CN112081908B - Gear recognition system and method - Google Patents
Gear recognition system and method Download PDFInfo
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- CN112081908B CN112081908B CN201910513091.1A CN201910513091A CN112081908B CN 112081908 B CN112081908 B CN 112081908B CN 201910513091 A CN201910513091 A CN 201910513091A CN 112081908 B CN112081908 B CN 112081908B
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- gear
- light
- optical sensor
- identification
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/02—Selector apparatus
- F16H59/04—Ratio selector apparatus
- F16H59/044—Ratio selector apparatus consisting of electrical switches or sensors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/02—Selector apparatus
- F16H59/08—Range selector apparatus
- F16H59/10—Range selector apparatus comprising levers
- F16H59/105—Range selector apparatus comprising levers consisting of electrical switches or sensors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
- F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
- F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
- F16H2061/0244—Adapting the automatic ratio to direct driver requests, e.g. manual shift signals or kick down
Abstract
The invention discloses a gear recognition system and a method, wherein the gear recognition system comprises a gear shift lever, a recognition component and a reference component, wherein the recognition component is relatively and fixedly connected with the gear shift lever, the reference component is used as a reference system, the gear shift lever and the recognition component rotate or translate relative to the reference component, and the reference component comprises a reflection panel; the identification component comprises a light-emitting element, a light guide element, an optical sensor and an image analysis chip, wherein the light-emitting element and the optical sensor are fixedly arranged on the same side of the light guide element, the reflection panel is positioned on the other side of the light guide element, and the optical sensor is in signal connection with the image analysis chip. The invention utilizes the optical principle, identifies the rotation angle of the gear shift lever through the photoelectric equipment, is not interfered by a magnetic field, has high identification and positioning precision and is not influenced by assembly errors.
Description
Technical Field
The invention relates to the technical field of shift-by-wire, in particular to a gear identification system and a gear identification method.
Background
Along with the development of passenger car technology, customer's automation, the scientific and technological requirement to the passenger car are higher and higher, and high-tech's configuration is more and more popularized, and wherein shift-by-wire's development is faster and faster, and more motorcycle type has carried on the shift-by-wire that the science and technology feels is sufficient. Compared with mechanical gear shifting, the shift-by-wire gear shifting can obviously reduce noise in the gear shifting process and improve the gear shifting quality of the whole vehicle, so that the shift-by-wire gear shifting is more and more accepted and pursued by consumers.
The existing shift identification of shift by wire is generally realized by a Hall sensor or a microswitch, and the target shift of a shifter is judged by identifying the magnetic field change through the cooperation of one group or one Hall sensor and a magnet, so that the shift intention of a driver is identified. The gear identification system has high equipment cost and poor magnetic field interference resistance, and can be greatly influenced in a strong magnetic field environment. On the other hand, the overall magnetic field interference of the new energy vehicle is larger than that of the traditional vehicle type, and along with the popularization of the new energy vehicle, a gear shifting identification system with strong magnetic field interference resistance is needed to be designed.
Disclosure of Invention
The invention aims to provide a gear identification system and a gear identification method which are low in equipment cost and can resist magnetic field interference.
In order to achieve the above object, the present invention provides a gear identification system, which includes a shift lever, an identification component and a reference component, wherein the identification component and the shift lever are relatively fixedly connected, the shift lever and the identification component rotate or translate relative to the reference component, and the reference component includes a reflective panel; the identification component comprises a light-emitting element, a light guide element, an optical sensor and an image analysis chip, wherein the light-emitting element and the optical sensor are fixedly arranged on the same side of the light guide element, the reflection panel is positioned on the other side of the light guide element, and the optical sensor is in signal connection with the image analysis chip.
Preferably, a plurality of feature identifiers used for assisting the image analysis chip in identifying the gear shifting position are arranged on the reflection panel.
Preferably, the light guide element includes a planar lens portion and a condensing lens portion, a light incident surface of the planar lens portion faces the light emitting element, and a light emitting surface of the planar lens portion faces the reflective panel; the light incident surface of the condenser lens portion faces the reflection panel, and the light emitting surface of the condenser lens portion faces the optical sensor.
Preferably, the planar lens portion is inclined toward a main optical axis of the condensing lens portion, so that an included angle between the planar lens portion and the reflection panel is greater than 0 ° and smaller than 90 °.
Preferably, the gear shift lever is provided with an accommodating cavity for accommodating and mounting the light emitting element, the light guide element and the optical sensor, an opening of the accommodating cavity faces the reflection panel of the reference member, and the light guide element is arranged at the opening of the accommodating cavity.
Preferably, the shift lever includes an upper lever section, a lower lever section and a rotation fulcrum located between the upper lever section and the lower lever section, the identification component is fixedly connected to a side wall of the lower lever section, and the reference component is located below the identification component.
The invention also provides a gear identification method using the gear identification system, which comprises the following steps:
the gear shifting rod drives the identification component to move;
the light-emitting element emits light, the light is transmitted to the optical sensor through the light guide element and the reflecting panel to be imaged, and the optical sensor records a group of continuous images corresponding to the moving track of the gear shifting lever;
the consecutive images are transmitted to the image analysis chip, and the image analysis chip judges the moving direction and the distance of the gear shift lever so as to obtain a position signal of the gear shift lever.
Preferably, the image analysis chip determines the moving direction and distance of the shift lever according to the position change of the feature point on the consecutive image.
Preferably, the feature points on the consecutive images are formed by providing a number of feature identifiers on the reflective panel.
Preferably, the gear identification system further comprises the steps of: the image analysis chip sends a position signal of the gear shifting rod to a gear shifter main board, and the gear shifter main board identifies a gear shifting request of a driver according to the position signal and sends the gear shifting request to a gearbox.
Compared with the prior art, the gear identification system and method provided by the technical scheme have the beneficial technical effects that: the rotation angle of the gear shifting lever is identified through photoelectric equipment by utilizing an optical principle, the interference of a magnetic field is avoided, the identification and positioning accuracy is high, and the influence of assembly errors is avoided; compared with the conventional Hall sensor, the sensor has the advantages of obvious cost advantage and wide application prospect.
Drawings
FIG. 1 is a schematic structural diagram of a gear identification system according to an embodiment of the present invention;
FIG. 2 is an optical schematic of a gear identification system of an embodiment of the present invention;
fig. 3 is a schematic usage state diagram of the gear identification system according to the embodiment of the invention.
The system comprises a gear shifting lever 1, a containing cavity 11, an upper lever section 12, a lower lever section 13, a rotating fulcrum 14, an identification component 2, a light-emitting element 21, a light-guiding element 22, a planar lens part 221, a condensing lens part 222, an optical sensor 23, a PCB 24, a reference component 3, a reflecting panel 31, a characteristic mark 32, a position I41, a position II 42, a position III 43, a position IV 44, a position V45 and a position baffle 5.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Referring to fig. 1-3, the gear identification system provided by the present invention comprises a shift lever 1, an identification component 2 fixedly connected to the shift lever 1, and a reference member 3 as a reference frame, wherein the shift lever 1 and the identification component 2 rotate or translate relative to the reference member 3, and the reference member 3 includes a reflective panel 31; the identification component 2 comprises a light emitting element 21, a light guide element 22, an optical sensor 23 and an image analysis chip, wherein the light emitting element 21 and the optical sensor 23 are fixedly arranged on the same side of the light guide element 22, the reflection panel 31 is positioned on the other side of the light guide element 22, and the optical sensor 23 is in signal connection with the image analysis chip.
The gear recognition system based on the technical characteristics has the working principle that: the light is irradiated on the reflecting panel 31 by the light-emitting element for reflection, and part of the light passes through the light guide element 22 and then is transmitted to the optical sensor 23 for imaging; when the gear shift lever 1 moves, the gear shift lever 1 drives the light emitting element 21, the light guide element 22 and the optical sensor 23 to move together, the moving track of the gear shift lever 1 is recorded into a group of consecutive images shot at a high speed, finally, the images shot on the moving track are analyzed and processed through an image analysis chip, and the moving direction and the distance of the gear shift lever are judged through the change of the positions of the characteristic points on the images. The gear recognition system recognizes the rotation angle of the gear shift lever by using an optical principle and through photoelectric equipment, has strong magnetic field interference resistance, cannot be interfered by a magnetic field, has high recognition and positioning accuracy, and cannot be influenced by assembly errors; compared with the conventional Hall sensor, the sensor has the advantages of obvious cost advantage and wide application prospect.
In order to more accurately judge the moving direction and distance of the shift lever in the process of image analysis processing by the image analysis chip, a plurality of feature marks 32 for assisting the image analysis chip in identifying the shift position are arranged on the reflection panel 31. The feature identifier 32 may be distinguished by different feature patterns. Preferably, a plurality of characteristic marks 32 corresponding to the gears are arranged, so that the image analysis chip can more conveniently identify the gear shifting position.
In this embodiment, the light emitting element 21 may be a light emitting diode or an LED lamp, the optical sensor 23 may be a micro imager, and the image analysis chip may be a DSP digital microprocessor. Preferably, the light emitting element 21 and the optical sensor 23 are mounted on a PCB 24, and the image analysis chip is integrated on the PCB 24.
The light guide element 22 includes a planar lens portion 221 and a condensing lens portion 222, a light incident surface of the planar lens portion 221 faces the light emitting element 21, and a light emitting surface of the planar lens portion 221 faces the reflective panel 31; the light incident surface of the condenser lens 222 faces the reflection panel 31, and the light emitting surface of the condenser lens 222 faces the optical sensor 23. Preferably, the planar lens portion 221 and the condensing lens portion 222 are integrally formed. After the light emitted from the light emitting element 21 is refracted by the planar lens portion 221, part of the light is reflected by the reflective panel 31 to the condensing lens portion 222 to be condensed, and then transmitted to the optical sensor 23. The optical path design is simple and reasonable, and the optical sensor 23 can be assisted to smoothly realize image acquisition.
The planar lens portion 221 is inclined toward the main optical axis of the condensing lens portion 222, so that an included angle between the planar lens portion 221 and the reflective panel 31 is greater than 0 ° and smaller than 90 °. By the inclined arrangement of the planar lens portion 221, the light passing through the planar lens portion 221 can be more projected toward the reflective panel 31 and converged to the condenser lens portion 222, so that the optical sensor 23 can achieve higher-quality image acquisition.
The gear shift lever 1 is provided with an accommodating cavity 11 for accommodating and mounting the light emitting element 21, the light guide element 22 and the optical sensor 23, an opening of the accommodating cavity 11 faces the reflection panel 31 of the reference member 3, and the light guide element 22 is arranged at the opening of the accommodating cavity 11. In this embodiment, two independent cavities are formed by disposing the partition board 5 in the accommodating cavity 11, and the light emitting element 21 and the optical sensor 23 are respectively mounted in the two cavities, so as to avoid mutual interference between the light emitting element 21 and the optical sensor 23. Preferably, the PCB 24 is disposed inside the accommodating cavity 11, and the accommodating cavity 11 may be provided with a threading hole of the PCB 24. By arranging the accommodating cavity structure on the gear shifting rod 1, the identification component 2 can synchronously move along with the gear shifting rod 1, and the moving track of the gear shifting rod 1 is synchronously recorded.
The gear shifting lever 1 comprises an upper lever section 12, a lower lever section 13 and a rotating fulcrum 14 located between the upper lever section 12 and the lower lever section 13, the identification component 2 is fixedly connected to a side wall of the lower lever section 13, the reference component 3 is located below the identification component 2, and the identification component 2 can move synchronously with the gear shifting lever 1 and is matched with the reference component 3 to synchronously record a moving track of the gear shifting lever 1.
The invention also provides a gear identification method using the gear identification system, which comprises the following steps:
step one, the gear shifting rod 1 drives the identification component 2 to move;
secondly, the light-emitting element 21 emits light, the light is transmitted to the optical sensor 23 through the light-guiding element 22 and the reflection panel 31 to be imaged, and the optical sensor 23 records a group of continuous images corresponding to the moving track of the gear shift lever 1;
and step three, the coherent images are transmitted to the image analysis chip, and the image analysis chip judges the moving direction and the distance of the gear shift lever 1 to obtain a position signal of the gear shift lever 1.
Based on the gear identification method with the technical characteristics, the light is irradiated on the reflecting panel 31 through the light-emitting element 21 to be reflected, and part of the light passes through the light guide element 22 and then is transmitted to the optical sensor 23 to be imaged; when the gear shift lever 1 moves, the gear shift lever 1 drives the light emitting element 21, the light guide element 22 and the optical sensor 23 to move together, the moving track of the gear shift lever 1 is recorded into a group of consecutive images shot at a high speed, finally, the images shot on the moving track are analyzed and processed through an image analysis chip, and the moving direction and the distance of the gear shift lever are judged through the change of the positions of the characteristic points on the images. The gear identification method utilizes an optical principle, identifies the rotation angle of the gear shifting lever through photoelectric equipment, has strong magnetic field interference resistance, cannot be interfered by a magnetic field, has high identification and positioning accuracy, and cannot be influenced by assembly errors.
Specifically, when the driver shifts gears by rotation, the shift lever rotates around the rotation fulcrum 14, and at the same time, the light-emitting element 21, the light-guiding element 22 and the optical sensor 23 are driven to rotate relative to the reference member 3. During the rotation of the gear shift lever, the light emitted from the light emitting element 21 is irradiated on the reflective panel 31, and following the movement track of the gear shift lever, the optical sensor 23 will capture a series of consecutive images through the light guide element 22, and then the rotation angle and position of the gear shift lever can be analyzed through the DSP.
In the third step, the image analysis chip judges the moving direction and distance of the shift lever 1 according to the position change of the feature points on the consecutive images. And judging the rotation direction and the angle of the gear shift lever 1 according to the corresponding relation between the movement track of the gear shift lever 1 and the position change of the characteristic point on the consecutive images, thereby identifying the gear shift request of the driver.
Further, in the third step, feature points on the consecutive images are formed by disposing a number of feature marks on the reflective panel 31. As shown in fig. 3, in the present embodiment, a total of five signatures are provided on the reflection panel 31 corresponding to the first position 41, the second position 42, the third position 43, the fourth position 44 and the fifth position 45 of the shift lever, and the rotation direction and the angle of the shift lever 1 are determined according to the corresponding relationship between the movement trajectory of the shift lever 1 and the position change of the five signatures on the consecutive image, so as to recognize the shift request of the driver.
The gear recognition system further comprises: and step four, the image analysis chip sends the position signal obtained by the judgment of the step three to a gear shifter main board, and the gear shifter main board identifies the gear shifting request of the driver according to the position signal and sends the gear shifting request to a gearbox. In the rotation process of the gear shift lever, the optical sensor 23 shoots continuous photos, the image analysis chip analyzes the photos before and after comparing to judge the rotation angle of the gear shift lever, then the image analysis chip sends a signal to the gear shift device main board, the gear shift device main board sends a gear shift request to the gear shift box after recognizing the gear shift request of a driver, and the gear shift box shifts gears, so far, one-time gear shift operation is smoothly completed.
The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (9)
1. A gear identification system is characterized by comprising a gear shifting lever, an identification component and a reference component, wherein the identification component and the identification component are fixedly connected with the gear shifting lever relatively, the gear shifting lever and the identification component rotate or translate relatively to the reference component, and the reference component comprises a reflecting panel;
the identification component comprises a light-emitting element, a light guide element, an optical sensor and an image analysis chip, wherein the light-emitting element and the optical sensor are fixedly arranged on the same side of the light guide element, the reflection panel is positioned on the other side of the light guide element, and the optical sensor is in signal connection with the image analysis chip;
the gear shifting lever is provided with an accommodating cavity used for accommodating and installing the light-emitting element, the light guide element and the optical sensor, an opening of the accommodating cavity faces to the reflection panel of the reference component, and the light guide element is arranged at an opening of the accommodating cavity.
2. The gear identification system according to claim 1, wherein the reflection panel is provided with a plurality of characteristic marks for assisting the image analysis chip in identifying the gear shifting position.
3. The gear identification system according to claim 1 or 2, wherein the light guide element comprises a planar lens portion and a condensing lens portion, a light incident surface of the planar lens portion faces the light emitting element, and a light emergent surface of the planar lens portion faces the reflective panel; the light incident surface of the condenser lens portion faces the reflection panel, and the light emitting surface of the condenser lens portion faces the optical sensor.
4. The gear identification system according to claim 3, wherein the planar lens portion is inclined toward the main optical axis of the condenser lens portion such that an included angle between the planar lens portion and the reflection panel is greater than 0 ° and smaller than 90 °.
5. The gear identification system of claim 1 wherein said shift lever includes an upper lever section, a lower lever section and a pivot point between said upper and lower lever sections, said identification assembly being fixedly attached to a side wall of said lower lever section, said reference member being located below said identification assembly.
6. A gear identification method using the gear identification system according to any one of claims 1 to 5, characterized by comprising:
the gear shifting rod drives the identification component to move;
the light-emitting element emits light, the light is transmitted to the optical sensor through the light guide element and the reflecting panel to be imaged, and the optical sensor records a group of continuous images corresponding to the moving track of the gear shifting lever;
the consecutive images are transmitted to the image analysis chip, and the image analysis chip judges the moving direction and the distance of the gear shift lever so as to obtain a position signal of the gear shift lever.
7. The gear recognition system according to claim 6, wherein the image analysis chip determines the moving direction and distance of the shift lever according to the position change of the feature point on the consecutive images.
8. The gear identification system of claim 7, wherein the feature points on the consecutive images are formed by providing a plurality of feature identifiers on the reflective panel.
9. The gear identification system according to any of claims 6-8, further comprising the steps of: the image analysis chip sends the position signal of the gear shifting rod to a gear shifter main board, and the gear shifter main board identifies the gear shifting request of a driver according to the position signal and sends the gear shifting request to a gearbox.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910513091.1A CN112081908B (en) | 2019-06-13 | 2019-06-13 | Gear recognition system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910513091.1A CN112081908B (en) | 2019-06-13 | 2019-06-13 | Gear recognition system and method |
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| CN112081908A CN112081908A (en) | 2020-12-15 |
| CN112081908B true CN112081908B (en) | 2021-11-02 |
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| CN101044446A (en) * | 2004-08-20 | 2007-09-26 | 顶点科技有限公司 | Optical pointing apparatus and personal portable device having the optical pointing apparatus |
| CN102661390A (en) * | 2012-05-22 | 2012-09-12 | 湖南大学 | Electronic gear detection mechanism based on photoelectric sensors |
| CN102939577A (en) * | 2010-04-12 | 2013-02-20 | 德尔菲技术公司 | Holographic indexing and display system for manual control interface |
| CN106464251A (en) * | 2014-06-24 | 2017-02-22 | Zf 腓德烈斯哈芬股份公司 | Apparatus and method for optoelectronically detecting a selector lever position, selector lever apparatus, method for producing an apparatus for optoelectronically detecting a selector lever position |
| CN108369114A (en) * | 2015-12-10 | 2018-08-03 | Zf 腓德烈斯哈芬股份公司 | Location detecting apparatus and gear for shift lever select equipment |
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2019
- 2019-06-13 CN CN201910513091.1A patent/CN112081908B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101044446A (en) * | 2004-08-20 | 2007-09-26 | 顶点科技有限公司 | Optical pointing apparatus and personal portable device having the optical pointing apparatus |
| CN102939577A (en) * | 2010-04-12 | 2013-02-20 | 德尔菲技术公司 | Holographic indexing and display system for manual control interface |
| CN102661390A (en) * | 2012-05-22 | 2012-09-12 | 湖南大学 | Electronic gear detection mechanism based on photoelectric sensors |
| CN106464251A (en) * | 2014-06-24 | 2017-02-22 | Zf 腓德烈斯哈芬股份公司 | Apparatus and method for optoelectronically detecting a selector lever position, selector lever apparatus, method for producing an apparatus for optoelectronically detecting a selector lever position |
| CN108369114A (en) * | 2015-12-10 | 2018-08-03 | Zf 腓德烈斯哈芬股份公司 | Location detecting apparatus and gear for shift lever select equipment |
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