CN105035091A - Detection method and device for car body posture variation - Google Patents

Abstract

The embodiment of the invention discloses a detection method for car body posture variation. The vertical displacement variation quantity delta x of a suspension swing arm is collected through a first displacement sensor connected with the suspension swing arm of a car body; the suspension swing arm is connected with the car body through a ball pair; the first pitch angle beta 1 and the first pitch angle variation quantity delta beta 1 of the suspension swing arm are calculated according to the length L of the suspension swing arm, the vertical distance x between the horizontal planes where the suspension swing arm and the ball pair are located and the vertical displacement variation quantity delta x; the first pitch angle beta 1 is the included angle of the suspension swing arm and the horizontal plane; the first pitch posture variation of the car body is judged according to the first pitch angle beta 1 and the first pitch angle variation quantity delta beta 1 of the suspension swing arm. According to the detection method and device, the first pitch angle variation quantity is calculated according to the vertical displacement variation quantity, collected by the first displacement sensor, of the suspension swing arm, the first pitch posture variation of the car body under various conditions can be detected, therefore, the limitation of car body posture variation detection can be lowered, the adaptability is improved, and the requirements of safe drive are met.

Description

A kind of method of inspection of attitude changing of bodywork and device

Technical field

The present invention relates to electronic technology field, particularly relate to a kind of method of inspection and device of attitude changing of bodywork.

Background technology

Along with the development of automotive electronic technology, safe driving, intelligent driving propose more and more higher requirement to vehicle electronics and structure design of automobile field, and wherein height sensor plays a part very crucial wherein.

The effect of height sensor is the change detecting body gesture.Change because of body mounting pendulum arm angle can reflect the change of attitude of bodywork, so common way adopts the acceleration pick-up be arranged in body mounting swing arm to gather the physical signalling of the change of body mounting pendulum arm angle in prior art, be translated into electric signal, be supplied to body control system, for controlling to adjust the angle of automobile front, make no matter how attitude of bodywork angle changes, the distance of irradiation can remain unchanged, thus is conducive to safe driving.

But, what detect body gesture change employing in prior art is acceleration pick-up, car body is needed to produce acceleration movement, and when car body is in the situations such as static, uniform movement, also can there is the attitudes vibration such as pitching, canting in vehicle body, and prior art cannot detect the attitudes vibration of the situation under bodies such as static, uniform movement due to Uneven road, make body gesture change the limitation detected too high, poor for applicability, be unfavorable for safe driving.

Summary of the invention

Embodiments provide a kind of method of inspection and device of attitude changing of bodywork, for detecting the change of car body posture under the various states such as vehicle stationary, uniform movement, variable-speed motion, reduce the limitation that body gesture change detects, improve applicability, meet the needs of safe driving.

For solving the problems of the technologies described above, the embodiment of the present invention provides following technical scheme:

A method of inspection for attitude changing of bodywork, comprising:

The vertical displacement variation delta x of described suspension swing arm is gathered by the first displacement pickup be connected with the suspension swing arm of vehicle body; Described suspension swing arm is connected with described vehicle body by ball pair;

The first pitch angle β 1 and the first pitch angle variation delta β 1 of described suspension swing arm is calculated according to the vertical distance x between the horizontal surface at the secondary place of the length L of described suspension swing arm, described suspension swing arm and described ball and described vertical displacement variation delta x; Described first pitch angle β 1 is the angle of described suspension swing arm and described horizontal surface;

The first pitching attitude change of described vehicle body is judged according to the first pitch angle β 1 and the first pitch angle variation delta β 1 of described suspension swing arm.

Preferably, vertical distance x between the horizontal surface at the secondary place of the described length L according to described suspension swing arm, described suspension swing arm and described ball and described vertical displacement variation delta x calculates the first pitch angle β 1 and the first pitch angle variation delta β 1 of described suspension swing arm, comprising:

$\mathrm{\β}1=arcsin\frac{x}{L};$

$\mathrm{\Δ}\mathrm{\β}1=arcsin\frac{x+\mathrm{\Δ}x}{L}-arcsin\frac{x}{L}.$

Preferably, also comprise:

The side travel variation delta z of described suspension swing arm is gathered by the second displacement sensor be connected with described suspension swing arm;

The first angle of heel γ and the first angle of heel variation delta γ of described suspension swing arm is calculated according to the lateral distance z between first vertical plane at the secondary place of the length L of described suspension swing arm, described suspension swing arm and described ball and described side travel variation delta z; Described first angle of heel γ is the angle of described suspension swing arm and described first vertical plane, and described first vertical plane and described horizontal surface perpendicular;

The canting attitude change of described vehicle body is judged according to the first angle of heel γ of described suspension swing arm and the first angle of heel variation delta γ.

Preferably, lateral distance z between first vertical plane at the secondary place of the described length L according to described suspension swing arm, described suspension swing arm and described ball and described side travel variation delta z calculates the first angle of heel γ and the first angle of heel variation delta γ of described suspension swing arm, comprising:

$\mathrm{\γ}=arcsin\frac{z}{L};$

$\mathrm{\Δ}\mathrm{\γ}=arcsin\frac{z+\mathrm{\Δ}x}{L}-arcsin\frac{z}{L}.$

Preferably, also comprise:

The horizontal displacement variation delta y of described suspension swing arm is gathered by the triple motion sensor be connected with described suspension swing arm;

The second pitch angle β 2 and the second pitch angle variation delta β 2 of described suspension swing arm is calculated according to the horizontal throw y between second vertical plane at the secondary place of the length L of described suspension swing arm, described suspension swing arm and described ball and described horizontal displacement variation delta y; Described second pitch angle β 2 is the angle of described suspension swing arm and described second vertical plane, described second vertical plane and described horizontal surface perpendicular, and described second vertical plane and described first vertical plane perpendicular;

The second pitching attitude change of described vehicle body is judged according to the second pitch angle β 2 and the second pitch angle variation delta β 2 of described suspension swing arm.

Preferably, horizontal throw y between second vertical plane at the secondary place of the described length L according to described suspension swing arm, described suspension swing arm and described ball and described horizontal displacement variation delta y calculates the second pitch angle β 2 and the second pitch angle variation delta β 2 of described suspension swing arm, comprising:

$\mathrm{\β}2=arccos\frac{y}{L};$

$\mathrm{\Δ}\mathrm{\β}2=arccos\frac{y-\mathrm{\Δ}y}{L}-arccos\frac{y}{L}.$

Preferably, also comprise:

The average pitch angle β of described suspension swing arm and average pitch angle variation delta β is calculated according to the second pitch angle β 2 and the second pitch angle variation delta β 2 of the first pitch angle β 1, first pitch angle variation delta β 1 of described suspension swing arm, described suspension swing arm; Described average pitch angle β is the aviation value of described first pitch angle β 1 and described second pitch angle β 2, and described average pitch angle variation delta β is the aviation value of described first pitch angle variation delta β 1 and described second pitch angle variation delta β 2;

The pitching attitude change of described vehicle body is judged according to the average pitch angle β of described suspension swing arm and average pitch angle variation delta β.

A detecting device for attitude changing of bodywork, comprising:

Moving sets, movement and revolute pair combination, right angle link component, treater and the first displacement pickup be arranged on described moving sets;

Described moving sets is fixed on vehicle body, slide with described moving sets and be connected in one end of described right angle link component, other one end of described right angle link component is combined to slide with described movement and revolute pair and is connected, described movement is connected with suspension swing arm with revolute pair combination, and described suspension swing arm is connected with described vehicle body by ball pair;

Described first displacement pickup is for gathering the vertical displacement variation delta x of described suspension swing arm;

Described treater for calculating the first pitch angle β 1 and the first pitch angle variation delta β 1 of described suspension swing arm according to the vertical distance x between the horizontal surface at the secondary place of the length L of described suspension swing arm, described suspension swing arm and described ball and described vertical displacement variation delta x, and judges the first pitching attitude change of described vehicle body according to the first pitch angle β 1 and the first pitch angle variation delta β 1 of described suspension swing arm; Described first pitch angle β 1 is the angle of described suspension swing arm and described horizontal surface.

Preferably, also comprise:

Be arranged on the second displacement sensor in described movement and revolute pair combination;

Described movement and revolute pair are combined through slide shaft and slide with described suspension swing arm and be connected;

Described second displacement sensor is for gathering the side travel variation delta z of described suspension swing arm;

Described treater also for the secondary place of the length L according to described suspension swing arm, described suspension swing arm and described ball the first vertical plane between lateral distance z and described side travel variation delta z calculate the first angle of heel γ and the first angle of heel variation delta γ of described suspension swing arm, and judge the canting attitude change of described vehicle body according to the first angle of heel γ of described suspension swing arm and the first angle of heel variation delta γ; Described first angle of heel γ is the angle of described suspension swing arm and described first vertical plane, and described first vertical plane and described horizontal surface perpendicular.

Preferably, also comprise:

Be arranged on the triple motion sensor in described movement and revolute pair combination;

Described movement and revolute pair are combined through slide shaft and slide with described suspension swing arm and be connected;

Described triple motion sensor is for gathering the horizontal displacement variation delta y of described suspension swing arm;

Described treater also for the secondary place of the length L according to described suspension swing arm, described suspension swing arm and described ball the second vertical plane between horizontal throw y and described horizontal displacement variation delta y calculate the second pitch angle β 2 and the second pitch angle variation delta β 2 of described suspension swing arm, and judge the second pitching attitude change of described vehicle body according to the second pitch angle β 2 and the second pitch angle variation delta β 2 of described suspension swing arm; Described second pitch angle β 2 is the angle of described suspension swing arm and described second vertical plane, described second vertical plane and described horizontal surface perpendicular, and described second vertical plane and described first vertical plane perpendicular;

Described treater is also for calculating the average pitch angle β of described suspension swing arm and average pitch angle variation delta β according to the second pitch angle β 2 and the second pitch angle variation delta β 2 of the first pitch angle β 1, first pitch angle variation delta β 1 of described suspension swing arm, described suspension swing arm; Described average pitch angle β is the aviation value of described first pitch angle β 1 and described second pitch angle β 2, and described average pitch angle variation delta β is the aviation value of described first pitch angle variation delta β 1 and described second pitch angle variation delta β 2; The pitching attitude change of described vehicle body is judged according to the average pitch angle β of described suspension swing arm and average pitch angle variation delta β.

Therefore the method for inspection of the attitude changing of bodywork that the application provides, gathers the vertical displacement variation delta x of described suspension swing arm by the first displacement pickup be connected with the suspension swing arm of vehicle body; Described suspension swing arm is connected with described vehicle body by ball pair; The first pitch angle β 1 and the first pitch angle variation delta β 1 of described suspension swing arm is calculated according to the vertical distance x between the horizontal surface at the secondary place of the length L of described suspension swing arm, described suspension swing arm and described ball and described vertical displacement variation delta x; Described first pitch angle β 1 is the angle of described suspension swing arm and described horizontal surface; The first pitching attitude change of described vehicle body is judged according to the first pitch angle β 1 and the first pitch angle variation delta β 1 of described suspension swing arm.Visible, the application's scheme gathers suspension swing arm vertical displacement variable quantity by the first displacement pickup, and then calculate the first pitch angle variable quantity, and due to the physical structure of vehicle body and suspension swing arm, no matter vehicle stationary, at the uniform velocity, speed change, loading weight or other reason cause attitude changing of bodywork, as long as attitude of bodywork changes, the vertical displacement of suspension swing arm and pitch angle will inevitably change.Therefore, the vertical displacement variable quantity being gathered suspension swing arm by the first displacement pickup calculates the first pitch angle variable quantity, just can inspection vehicle body the first pitching attitude change in all cases, thus the limitation of body gesture change detection can be reduced, improve applicability, meet the needs of safe driving.

Accompanying drawing explanation

In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.

The schematic flow sheet of the method for inspection of a kind of attitude changing of bodywork that Fig. 1 provides for the application;

Fig. 2 is the principle schematic of the method for inspection of a kind of attitude changing of bodywork that the application provides;

The schematic flow sheet of the method for inspection of the another kind of attitude changing of bodywork that Fig. 3 provides for the application;

Fig. 4 is the principle schematic of the method for inspection of the another kind of attitude changing of bodywork that the application provides;

The schematic flow sheet of the method for inspection of another attitude changing of bodywork that Fig. 5 provides for the application;

Fig. 6 is the principle schematic of the method for inspection of another attitude changing of bodywork that the application provides;

Fig. 7 is the principle schematic of the method for inspection of another attitude changing of bodywork that the application provides;

Fig. 8 is the structural representation of the detecting device of a kind of attitude changing of bodywork that the application provides.

Detailed description of the invention

For making goal of the invention of the present invention, feature, advantage can be more obvious and understandable, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, and not all embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.

Below in conjunction with accompanying drawing, the application's scheme is described in detail:

The schematic flow sheet of the method for inspection of a kind of attitude changing of bodywork that Fig. 1 provides for the application;

Please refer to shown in Fig. 1, the method for inspection that the embodiment of the present application provides, comprising:

S100: the vertical displacement variation delta x being gathered described suspension swing arm by the first displacement pickup be connected with the suspension swing arm of vehicle body; Described suspension swing arm is connected with described vehicle body by ball pair;

S200: the first pitch angle β 1 and the first pitch angle variation delta β 1 calculating described suspension swing arm according to the vertical distance x between the horizontal surface at the secondary place of the length L of described suspension swing arm, described suspension swing arm and described ball and described vertical displacement variation delta x;

In the embodiment of the present application, described first pitch angle β 1 is the angle of described suspension swing arm and described horizontal surface;

In the embodiment of the present application, because the structure of vehicle body and suspension swing arm is fixed, when being in stabilized conditions, the vertical distance x between the horizontal surface at the spacing of suspension swing arm and ball pair and the secondary place of the length L of suspension swing arm, suspension swing arm and described ball is can predetermined fixed value.

When the pitching posture of vehicle body changes, suspension swing arm can rotate around ball pair, and now the first pitch angle β 1 can change, and the first displacement pickup be arranged on suspension swing arm can produce displacement in the vertical direction.

In the embodiment of the present application, when body gesture changes, if the vertical displacement variable quantity that the first pitch angle variable quantity between suspension swing arm and horizontal surface is Δ β 1, first displacement pickup produces displacement is in the vertical direction Δ x.

Fig. 2 is the principle schematic of the method for inspection of a kind of attitude changing of bodywork that the application provides;

Please refer to the structure shown in Fig. 2, the relation of the rotation and the displacement in vertical direction of the first displacement pickup that body gesture are changed the suspension swing arm caused is equivalent to right-angled triangle, it is thick-and-thin for wherein rotating front-rear triangular shape hypotenuse length L at suspension swing arm, change only have angle β 1 and square edge x.

Because the structure of suspension swing arm is fixed, vertical distance x between the horizontal surface at the then spacing of suspension swing arm and ball pair and the length L of suspension swing arm and suspension swing arm and the secondary place of described ball is known, only needs to know that angle beta 1 and variation delta β 1 can obtain the first pitch attitude change of vehicle body.

According to triangular structure of right angle and the trigonometric function relation of Fig. 2, collected the variation delta x of displacement variable and square edge by the first displacement pickup, then in conjunction with hypotenuse length L and square edge x, just can extrapolate following computing formula:

$sin\mathrm{\β}1=\frac{x}{L};$

$sin(\mathrm{\β}1+\mathrm{\Δ}\mathrm{\β}1)=\frac{x+\mathrm{\Δ}x}{L}.$

Then, angle beta 1 and variation delta β 1 are:

$\mathrm{\β}1=arcsin\frac{x}{L};$

$\mathrm{\Δ}\mathrm{\β}1=arcsin\frac{x+\mathrm{\Δ}x}{L}-arcsin\frac{x}{L}.$

S300: the first pitching attitude change judging described vehicle body according to the first pitch angle β 1 and the first pitch angle variation delta β 1 of described suspension swing arm.

In the embodiment of the present application, when after the first pitch angle β 1 and the first pitch angle variation delta β 1 calculating suspension swing arm, the pitching amplitude of vehicle body just can be judged according to the first pitch angle β 1 and the first pitch angle variation delta β 1 of suspension swing arm, i.e. the first pitching attitude change of described vehicle body, then the angle of automobile front just can be adjusted according to this first pitching attitude change, the distance of irradiation is remained unchanged, thus is conducive to safe driving.

Therefore the method for inspection of the attitude changing of bodywork that the embodiment of the present application provides, gathers the vertical displacement variation delta x of described suspension swing arm by the first displacement pickup be connected with the suspension swing arm of vehicle body; Described suspension swing arm is connected with described vehicle body by ball pair; The first pitch angle β 1 and the first pitch angle variation delta β 1 of described suspension swing arm is calculated according to the vertical distance x between the horizontal surface at the secondary place of the length L of described suspension swing arm, described suspension swing arm and described ball and described vertical displacement variation delta x; Described first pitch angle β 1 is the angle of described suspension swing arm and described horizontal surface; The first pitching attitude change of described vehicle body is judged according to the first pitch angle β 1 and the first pitch angle variation delta β 1 of described suspension swing arm.Visible, the application's scheme gathers suspension swing arm vertical displacement variable quantity by the first displacement pickup, and then calculate the first pitch angle variable quantity, and due to the physical structure of vehicle body and suspension swing arm, no matter vehicle stationary, at the uniform velocity, speed change, loading weight or other reason cause attitude changing of bodywork, as long as attitude of bodywork changes, the vertical displacement of suspension swing arm and pitch angle will inevitably change.Therefore, the vertical displacement variable quantity being gathered suspension swing arm by the first displacement pickup calculates the first pitch angle variable quantity, just can inspection vehicle body the first pitching attitude change in all cases, thus the limitation of body gesture change detection can be reduced, improve applicability, meet the needs of safe driving.

Above embodiment described a kind of method of inspection for vehicle body pitching attitude change, present invention also provides a kind of method of inspection for body side tilt attitude change.

The schematic flow sheet of the method for inspection of the another kind of attitude changing of bodywork that Fig. 3 provides for the application;

Please refer to shown in Fig. 3, the method for inspection that the embodiment of the present application provides, comprising:

S400: the side travel variation delta z being gathered described suspension swing arm by the second displacement sensor be connected with described suspension swing arm;

S500: the first angle of heel γ and the first angle of heel variation delta γ that calculate described suspension swing arm according to the lateral distance z between first vertical plane at the secondary place of the length L of described suspension swing arm, described suspension swing arm and described ball and described side travel variation delta z;

In the embodiment of the present application, described first angle of heel γ is the angle of described suspension swing arm and described first vertical plane, and described first vertical plane and described horizontal surface perpendicular;

In the embodiment of the present application, because the structure of vehicle body and suspension swing arm is fixed, when being in stabilized conditions, the lateral distance z between first vertical plane at the spacing of suspension swing arm and ball pair and the secondary place of the length L of suspension swing arm, described suspension swing arm and described ball is can predetermined fixed value.

When the canting posture of vehicle body changes, suspension swing arm can swing, and now the first angle of heel γ can change, and the second displacement sensor be arranged on suspension swing arm can produce displacement at lateral.

In the embodiment of the present application, when body gesture changes, if the side travel variable quantity of the lateral distance between first vertical plane at suspension swing arm and the secondary place of described ball is Δ z, the first angle of heel variable quantity of described suspension swing arm is Δ γ.

Fig. 4 is the principle schematic of the method for inspection of the another kind of attitude changing of bodywork that the application provides;

Please refer to the structure shown in Fig. 4, the relation of the swing and the displacement in a lateral direction of second displacement sensor that body gesture are changed the suspension swing arm caused is equivalent to right-angled triangle, it is thick-and-thin for wherein swinging front-rear triangular shape hypotenuse length L at suspension swing arm, change only have angle γ and square edge z.

Because the structure of suspension swing arm is fixed, lateral distance z between first vertical plane at the then spacing of suspension swing arm and ball pair and the length L of suspension swing arm and described suspension swing arm and the secondary place of described ball is known, only needs to know that angle γ and variation delta γ can obtain the canting attitudes vibration of vehicle body.

According to triangular structure of right angle and the trigonometric function relation of Fig. 4, collected the variation delta z of side travel variable quantity and square edge by second displacement sensor, then in conjunction with hypotenuse length L and square edge z, just can extrapolate following computing formula:

$sin\mathrm{\γ}=\frac{z}{L};$

$sin(\mathrm{\γ}+\mathrm{\Δ}\mathrm{\γ})=\frac{z+\mathrm{\Δ}z}{L}.$

Then, angle γ and variation delta γ is:

$\mathrm{\γ}=arcsin\frac{z}{L};$

$\mathrm{\Δ}\mathrm{\γ}=arcsin\frac{z+\mathrm{\Δ}x}{L}-arcsin\frac{z}{L}.$

S600: the canting attitude change judging described vehicle body according to the first angle of heel γ of described suspension swing arm and the first angle of heel variation delta γ.

In the embodiment of the present application, when after the first angle of heel γ calculating suspension swing arm and the first angle of heel variation delta γ, the canting amplitude of vehicle body just can be judged according to the first angle of heel γ of suspension swing arm and the first angle of heel variation delta γ, the i.e. canting attitude change of described vehicle body, then the angle of automobile front just can be adjusted according to the change of this canting attitude change, the distance of irradiation is remained unchanged, thus is conducive to safe driving.

Above embodiment described a kind of method calculating pitch angle and pitch angle variable quantity when attitude changing of bodywork according to the vertical displacement variable quantity of body mounting, in order to make result of calculation more accurate reliable, the application also provides the another kind of method calculating pitch angle and pitch angle variable quantity when attitude changing of bodywork according to the horizontal displacement variable quantity of body mounting.

The schematic flow sheet of the method for inspection of another attitude changing of bodywork that Fig. 5 provides for the application;

Please refer to shown in Fig. 5, the method for inspection that the embodiment of the present application provides, comprising:

S700: the horizontal displacement variation delta y being gathered described suspension swing arm by the triple motion sensor be connected with described suspension swing arm;

S800: the second pitch angle β 2 and the second pitch angle variation delta β 2 calculating described suspension swing arm according to the horizontal throw y between second vertical plane at the secondary place of the length L of described suspension swing arm, described suspension swing arm and described ball and described horizontal displacement variation delta y;

In the embodiment of the present application, described second pitch angle β 2 is the angle of described suspension swing arm and described second vertical plane, described second vertical plane and described horizontal surface perpendicular, and described second vertical plane and described first vertical plane perpendicular;

In the embodiment of the present application, because the structure of vehicle body and suspension swing arm is fixed, when being in stabilized conditions, the horizontal throw y between second vertical plane at the spacing of suspension swing arm and ball pair and the secondary place of the length L of suspension swing arm, described suspension swing arm and described ball is can predetermined fixed value.

When the pitching posture of vehicle body changes, suspension swing arm can rotate around ball pair, and now the second pitch angle β 2 can change, and the triple motion sensor be arranged on suspension swing arm can produce displacement in the horizontal direction.

In the embodiment of the present application, when body gesture changes, if the second pitch angle variable quantity between suspension swing arm and the second vertical plane is Δ β 2, the horizontal displacement variable quantity that triple motion sensor produces displacement is in the horizontal direction Δ y.

Fig. 6 is the principle schematic of the method for inspection of another attitude changing of bodywork that the application provides;

Please refer to the structure shown in Fig. 6, the relation of rotation and the displacement in the horizontal direction of triple motion sensor that body gesture is changed the suspension swing arm caused is equivalent to right-angled triangle, it is thick-and-thin for wherein rotating front-rear triangular shape hypotenuse length L at suspension swing arm, change only have angle β 2 and square edge y.

Because the structure of suspension swing arm is fixed, horizontal throw y between second vertical plane at the then spacing of suspension swing arm and ball pair and the length L of suspension swing arm and suspension swing arm and the secondary place of described ball is known, only needs to know that angle beta 2 and variation delta β 2 can obtain the second pitch attitude change of vehicle body.

According to triangular structure of right angle and the trigonometric function relation of Fig. 6, collected the variation delta y of horizontal displacement variable quantity and square edge by triple motion sensor, then in conjunction with hypotenuse length L and square edge y, just can extrapolate following computing formula:

$cos\mathrm{\β}2=\frac{y}{L};$

$cos(\mathrm{\β}2+\mathrm{\Δ}\mathrm{\β}2)=\frac{y-\mathrm{\Δ}y}{L}.$

Then, angle beta 2 and variation delta β 2 are:

$\mathrm{\β}2=arccos\frac{y}{L};$

$\mathrm{\Δ}\mathrm{\β}2=arccos\frac{y-\mathrm{\Δ}y}{L}-arccos\frac{y}{L}.$

S900: the second pitching attitude change judging described vehicle body according to the second pitch angle β 2 and the second pitch angle variation delta β 2 of described suspension swing arm.

In the embodiment of the present application, when after the second pitch angle β 2 and the second pitch angle variation delta β 2 calculating suspension swing arm, the pitching amplitude of vehicle body just can be judged according to the second pitch angle β 2 and the second pitch angle variation delta β 2 of suspension swing arm, i.e. the second pitching attitude change of described vehicle body, then the angle of automobile front just can be adjusted according to this second pitching attitude change, the distance of irradiation is remained unchanged, thus is conducive to safe driving.

In above-described embodiment, first displacement pickup and triple motion sensor can identical (namely utilizing same sensor to realize different detections), also can different (namely utilizing different sensors to realize different detections respectively), therefore, the quantity of displacement pickup can be set to 1 or 2.

Be understandable that, above provide two kinds of different pitch angle of calculating suspension swing arm and the method for pitch angle variable quantity, and due to during vehicle body generation attitude change synchronization produce pitch angle variable quantity be identical, therefore the first pitch angle β 1 calculating suspension swing arm according to above-described embodiment should equal or be approximately equal to the second pitch angle β 2, first pitch angle variation delta β 1 and should equal or be approximately equal to the second pitch angle variation delta β 2.

But, due to body structure, all there is the error being difficult to avoid in account form and displacement pickup, likely occur that the first pitch angle β 1 and second pitch angle β 2 gap of the suspension swing arm calculated by two kinds of methods are larger, first pitch angle variation delta β 1 and the larger situation of the second pitch angle variation delta β 2 gap, and now in order to make result of calculation more accurately and reliably, the first pitch angle β 1 of suspension swing arm can calculated according to above-described embodiment, first pitch angle variation delta β 1, after second pitch angle β 2 and the second pitch angle variation delta β 2, again according to the first pitch angle β 1 of described suspension swing arm, first pitch angle variation delta β 1, second pitch angle β 2 and the second pitch angle variation delta β 2 of described suspension swing arm calculates the average pitch angle β of described suspension swing arm and average pitch angle variation delta β, and the pitching attitude change of described vehicle body is judged according to the average pitch angle β of described suspension swing arm and average pitch angle variation delta β.Described average pitch angle β is the aviation value of described first pitch angle β 1 and described second pitch angle β 2, i.e. β=(β 1+ β 2)/2; Described average pitch angle variation delta β is the aviation value of described first pitch angle variation delta β 1 and described second pitch angle variation delta β 2, i.e. Δ β=(Δ β 1+ Δ β 2)/2.

Fig. 7 is the principle schematic of the method for inspection of another attitude changing of bodywork that the application provides;

With reference to shown in Fig. 7, on the basis of above-mentioned all embodiments, when to arrange the first displacement pickup for detecting vertical displacement variation delta x simultaneously, during for detection side to the second displacement sensor of displacement variable Δ z and the triple motion sensor for detection level displacement variable Δ y, because the structure of vehicle body and suspension swing arm is fixed, when being in stabilized conditions, the spacing of suspension swing arm and ball pair and the length L of suspension swing arm, vertical distance x between the horizontal surface at suspension swing arm and the secondary place of described ball, lateral distance z between first vertical plane at the horizontal throw y between second vertical plane at suspension swing arm and the secondary place of described ball and described suspension swing arm and the secondary place of described ball is can predetermined fixed value.

Then, according to the triangular structure of right angle of Fig. 7, if suspension swing arm projection projected length is in the horizontal plane c, if the displacement variable of c is Δ c:

$c=\sqrt{y^2+z^2};$

$\mathrm{\Δ}c=\sqrt{{(y+\mathrm{\Δ}y)}^2+{(z+\mathrm{\Δ}z)}^2}-\sqrt{y^2+z^2}.$

In like manner, according to the triangular structure of right angle of Fig. 7, if the suspension swing arm projected length be projected on the second vertical plane is d, if the displacement variable of d is Δ d:

$d=\sqrt{x^2+y^2};$

$\mathrm{\Δ}d=\sqrt{{(x+\mathrm{\Δ}x)}^2+{(y+\mathrm{\Δ}y)}^2}-\sqrt{x^2+y^2}.$

Now, according to triangular structure of right angle and the trigonometric function relation of Fig. 7, just following computing formula can be extrapolated:

$cos\mathrm{\β}2=\frac{c}{L};$

$cos(\mathrm{\β}2+\mathrm{\Δ}\mathrm{\β}2)=\frac{c-\mathrm{\Δ}c}{L}.$

$cos\mathrm{\γ}=\frac{d}{L};$

$cos(\mathrm{\γ}+\mathrm{\Δ}\mathrm{\γ})=\frac{d-\mathrm{\Δ}d}{L}.$

Then,

Angle beta 2 and variation delta β 2 are:

$\mathrm{\β}2=arccos\frac{c}{L};$

$\mathrm{\Δ}\mathrm{\β}2=arccos\frac{c-\mathrm{\Δ}c}{L}-arccos\frac{c}{L}.$

Angle γ and variation delta γ is:

$\mathrm{\γ}=arccos\frac{d}{L};$

$\mathrm{\Δ}\mathrm{\γ}=arccos\frac{d-\mathrm{\Δ}d}{L}-arccos\frac{d}{L}.$

Visible, the embodiment of the present application provides the another kind of method calculating the second pitch angle β 2 and the second pitch angle variation delta β 2, first angle of heel γ and the first angle of heel variation delta γ, in conjunction with the method for calculating in above-described embodiment, the accuracy rate of result of calculation can be increased further.

Fig. 8 is the structural representation of the detecting device of a kind of attitude changing of bodywork that the application provides.

With reference to shown in Fig. 8, the detecting device of the attitude changing of bodywork that the embodiment of the present application provides, comprising:

Moving sets 1, mobile and revolute pair combination 2, right angle link component 3, treater 4 and the first displacement pickup 5 be arranged on described moving sets 1;

Described moving sets 1 is fixed on vehicle body, slide with described moving sets 1 and be connected in one end of described right angle link component 3, other one end and described movement and the revolute pair of described right angle link component 3 combine 2 and slide and be connected, described movement is connected with suspension swing arm 6 with revolute pair combination 2, and described suspension swing arm 6 is connected with described vehicle body by ball pair 7;

Described first displacement pickup 5 is for gathering the vertical displacement variation delta x of described suspension swing arm 6;

Described treater 4 for secondary 7 places of the length L according to described suspension swing arm 6, described suspension swing arm 6 and described ball horizontal surface between vertical distance x and described vertical displacement variation delta x calculate the first pitch angle β 1 and the first pitch angle variation delta β 1 of described suspension swing arm 6, and judge the first pitching attitude change of described vehicle body according to the first pitch angle β 1 and the first pitch angle variation delta β 1 of described suspension swing arm 6; Described first pitch angle β 1 is the angle of described suspension swing arm 6 and described horizontal surface.

Further, in the embodiment of the present application, can also comprise:

Be arranged on the second displacement sensor 8 in described movement and revolute pair combination 2;

Described movement and revolute pair combination 2 to be slided with described suspension swing arm 6 by slide shaft and are connected;

Described second displacement sensor 8 is for gathering the side travel variation delta z of described suspension swing arm 6;

Described treater 4 also for secondary 7 places of the length L according to described suspension swing arm 6, described suspension swing arm 6 and described ball the first vertical plane between lateral distance z and described side travel variation delta z calculate the first angle of heel γ and the first angle of heel variation delta γ of described suspension swing arm 6, and judge the canting attitude change of described vehicle body according to the first angle of heel γ of described suspension swing arm 6 and the first angle of heel variation delta γ; Described first angle of heel γ is described suspension swing arm 6 and the angle of described first vertical plane, and described first vertical plane and described horizontal surface perpendicular.

Further, in the embodiment of the present application, can also comprise:

Be arranged on the triple motion sensor 9 in described movement and revolute pair combination 2;

Described movement and revolute pair combination 2 to be slided with described suspension swing arm 6 by slide shaft and are connected;

Described triple motion sensor 9 is for gathering the horizontal displacement variation delta y of described suspension swing arm 6;

Described treater 4 also for secondary 7 places of the length L according to described suspension swing arm 6, described suspension swing arm 6 and described ball the second vertical plane between horizontal throw y and described horizontal displacement variation delta y calculate the second pitch angle β 2 and the second pitch angle variation delta β 2 of described suspension swing arm 6, and judge the second pitching attitude change of described vehicle body according to the second pitch angle β 2 and the second pitch angle variation delta β 2 of described suspension swing arm 6; Described second pitch angle β 2 is described suspension swing arm 6 and the angle of described second vertical plane, described second vertical plane and described horizontal surface perpendicular, and described second vertical plane and described first vertical plane perpendicular;

Described treater 4 is also for calculating the average pitch angle β of described suspension swing arm 6 and average pitch angle variation delta β according to the first pitch angle β 1, first pitch angle variation delta β 1 of described suspension swing arm 6, the second pitch angle β 2 and the second pitch angle variation delta β 2 of described suspension swing arm 6; Described average pitch angle β is the aviation value of described first pitch angle β 1 and described second pitch angle β 2, and described average pitch angle variation delta β is the aviation value of described first pitch angle variation delta β 1 and described second pitch angle variation delta β 2; The pitching attitude change of described vehicle body is judged according to the average pitch angle β of described suspension swing arm 6 and average pitch angle variation delta β.Above-mentioned first displacement pickup 5, second displacement sensor 8 and triple motion sensor 9 can be arranged as required simultaneously, also can not simultaneously arrange, such as the first displacement pickup 5, second displacement sensor 8 and triple motion sensor 9 can be set simultaneously, also the first displacement pickup 5 and second displacement sensor 8 can be only set, second displacement sensor 8 and triple motion sensor 9 are only set, the first displacement pickup 5 and triple motion sensor 9 is only set.

In the embodiment of the present application, the length of suspension swing arm 6 is L, vertical distance between the horizontal surface being arranged on the first displacement pickup 5 on moving sets 1 and secondary 7 places of described ball is x, the lateral distance be arranged between second displacement sensor 8 in mobile and revolute pair combination 2 and first vertical plane at secondary 7 places of described ball is z, and the horizontal throw be arranged between triple motion sensor 9 in mobile and revolute pair combination 2 and second vertical plane at secondary 7 places of described ball is y.When attitude of bodywork changes, suspension swing arm 6 meeting action, now moving sets 1 can produce displacement in the vertical direction, vertical displacement variable quantity is Δ x, mobile and revolute pair combination 2 simultaneously also can produce horizontal displacement along right angle link component 3 in the horizontal direction, horizontal displacement variable quantity is Δ y, and move and also can produce displacement along the slide shaft be connected with suspension swing arm 6 in side direction with revolute pair combination 2, side travel variable quantity is Δ z.

Then according to the equivalent right-angled triangle in said method embodiment and trigonometric function principle, the first pitch angle β 1 and the first pitch angle variation delta β 1, second pitch angle β 2 and the second pitch angle variation delta β 2 and the first angle of heel γ and the first angle of heel variation delta γ of suspension swing arm 6 can be calculated, concrete grammar please refer to the description in said method embodiment, repeats no more herein.

It should be noted that, the detecting device of the attitude changing of bodywork of the present embodiment can adopt the method for inspection of the attitude changing of bodywork in said method embodiment, may be used for the whole technical schemes realized in said method embodiment, the function of its each functional module can according to the method specific implementation in said method embodiment, its specific implementation process can refer to the associated description in above-described embodiment, repeats no more herein.

For convenience of description, various module is divided into describe respectively with function when describing above device.Certainly, the function of each module can be realized in same or multiple software and/or hardware when implementing the application.

Each embodiment in this specification sheets all adopts the mode of going forward one by one to describe, between each embodiment identical similar part mutually see, what each embodiment stressed is the difference with other embodiments.Especially, for device or system embodiment, because it is substantially similar to embodiment of the method, so describe fairly simple, relevant part illustrates see the part of embodiment of the method.Apparatus and system embodiment described above is only schematic, the wherein said unit illustrated as separating component or can may not be and physically separates, parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed on multiple network element.Some or all of module wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.Those of ordinary skill in the art, when not paying creative work, are namely appreciated that and implement.

Professional can also recognize further, in conjunction with unit and the algorithm steps of each example of embodiment disclosed herein description, can realize with electronic hardware, computer software or the combination of the two, in order to the interchangeability of hardware and software is clearly described, generally describe composition and the step of each example in the above description according to function.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can use distinct methods to realize described function to each specifically should being used for, but this realization should not thought and exceeds scope of the present invention.

The software module that the method described in conjunction with embodiment disclosed herein or the step of algorithm can directly use hardware, treater to perform, or the combination of the two is implemented.Software module can be placed in the storage medium of other form any known in random access memory (RAM), internal memory, read-only memory (ROM) (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field.

To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.

Claims (10)

1. a method of inspection for attitude changing of bodywork, is characterized in that, comprising:

The vertical displacement variation delta x of described suspension swing arm is gathered by the first displacement pickup be connected with the suspension swing arm of vehicle body; Described suspension swing arm is connected with described vehicle body by ball pair;

The first pitch angle β 1 and the first pitch angle variation delta β 1 of described suspension swing arm is calculated according to the vertical distance x between the horizontal surface at the secondary place of the length L of described suspension swing arm, described suspension swing arm and described ball and described vertical displacement variation delta x; Described first pitch angle β 1 is the angle of described suspension swing arm and described horizontal surface;

The first pitching attitude change of described vehicle body is judged according to the first pitch angle β 1 and the first pitch angle variation delta β 1 of described suspension swing arm.

2. method according to claim 1, it is characterized in that, vertical distance x between the horizontal surface at the secondary place of the described length L according to described suspension swing arm, described suspension swing arm and described ball and described vertical displacement variation delta x calculates the first pitch angle β 1 and the first pitch angle variation delta β 1 of described suspension swing arm, comprising:

$\mathrm{\β}1=arcsin\frac{x}{L};$

$\mathrm{\Δ}\mathrm{\β}1=arcsin\frac{x+\mathrm{\Δ}x}{L}-arcsin\frac{x}{L}.$

3. method according to claim 1, is characterized in that, also comprises:

The side travel variation delta z of described suspension swing arm is gathered by the second displacement sensor be connected with described suspension swing arm;

The first angle of heel γ and the first angle of heel variation delta γ of described suspension swing arm is calculated according to the lateral distance z between first vertical plane at the secondary place of the length L of described suspension swing arm, described suspension swing arm and described ball and described side travel variation delta z; Described first angle of heel γ is the angle of described suspension swing arm and described first vertical plane, and described first vertical plane and described horizontal surface perpendicular;

The canting attitude change of described vehicle body is judged according to the first angle of heel γ of described suspension swing arm and the first angle of heel variation delta γ.

4. method according to claim 3, it is characterized in that, lateral distance z between first vertical plane at the secondary place of the described length L according to described suspension swing arm, described suspension swing arm and described ball and described side travel variation delta z calculates the first angle of heel γ and the first angle of heel variation delta γ of described suspension swing arm, comprising:

$\mathrm{\γ}=arcsin\frac{z}{L};$

$\mathrm{\Δ}\mathrm{\γ}=arcsin\frac{z+\mathrm{\Δ}x}{L}-arcsin\frac{z}{L}.$

5. according to the method in claim 1-4 described in any one, it is characterized in that, also comprise:

The horizontal displacement variation delta y of described suspension swing arm is gathered by the triple motion sensor be connected with described suspension swing arm;

The second pitch angle β 2 and the second pitch angle variation delta β 2 of described suspension swing arm is calculated according to the horizontal throw y between second vertical plane at the secondary place of the length L of described suspension swing arm, described suspension swing arm and described ball and described horizontal displacement variation delta y; Described second pitch angle β 2 is the angle of described suspension swing arm and described second vertical plane, described second vertical plane and described horizontal surface perpendicular, and described second vertical plane and described first vertical plane perpendicular;

The second pitching attitude change of described vehicle body is judged according to the second pitch angle β 2 and the second pitch angle variation delta β 2 of described suspension swing arm.

6. method according to claim 5, it is characterized in that, horizontal throw y between second vertical plane at the secondary place of the described length L according to described suspension swing arm, described suspension swing arm and described ball and described horizontal displacement variation delta y calculates the second pitch angle β 2 and the second pitch angle variation delta β 2 of described suspension swing arm, comprising:

$\mathrm{\β}2=arccos\frac{y}{L};$

$\mathrm{\Δ}\mathrm{\β}2=arccos\frac{y-\mathrm{\Δ}y}{L}-arccos\frac{y}{L}.$

7. method according to claim 5, is characterized in that, also comprises:

The average pitch angle β of described suspension swing arm and average pitch angle variation delta β is calculated according to the second pitch angle β 2 and the second pitch angle variation delta β 2 of the first pitch angle β 1, first pitch angle variation delta β 1 of described suspension swing arm, described suspension swing arm; Described average pitch angle β is the aviation value of described first pitch angle β 1 and described second pitch angle β 2, and described average pitch angle variation delta β is the aviation value of described first pitch angle variation delta β 1 and described second pitch angle variation delta β 2;

The pitching attitude change of described vehicle body is judged according to the average pitch angle β of described suspension swing arm and average pitch angle variation delta β.

8. a detecting device for attitude changing of bodywork, is characterized in that, comprising:

Moving sets, movement and revolute pair combination, right angle link component, treater and the first displacement pickup be arranged on described moving sets;

Described moving sets is fixed on vehicle body, slide with described moving sets and be connected in one end of described right angle link component, other one end of described right angle link component is combined to slide with described movement and revolute pair and is connected, described movement is connected with suspension swing arm with revolute pair combination, and described suspension swing arm is connected with described vehicle body by ball pair;

Described first displacement pickup is for gathering the vertical displacement variation delta x of described suspension swing arm;

Described treater for calculating the first pitch angle β 1 and the first pitch angle variation delta β 1 of described suspension swing arm according to the vertical distance x between the horizontal surface at the secondary place of the length L of described suspension swing arm, described suspension swing arm and described ball and described vertical displacement variation delta x, and judges the first pitching attitude change of described vehicle body according to the first pitch angle β 1 and the first pitch angle variation delta β 1 of described suspension swing arm; Described first pitch angle β 1 is the angle of described suspension swing arm and described horizontal surface.

9. device according to claim 8, is characterized in that, also comprises:

Be arranged on the second displacement sensor in described movement and revolute pair combination;

Described movement and revolute pair are combined through slide shaft and slide with described suspension swing arm and be connected;

Described second displacement sensor is for gathering the side travel variation delta z of described suspension swing arm;

Described treater also for the secondary place of the length L according to described suspension swing arm, described suspension swing arm and described ball the first vertical plane between lateral distance z and described side travel variation delta z calculate the first angle of heel γ and the first angle of heel variation delta γ of described suspension swing arm, and judge the canting attitude change of described vehicle body according to the first angle of heel γ of described suspension swing arm and the first angle of heel variation delta γ; Described first angle of heel γ is the angle of described suspension swing arm and described first vertical plane, and described first vertical plane and described horizontal surface perpendicular.

10. device according to claim 8 or claim 9, is characterized in that, also comprise:

Be arranged on the triple motion sensor in described movement and revolute pair combination;

Described movement and revolute pair are combined through slide shaft and slide with described suspension swing arm and be connected;

Described triple motion sensor is for gathering the horizontal displacement variation delta y of described suspension swing arm;

Described treater also for the secondary place of the length L according to described suspension swing arm, described suspension swing arm and described ball the second vertical plane between horizontal throw y and described horizontal displacement variation delta y calculate the second pitch angle β 2 and the second pitch angle variation delta β 2 of described suspension swing arm, and judge the second pitching attitude change of described vehicle body according to the second pitch angle β 2 and the second pitch angle variation delta β 2 of described suspension swing arm; Described second pitch angle β 2 is the angle of described suspension swing arm and described second vertical plane, described second vertical plane and described horizontal surface perpendicular, and described second vertical plane and described first vertical plane perpendicular;

Described treater is also for calculating the average pitch angle β of described suspension swing arm and average pitch angle variation delta β according to the second pitch angle β 2 and the second pitch angle variation delta β 2 of the first pitch angle β 1, first pitch angle variation delta β 1 of described suspension swing arm, described suspension swing arm; Described average pitch angle β is the aviation value of described first pitch angle β 1 and described second pitch angle β 2, and described average pitch angle variation delta β is the aviation value of described first pitch angle variation delta β 1 and described second pitch angle variation delta β 2; The pitching attitude change of described vehicle body is judged according to the average pitch angle β of described suspension swing arm and average pitch angle variation delta β.