms <NUM> and <NUM>. By way of example, interface <NUM> may include transformer coil(s) (not shown) arranged to receive a magnetic flux extending through the transformer coils to induce an electrical current for powering one or more components (e.g., sensor <NUM>, controller <NUM>, communication interface <NUM>, etc.) of platform <NUM>. For instance, the transformer coils can be arranged around a center region of platform <NUM> opposite to corresponding transformer coils included in platform <NUM>. Further, for instance, device <NUM> may also include a magnetic core (not shown) extending through the transformer coils in interface <NUM> (and/or transformer coils included in platform <NUM>) to guide the magnetic flux through the respective transformer coils thereby improving efficiency of power transmission between the two platforms. Other configurations are possible as well.

Magnet(s) <NUM> may can be formed from a ferromagnetic material such as iron, ferromagnetic compounds, ferrites, etc., and/or any other material that is magnetized to generate a first-platform magnetic field of platform <NUM>.

According to the invention, magnets <NUM> are implemented as a plurality of magnets in a substantially circular arrangement around an axis of rotation of platform <NUM>. For example, magnets <NUM> can be arranged along a circle that is concentric to the axis of rotation to generate a combined magnetic field extending toward and/or through platform <NUM>. Further, for instance, adjacent magnets of magnets <NUM> can be magnetized in alternating directions such that a magnetic pole of a given magnet along a surface of the given magnet that is facing platform <NUM> is opposite to a magnetic pole of an adjacent magnet along a similar surface. With this arrangement for instance, a magnetic field may extend from the surface of the given magnet toward platform <NUM> and then toward the surface of the adjacent magnet. Further, another magnetic field may extend from a surface of the given magnet toward platform <NUM> and then toward another adjacent magnet.

In another implementation, magnet <NUM> can be implemented as a single ring magnet that is concentric to the axis of rotation of the first platform. In this implementation, the ring magnet can be magnetized to have a magnetization pattern similar to that of the plurality of magnets described above. For example, the ring magnet can be implemented as a printed magnet having a plurality of ring sectors (e.g., regions of the ring magnet between respective radial axes thereof). In this example, adjacent ring sectors of the ring magnet can be magnetized in alternating directions to define a plurality of alternating magnetic poles facing platform <NUM>.

As shown, magnet(s) <NUM> can optionally include an index magnet <NUM>. Index magnet <NUM> may include a magnet (e.g., ferromagnetic material, etc.) that is configured to have a characteristic that differs from that of the other magnets in magnets <NUM>.

In a first example, where magnets <NUM> include a plurality of magnets in a circular arrangement, index magnet <NUM> can be positioned at a first distance to the axis of rotation of platform <NUM>, and the other magnets in magnets <NUM> can be positioned at a second distance to the axis of rotation that differs from the first distance. Additionally or alternatively, for instance, index magnet <NUM> can be positioned at an offset distance to the second platform relative to a substantially uniform distance between the other magnets and the second platform. Additionally or alternatively, for instance, index magnet <NUM> can be positioned at a particular separation distance to one or more adjacent magnets. In this instance, the other magnets can be spaced apart by a substantially uniform separation distance that differs from the particular separation distance.

In a second example, index magnet <NUM> can have a first size (e.g., width, length, depth, etc.) that differs from a second size of the other magnets in magnets <NUM>.

In a third example, index magnet <NUM> can be magnetized to have a first magnetization strength (e.g., magnetic flux density, magnetic field strength, etc.) that differs from a second magnetization strength of the other magnets in magnets <NUM>.

In a fourth example, index magnet <NUM> can be magnetized to have a different magnetization pattern compared to magnetization patterns of the other magnets in magnets <NUM>. For instance, a first portion of index magnet <NUM> can be magnetized in a first direction (e.g., North Pole pointing toward platform <NUM>) and a second portion of index magnet <NUM> can be magnetized in a second direction opposite to the first direction (e.g., South Pole pointing toward platform <NUM>), whereas, the other magnets in magnets <NUM> can be magnetized in a single direction (e.g., only one of North Pole or South Pole pointing toward platform <NUM>).

In a fifth example, where magnet(s) <NUM> comprise a single ring magnet, index magnet <NUM> can be implemented as an index ring sector of magnet <NUM> that includes a first portion magnetized in a first direction, and a second portion magnetized in an opposite direction. Alternatively or additionally, the second portion can be physically implemented as a magnetized region of magnet <NUM> that surrounds the first portion and connects with two ring sector that are adjacent to the index ring sector.

In a sixth example, where magnet(s) <NUM> comprise a single ring magnet, the various differentiating characteristics described above for an implementation that comprises a plurality of magnets can be similarly implemented by adjusting the magnetization properties of the ring magnet. In one instance, the index ring sector can have a different size (e.g., angular width, etc.) relative to substantially uniform sizes of other ring sectors. In another instance, the index ring sector can be separated from adjacent ring sectors by a different distance than a corresponding substantially uniform distance between the other ring sectors (e.g., surrounding the index ring sector by demagnetized regions of the ring magnet, etc.).

Second platform <NUM> is configured as a stator platform in a rotary joint configuration, in line with the discussion above. For instance, the axis of rotation of platform <NUM> can extend through platform <NUM> such that platform <NUM> rotates relative to platform <NUM> while remaining within a predetermined distance to platform <NUM>. As shown, platform <NUM> includes a controller <NUM>, a communication interface <NUM>, a power interface <NUM>, a plurality of conductive structures <NUM>, circuitry <NUM>, and a magnetic field sensor <NUM>. Thus, for example, platform <NUM> can be formed from any combination of solid materials suitable for supporting the various components mounted or otherwise coupled to platform <NUM>. For instance, platform <NUM> may comprise a circuit board that mounts one or more components (e.g., interfaces <NUM>, <NUM>, sensor <NUM>, etc.).

Controller <NUM> can have various physical implementations (e.g., processors, logic circuitry, analog circuitry, data storage, etc.) similarly to controller <NUM>, for example. Further, controller <NUM> can operate communication interface <NUM> to transmit signal <NUM> indicating a transmission of data or instructions similarly to, respectively, controller <NUM>, communication interface <NUM>, and signal <NUM>. For instance, controller <NUM> can operate interface <NUM> (e.g., transceiver, antenna, light sources, etc.) to provide a modulated wireless signal indicating instructions for operating sensor <NUM> and/or any other component of platform <NUM>. Further, for instance, controller <NUM> can receive a modulated electrical signal from interface <NUM> indicating modulated signal <NUM> transmitted from platform <NUM>.

Accordingly, communication interface <NUM> can be implemented similarly to communication interface <NUM> to facilitate communication between platforms <NUM> and <NUM> via signals <NUM> and <NUM>.

Power interface <NUM> can be configured similarly to power interface <NUM>, and may thus be operated in conjunction with power interface <NUM> to facilitate transmission of power between platforms <NUM> and <NUM>. By way of example, interface <NUM> may comprise a transformer coil (not shown), and controller <NUM> can be configured to cause an electrical current to flow through the transformer coil. The electrical current may then generate a magnetic flux that extends through a corresponding transformer coil (not shown) of power interface <NUM> to induce an electrical current through the corresponding transformer coil. The induced electrical current could thus provide power for one or more components of platform <NUM>. Further, in some instances, device <NUM> may also include a magnetic core (not shown) extending along the axis of rotation of platform <NUM> and through the respective transformer coils (not shown) of power interfaces <NUM> and <NUM>. The magnetic core, for instance, can guide the magnetic flux generated by a transformer coil of power interface <NUM> through a transformer coil of power interface <NUM> to improve efficiency of power transmission between platforms <NUM> and <NUM>.

Conductive structures <NUM> may comprise portions of electrically conductive material (e.g., copper, other metal, etc.) that are electrically coupled together to define an electrically conductive path that extends around the axis of rotation of platform <NUM> to overlap the first-platform magnetic field generated by magnet(s) <NUM>. Conductive structures <NUM> include a first plurality of conductive structures in a first coplanar arrangement along a circle that is concentric to the axis of rotation of platform <NUM>. Conductive structures <NUM> also include a second plurality of conductive structures in a second coplanar arrangement to overlap parallel to the first plurality of conductive structures. For instance, in a circuit board implementation, the first plurality of conductive structures can be disposed or patterned along a single layer of the circuit board, and the second plurality of conductive structures can be disposed or patterned along another layer of the circuit board.

The device <NUM> also includes a plurality of electrical contacts (not shown), such as conductive material that extends through a drilled hole between two layers of a circuit board (e.g., via) for instance. The electrical contacts couple the first plurality of conductive structures to the second plurality of conductive structures to define one or more conductive coils extending around the axis of rotation to overlap the circular arrangement of magnet(s) <NUM> of the first platform. Circuitry <NUM> (and/or controller <NUM>) can then cause one or more electrical currents to flow through the one or more coils to generate a second-platform magnetic field extending within the one or more coils. The first-platform magnetic field could then interact with the second-platform magnetic field to provide a force or torque acting on platform <NUM>. The induced force may then cause platform <NUM> to rotate about the axis of rotation thereof. Further, in some instances, circuitry <NUM> (and/or controller <NUM>) can modulate the second-platform magnetic field by adjusting the electrical current(s) flowing through the coil(s). By doing so, for instance, device <NUM> can control a direction or rate of rotation of platform <NUM> about the axis of rotation.

Accordingly, circuitry <NUM> may include any combination of wiring, conductive material, capacitors, resistors, amplifiers, filters, comparators, voltage regulators, controllers, and/or any other circuitry arranged to provide and modulate electrical current(s) flowing through conductive structures <NUM>. For instance, circuitry <NUM> may be configured to condition the electrical current(s) to modify the second-platform magnetic field and thereby achieve certain rotation characteristics (e.g., direction, speed, etc.) for rotating platform <NUM>.

Magnetic field sensor <NUM> may be configured to measure one or more characteristics (e.g., direction, angle, magnitude, flux density, etc.) of the first-platform magnetic field associated with magnet(s) <NUM>. For example, sensor <NUM> may include one or more magnetometers arranged to overlap magnet(s) <NUM> and/or the first-platform magnetic field. A non-exhaustive list of example sensors includes proton magnetometers, Overhauser effect sensors, cesium vapor sensors, potassium vapor sensors, rotating coil sensors, Hall effect sensors, magneto-resistive device sensors, fluxgate magnetometers, superconducting quantum interference device (SQUID) sensors, micro-electro-mechanical-system (MEMS) sensors, and spin-exchange relaxation-free (SERF) atomic sensors, among other examples. In one implementation, sensor <NUM> may comprise a three-dimensional (3D) Hall effect sensor that outputs an indication of an angle (and/or magnitude) of the first-platform magnetic field at a position of sensor <NUM> according to an orthogonal coordinate system representation (e.g., x-y-z axis components) or other vector field representation.

Thus, device <NUM> could use output(s) from sensor <NUM> as a basis for determining an orientation or position of platform <NUM> about the axis of rotation. By way of example, sensor <NUM> can be positioned to overlap a portion of the first-platform magnetic field extending between two adjacent magnets of magnet(s) <NUM>. As first platform <NUM> rotates, for instance, the angle of the portion may change at the position of sensor <NUM> and thus circuitry <NUM> (and/or controller <NUM>) can sample the outputs from sensor <NUM> to deduce the position of sensor <NUM> relative to the two adjacent magnets.

Thus, with this arrangement, device <NUM> could use magnet(s) <NUM> as component(s) for both actuating platform <NUM> and measuring the orientation of platform <NUM> (e.g., magnetic encoder). This arrangement can provide an actuator and a magnetic encoder with reduced costs and with a more compact design.

Additionally, in some implementations, sensor <NUM> can be positioned along a circular path that intersects with the coil(s) defined by structures <NUM>. For example, two particular structures in structures <NUM> can be spaced apart by a given distance greater than a uniform distance between other adjacent structures in structures <NUM>. Further, sensor <NUM> can be positioned between these two particular structures. With this arrangement, for instance, interference due to the second-platform magnetic field with measurements of the first-platform magnetic field by sensor <NUM> can be mitigated, while also placing sensor <NUM> at a close distance to magnet(s) <NUM>.

In implementations where magnet(s) <NUM> include index magnet <NUM>, a particular portion of the first-platform magnetic field extending between index magnet <NUM> and one or more magnets adjacent to index magnet <NUM> may have one or more differentiating characteristics relative to other portions of the first-platform magnetic field. By of example, if index magnet <NUM> is positioned at a different distance to the axis of rotation of platform <NUM> than a substantially uniform distance between the axis of rotation and other magnets of magnet(s) <NUM>, then a direction of the particular portion of the first-platform magnetic field may differ from respective directions of the other portions. Accordingly, in some examples, circuitry <NUM> (and/or controller <NUM>) can associate detection of this difference with an orientation of platform <NUM> where sensor <NUM> overlaps index magnet <NUM> or a region between index magnet <NUM> and an adjacent magnet. Through this process, for instance, device <NUM> can map outputs of sensor <NUM> to a range of orientations of platform <NUM> relative to a position of index magnet <NUM>.

In some implementations, device <NUM> may include fewer components than those shown. For example, device <NUM> can be implemented without index magnet <NUM>, sensor <NUM>, and/or any other component shown. Further, in some implementations, device <NUM> may include one or more components in addition to or instead of those shown. For example, platforms <NUM> and/or <NUM> may include additional or alternative sensors (e.g., microphone <NUM>, etc.), computing subsystems (e.g., navigation system <NUM>, etc.), and/or any other component such as any of the components of vehicles <NUM> and <NUM>. Additionally, it is noted that the various functional blocks shown can be arranged or combined in different arrangements than those shown. For example, some of the components included in platform <NUM> can be alternatively included in platform <NUM> or implemented as separate components of device <NUM>.

<FIG> illustrates a side view of a device <NUM> that includes a rotary joint, according to an example embodiment. For example, device <NUM> may be similar to device <NUM>, and can be used with an electromechanical system such as vehicles <NUM> and <NUM>. As shown, device <NUM> includes a rotor platform <NUM> and a stator platform <NUM> that may be similar, respectively, to platforms <NUM> and <NUM>. In the example shown, a side 410a of platform <NUM> is positioned at a predetermined distance <NUM> to a side 430a of platform <NUM>. Platform <NUM> can be configured as a rotor platform that rotates about axis of rotation <NUM>. Further, platform <NUM> can be configured as a stator platform that remains within distance <NUM> to platform <NUM> in response to rotation of platform <NUM> about axis <NUM>. In some examples, side 410a may correspond to a planar mounting surface of platform <NUM> (e.g., an outer layer of a circuit board). Similarly, for example, side 430a may correspond to a planar mounting surface of platform <NUM>. It is noted that some components of device <NUM> are omitted from <FIG> for convenience in description.

In the cross section view shown in <FIG> for instance, side 410a of platform <NUM> is pointing out of the page. As shown in <FIG>, device <NUM> also includes a plurality of magnets, exemplified by magnets <NUM>, <NUM>, <NUM>, <NUM>, and a mount <NUM>.

Magnets <NUM>, <NUM>, <NUM>, <NUM>, can be similar to magnet(s) <NUM>. For example, as shown, magnets <NUM>, <NUM>, <NUM>, <NUM>, are mounted in a substantially circular arrangement around axis of rotation <NUM>. In some examples, like magnet(s) <NUM>, adjacent magnets of the plurality of magnets (e.g., <NUM>, <NUM>, <NUM>, <NUM>, etc.) can be respectively magnetized in alternating directions. For example, as shown, magnet <NUM> is magnetized in a direction pointing into the page (e.g., South Pole indicated by letter "S" pointing out of the page), magnet <NUM> is magnetized in a direction pointing out of the page (e.g., North Pole indicated by letter "N" pointing out of the page), magnet <NUM> is magnetized in the same direction as magnet <NUM>, and so on. Thus, in some examples, the respective magnetization directions of the plurality of magnets (e.g., <NUM>, <NUM>, <NUM>, <NUM>, etc.) could be substantially parallel to axis <NUM>, as shown.

Mount <NUM> may include any structure configured to support the plurality of magnets (e.g., <NUM>, <NUM>, <NUM>, <NUM>, etc.) in a circular arrangement around axis of rotation <NUM>. To that end, mount <NUM> may include any solid structure (e.g., plastic, aluminum, other metal, etc.) suitable for supporting the plurality of magnets in the circular arrangement. For example, as shown, mount <NUM> can have a ring shape extending between (circular) edges 428a and 428b. Further, as shown, mount <NUM> may include indentations that accommodate the plurality of magnets in the circular arrangement. For instance, as shown, mount <NUM> includes an indentation (between walls 428c and 428d) shaped to accommodate magnet <NUM>. Thus, during assembly for instance, the plurality of magnets could be fitted into respective indentations of mount <NUM> to facilitate placing the plurality of magnets in the circular arrangement. Further, as shown, ring-shaped mount <NUM> could be concentrically arranged relative to axis <NUM> (e.g., axis <NUM> aligned with a center axis of ring-shaped mount <NUM>). Thus, for instance, circular edges 428a, 428b, and magnets <NUM>, <NUM>, <NUM>, <NUM>, etc., could remain within respective given distances to axis <NUM> in response to rotation of platform <NUM> about axis <NUM>.

In some examples, similarly to index magnet <NUM>, at least one magnet in device <NUM> can be configured as an index magnet having one or more characteristics that differ from a common characteristic of other magnets. As shown, for example, magnet <NUM> is mounted at a different distance to axis <NUM> than a distance between other magnets (e.g., <NUM>, <NUM>, <NUM>, etc.) and axis <NUM>. To facilitate this, as shown, an indentation (e.g., defined by wall 428e extending around the indentation) that accommodates index magnet <NUM> could have a smaller length than respective indentations accommodating magnets <NUM>, <NUM>, <NUM>, etc. As a result, index magnet <NUM>, when mounted, may be closer to edge 428a (and axis <NUM>) than magnets <NUM>, <NUM>, <NUM>, etc..

It is noted that platform <NUM> may include additional components to those shown in <FIG>. In one implementation, mount <NUM> can be arranged along a periphery of a printed circuit board (PCB) or other circuit board. In another implementation, mount <NUM> can be disposed along a surface or layer of the circuit board. Regardless of the implementation, for example, the region of side 410a between axis <NUM> and edge 428a can be used to mount one or more components such as any of the components of platform <NUM>.

In one example, as shown, platform <NUM> may include a center gap defined by edge 410b. In this example, platform <NUM> may include a transformer coil (not shown) arranged around edge 410b. Further, in this example, device <NUM> may include a magnetic core (not shown) extending through the center gap to guide a magnetic flux generated by a similar transformer coil (not shown) of platform <NUM>. Thus, for instance, power can be transmitted between the two platforms <NUM> and <NUM>, in line with the discussion above for power interfaces <NUM> and <NUM>. In another example, platform <NUM> may include one or more wireless transmitters or receivers (e.g., light sources, light detectors, antenna, etc.) in the region of platform <NUM> between edges 428a and 410b. Thus, similarly to device <NUM> for example, device <NUM> can be configured to transmit power and/or communication signals between platforms <NUM> and <NUM>.

In the cross section view shown in <FIG>, side 430a of platform <NUM> is pointing out of the page. The cross section view of platform <NUM> shown in <FIG> may correspond to a view of a layer of platform <NUM> that is substantially parallel to side 430a. Referring back to <FIG> by way of example, the layer shown in <FIG> may correspond to a layer between sides 430a and 430b. In another example, the layer shown in <FIG> may correspond to conductive materials patterned on side 430b of platform <NUM>. In one implementation, platform <NUM> can be physically implemented as a multi-layer circuit board (e.g., PCB) or may comprise a multi-layer PCB embedded therein. To that end, one or more components shown in <FIG> may correspond to electrically conductive material(s) (e.g., tracks, traces, copper, etc.) patterned along an outer layer of the PCB, and one or more components shown in <FIG> may correspond to electrically conductive material(s) patterned along another layer of the PCB. Other implementations are possible as well.

As shown in <FIG> and <FIG>, device <NUM> also includes a plurality of power leads, exemplified by leads <NUM>, <NUM>, <NUM>, <NUM>, a first plurality of adjacent conductive structures, exemplified by structures <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, a second plurality of adjacent conductive structures, exemplified by structures <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, a plurality of electrical contacts, exemplified by contacts <NUM>, <NUM>, <NUM>, <NUM>, a magnetic field sensor <NUM>, and connectors <NUM>, <NUM>.

Power leads <NUM>, <NUM>, <NUM>, <NUM>, etc., may be configured to electrically couple, respectively, one or more of the first and second pluralities of conductive structures to a power source, voltage regulator, current amplifier, or other circuitry (e.g., circuitry <NUM>) that provides or conditions one or more electrical currents flowing through the respective conductive tracks coupled to the respective leads.

The first plurality of conductive structures (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, etc.) may comprise electrically conductive material (e.g., copper, etc.) in a circular arrangement around axis <NUM>, similarly to conductive structures <NUM>. For instance, as shown in <FIG>, the first plurality of conductive structures extends between circles <NUM> and <NUM>, which are concentric to axis <NUM>. A region of side 430a between circles <NUM> and <NUM>, for instance, may at least partially overlap the plurality of magnets <NUM>, <NUM>, <NUM>, <NUM>, etc., of rotor platform <NUM>. Further, as shown in <FIG>, each conductive structure (e.g., structure <NUM>, etc.) is tilted relative to a radius of circle <NUM> (and <NUM>) where the respective structure intersects with circle <NUM>. In addition, the first plurality of conductive structures is in a substantially coplanar arrangement. Thus, for instance, structures <NUM>, <NUM>, <NUM><NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, etc. can be formed as patterned conductive tracks along a single layer of a circuit board (e.g., PCB).

Similarly, in <FIG>, the second plurality of conductive structures (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, etc.) are in a circular arrangement that is substantially coplanar (e.g., along a second layer of the PCB). Thus, for example, the first plurality of conductive structures may be at a first distance to the plurality of magnets (<NUM>, <NUM>, <NUM>, <NUM>, etc.) that is less than a second distance between the second plurality of structures and the plurality of magnets.

Additionally, structures <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, etc. extend, respectively, between circles <NUM> and <NUM>. Circles <NUM> and <NUM> may be similar to circles <NUM> and <NUM>, for example, and may thus be concentric to axis <NUM> with similar radii, respectively, as the radii of circles <NUM> and <NUM>. Further, each conductive structure (e.g., structure <NUM>, etc.) in <FIG> is positioned at a tilting angle relative to a radius of circle <NUM> (and <NUM>) where the respective structure intersects with circle <NUM>. However, the second plurality of structures in <FIG> are at an opposite tilting angle to the tilting angle of the first plurality of structures of <FIG>. For example, structure <NUM> (<FIG>) is shown to tilt away from circle <NUM> in a clockwise direction. Whereas, structure <NUM> (<FIG>) is shown to tilt away from circle <NUM> in a counterclockwise direction.

To facilitate electrically coupling between the first plurality of structures (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, etc.) and the second plurality of structures (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, etc.), electrical contacts <NUM>, <NUM>, <NUM>, <NUM>, etc., may comprise conductive material that extends through the PCB in a direction perpendicular to the page (e.g., vias) to connect respective conductive structures that overlap at the respective positions of the respective contacts. For example, contact <NUM> electrically couples conductive structure <NUM> (<FIG>) to conductive structure <NUM> (<FIG>), contact <NUM> electrically couples conductive structure <NUM> (<FIG>) to conductive structure <NUM> (<FIG>), etc..

With this arrangement, the conductive structures in both layers of platform <NUM> may form one or more conductive paths that extend around axis <NUM>. For example, a first current can flow through a first conductive path that comprises, in this order: lead <NUM>, structure <NUM>, contact <NUM>, structure <NUM>, contact <NUM>, structure <NUM>, etc., until the first current arrives at lead <NUM>. Thus, for example, the first current can flow from structure <NUM> to structure <NUM> without flowing through adjacent structure <NUM>. Similarly, for example, a second current can flow through a second conductive path that comprises, in this order: lead <NUM>, structure <NUM>, contact <NUM>, structure <NUM>, contact <NUM>, structure <NUM>, etc., until the second current arrives at lead <NUM>. Thus, the first conductive path may form a first coil that extends around axis <NUM>, and the second conductive path may form a second coil that extends around axis <NUM>.

In some implementations, leads <NUM>, <NUM>, etc., of the first layer shown in <FIG> can be connected (directly or indirectly) to a first terminal of a power source (not shown), and leads <NUM>, <NUM>, etc., of the second layer shown in <FIG> can be connected to a second terminal of the power source. As a result, in these implementations, each coil or conductive path of platform <NUM> may carry a portion of a same electrical current. For instance, each coil in these implementations may be connected to other coils in a parallel circuit configuration.

Regardless of the implementation, when electrical current(s) are flowing through the first and second pluralities of coplanar conductive structures, a stator-platform magnetic field is generated through the coil(s) formed by the electrically coupled conductive structures. The stator-platform magnetic field could then interact with the rotor-platform magnetic field associated with the magnets in rotor platform <NUM> to cause a torque or force that rotates platform <NUM> about axis <NUM>. The stator-platform magnetic field, for example, may extend within the coil(s) defined by the first and second conductive paths described above in a clockwise or counterclockwise direction depending on a direction of the respective electrical currents flowing through the respective conductive paths (or coils).

Thus, in some examples, the conductive structures shown in <FIG> and <FIG> can be electrically coupled to form a coreless PCB motor coil. For instance, the first plurality of conductive structures shown in <FIG> can be separated from the second plurality of conductive structures shown in <FIG> by an insulating material, such as an electrically insulating layer (e.g., plastic, etc.) between the two layers shown in <FIG> and <FIG>. In this instance, the stator-platform magnetic field could extend through the insulating material. However, in other examples, a magnetically permeable core (not shown) can be inserted between the two layers of <FIG> and <FIG> to direct the generated stator-platform magnetic field. For instance, a middle layer (not shown) of platform <NUM> may include conductive material disposed between the two layers of <FIG> and <FIG>. In this instance, the conductive material in the middle layer could also overlap the first plurality of conductive structures and the second plurality of conductive structures. As a result, the conductive material in the middle layer may thus be configured as a magnetic core that enhances the stator-platform magnetic field by directing the stator-platform magnetic field inside coil(s) defined by the respective conductive path(s) extending around axis <NUM> and along the two layers shown in <FIG> and <FIG>.

Magnetic field sensor <NUM> may be similar to sensor <NUM>. To that end, sensor <NUM> may include any magnetometer, such as a Hall effect sensor, etc., that is configured to measure the rotor-platform magnetic field generated by the magnets (e.g., <NUM>, <NUM>, <NUM>, <NUM>, etc.) of platform <NUM>. Thus, for instance, a computing system (e.g., controller <NUM>, circuitry <NUM>, etc.) can determine an orientation of platform <NUM> about axis <NUM> based on outputs from sensor <NUM>.

To facilitate this, in some examples, sensor <NUM> can be positioned at a location in platform <NUM> that substantially overlaps the rotor-platform magnetic field of platform <NUM>. For example, as shown in <FIG>, sensor <NUM> is positioned in the region between circles <NUM> and <NUM> (the region that at least partially overlaps the magnets of platform <NUM>). Additionally, to mitigate interference due to the stator-platform magnetic field extending between the coils or conductive paths defined by the first and second pluralities of conductive structures, a portion of the coil-shaped conductive path extending around axis <NUM> in platform <NUM> could be interrupted or modified in the region of platform <NUM> where sensor <NUM> is located.

As shown in <FIG>, for example, the first plurality of conductive structures comprise a plurality of spaced-apart conductive structures that are spaced apart by a substantially uniform distance. For instance, as shown, structures <NUM>, <NUM> are separated by the substantially uniform distance, and structures <NUM>, <NUM> are also separated by the substantially uniform distance. Further, the first plurality of conductive structures shown in <FIG> may include two adjacent structures that are separated by a greater distance than the substantially uniform distance. For instance, as shown, adjacent structures <NUM> and <NUM> are separated by the greater distance. Similarly, for example, the second plurality of conductive structures (shown in <FIG>) also includes two adjacent structures (e.g., <NUM>, <NUM>) that are separated by a greater distance than the substantially uniform distance between other structures of the second plurality of structures. Thus, as shown in <FIG>, sensor <NUM> can be located between structures <NUM> and <NUM> (i.e., within the "gap" in the coil-shaped conductive path(s) extending around axis <NUM>).

To facilitate this arrangement, connectors <NUM> and <NUM>, which extend away from the region where sensor <NUM> is located (e.g., outside the region between circles <NUM> and <NUM>, etc.), can be employed to electrically couple a portion of the coil-shaped conductive path(s) and a remaining portion of the coil-shaped conductive path(s). To that end, connectors <NUM> and <NUM> may comprise conductive material (e.g., copper, metal, metal compound, etc.) that is shaped and/or disposed at an appropriate distance from sensor <NUM> to reduce the effect of the stator-platform magnetic field at a location of sensor <NUM>.

As shown, for instance, connector <NUM> electrically couples, via an electrical contact, conductive structure <NUM> (<FIG>) to conductive structure <NUM> (<FIG>). Similarly, connector <NUM> electrically couples conductive structure <NUM> (<FIG>) to conductive structure <NUM> (<FIG>). Although not shown, platform <NUM> may also include additional connectors (e.g., similar to connectors <NUM> or <NUM>) that are configured to electrically connect additional conductive paths around axis <NUM> while reducing the stator-platform magnetic field at the location of sensor <NUM>. In a first example, a connector (not shown) could electrically couple structure <NUM> (<FIG>) to structure <NUM> (<FIG>). In a second example, a connector (not shown) could electrically couple structure <NUM> (<FIG>) to structure <NUM> (<FIG>). In a third example, a connector (not shown) could electrically couple structure <NUM> (<FIG>) to structure <NUM> (<FIG>). In a fourth example, a connector (not shown) could electrically couple structure <NUM> (<FIG>) to structure <NUM> (<FIG>).

Further, although connectors <NUM> and <NUM> are shown to be disposed along a same PCB layer (e.g., side 430a), in some examples, one or more connectors can be alternatively disposed along the layer shown in <FIG> or another layer (not shown) of platform <NUM>. Further, although magnetic sensor <NUM> is shown to be mounted to side 430a of platform <NUM>, in some examples, sensor <NUM> can be alternatively positioned along a different side (e.g., side 430b) of platform <NUM> or any other position within a portion of the rotor-platform magnetic field between conductive structures <NUM>, <NUM>, <NUM>, <NUM>. For instance, in an implementation where the second plurality of conductive structures <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, etc. are disposed along side 430b of platform <NUM>, sensor <NUM> can be alternatively mounted between structures <NUM> and <NUM>. Other positions for sensor <NUM> are possible as well (e.g., between sides 430a and 430b, etc.).

Further, in some examples, platform <NUM> may include more components than those shown, such as any of the components (e.g., communication interface <NUM>, power interface <NUM>, etc.) included in platform <NUM> for instance. Referring back to <FIG> by way of example, platform <NUM> can be implemented as a circuit board (e.g., PCB), and the region between axis <NUM> and circle <NUM> can include power interface components (e.g., transformer coils), and/or communication interface components (e.g., wireless transmitters, light sources, detectors, etc.), among other possibilities.

It is noted that the shapes, dimensions, and relative positions shown in <FIG> for device <NUM> and/or components thereof are not necessarily to scale and are only illustrated as shown for convenience in description. To that end, for example, device <NUM> and/or one or more components thereof can have other forms, shapes, arrangements, and/or dimensions as well. It is also noted that device <NUM> may include fewer or more components than those shown, such as any of the components of device <NUM> (e.g., interfaces, sensors, controllers, etc.), among others. In one example, although six leads are shown for each layer of <FIG> and <FIG>, device <NUM> could alternatively include more or fewer leads for a different number of conductive paths extending around axis <NUM>. In another example, although device <NUM> is shown to include a particular number of magnets in platform <NUM>, device <NUM> can alternatively include more or fewer magnets.

<FIG> is a conceptual illustration <NUM> of the relationship between orientations of a rotor platform and outputs from a magnetic field sensor, according to an example embodiment. <FIG> illustrates a scenario where rotor platform <NUM> is rotated for a complete rotation at a constant rate and in a clockwise direction about axis <NUM>. To that end, the horizontal axis of the plot in illustration <NUM> may indicate time (e.g., in seconds) from an initial orientation of platform <NUM> until platform <NUM> rotates for a complete (e.g., <NUM> degree) rotation about axis <NUM>. In the scenario, sensor <NUM> may be configured to provide a 3D representation of the rotor-platform magnetic field at a location of sensor <NUM> (e.g., vector field). Thus, the X-curve, Y-curve, and Z-curve indicated in legend <NUM> may correspond, respectively, to an x-component, y-component, and z-component of the measured magnetic field by sensor <NUM>. To that end, for plots X, Y, Z, the vertical axis of the plot in illustration <NUM> may indicate measured magnetic fields (e.g., in Teslas). Further, the curve "atan2(Z, X)" indicated in legend <NUM> may correspond to a computed magnetic field angle based on an application of the "atan2" function to the z-component and x-component of the output. The atan2 computation may be similar to computing an arc tangent of: the z-component output divided by the x-component output. However, unlike the arc tangent computation, the atan2 function provides an output angle in radians between the positive x-axis of a plane and the point given by the co-ordinates (X, Z) on the plane. For example, an atan2 computed angle may comprise a positive value for counter-clockwise angles (e.g., Z > <NUM>), and a negative value for clock-wise angles (e.g., Z < <NUM>). By doing so, unlike a simple arc tangent computation, atan2 can provide an output in the range of -π Radians to π Radians, while also avoiding the issue of division by zero (e.g., where the value of the x-component is zero). To that end, as shown for the curve of "atan2(Z, X)," the vertical axis may indicate an angular computation (e.g., in Radians).

Referring back to <FIG>, the y-component indicated by the Y-curve may correspond to a component of the rotor-platform magnetic field that is along a y-axis extending through sensor <NUM> toward axis <NUM>. The z-component indicated by the Z-curve may correspond to a component of the rotor-platform magnetic field that is along a z-axis extending through sensor <NUM> and out of the page. The x-component indicated by the Z-curve may correspond to a component of the rotor-platform magnetic field along an x-axis of sensor <NUM> that is perpendicular (e.g., orthogonal) to the y-axis and the z-axis.

With this configuration, for instance, the maxima of the Z-curve shown in illustration <NUM> may correspond to orientations of platform <NUM> where sensor <NUM> is aligned with a magnet that is magnetized in a positive direction of the z-axis (e.g., South Pole pointing out of the page). For example, the z-maximum at arrow <NUM> indicates an orientation of platform <NUM> where magnet <NUM> is aligned with sensor <NUM>. Further, the minima of the Z-curve may correspond to orientations of platform <NUM> where sensor <NUM> is aligned with a magnet that is magnetized in a negative direction of the z-axis (e.g., North Pole pointing out of the page). For example, the z-minimum at arrow <NUM> indicates an orientation of platform <NUM> where magnet <NUM> is aligned with sensor <NUM>.

Thus, with this arrangement, an indication of the orientation of platform <NUM> between two adjacent magnets can be computed (e.g., the "atan2(Z, X)" curve) as the atan2 computation for: the z-component and the x-component. This computation, for example, can be performed by controller <NUM> and/or circuitry <NUM>. The atan2(Z, X) curve represents a normalized orientation of platform <NUM> between any two magnets. For example, each orientation of platform <NUM> where sensor <NUM> is aligned with a magnet may correspond to a value of zero radians or a value of pi radians (depending on the direction of the z-axis). Thus the various devices and systems herein (e.g., vehicles <NUM>, <NUM>, devices <NUM>, <NUM>) can use the atan2(Z, X) computation as a mapping for orientations of platform <NUM> relative to any two magnets.

Further, as noted above, an index magnet can be used to facilitate computing an absolute orientation of platform <NUM> about axis <NUM>. Referring back to <FIG> by way of example, index magnet <NUM> is positioned at an offset distance to axis <NUM> (i.e., an offset along the y-axis of sensor <NUM>) compared to other magnets (e.g., <NUM>, <NUM>, <NUM>, etc.) of platform <NUM>. As a result, for example, the y-component of the rotor-platform magnetic field measured by sensor <NUM> may experience an anomaly for orientations of platform <NUM> where sensor <NUM> overlaps a region between magnets <NUM> and <NUM>. Arrow <NUM> points to a y-maximum that is associated with the sensor <NUM> being in such region (e.g., between magnets <NUM> and <NUM>). As shown, the y-maximum <NUM> is significantly lower than other y-maxima of the Y-curve in illustration <NUM>. Thus, the y-component anomaly can be used by device <NUM> to detect an index position of platform <NUM>, and then map other positions between different pairs of magnets as absolute orientations of platform <NUM> relative to the index position or orientation.

Further, as shown, the y-component anomaly is substantially independent from the x-component and z-component measurements. Thus, the y-axis displacement of index magnet <NUM> can allow device <NUM> to measure the orientation of platform <NUM> (e.g., using the x-component and z-component), while also detecting the index orientation using the y-component.

<FIG> is a cross-section view of another device <NUM> that includes a rotary joint, according to an example embodiment. For example, device <NUM> may be similar to devices <NUM> and <NUM>. To that end, device <NUM> includes a rotor platform <NUM> having a side 610a, that are similar, respectively to rotor platform <NUM> and side 410a. Further, as shown, device <NUM> includes an axis of rotation <NUM>, magnets <NUM>, <NUM>, <NUM>, and mount <NUM>, that are similar, respectively, to axis <NUM>, magnets, <NUM>, <NUM>, <NUM>, and mount <NUM>.

As noted above, in some examples, index magnet <NUM> may have alternative or additional differentiating characteristics other than a displacement along the y-axis of sensor <NUM> (i.e., distance to axis <NUM>). For example, unlike index magnet <NUM>, index magnet <NUM> is at a same distance to axis <NUM> as other magnets (e.g., <NUM>, <NUM>, <NUM>, etc.) of platform <NUM>. However, as shown, index magnet <NUM> has a smaller size (e.g., length) compared to the other magnets. As a result, index magnet <NUM> may also exhibit an anomaly (e.g., similar to y-maximum <NUM>) that allows device <NUM> to identify an index orientation of platform <NUM> about axis <NUM>.

<FIG> is a cross-section view of another device <NUM> that includes a rotary joint, according to an example embodiment. For example, device <NUM> may be similar to devices <NUM>, <NUM>, <NUM>. To that end, device <NUM> includes a rotor platform <NUM> and a side 710a that are similar, respectively, to rotor platform <NUM> and side 410a. Further, as shown, device <NUM> includes an axis of rotation <NUM>, magnets <NUM>, <NUM>, <NUM>, and mount <NUM> that are similar, respectively, to axis <NUM>, magnets, <NUM>, <NUM>, <NUM>, and mount <NUM>.

However, unlike index magnet <NUM>, index magnet <NUM> is at a same distance to axis <NUM> as other magnets (e.g., <NUM>, <NUM>, <NUM>, etc.) of platform <NUM>. Instead, as shown, index magnet <NUM> is arranged adjacent to another magnet <NUM> (e.g., within the indentation that accommodates magnet <NUM> in the circular arrangement of magnets around axis <NUM>). Further, magnet <NUM> could be magnetized in a direction opposite to a magnetization direction of magnet <NUM> (e.g., indicated by South Pole "S" pointing out of the page). Thus, magnet <NUM> may distort the magnetic field provided by index magnet <NUM> such that index magnet <NUM> exhibits an anomaly (e.g., similar to y-maximum <NUM>) that allows device <NUM> to identify an index position or orientation of platform <NUM> about axis <NUM>.

Alternatively, although not shown, magnets <NUM> and <NUM> can be implemented as a single magnet (e.g., printed magnet, etc.) that includes a portion that is magnetized along one direction (e.g., South Pole pointing out of page) and another portion that is magnetized along an opposite direction (e.g., North Pole pointing out of page).

<FIG> is a cross-section view of another device <NUM> that includes a rotary joint, according to an example embodiment. For example, device <NUM> may be similar to devices <NUM>, <NUM>, <NUM>, <NUM>. To that end, device <NUM> includes a rotor platform <NUM> and a side 810a that are similar, respectively, to rotor platform <NUM> and side 410a. Further, as shown, device <NUM> includes an axis of rotation <NUM> that is similar to axis <NUM>. As shown, device <NUM> also includes a ring magnet <NUM> that is similar to magnet <NUM>.

As noted above, in some examples, magnet <NUM> can be implemented as a single ring magnet. Thus, as shown, ring magnet <NUM> is an example single magnet implementation that can be used instead of the plurality of magnets <NUM>, <NUM>, <NUM>, <NUM>, etc., of device <NUM>. For example, ring magnet <NUM> can be physically implemented as a printed magnet that has a magnetization pattern similar to the arrangement of magnets in device <NUM> (e.g., adjacent regions of magnet <NUM> magnetized in alternating directions, etc.).

For example, a first ring sector (e.g., annulus sector, etc.) of ring magnet <NUM> may correspond to a region of magnet <NUM> having an angular width between radii <NUM> and <NUM>. As shown, the first ring sector could be a magnetized region of ring magnet <NUM> that is magnetized in a first direction (parallel to axis <NUM>) that is pointing into the page. This is illustrated by the white background of the first ring sector and the letter "S" (i.e., South Pole pointing out of the page). Similarly, for example, a second ring sector of ring magnet <NUM> (adjacent to the first ring sector) may correspond to a region of magnet <NUM> having an angular width between radii <NUM> and <NUM>. Further, as shown, at least a portion of the second ring sector is magnetized in an opposite direction to that of the first ring sector. This is illustrated by the different background pattern of the second ring sector and the letter "N" (i.e., North Pole pointing out of the page).

Additionally, the second ring sector (between radii <NUM> and <NUM>) shows an alternative implementation for index magnet <NUM>. As shown, the region between radii <NUM> and <NUM> is configured as an index ring sector by magnetizing a portion of the index ring sector along a first direction (e.g., "N" North Pole pointing out of the page) and another portion of the index ring sector along an opposite direction (e.g., portion with a white background that has a same magnetization direction "S" South pole as adjacent ring sectors between radii <NUM>, <NUM> and radii <NUM>, <NUM>). Thus, the index ring sector of ring magnet <NUM> illustrates an alternative "index magnet" implementation that can also provide an anomaly (e.g., similar to y-maximum <NUM>) in an output of a magnetic field sensor (e.g., sensor <NUM>, <NUM>, etc.) to facilitate determining an absolute position or orientation of rotor platform <NUM> about axis <NUM>.

Additionally, in an example scenario where magnet <NUM> replaces magnets <NUM>, <NUM>, <NUM>, <NUM>, etc. of device <NUM>, conductive structures <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, etc., may remain within predetermined distance <NUM> to magnet <NUM> in response to rotation of platform <NUM> about axis <NUM>. Further, in the scenario, an electrically conductive path defined by one or more of the conductive structures could remain at least partially overlapping ring magnet <NUM> as platform <NUM> rotates about axis <NUM>.

<FIG> is a flowchart of a method <NUM>, according to an example embodiment. Method <NUM> shown in <FIG> presents an embodiment of a method that could be used with any of vehicles <NUM>, <NUM>, and/or devices <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, for example. Method <NUM> may include one or more operations, functions, or actions as illustrated by one or more of blocks <NUM>-<NUM>. Although the blocks are illustrated in a sequential order, these blocks may in some instances be performed in parallel, and/or in a different order than those described herein. Also, the various blocks may be combined into fewer blocks, divided into additional blocks, and/or removed based upon the desired implementation.

In addition, for method <NUM> and other processes and methods disclosed herein, the flowchart shows functionality and operation of one possible implementation of present embodiments. In this regard, each block may represent a module, a segment, a portion of a manufacturing or operation process, or a portion of program code, which includes one or more instructions executable by a processor for implementing specific logical functions or steps in the process. The program code may be stored on any type of computer readable medium, for example, such as a storage device including a disk or hard drive. The computer readable medium may include a non-transitory computer readable medium, for example, such as computer-readable media that stores data for short periods of time like register memory, processor cache and Random Access Memory (RAM). The computer readable medium may also include non-transitory media, such as secondary or persistent long term storage, like read only memory (ROM), optical or magnetic disks, compact-disc read only memory (CD-ROM), for example. The computer readable media may also be any other volatile or non-volatile storage systems. The computer readable medium may be considered a computer readable storage medium, for example, or a tangible storage device.

In addition, for method <NUM> and other processes and methods disclosed herein, each block in <FIG> may represent circuitry that is wired to perform the specific logical functions in the process.

Method <NUM> is an example method for rotating a rotor platform (e.g., first platform <NUM>, etc.) of a device (e.g., device <NUM>, etc.) relative a stator platform (e.g., second platform <NUM>, etc.) of the device and about an axis of rotation of the rotor platform (e.g., axis <NUM>, etc.). Thus, in some examples, the rotor platform may remain within a predetermined distance (e.g., distance <NUM>, etc.) to the stator platform in response to rotation of the rotor platform about the axis of rotation, in line with the discussion above.

At block <NUM>, method <NUM> involves causing an electrical current to flow through an electrically conductive path included in the stator platform and extending around the axis of rotation of the rotor platform. By way of example, device <NUM> may include circuitry <NUM> (e.g., power source(s), voltage regulator(s), current amplifier(s), wiring, etc.) that provides the electrical current to the electrically conductive path. To that end, for instance, the electrically conductive path may be defined by a first plurality of coplanar conductive structures (e.g., one or more of structures <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, etc.) that are electrically coupled to one another. Further, for example, the electrically conductive path may also include a second plurality of coplanar conductive structures (e.g., one or more of structures <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, etc.) that are parallel and electrically coupled to the first plurality of coplanar structures to form a coil extending around the axis of rotation.

Thus, as noted above, the electrical current flowing through the coil (i.e., arrangement of planar conductive structures) generates a stator-platform magnetic field that interacts with a rotor-platform magnetic field of the rotor platform such that the rotor-platform rotates about the axis of rotation. For example, the interaction of the magnetic fields may induce a torque or force that causes the rotor platform to rotate about the axis of rotation in a clockwise or counterclockwise direction (depending on direction of the provided electrical current).

At block <NUM>, method <NUM> involves modulating the electrical current to adjust an orientation of the first platform about the axis of rotation to achieve a target orientation. By way of example, consider a scenario where sensor <NUM> is a gyroscope (e.g., direction) sensor mounted on platform <NUM>. In the scenario, a controller <NUM> (or <NUM>) may be configured to process outputs from sensor <NUM> and rotate platform <NUM> until sensor <NUM> measures a specific target change in direction (e.g., a value of zero, etc.). In this scenario, circuitry <NUM> can modulate the electrical current to cause platform <NUM> to rotate in a particular direction and/or speed opposite to a change in direction or speed measured by sensor <NUM>. Other scenarios are possible as well.

Thus, in some implementations, method <NUM> also involves modulating a characteristic of the rotation of the rotor platform (e.g., rate of rotation, acceleration of rotation, direction of rotation, etc.). Additionally or alternatively, in some implementations, method <NUM> also involves obtaining output of a magnetic field sensor (e.g., sensor <NUM>), and determining an orientation of the rotor platform about the axis of rotation based on the output of the magnetic field sensor, in line with the discussion above.

It should be understood that arrangements described herein are for purposes of example only. As such, those skilled in the art will appreciate that other arrangements and other elements (e.g. machines, interfaces, functions, orders, and groupings of functions, etc.) can be used instead, and some elements may be omitted altogether according to the desired results, as defined in the appended claims.

Claim 1:
A device comprising:
a first platform (<NUM>; <NUM>; <NUM>; <NUM>; <NUM>) having a first side, wherein the first platform is a rotor platform;
a second platform (<NUM>; <NUM>) having a second side that at least partially overlaps the first side of the first platform, wherein the first side remains within a predetermined distance to the second side in response to rotation of the first platform about an axis of rotation (<NUM>; <NUM>; <NUM>; <NUM>) of the first platform, wherein the second platform is a stator platform;
a plurality of magnets mounted to the first platform in a circular arrangement around the axis of rotation, wherein the plurality of magnets provides a first-platform magnetic field;
a first conductive path forming a first coil extending around the axis of rotation;
a second conductive path forming a second coil extending around the axis of rotation, wherein the second coil is interleaved with the first coil, wherein the first and second conductive paths comprise:
a first plurality of conductive structures included in the second platform in a substantially coplanar arrangement;
a second plurality of conductive structures included in the second platform in a substantially coplanar arrangement that is substantially parallel to the substantially coplanar arrangement of the first plurality of conductive structures; and
a plurality of electrical contacts that electrically couple the first plurality of conductive structures to the second plurality of conductive structures; and
circuitry that causes a first electrical current to flow through the first electrically conductive path and a second electrical current to flow through the second electrically conductive path, wherein the first and second electrical currents generate a second-platform magnetic field that interacts with the first-platform magnetic field such that the first platform rotates about the axis of rotation.