CN101813466B - Device and method for measuring outer inclination angle of vehicle tyre - Google Patents
Device and method for measuring outer inclination angle of vehicle tyre Download PDFInfo
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- CN101813466B CN101813466B CN2010101393565A CN201010139356A CN101813466B CN 101813466 B CN101813466 B CN 101813466B CN 2010101393565 A CN2010101393565 A CN 2010101393565A CN 201010139356 A CN201010139356 A CN 201010139356A CN 101813466 B CN101813466 B CN 101813466B
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- stepper motor
- laser pickoff
- tyre
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Abstract
The invention relates to a device and a method for measuring an outer inclination angle of a vehicle tyre, which aim to determine the outer inclination angle of the vehicle tyre during running and solve the problem of difficult monitoring due to dynamic change of the outer inclination angle of the vehicle tyre. The device consists of an upper laser emitter, a lower laser emitter, a laser receiver, a step motor, a gear box and a controller. The method comprises that: a system is started from an initial position to acquire an initial outer inclination angle of the tyre when first reaching a balance position; if the outer inclination angle of the tyre is changed, the laser receiver acquires a laser beam drop point position change, and a system program calculates the drop point distance; the program determines a turning direction and a step angle of the motor according to the evaluation rule so as to change the angle of the laser receiver; and the system program returns to the laser beam drop point position change to re-perform calculation and judgment till that the laser receiver is parallel to the tyre is judged, and the program of the laser receiver is adjusted to stop so as to obtain the outer inclination angle reached by the tyre again.
Description
Technical field
The present invention relates to a kind of field of measuring technique, particularly be used for the apparatus and method at measuring vehicle tyre toe-out angle.
Background technology
Along with development of electronic technology, the integrated control technology in chassis becomes the focus of research, and tire is determining the control accuracy and the overall performance of total system.
Camber angle is meant the angle (γ as shown in fig. 1) of central plane of wheel and automobile vertical plane.When the wheel top when automobile external tilts angle for just, otherwise for negative.It is that the dynamic carrying center on wheel and ground is reasonably distributed that camber angle mainly acts on, and the mechanics of tire characteristic is had appreciable impact, reaches the serviceable life of improving mechanical component simultaneously, reduces effects such as Tyte Wear.If camber angle is incorrect, unusual wearing and tearing can appear in tire, the phenomenon that automobile also can take place to sail partially in motion.
Up to the present, characteristics such as because tire high speed rotating in the process of moving, road surface condition variation is complicated, and it is fast to cause the tyre toe-out angle to change, and variable quantity is small have proposed high requirement to sensor and measuring method.Along with testing equipment and survey sensor continuous advancement in technology, possibility is provided for the monitoring of the tyre toe-out angular motion step response that satisfies high frequency, little change.
Summary of the invention
The fundamental purpose of patent of the present invention is to provide a kind of apparatus and method, can be easy to the camber angle of definite vehicle tyre in the process of moving through these apparatus and method, solves the problem of outer inclination angle of vehicle tyre dynamic change monitoring difficulty.
The technical scheme that realizes apparatus of the present invention goal of the invention is: a kind of device that is used for measuring vehicle tyre toe-out angle comprises:
Last generating laser is installed in wheel hub upper edge place near tire, is used to launch positioning signal;
Following generating laser is installed in generating laser vertical lower distance B place, is positioned on the line of generating laser and tire rotation center, is used to launch positioning signal;
Laser pickoff; The tabular CMOS of narrow is installed in tire rotation plane, place and beater or beat-up intersection, and an end links to each other with output shaft of gear-box, can be in company with output shaft of gear-box 360 degree rotations; The other end suspends, and is used to catch the laser signal of generating laser and following generating laser;
Stepper motor is installed in the beater or beat-up top, and the output turning moment is used for the laser pickoff position is regulated;
Wheel box is installed in plane, tire rotation place and beater or beat-up intersection, and input shaft links to each other with stepper motor, and output shaft links to each other with laser pickoff, is used for to stepper motor deceleration and increases and turn round, the rotatablely moving of driving laser receiver;
Controller is installed in the vehicle body, is used for according to the signal of laser pickoff stepper motor being implemented control.
The technical scheme that realizes the inventive method goal of the invention is: a kind of method that is used for measuring vehicle tyre toe-out angle comprises the steps:
The step 1) system starts from initial position, when reaching the equilibrium position first, obtains initial tyre toe-out angle;
Step 2) if the tyre toe-out angle changes, laser pickoff obtains the change of laser beam drop point site, and then system-computed drop point distance according to turning to and step angle of assessment rules decision motor, and then changes the angle of laser pickoff;
The step 3) system to drop point variation carrying out the again computational discrimination of monitoring laser beam, up to declaring to such an extent that laser pickoff is parallel with tire, regulates the laser pickoff program and stops again, draws the camber angle that tire reaches again.It is big that tyre toe-out angle flare forward becomes, and laser beam is moved on the position of point of irradiation on the laser pickoff, L1, and L2 diminishes, but the range difference Δ of two illuminated laser spot becomes big, and stepper motor is rotated counterclockwise, and then dwindles the variation of Δ.When reaching Δ=D once more, stepper motor quits work.Laser pickoff is parallel with tire once more, deducts the angle gauge that stepper motor rotates through by original camber angle and calculates tyre toe-out angle this moment.
It is big that introversion negative sense in tyre toe-out angle becomes, and the position on the laser pickoff of illuminated laser spot moves down, and L1, L2 become big, and it is big that the range difference Δ of two illuminated laser spot becomes, and stepper motor turns clockwise, and then dwindles the variation of Δ.When reaching Δ=D once more, stepper motor quits work.Laser pickoff is parallel with tire once more, adds that by original camber angle angle gauge that stepper motor rotates through calculates tyre toe-out angle this moment.
Description of drawings
Fig. 1 is the structure and the principle schematic of the device at measuring vehicle tyre toe-out angle, is used for explaining the device composition and the principle of work at measuring vehicle tyre toe-out angle.
Fig. 2 is the wiring diagram of driver SH-3F075M, is used to explain the connected mode of phase reaction formula stepper motor, driver and controller.
Fig. 3 is a laser pick-off chip circuit block diagram.
Fig. 4 is a transreactance amplifier RGC structural drawing.
Fig. 5 is the differential amplifier structural drawing that active inductance is done load, is used to explain the inner structure of DA.
Fig. 6 is the connected mode figure of S3C44B0X chip, is used for explaining the connected mode of controller in system.
Fig. 7 is the DC voltage converter connection layout.
Fig. 8 is the measuring system program flow diagram, is used for explaining the principle of work of measuring system.
Embodiment
Be described in detail below in conjunction with the respective drawings specific embodiments of the invention.
As shown in Figure 1, a kind of device that is used for measuring vehicle tyre toe-out angle comprises:
Last generating laser 5 is installed in wheel hub upper edge place near tire, is used to launch positioning signal; Adopt U.S. nation to receive the QS186LE14 type generating laser that engineering international corporation produces, dry cell power supply.
Following generating laser 6 is installed in generating laser vertical lower distance B place, and the extended line of generating laser and following generating laser line is used to launch positioning signal through the tire rotation center in the assurance; The same U.S. nation that adopts receives the QS186LE14 type generating laser that engineering international corporation produces, dry cell power supply.
Laser pickoff 4; The tabular CMOS of narrow is installed in tire rotation plane, place and beater or beat-up intersection, and an end links to each other with output shaft of gear-box, can be in company with output shaft of gear-box 360 degree rotations; The other end suspends, and is used to catch the laser signal of generating laser and following generating laser;
Stepper motor is installed in the beater or beat-up top, and the output turning moment is used for laser pickoff 4 positions are regulated;
Wheel box is installed in plane, tire 7 rotations places and beater or beat-up intersection, and input shaft links to each other with stepper motor, and output shaft links to each other with laser pickoff, is used for to stepper motor deceleration and increases and turn round, the rotatablely moving of driving laser receiver;
Controller is installed in the vehicle body, is used for according to the signal of laser pickoff 4 stepper motor being implemented control.
Stepper motor adopts phase reaction formula stepper motor of this Dart Corp. (General Components Inc.) of Beijing and supporting with it driver SH-3F075M, and shown in Figure 2 is its wiring diagram.
The input signal of SH-3F075M driver has three the tunnel, and they are: stepping pulse signal CP, direction level signal DIR, off line signal FREE, they insert the negative input end of optocoupler respectively through current-limiting resistance in internal drive.
1) stepping pulse signal CP
Stepping pulse signal CP is used for the position and the speed of control step motor.CP pulse of the every acceptance of driver is with regard to step angle of drive stepping motor rotation, and the frequency of CP pulse is directly proportional with the rotating speed of stepper motor, and the number of control CP pulse just can make stepper motor accurately locate.Therefore, import with drive stepping motor with microcontroller PORTA mouth control step pulse signal.
2) direction level signal DIR
Direction level signal DIR is used for the sense of rotation of control step motor.During high level, stepper motor turns clockwise, and during low level, stepper motor is rotated counterclockwise.Sense of rotation with microcontroller PORTA mouth control step motor.
3) off line signal FREE
This signal is for selecting signal for use, and low level is effective.When this signal was low level, motor was in free non-moment state, when this signal is a high level or unsettled when not connecing, and the cancellation off-line state.The OPTO end is the public anode of three road signals, the i.e. positive input terminal of three road optocouplers.OPTO end usefulness+5V power supply is through the mu balanced circuit power supply.
SH-3F075M type stepper motor driver can be used for driving three-phase stepper motor, adopts three-phase six roots of sensation line stepper motor, stepper motor directly link to each other with driver (A, A, B, B, C, C among Fig. 2).SH-3F075M type driver needs the outside that direct supply (DC among Fig. 2) is provided, and the supply voltage scope is+24V.
Generating laser, is received by inner CMOS linear camera red color visible laser directive laser pickoff through camera lens, and the CMOS linear camera can record the different laser drop point site.Demarcating digital signal processor in advance and just can calculate the distance between drop point and the laser pickoff rotation center according to this position.Light beam through analog-and digital-processing of circuit, and through microprocessor analysis, calculates corresponding output valve in the position of receiving element, and in the analog quantity window that the user sets, the outputting standard data-signal is given ECU in proportion.
Fig. 3 is a laser pick-off chip circuit block diagram; The I contact jaw is connected a transreactance amplifier TIA (Tran-Impedance Amplifier) respectively with the D contact jaw; And connect three grades of difference amplifier DA (Differential Amplier); And output buffering OB (OutputBuffer) realizes impedance matching, in the circuit 4 resistance R with add capacitor C and formed the direct current negative feedback network, with stable DC point and ac gain.Because the light-receiving chip circuit adopted difference output, and responsiveness is less, and therefore follow-up amplifier should adopt difference form, and provides enough big gain to overcome The noise.
As shown in Figure 4, transreactance amplifier has adopted RGC (Regulated Gascade) structure, R1 wherein, and RS, M1, Mb, Rb constitutes the RGC structure, and it has stable direct current biasing and very little input impedance.Supply voltage is 5V.DA has adopted active inductance to make the differential amplifier structure (like Fig. 5) of load, utilizes the shunt peaking technology to widen bandwidth.
Controller adopts S3C44B0X, at present, has been the inexorable trend of embedded technology development with 32 bit processors as the core of high-performance embedded system development.Arm processor obtains using very widely in 32 8-digit microcontroller fields because of its outstanding advantage, and therefore, arm processor has good prospects for application at vehicle electric field.S3C44B0X microprocessor chip integration becomes ARM7TDMI nuclear, adopts the manufacturing of 0.25umCMOS technology, and on the basis of ARM7TDMI nuclear basic function integrated abundant peripheral functional modules, be convenient to low-cost design application system.
The connected mode of S3C44B0X chip is as shown in Figure 6, and input end AIN0, AIN1 meet high level Vout+ and the low level Vout-of CMOS respectively.Output terminal GPFO, GPFO, GPFO, GPFO connect CP, DIR, FREE, the OPTO end of stepper motor driver respectively.
As shown in Figure 7, power supply adopts DC voltage converter, converts 12 volts of automobile storage battery voltages into 5 volts and supplies controller S3C44B0X and COMS to use, and provides 24 volts simultaneously to driver SH-3F075M.
A kind of method that is used for measuring vehicle tyre toe-out angle comprises the following steps:
Initialization obtains initial angle, and long and narrow strip laser pickoff 4 turns clockwise around wheel box 1 output shaft axis since 0 degree with the angle of vehicle body 3.Last laser point 5 emitted laser be radiated on the laser pickoff point apart from the output shaft of gear-box rotation the position be designated as L1, following laser point 6 emitted laser be radiated at point on the laser pickoff apart from the output shaft of gear-box rotation the position be designated as L2.The range difference of two illuminated laser spot is Δ=L2-L1.Generating laser 5,6 and tire 7 vertical installations; Can know by parallelogram principle; If laser pickoff 4 positions are parallel with tire location, can get up and down illuminated laser spot and equate with the distance B of generating laser on tire up and down in the distance, delta on the laser pickoff.Note the angle that motor rotates through by control program, angle and tyre toe-out angle γ complementation between this moment laser pickoff and the vehicle body, i.e. α=90 °-γ.
It is big that tyre toe-out angle flare forward becomes, and laser beam is moved on the position of point of irradiation on the laser pickoff, L1, and L2 diminishes, but the range difference Δ of two illuminated laser spot becomes big, and stepper motor is rotated counterclockwise, and then dwindles the variation of Δ.When reaching Δ=D once more, stepper motor quits work.Laser pickoff is parallel with tire once more, deducts the angle gauge that stepper motor rotates through by original camber angle and calculates tyre toe-out angle this moment.
It is big that introversion negative sense in tyre toe-out angle becomes, and the position on the laser pickoff of illuminated laser spot moves down, and L1, L2 become big, and it is big that the range difference Δ of two illuminated laser spot becomes, and stepper motor turns clockwise, and then dwindles the variation of Δ.When reaching Δ=D once more, stepper motor quits work.Laser pickoff is parallel with tire once more, adds that by original camber angle angle gauge that stepper motor rotates through calculates tyre toe-out angle this moment.
Program circuit is as shown in Figure 8, and system starts from initial position, reaches the equilibrium position first and obtains initial tyre toe-out angle.If the tyre toe-out angle changes, laser pickoff obtains the change of laser beam drop point site, and then system program can calculate the drop point distance.Program turns to and step angle according to assessment rules decision motor, and then changes the angle of laser pickoff.System program turns back to drop point variation carrying out the again computational discrimination of monitoring laser beam again, up to declaring to such an extent that laser pickoff is parallel with tire, regulates the laser pickoff program and stops, and draws the camber angle that tire reaches again.
Claims (4)
1. a device that is used for measuring vehicle tyre toe-out angle is characterized in that, this device comprises:
Last generating laser is installed in wheel hub upper edge place near tire, is used to launch positioning signal;
Following generating laser is installed in generating laser vertical lower distance B place, is positioned on the line of generating laser and tire rotation center, is used to launch positioning signal;
Laser pickoff is installed in tire rotation plane, place and beater or beat-up intersection, is used to catch the laser signal of generating laser and following generating laser;
Stepper motor is installed in the beater or beat-up top, and the output turning moment is used for the laser pickoff position is regulated;
Wheel box is installed in plane, tire rotation place and beater or beat-up intersection, and input shaft links to each other with stepper motor, and output shaft links to each other with laser pickoff, is used for to stepper motor deceleration and increases and turn round, the rotatablely moving of driving laser receiver;
Controller is installed in the vehicle body, is used for according to the signal of laser pickoff stepper motor being implemented control;
What wherein said laser pickoff adopted is cmos sensor; It is tabular to be shaped as narrow, and an end links to each other with output shaft of gear-box, can be in company with output shaft of gear-box 360 degree rotations, and the other end suspends.
2. a method that adopts measurement device outer inclination angle of vehicle tyre as claimed in claim 1 is characterized in that this method comprises the steps:
The step 1) system starts from initial position, when reaching the equilibrium position first, obtains initial tyre toe-out angle;
Comprise the following steps: specifically in the said step 1) that initialization obtains initial angle, the angle of laser pickoff and vehicle body turns clockwise around the output shaft of gear-box axis since 0 degree; Last laser point emitted laser is radiated at the distance of putting apart from the output shaft of gear-box rotation on the laser pickoff and is designated as L1, and following laser point emitted laser is radiated at the distance of putting apart from the output shaft of gear-box rotation on the laser pickoff and is designated as L2; Two laser beam irradiations equate with the distance of generating laser on tire up and down at the range difference Δ of the point of irradiation on the laser pickoff; Note the angle that motor rotates through by control program, angle and tyre toe-out angle γ complementation between this moment laser pickoff and the vehicle body, i.e. α=90 °-γ;
Step 2) if the tyre toe-out angle changes, laser pickoff obtains the change of laser beam drop point site, and then system-computed drop point distance according to turning to and step angle of assessment rules decision motor, and then changes the angle of laser pickoff;
The step 3) system to drop point variation carrying out the again computational discrimination of monitoring laser beam, up to declaring to such an extent that laser pickoff is parallel with tire, regulates the laser pickoff program and stops again, draws the camber angle that tire reaches again.
3. the method at measuring vehicle tyre toe-out according to claim 2 angle is characterized in that said step 2) in comprise the following steps: that specifically tyre toe-out angle flare forward becomes big; Laser beam is moved on the position of point of irradiation on the laser pickoff; L1, L2 diminishes, but the range difference Δ of two illuminated laser spot becomes big; Stepper motor is rotated counterclockwise, and then dwindles the variation of Δ;
When comprising the following steps: specifically in the said step 3) that range difference Δ when two illuminated laser spot reaches Δ=D once more, stepper motor quits work; Laser pickoff is parallel with tire once more, deducts the angle gauge that stepper motor rotates through by original camber angle and calculates tyre toe-out angle this moment.
4. the method at measuring vehicle tyre toe-out according to claim 2 angle is characterized in that said step 2) in comprise the following steps: that specifically introversion negative sense in tyre toe-out angle becomes big; Position on the laser pickoff of illuminated laser spot moves down; L1, L2 become big, and it is big that the range difference Δ of two illuminated laser spot becomes; Stepper motor turns clockwise, and then dwindles the variation of Δ;
When comprising the following steps: specifically in the said step 3) that range difference Δ when two illuminated laser spot reaches Δ=D once more, stepper motor quits work; Laser pickoff is parallel with tire once more, adds that by original camber angle angle gauge that stepper motor rotates through calculates tyre toe-out angle this moment.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010101393565A CN101813466B (en) | 2010-04-01 | 2010-04-01 | Device and method for measuring outer inclination angle of vehicle tyre |
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| CN2010101393565A CN101813466B (en) | 2010-04-01 | 2010-04-01 | Device and method for measuring outer inclination angle of vehicle tyre |
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| CN101813466A CN101813466A (en) | 2010-08-25 |
| CN101813466B true CN101813466B (en) | 2012-05-23 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101893425B (en) * | 2010-07-09 | 2012-06-27 | 清华大学 | Visual full-parameter wheel alignment detection system and method based on linear array images |
| CN103063188A (en) * | 2013-01-01 | 2013-04-24 | 胡竟湘 | Method and device of elbow pipe angle detection |
| CN103499311B (en) * | 2013-09-23 | 2016-03-02 | 安徽农业大学 | A kind of automobile camber angle method for real-time measurement in the process of moving |
| CN104625439B (en) * | 2014-12-31 | 2016-05-25 | 中国航空工业集团公司北京航空制造工程研究所 | The position-measurement device of cross slid platform on double laser beams welding machine tool |
| CN106390472B (en) * | 2016-09-06 | 2019-03-05 | 东莞美驰图实业有限公司 | A kind of electric vehicle |
| CN110500938A (en) * | 2019-07-04 | 2019-11-26 | 大乘汽车集团有限公司 | A kind of camber angle measuring method and its measuring device |
| CN113324768A (en) * | 2021-04-29 | 2021-08-31 | 浙江经济职业技术学院 | Wheel swing detection device |
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| CN1157078A (en) * | 1995-05-24 | 1997-08-13 | 佛利自动化公司 | Intelligent sensor for optical wheel alignment |
| CN2911640Y (en) * | 2006-01-24 | 2007-06-13 | 曾广歆 | Autocar 4-wheel laser positioner |
| CN101178305A (en) * | 2006-10-25 | 2008-05-14 | 弥荣精机株式会社 | Wheel positioning measuring device |
| CN101377452A (en) * | 2007-08-29 | 2009-03-04 | 史考特·马修·威士比 | Apparatus and method for wheel alignment |
| CN101469983A (en) * | 2007-12-28 | 2009-07-01 | 上海通运汽车科技有限公司 | Method and device for detecting vehicle front wheel angle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10293017A (en) * | 1997-04-17 | 1998-11-04 | Saginomiya Seisakusho Inc | Device and method for measuring wheel alignment |
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|---|---|---|---|---|
| CN1157078A (en) * | 1995-05-24 | 1997-08-13 | 佛利自动化公司 | Intelligent sensor for optical wheel alignment |
| CN2911640Y (en) * | 2006-01-24 | 2007-06-13 | 曾广歆 | Autocar 4-wheel laser positioner |
| CN101178305A (en) * | 2006-10-25 | 2008-05-14 | 弥荣精机株式会社 | Wheel positioning measuring device |
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