CN110758543B - Steering column position detection method and device, storage medium and vehicle - Google Patents
Steering column position detection method and device, storage medium and vehicle Download PDFInfo
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- CN110758543B CN110758543B CN201810836441.3A CN201810836441A CN110758543B CN 110758543 B CN110758543 B CN 110758543B CN 201810836441 A CN201810836441 A CN 201810836441A CN 110758543 B CN110758543 B CN 110758543B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/16—Steering columns
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/16—Steering columns
- B62D1/18—Steering columns yieldable or adjustable, e.g. tiltable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
Abstract
The present disclosure relates to a method, an apparatus, a storage medium, and a vehicle for detecting a position of a steering column, the method including: receiving a position adjustment instruction for the steering column, the position adjustment instruction including a target rotation direction of a motor of the steering column; when the target rotation direction is consistent with the preset direction, counting a first edge of a pulse signal triggered in the motor rotation process; when the target rotation direction is opposite to the preset direction, counting a second edge of the pulse signal triggered in the motor rotation process, wherein if the first edge is a rising edge, the second edge is a falling edge, and if the first edge is a falling edge, the second edge is a rising edge; determining the current accumulated rotation number of turns of the motor according to the count value; and determining the current position of the steering column according to the current accumulated number of turns. Through the technical scheme disclosed by the invention, the counting deviation of the pulse signals can be eliminated, and the position detection precision of the steering column is improved.
Description
Technical Field
The present disclosure relates to the field of vehicles, and in particular, to a method and an apparatus for detecting a position of a steering column, a storage medium, and a vehicle.
Background
A steering column is an important component of a vehicle, and includes an actuator connected to a steering wheel or the like of the vehicle and a motor for driving the actuator to move. The motor for driving the steering column rotates and detects the position of the steering column (namely the position of the actuating mechanism), so that the position of the steering column can be adjusted, and further the adjustment of mechanisms such as a steering wheel and the like is realized, and the requirements of drivers and passengers are met.
In the position detection method of the steering column in the prior art, pulse signals triggered in the rotation process of a motor are usually counted, and the accumulated rotation turns of the motor are determined according to the counting value of the pulse signals, so that the position of the steering column can be determined. However, the position of the steering column detected by the method has a certain deviation from the actual position, so that the detection result of the position of the steering column is inaccurate, and the position adjustment of the steering column is finally failed along with the accumulation of the deviation.
Disclosure of Invention
In order to overcome the problems in the prior art, the present disclosure provides a method and an apparatus for detecting a position of a steering column, a storage medium, and a vehicle.
In order to achieve the above object, the present disclosure provides a position detecting method of a steering column, including:
receiving a position adjustment instruction for a steering column, the position adjustment instruction including a target rotational direction of a motor of the steering column;
when the target rotation direction is consistent with a preset direction, counting first edges of pulse signals triggered in the rotation process of the motor;
when the target rotation direction is opposite to the preset direction, counting a second edge of a pulse signal triggered in the motor rotation process, wherein if the first edge is a rising edge, the second edge is a falling edge, and if the first edge is a falling edge, the second edge is a rising edge;
determining the current accumulated rotating number of turns of the motor according to the count value;
and determining the current position of the steering column according to the current accumulated number of turns.
Optionally, the position adjustment instructions further comprise a target position of the steering column, the method further comprising:
and when the current position is consistent with the target position, controlling the motor to stop rotating.
Optionally, the determining the current accumulated number of rotations of the motor according to the count value includes:
acquiring historical accumulated rotating turns of the motor;
counting the rising edges of pulse signals triggered in the rotation process of the motor once, and increasing the historical accumulated rotation number by one circle to obtain the current accumulated rotation number of the motor;
and counting the falling edges of the pulse signals triggered in the rotation process of the motor once, and reducing the historical accumulated rotation number by one circle to obtain the current accumulated rotation number of the motor.
The present disclosure also provides a position detecting device of a steering column, including:
the device comprises a first receiving module, a second receiving module and a control module, wherein the first receiving module is used for receiving a position adjusting instruction of a steering column, and the position adjusting instruction comprises a target rotating direction of a motor of the steering column;
the first counting module is used for counting the first edges of the pulse signals triggered in the rotation process of the motor when the target rotation direction is consistent with a preset direction;
the second counting module is used for counting a second edge of the pulse signal triggered in the rotation process of the motor when the target rotation direction is opposite to the preset direction, wherein if the first edge is a rising edge, the second edge is a falling edge, and if the first edge is a falling edge, the second edge is a rising edge;
the first rotating circle number determining module is used for determining the current accumulated rotating circle number of the motor according to the counting value;
and the first position determining module is used for determining the current position of the steering column according to the current accumulated rotating turns.
Optionally, the position adjustment instruction further includes a target position of the steering column, and the apparatus further includes:
and the control module is used for controlling the motor to stop rotating when the current position is consistent with the target position.
Optionally, the first rotation number determining module includes:
the acquisition submodule is used for acquiring historical accumulated rotation turns of the motor;
the first rotating circle number determining submodule is used for counting the rising edge of each pair of pulse signals triggered in the rotating process of the motor once, and increasing the historical accumulated rotating circles by one circle so as to obtain the current accumulated rotating circles of the motor;
and the second rotation turn number determining submodule is used for counting every pair of falling edges of pulse signals triggered in the motor rotation process, and reducing the historical accumulated rotation turn number by one turn so as to obtain the current accumulated rotation turn number of the motor.
Optionally, the motor is a motor for driving the steering column to drive the steering wheel to perform height adjustment, or the motor is a motor for driving the steering column to drive the steering wheel to perform angle adjustment.
The present disclosure also provides a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the steering column position detection method provided by the present disclosure.
The present disclosure also provides a position detecting device of a steering column, including:
a computer-readable storage medium provided by the present disclosure; and
one or more processors to execute the program in the computer-readable storage medium.
The present disclosure also provides a vehicle comprising: steering column and at least one steering column position detection device as provided by the present disclosure.
Optionally, the vehicle comprises two steering column position detection devices provided according to the present disclosure for detecting the height position and the angular position of the steering column, respectively.
Through the technical scheme, whether the target rotating direction of the motor is consistent with the preset direction or not is judged to determine the counting mode of the pulse signals triggered in the rotating process of the motor, the pulse signals are counted according to the determining mode, the current accumulated rotating turns of the motor are determined according to the counting value, the current position of the steering column is determined according to the current accumulated rotating turns, the counting deviation of the pulse signals can be eliminated, the position detection precision of the steering column is improved, the deviation accumulation of the current position of the steering column and the actual position of the steering column, which is generated after the steering column is adjusted for multiple times, is effectively avoided, and the reliability of the control of the steering column is improved to a great extent.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a schematic diagram of a pulse signal triggered during a rotation process of a motor according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of a method of detecting a position of a steering column provided by an embodiment of the present disclosure;
FIG. 3 is a flow chart of another method of position sensing of a steering column provided by embodiments of the present disclosure;
FIG. 4 is a flow chart of yet another method of steering column position detection provided by embodiments of the present disclosure;
fig. 5 is a block diagram of a position detection apparatus of a steering column according to an embodiment of the present disclosure;
fig. 6 is a block diagram of another steering column position detecting apparatus provided in the embodiments of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
It is noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
In order to make those skilled in the art more easily understand the improvement of the embodiments of the present disclosure on the prior art, the related technical solutions in the prior art will be briefly described first.
When the position of the steering column is adjusted by driving the motor of the steering column, the motor triggers a detection element (such as a Hall sensor) arranged around the motor to generate a pulse signal every time the motor rotates a circle, the accumulated rotating circles of the motor can be determined by counting the pulse signals generated by the triggering of the rotating process of the motor, the position of an actuating mechanism of the steering column can be detected according to the accumulated rotating circles, and the position of the actuating mechanism is the position of the steering column.
Through extensive research, the applicant finds that, when pulse signals triggered in the rotation process of the motor are counted, if the pulse signals are set to count rising edges or falling edges of the pulse signals, the counted values of the pulse signals recorded when the rotation directions of the motor are different for the same stroke of the steering column are different, for example, as shown in fig. 1, when the stroke of the steering column is taken as the distance between a position a and a position B, and if the pulse signals are set to count the rising edges of the pulse signals, when the motor rotates forwards to drive the steering column to move from the position a to the position B, the counted value of the obtained pulse signals is 4; and when the motor is reversed to drive the steering column from position B to position a, the count value of the resulting pulse signal is 5. Similarly, if the falling edge of the pulse signal is counted, the count value of the pulse signal obtained when the motor rotates in the forward direction and the reverse direction also differs by one pulse signal between the position a and the position B. The difference in the pulse signal count values will cause a deviation in the detected position of the steering column from its actual position, which will gradually accumulate over multiple forward and reverse adjustments of the steering column, eventually causing the position adjustment function of the steering column to fail.
In order to solve the above technical problem, an embodiment of the present disclosure provides a method for detecting a position of a steering column, as shown in fig. 2, the method includes the following steps:
in step S201, a position adjustment command for a steering column is received, the position adjustment command including a target rotational direction of a motor of the steering column.
In the embodiment of the disclosure, after a position adjustment instruction for a steering column is received, a motor can be controlled to rotate according to a target rotation direction, a counting mode for a pulse signal is determined by judging whether the target rotation direction is consistent with a preset direction, and the pulse signal triggered in the rotation process of the motor is counted according to the determined counting mode. If the target rotation direction is consistent with the preset direction, executing step S202; if the target rotation direction is opposite to the preset direction, step S203 is executed.
In step S202, when the target rotation direction coincides with the preset direction, a first edge of the pulse signal triggered during the rotation of the motor is counted.
In step S203, when the target rotation direction is opposite to the preset direction, counting a second edge of the pulse signal triggered in the motor rotation process, wherein if the first edge is a rising edge, the second edge is a falling edge; if the first edge is a falling edge, the second edge is a rising edge.
For example, as shown in fig. 1, taking the preset direction as the forward rotation as an example, when the motor is controlled to rotate forward to drive the steering column to move from the position a to the position B, the number of rising edges of the pulse signal is recorded to be 4; when the motor is controlled to rotate reversely to drive the steering column to move from the position B to the position A, the number of the falling edges of the pulse signals is recorded to be 4, and therefore, the number of the recorded pulse signals is the same whether the motor rotates forwards or reversely. Similarly, the predetermined direction is shown as the inversion, and the number of recorded pulse signals is also the same.
In step S204, the current accumulated number of rotations of the motor is determined based on the count value.
In one embodiment, as shown in fig. 3, historical accumulated rotation turns of the motor may be obtained, that is, the number of turns of the motor which are accumulated and rotated relative to a preset initial position is obtained, and each pair of rising edges of the pulse signal triggered during the rotation of the motor is counted once, and then the historical accumulated rotation turns are increased by one turn; and counting the falling edges of the pulse signals triggered in the rotation process of each pair of motors once, and reducing the historical accumulated rotation number by one circle. Therefore, the current accumulated rotation number of the motor can be obtained.
In step S205, the current position of the steering column is determined based on the current accumulated number of rotations.
In one embodiment, the current position of the actuator corresponding to the accumulated number of rotations may be determined based on a pre-calibrated correspondence between the number of rotations of the motor and the position of the actuator.
It should be noted that the position of the steering column referred to in the embodiments of the present disclosure is the position of the actuator of the steering column.
In another embodiment of the present disclosure, as shown in fig. 4, during the rotation of the motor, when the target rotation direction is consistent with the preset direction, the falling edges of the triggered pulse signals are counted, and accordingly, once the falling edge of each pair of triggered pulse signals is counted, the historical accumulated rotation number of the motor is increased by one turn; and when the target rotation direction is opposite to the preset direction, counting the rising edges of the triggered pulse signals, correspondingly, counting the rising edges of each pair of triggered pulse signals once, and reducing the historical accumulated rotation number of the motor by one turn.
In another embodiment of the present disclosure, the adjustment command to the steering column further includes a target position of the steering column, as shown in fig. 3 and 4. In the adjusting process of the steering column, the position of the steering column can be detected in real time, and when the position of the steering column is detected to be consistent with the target position, the motor is controlled to stop rotating so as to finish the position adjustment of the steering column at this time.
It should be noted that the steering column may include a plurality of motors, and accordingly, the pulse signals triggered during the rotation of each motor may be counted respectively, the current accumulated number of rotation turns of the motor may be determined according to the counted value, and the position of the steering column may be determined according to the current accumulated number of rotation turns of each motor. For example, if the steering column includes a motor for driving the steering column to drive the steering wheel to perform height adjustment and a motor for driving the steering column to drive the steering wheel to perform angle adjustment, the height position of the steering column may be detected by counting pulse signals triggered in the rotation process of the motor for driving the steering column to drive the steering wheel to perform height adjustment, and the angle position of the steering column may be detected by counting pulse signals triggered in the rotation process of the motor for driving the steering column to drive the steering wheel to perform angle adjustment.
By adopting the method, the counting mode of the pulse signals triggered in the motor rotating process is determined by judging whether the target rotating direction of the motor is consistent with the preset direction, the pulse signals are counted according to the determining mode, the current accumulated rotating turns of the motor are determined according to the counting value, the current position of the steering column is determined according to the current accumulated rotating turns, the counting deviation of the pulse signals can be eliminated, the position detection precision of the steering column is improved, the accumulation of the deviation between the current position of the steering column and the actual position of the steering column caused by the repeated adjustment of the steering column is effectively avoided, and the reliability of the control of the steering column is improved to a greater extent.
The disclosed embodiment also provides a position detecting apparatus of a steering column, as shown in fig. 5, the apparatus 500 includes:
a first receiving module 501, configured to receive a position adjustment instruction for a steering column, where the position adjustment instruction includes a target rotation direction of a motor of the steering column.
The first counting module 502 is configured to count a first edge of a pulse signal triggered in the motor rotation process when the target rotation direction is consistent with a preset direction.
A second counting module 503, configured to count a second edge of the pulse signal triggered in the rotation process of the motor when the target rotation direction is opposite to the preset direction, where the second edge is a falling edge if the first edge is a rising edge; and if the first edge is a falling edge, the second edge is a rising edge.
And a first rotation number determining module 504, configured to determine a current accumulated rotation number of the motor according to the count value.
And a first position determining module 505, configured to determine a current position of the steering column according to the current accumulated number of turns and the target rotation direction.
Optionally, the position adjustment instruction further includes a target position of the steering column, as shown in fig. 6, the apparatus 500 further includes:
and the control module 506 is used for controlling the motor to stop rotating when the current position is consistent with the target position.
Optionally, as shown in fig. 6, the first rotation number determining module 504 includes:
an obtaining submodule 541 configured to obtain a historical accumulated number of rotations of the motor;
a first rotation number determining submodule 542, configured to count a rising edge of each pair of pulse signals triggered in the motor rotation process, and increase the historical accumulated rotation number by one turn to obtain a current accumulated rotation number of the motor;
the second rotation turn number determining submodule 543 is used for counting every pair of falling edges of pulse signals triggered in the motor rotation process, and reducing the historical accumulated rotation turn number by one turn to obtain the current accumulated rotation turn number of the motor.
Optionally, the motor is a motor for driving the steering column to drive the steering wheel to perform height adjustment, or the motor is a motor for driving the steering column to drive the steering wheel to perform angle adjustment.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
By adopting the position detection device of the steering column, whether the target rotation direction of the motor is consistent with the preset direction or not is judged to determine the counting mode of the pulse signals triggered in the rotation process of the motor, the pulse signals are counted according to the determining mode, the current accumulated rotation number of turns of the motor is determined according to the counting value, the current position of the steering column is determined according to the current accumulated rotation number of turns, the counting deviation of the pulse signals can be eliminated, the position detection precision of the steering column is improved, further, the accumulation of the deviation between the current position of the steering column and the actual position of the steering column caused by multiple times of adjustment of the steering column is effectively avoided, and the reliability of control over the steering column is improved to a greater extent.
Accordingly, the present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the steering column position detection method provided by the present disclosure.
Accordingly, the present disclosure also provides a position detection apparatus of a steering column, comprising the computer-readable storage medium provided by the present disclosure; and one or more processors for executing the program in the computer-readable storage medium.
Correspondingly, the present disclosure also provides a vehicle, which comprises a steering column and the position detection device of the steering column provided by the present disclosure. The steering column position detection means may be a microcontroller ECU implementing the vehicle by means of software, hardware or a combination of both.
Optionally, the vehicle includes two steering column position detection devices provided according to the embodiment of the present disclosure, which are respectively used for detecting the height position and the angle position of the steering column.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (9)
1. A method of detecting a position of a steering column, comprising:
receiving a position adjusting instruction for a steering column, wherein the position adjusting instruction comprises a target rotating direction of a motor for driving the steering column to drive a steering wheel to perform height adjustment;
when the target rotation direction is consistent with a preset direction, counting first edges of pulse signals triggered in the rotation process of the motor;
when the target rotation direction is opposite to the preset direction, counting a second edge of a pulse signal triggered in the motor rotation process, wherein if the first edge is a rising edge, the second edge is a falling edge, and if the first edge is a falling edge, the second edge is a rising edge;
determining the current accumulated rotating number of turns of the motor according to the count value;
and determining the current height position of the steering column corresponding to the current accumulated number of turns according to a pre-calibrated corresponding relation between the number of turns of the motor and the height position of the steering column.
2. The method of claim 1, wherein the position adjustment instructions further comprise a target position of the steering column, the method further comprising:
and when the current height position is consistent with the target position, controlling the motor to stop rotating.
3. The method of claim 1 or 2, wherein said determining a current cumulative number of rotations of said motor based on said count value comprises:
acquiring historical accumulated rotating turns of the motor;
counting the rising edges of pulse signals triggered in the rotation process of the motor once, and increasing the historical accumulated rotation number by one circle to obtain the current accumulated rotation number of the motor;
and counting the falling edges of the pulse signals triggered in the rotation process of the motor once, and reducing the historical accumulated rotation number by one circle to obtain the current accumulated rotation number of the motor.
4. A position detecting device of a steering column, characterized by comprising:
the device comprises a first receiving module, a second receiving module and a control module, wherein the first receiving module is used for receiving a position adjusting instruction of a steering column, and the position adjusting instruction comprises a target rotating direction of a motor which is used for driving the steering column to drive a steering wheel to perform height adjustment;
the first counting module is used for counting the first edges of the pulse signals triggered in the rotation process of the motor when the target rotation direction is consistent with a preset direction;
the second counting module is used for counting a second edge of the pulse signal triggered in the rotation process of the motor when the target rotation direction is opposite to the preset direction, wherein if the first edge is a rising edge, the second edge is a falling edge; if the first edge is a falling edge, the second edge is a rising edge;
the first rotating circle number determining module is used for determining the current accumulated rotating circle number of the motor according to the counting value;
and the first position determining module is used for determining the current height position of the steering column corresponding to the current accumulated rotating turns according to the pre-calibrated corresponding relation between the rotating turns of the motor and the height position of the steering column.
5. The apparatus of claim 4, wherein the position adjustment instructions further comprise a target position of the steering column, the apparatus further comprising:
and the control module is used for controlling the motor to stop rotating when the current height position is consistent with the target position.
6. The apparatus of claim 4 or 5, wherein the first rotation number determining module comprises:
the acquisition submodule is used for acquiring historical accumulated rotation turns of the motor;
the first rotating circle number determining submodule is used for counting the rising edge of each pair of pulse signals triggered in the rotating process of the motor once, and increasing the historical accumulated rotating circles by one circle so as to obtain the current accumulated rotating circles of the motor;
and the second rotation turn number determining submodule is used for counting every pair of falling edges of pulse signals triggered in the motor rotation process, and reducing the historical accumulated rotation turn number by one turn so as to obtain the current accumulated rotation turn number of the motor.
7. A computer-readable storage medium, having computer program instructions stored thereon, which, when executed by a processor, implement the method of any one of claims 1 to 3.
8. A position detecting device of a steering column, characterized by comprising:
the computer-readable storage medium recited in claim 7; and
one or more processors to execute the program in the computer-readable storage medium.
9. A vehicle, characterized by comprising: a steering column, and at least one position detecting device of the steering column according to any one of claims 4 to 6.
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| CN201810836441.3A CN110758543B (en) | 2018-07-26 | 2018-07-26 | Steering column position detection method and device, storage medium and vehicle |
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| CN201810836441.3A CN110758543B (en) | 2018-07-26 | 2018-07-26 | Steering column position detection method and device, storage medium and vehicle |
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| CN112158254B (en) * | 2020-08-06 | 2021-09-17 | 东风汽车集团有限公司 | Calibration method of electric adjusting steering column |
| CN114954623B (en) * | 2022-06-30 | 2023-06-06 | 北京汽车研究总院有限公司 | Control method and device for electric adjustment steering column, storage medium and vehicle |
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| CN102032866A (en) * | 2009-10-06 | 2011-04-27 | 株式会社捷太格特 | Rotational angle detection device and electric power steering system |
| CN202686450U (en) * | 2012-06-26 | 2013-01-23 | 北京经纬恒润科技有限公司 | Controller and system for electric adjusting steering column |
| CN103402855A (en) * | 2011-02-28 | 2013-11-20 | 迪尔公司 | System for calibrating an electrical control system |
| CN106152932A (en) * | 2015-03-31 | 2016-11-23 | 西门子公司 | A kind of rotating angle measurement apparatus and measuring method |
| DE102017127413A1 (en) * | 2016-11-23 | 2018-05-24 | Steering Solutions Ip Holding Corporation | ELECTRIC POWER STEERING SYSTEM |
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| CN102032866A (en) * | 2009-10-06 | 2011-04-27 | 株式会社捷太格特 | Rotational angle detection device and electric power steering system |
| CN103402855A (en) * | 2011-02-28 | 2013-11-20 | 迪尔公司 | System for calibrating an electrical control system |
| CN202686450U (en) * | 2012-06-26 | 2013-01-23 | 北京经纬恒润科技有限公司 | Controller and system for electric adjusting steering column |
| CN106152932A (en) * | 2015-03-31 | 2016-11-23 | 西门子公司 | A kind of rotating angle measurement apparatus and measuring method |
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