CN104677649B - Tire mechanical property intelligent detection device and detection method thereof - Google Patents
Tire mechanical property intelligent detection device and detection method thereof Download PDFInfo
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- 230000005484 gravity Effects 0.000 claims abstract description 25
- 238000012360 testing method Methods 0.000 claims abstract description 22
- 238000006073 displacement reaction Methods 0.000 claims abstract description 8
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- 239000000463 material Substances 0.000 claims description 11
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
- B60C23/06—Signalling devices actuated by deformation of the tyre, e.g. tyre mounted deformation sensors or indirect determination of tyre deformation based on wheel speed, wheel-centre to ground distance or inclination of wheel axle
- B60C23/066—Signalling devices actuated by deformation of the tyre, e.g. tyre mounted deformation sensors or indirect determination of tyre deformation based on wheel speed, wheel-centre to ground distance or inclination of wheel axle by monitoring wheel-centre to ground distance
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Abstract
本发明公开了一种轮胎力学特性的智能检测装置及其检测方法，该检测装置包括轮胎、轮辋、重力传感器、摄像头以及标记点；所述重力传感器和摄像头设置在轮辋的同一周向位置上，所述标记点位于轮胎的内侧表面，所述摄像头正对标记点的区域设置。该检测方法采用神经网络算法，当工作轮胎发生形变时，利用摄像头采集荧光点的位移变化，通过神经网络算法求得轮胎力，不需要六分力传感器测量转鼓试验台上的切向力、轴向力、垂向力、旋转力矩、侧倾力矩和横摆力矩来实现轮胎纵向力、侧向力、垂直载荷、旋转力矩、侧倾力矩和回正力矩的求解，具有结构简单、紧凑，操作简便和成本低等优点。
The invention discloses an intelligent detection device and a detection method for tire mechanical properties. The detection device includes a tire, a rim, a gravity sensor, a camera and a marking point; the gravity sensor and the camera are arranged at the same circumferential position of the rim, The marking point is located on the inner surface of the tire, and the camera is set facing the area of the marking point. The detection method uses a neural network algorithm. When the working tire is deformed, the camera is used to collect the displacement change of the fluorescent point, and the tire force is obtained through the neural network algorithm. There is no need for a six-component force sensor to measure the tangential force on the drum test bench. Axial force, vertical force, rotational moment, rolling moment and yaw moment to realize the solution of tire longitudinal force, lateral force, vertical load, rotational moment, rolling moment and aligning moment, with simple structure, Compact, easy to operate and low cost.
Description
技术领域technical field
本发明涉及轮胎力学特性测量领域，具体的说涉及一种测量轮胎力学特性智能系统。The invention relates to the field of measurement of tire mechanical properties, in particular to an intelligent system for measuring tire mechanical properties.
背景技术Background technique
现有的汽车动力学动态特性测试系统多是在车辆底盘测功机的基础上加附属设备或者基于一体化转鼓的汽车动力学动态特性测试系统，采用模块化设计，由测控系统和若干个一体化转鼓组成的改进系统，基本原理是用转鼓模拟路面，把汽车的驱动轮放在转鼓上，带动转鼓转动，控制给转鼓施加阻力，模拟不同的行驶阻力，通过传感器计算轮胎力，其机构复杂，战地面积大，试验条件局限性大，生产制造成本也高等缺点。Most of the existing test systems for vehicle dynamics and dynamic characteristics are based on vehicle chassis dynamometers with auxiliary equipment or integrated drum-based test systems for vehicle dynamics and dynamic characteristics. The improved system composed of an integrated drum, the basic principle is to use the drum to simulate the road surface, put the driving wheel of the car on the drum, drive the drum to rotate, control the resistance to the drum, simulate different driving resistance, and calculate through the sensor Tire force, its mechanism is complicated, and field area is big, and test condition limitation is big, and manufacturing cost is also high shortcoming.
发明内容Contents of the invention
为了克服上述现有技术的不足，本发明提供了一种轮胎力学特性的智能测量系统及方法，该系统通过轮胎内表面标记点的位移变化，采用神经网络算法，计算出轮胎力，没有采用转鼓试验台和六分力传感器，结构简单、紧凑，操作局限性小，成本低。In order to overcome the deficiencies of the prior art above, the present invention provides an intelligent measurement system and method for tire mechanical properties. The system calculates the tire force by using the neural network algorithm through the displacement changes of the marking points on the inner surface of the tire. The drum test bench and six-component force sensor have simple and compact structure, small operation limitations and low cost.
本发明所采用的技术方案是：该检测装置包括轮胎、轮辋、重力传感器、摄像头以及标记点；所述重力传感器和摄像头设置在轮辋的同一周向位置上，所述标记点位于轮胎的内侧表面，所述摄像头正对标记点的区域设置。The technical solution adopted in the present invention is: the detection device includes a tire, a rim, a gravity sensor, a camera and a marking point; the gravity sensor and the camera are arranged at the same circumferential position of the rim, and the marking point is located on the inner surface of the tire , the area setting where the camera is facing the marker.
所述的重力传感器和摄像头构成标记点位置记录系统，该记录系统在轮辋周向内表面与轮辋固定，重力传感器可以根据路面坡度确定触发摄像头拍照的时间，完成对轮胎接地印迹区域内的标记点的拍照。The gravity sensor and the camera constitute a marking point position recording system, the recording system is fixed on the inner surface of the rim circumference and the rim, the gravity sensor can determine the time to trigger the camera to take pictures according to the road surface slope, and complete the marking point in the tire ground contact area of taking pictures.
所述的标记点是采用发光材料的发光点，可以是规则形状也可以是非规则形状，所述标记点是在轮胎内侧标记的长方形网格状结构采集区域，标记点之间的长度和宽度间距是2cm、宽度方向标记八个点，长度方向标记十二个点，所述摄像头固定在正对标记点区域的轮辋内表面。The marking points are luminescent points using luminescent materials, which can be regular or irregular shapes. The marking points are rectangular grid-like structure collection areas marked on the inside of the tire. The length and width spacing between the marking points It is 2cm, eight points are marked in the width direction, and twelve points are marked in the length direction, and the camera is fixed on the inner surface of the rim facing the marked point area.
所述接地印迹区是路面和轮胎的接触区域。The contact patch area is the contact area between the road surface and the tire.
该方法包括以下步骤：The method includes the following steps:
①、在轮胎内侧采用发光材料标记出长方形网格状采集区域标记点，在轮胎内部轮辋上放置重力传感器和摄像头，重力传感器和摄像头正对采集区域标记点，所述带有采集区域标记点的轮胎、轮辋、重力传感器和摄像头构成轮胎力学特性智能检测装置；①. On the inside of the tire, use luminescent material to mark the rectangular grid-shaped collection area mark points. Place the gravity sensor and camera on the inner rim of the tire. The gravity sensor and camera are facing the collection area mark points. Tires, rims, gravity sensors and cameras constitute an intelligent detection device for tire mechanical properties;
②、进行采集区域标记点位置与轮胎力学特性间关系的测试，测试方法是将步骤①所述轮胎力学特性智能检测装置安装在轮胎力学特性试验台上，在Fz=0的轮胎悬空空载状态下，利用摄像头采集标记点图像，记录保留摄像头拍照的标记点的图像A及此时轮胎的六分力特性，所述Fz是轮胎力学特性试验台施加在轮胎上的垂直载荷；②. Test the relationship between the position of the mark point in the collection area and the mechanical properties of the tire. The test method is to install the intelligent detection device for the mechanical properties of the tire described in step ① on the tire mechanical properties test bench, in the tire suspension and no-load state of Fz=0 Next, use the camera to collect the mark point image, record and keep the image A of the mark point photographed by the camera and the six-component force characteristic of the tire at this time, and the Fz is the vertical load applied to the tire by the tire mechanical characteristic test bench;
③、在轮胎力学特性试验台上对轮胎施加垂直载荷Fz并使其运动，当重力传感器处于轮辋的正下方时，触发摄像头进行拍照，此时采集到施加此垂直载荷Fz的负载状态下的标记点图像B，记录并保留；③. Apply a vertical load Fz to the tire on the tire mechanical characteristics test bench and make it move. When the gravity sensor is directly below the rim, the camera is triggered to take pictures. At this time, the mark under the load state of the vertical load Fz is collected Point image B, record and save;
④、在步骤②所述图像A和步骤③所述图像B上分别以图像中心点作为坐标原点建立直角坐标系，采用图像处理技术识别出标记点在选定坐标系下的坐标值，用图像B上各发光材料标记点的坐标值减去图像A上对应各发光材料标记点的坐标值，记录各个标记点位移变量值；4. On the image A described in step 2 and the image B described in step 3, set up a Cartesian coordinate system with the center point of the image as the origin of the coordinates, and use image processing technology to identify the coordinate values of the marker points in the selected coordinate system, and use the image Subtract the coordinate value of each luminescent material marking point on image A from the coordinate value of each luminescent material marking point on B, and record the displacement variable value of each marking point;
⑤、利用人工智能算法，如神经网络算法确定标记点坐标与轮胎六分力特性间非线性映射关系，可得到标记点位移变量值和所施加的垂直载荷的大小建立函数关系，通过所述函数关系算出Fz；⑤. Using artificial intelligence algorithms, such as neural network algorithms to determine the nonlinear mapping relationship between the coordinates of the marker points and the six-component force characteristics of the tire, the variable value of the marker point displacement and the magnitude of the applied vertical load can be obtained to establish a functional relationship. Through the function The relationship calculates Fz;
⑥、所述轮胎力学特性试验台上轮胎所受其他方向的载荷可根据步骤⑤所确定的标记点坐标与轮胎的六分力特性间非线性映射关系，得到所测试轮胎的力学特性。⑥. For the loads in other directions on the tire mechanical characteristic test bench, the mechanical characteristics of the tested tire can be obtained according to the non-linear mapping relationship between the coordinates of the marked points determined in step ⑤ and the six-component force characteristic of the tire.
本发明具有以下优点和积极效果：The present invention has the following advantages and positive effects:
1、本发明由标记系统在轮胎内表面标记清晰若干可见荧光点，荧光点数量和布局根据车型确定，摄像头固定在轮辋上，轮胎工作变形时可准确拍摄轮胎内标记点的变化。1. In the present invention, the marking system clearly marks several visible fluorescent points on the inner surface of the tire. The number and layout of the fluorescent points are determined according to the vehicle model. The camera is fixed on the rim, and the change of the marking points inside the tire can be accurately photographed when the tire is deformed.
2、本发明通过轮胎形变，结合神经网络算法准确的计算出轮胎力，与传统轮胎力测量方法相比，没有采用转鼓试验台和六分力传感器，测量转鼓试验台上的切向力、轴向力、垂向力、旋转力矩、侧倾力矩和横摆力矩来实现轮胎纵向力、侧向力、垂直载荷、旋转力矩、侧倾力矩和回正力矩的求解，具有结构简单、装置紧凑，操作方便和成本低等特点。2. The present invention accurately calculates the tire force through the tire deformation combined with the neural network algorithm. Compared with the traditional tire force measurement method, the drum test bench and six-component force sensor are not used to measure the tangential force on the drum test bench , axial force, vertical force, rotational moment, rolling moment and yaw moment to realize the solution of tire longitudinal force, lateral force, vertical load, rotational moment, rolling moment and righting moment, with a simple structure , compact device, convenient operation and low cost.
附图说明Description of drawings
图1是本发明轮胎力学特性智能检测装置结构示意图。Fig. 1 is a structural schematic diagram of an intelligent detection device for tire mechanical properties of the present invention.
图2是本发明轮胎上标记点布局示意图。Fig. 2 is a schematic diagram of the layout of marking points on the tire of the present invention.
图3是本发明轮胎上摄像头及重力传感器设置位置结构示意图。Fig. 3 is a schematic diagram of the installation position of the camera and the gravity sensor on the tire of the present invention.
图4是本发明轮胎上路面和轮胎接地印迹区示意图。Fig. 4 is a schematic diagram of the road surface and the tire contact footprint area of the tire of the present invention.
附图标记：轮胎1，轮辋2，重力传感器3，摄像头4，路面5，接地印迹区6，以及标记点7。Reference numerals: tire 1 , rim 2 , gravity sensor 3 , camera 4 , road surface 5 , contact patch 6 , and marking point 7 .
具体实施方式detailed description
由附图1、2、3、4所示：该检测装置包括轮胎1、轮辋2、重力传感器3、摄像头4以及标记点7；所述重力传感器3和摄像头4设置在轮辋2的同一周向位置上，所述标记点7位于轮胎1的内侧表面，所述摄像头4正对标记点7的区域设置。Shown by accompanying drawings 1, 2, 3, 4: the detection device includes a tire 1, a rim 2, a gravity sensor 3, a camera 4 and a marking point 7; In terms of position, the marking point 7 is located on the inner surface of the tire 1 , and the camera 4 is set facing the area of the marking point 7 .
所述的重力传感器3和摄像头4构成标记点位置记录系统，该记录系统在轮辋2周向内表面与轮辋2固定，重力传感器3可以根据路面坡度确定触发摄像头4拍照的时间，完成对轮胎1接地印迹区域内的标记点7的拍照。The gravity sensor 3 and the camera 4 constitute a mark point position recording system, the recording system is fixed on the inner surface of the rim 2 and the rim 2, the gravity sensor 3 can determine the time to trigger the camera 4 to take pictures according to the road surface slope, and complete the inspection of the tire 1 Photograph of marked point 7 within the ground print area.
所述的标记点7是采用发光材料的发光点，可以是规则形状也可以是非规则形状，所述标记点7是在轮胎内侧标记的长方形网格状结构采集区域，标记点7之间的长度和宽度间距是2cm、宽度方向标记八个点，长度方向标记十二个点，所述摄像头4固定在正对标记点区域的轮辋2内表面。The marking point 7 is a luminescent point using a luminescent material, which can be a regular shape or an irregular shape. The marking point 7 is a rectangular grid-like structure collection area marked on the inside of the tire. The length between the marking points 7 And the width spacing is 2cm, eight points are marked in the width direction, and twelve points are marked in the length direction, and the camera 4 is fixed on the inner surface of the rim 2 facing the marked point area.
所述接地印迹区6是路面5和轮胎1的接触区域。The contact patch 6 is the contact area between the road surface 5 and the tire 1 .
该方法包括以下步骤：The method includes the following steps:
①、在轮胎内侧采用发光材料标记出长方形网格状采集区域标记点，在轮胎内部轮辋上放置重力传感器和摄像头，重力传感器和摄像头正对采集区域标记点，所述带有采集区域标记点的轮胎、轮辋、重力传感器和摄像头构成轮胎力学特性智能检测装置；①. On the inside of the tire, use luminescent material to mark the rectangular grid-shaped collection area mark points. Place the gravity sensor and camera on the inner rim of the tire. The gravity sensor and camera are facing the collection area mark points. Tires, rims, gravity sensors and cameras constitute an intelligent detection device for tire mechanical properties;
②、进行采集区域标记点位置与轮胎力学特性间关系的测试，测试方法是将步骤①所述轮胎力学特性智能检测装置安装在轮胎力学特性试验台上，在Fz=0的轮胎悬空空载状态下，利用摄像头采集标记点图像，记录保留摄像头拍照的标记点的图像A及此时轮胎的六分力特性，所述Fz是轮胎力学特性试验台施加在轮胎上的垂直载荷；②. Test the relationship between the position of the mark point in the collection area and the mechanical properties of the tire. The test method is to install the intelligent detection device for the mechanical properties of the tire described in step ① on the tire mechanical properties test bench, in the tire suspension and no-load state of Fz=0 Next, use the camera to collect the mark point image, record and keep the image A of the mark point photographed by the camera and the six-component force characteristic of the tire at this time, and the Fz is the vertical load applied to the tire by the tire mechanical characteristic test bench;
③、在轮胎力学特性试验台上对轮胎施加垂直载荷Fz并使其运动，当重力传感器处于轮辋的正下方时，触发摄像头进行拍照，此时采集到施加此垂直载荷Fz的负载状态下的标记点图像B，记录并保留；③. Apply a vertical load Fz to the tire on the tire mechanical characteristics test bench and make it move. When the gravity sensor is directly below the rim, the camera is triggered to take pictures. At this time, the mark under the load state of the vertical load Fz is collected Point image B, record and save;
④、在步骤②所述图像A和步骤③所述图像B上分别以图像中心点作为坐标原点建立直角坐标系，采用图像处理技术识别出标记点在选定坐标系下的坐标值，用图像B上各发光材料标记点的坐标值减去图像A上对应各发光材料标记点的坐标值，记录各个标记点位移变量值；4. On the image A described in step 2 and the image B described in step 3, set up a Cartesian coordinate system with the center point of the image as the origin of the coordinates, and use image processing technology to identify the coordinate values of the marker points in the selected coordinate system, and use the image Subtract the coordinate value of each luminescent material marking point on image A from the coordinate value of each luminescent material marking point on B, and record the displacement variable value of each marking point;
⑤、利用人工智能算法，如神经网络算法确定标记点坐标与轮胎六分力特性间非线性映射关系，可得到标记点位移变量值和所施加的垂直载荷的大小建立函数关系，通过所述函数关系算出Fz；⑤. Using artificial intelligence algorithms, such as neural network algorithms to determine the nonlinear mapping relationship between the coordinates of the marker points and the six-component force characteristics of the tire, the variable value of the marker point displacement and the magnitude of the applied vertical load can be obtained to establish a functional relationship. Through the function The relationship calculates Fz;
⑥、所述轮胎力学特性试验台上轮胎所受其他方向的载荷可根据步骤⑤所确定的标记点坐标与轮胎的六分力特性间非线性映射关系，得到所测试轮胎的力学特性。⑥. For the loads in other directions on the tire mechanical characteristic test bench, the mechanical characteristics of the tested tire can be obtained according to the non-linear mapping relationship between the coordinates of the marked points determined in step ⑤ and the six-component force characteristic of the tire.
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| CN105172494B (en) * | 2015-09-18 | 2018-06-05 | 浙江宇视科技有限公司 | A kind of tire safety detection method and tire safety detecting system |
| CN106767434B (en) * | 2016-12-24 | 2023-03-28 | 安徽佳通乘用子午线轮胎有限公司 | Rolling tire tread slippage measurement system and tread slippage measurement method |
| CN110462363B (en) * | 2017-03-28 | 2021-07-06 | 株式会社神户制钢所 | Tire testing method and tire testing device |
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| CN109447959A (en) * | 2018-10-17 | 2019-03-08 | 东南大学 | Tire static load mark measurement method |
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