CN112678069B - A Vehicle Steering Angle Measuring System Based on Absolute Sensor - Google Patents
A Vehicle Steering Angle Measuring System Based on Absolute Sensor Download PDFInfo
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Abstract
本发明公开一种基于绝对传感器的车辆转向角测量系统，包括主齿轮，第一转轴、第二转轴、第三转轴、第一角度测量齿轮、第二角度测量齿轮和计圈齿轮，安装于电路板上的第一角度传感器、第二角度传感器、第三角度传感器和主控单元，主齿轮安装于方向盘的转轴上；第一角度测量齿轮、第二角度测量齿轮和计圈齿轮分别对应安装于第一转轴、第二转轴和第三转轴上且与主齿轮啮合，根据第一角度测量齿轮的转动角度、第二角度测量齿轮的转动角度、计圈齿轮的转动圈数计算出方向盘的转动角度。通过四齿轮结构、角度传感器和主控单元实现对方向盘转轴旋转位置高精度、大量程的非接触式检测，输出更快、更准确的转动角度。
The invention discloses a vehicle steering angle measurement system based on an absolute sensor, which includes a main gear, a first rotating shaft, a second rotating shaft, a third rotating shaft, a first angle measuring gear, a second angle measuring gear and a circle counting gear, which are installed in a circuit The first angle sensor, the second angle sensor, the third angle sensor and the main control unit on the board, the main gear is installed on the rotating shaft of the steering wheel; the first angle measurement gear, the second angle measurement gear and the circle counting gear are respectively installed on the The rotation angle of the steering wheel is calculated according to the rotation angle of the first angle measurement gear, the rotation angle of the second angle measurement gear, and the number of rotations of the counting gear on the first, second, and third rotation shafts and meshed with the main gear . Through the four-gear structure, angle sensor and main control unit, the high-precision and large-range non-contact detection of the rotation position of the steering wheel shaft is realized, and the faster and more accurate rotation angle is output.
Description
技术领域technical field
本发明属于智能汽车技术领域，尤其涉及一种基于绝对传感器的车辆转向角测量系统。The invention belongs to the technical field of smart cars, in particular to a vehicle steering angle measurement system based on an absolute sensor.
背景技术Background technique
智能网联汽车技术已经得到飞速发展，以及人们对汽车驾驶方面的舒适、稳定、安全等要求的提高。智能网联汽车代表着未来科技发展趋势，然而智能网联汽车的一个关键的技术难点便是汽车的转向问题，汽车在行驶过程中完全依靠方向盘来控制方向，这样使得方向盘在自动驾驶的汽车中的重要性更加突出。The technology of intelligent networked vehicles has developed rapidly, and people's requirements for the comfort, stability and safety of car driving have been improved. Intelligent networked vehicles represent the future trend of technological development. However, a key technical difficulty of intelligent networked vehicles is the steering problem of the car. The car completely relies on the steering wheel to control the direction during driving, which makes the steering wheel in the self-driving car. importance is more prominent.
现有技术方案一：一种基于陀螺仪和单片机的非接触式方向盘转角传感器，能够以CAN协议格式输出方向盘转动的角速度和角度。当方向盘转动角度大于一周时，也可准确得到方向盘转动角度，传感器实现非接触式测量。Solution 1 of the prior art: a non-contact steering wheel angle sensor based on a gyroscope and a single-chip microcomputer, which can output the angular velocity and angle of the steering wheel in CAN protocol format. When the steering wheel rotation angle is greater than one circle, the steering wheel rotation angle can also be accurately obtained, and the sensor realizes non-contact measurement.
现有技术方案二：一种方向盘转角测量方法及装置、系统，获取包括方向盘的图像和设置在方向盘上的标记物的图像的图像帧，提取图像帧中的标记物的特征，依据标记物的特征，由第一图像帧中方向盘的转角，计算第二图像帧中的方向盘的转角。Solution 2 of the prior art: a steering wheel angle measurement method, device, and system, which acquires an image frame including an image of the steering wheel and images of markers arranged on the steering wheel, extracts the features of the markers in the image frame, and based on the marker’s The feature calculates the steering wheel rotation angle in the second image frame from the steering wheel rotation angle in the first image frame.
上述现有技术方案一和二存在方向盘转动角度有一定的延时不能被实时测量，计算出来的角度精度达不到要求的技术问题。The above-mentioned existing technical schemes 1 and 2 have the technical problem that the steering wheel rotation angle cannot be measured in real time due to a certain delay, and the calculated angle accuracy cannot meet the requirements.
发明内容Contents of the invention
为解决上述背景技术中提出的至少一个问题。本发明提供了一种基于绝对传感器的车辆转向角测量系统。In order to solve at least one problem raised in the background art above. The invention provides a vehicle steering angle measurement system based on an absolute sensor.
为实现上述目的，本发明提供如下技术方案：To achieve the above object, the present invention provides the following technical solutions:
一种基于绝对传感器的车辆转向角测量系统，包括：主齿轮，第一转轴、第二转轴、第三转轴、第一角度测量齿轮、第二角度测量齿轮和计圈齿轮，安装于电路板上的第一角度传感器、第二角度传感器、第三角度传感器和主控单元，所述主齿轮安装于方向盘的转轴上；所述第一转轴、第二转轴和第三转轴与所述方向盘的转轴平行设置，所述第一角度测量齿轮、第二角度测量齿轮和计圈齿轮分别对应安装于所述第一转轴、第二转轴和第三转轴上且与所述主齿轮啮合，所述第一角度传感器设于所述第一角度测量齿轮的上方用于测量所述第一角度测量齿轮的转动角度，所述第二角度传感器设于所述第二角度测量齿轮的上方用于测量所述第二角度测量齿轮的转动角度，所述第三角度传感器设于所述计圈齿轮的上方用于测量所述计圈齿轮的转动圈数，所述转动圈数为整数，所述主控单元和所述第一角度传感器、第二角度传感器和第三角度传感器之间通信，并根据所述第一角度测量齿轮的转动角度、所述第二角度测量齿轮的转动角度、所述计圈齿轮的转动圈数计算出所述方向盘的转动角度。A vehicle steering angle measurement system based on an absolute sensor, comprising: a main gear, a first rotating shaft, a second rotating shaft, a third rotating shaft, a first angle measuring gear, a second angle measuring gear and a lap counting gear, mounted on a circuit board The first angle sensor, the second angle sensor, the third angle sensor and the main control unit, the main gear is installed on the rotating shaft of the steering wheel; the first rotating shaft, the second rotating shaft and the third rotating shaft are connected with the rotating shaft of the steering wheel Arranged in parallel, the first angle measuring gear, the second angle measuring gear and the counting gear are respectively mounted on the first rotating shaft, the second rotating shaft and the third rotating shaft and meshed with the main gear, the first The angle sensor is arranged above the first angle measuring gear for measuring the rotation angle of the first angle measuring gear, and the second angle sensor is arranged above the second angle measuring gear for measuring the rotation angle of the first angle measuring gear. Two angles measure the rotation angle of the gear, the third angle sensor is arranged above the counting gear for measuring the number of rotations of the counting gear, the number of rotations is an integer, the main control unit and The first angle sensor, the second angle sensor and the third angle sensor communicate with each other, and measure the rotation angle of the gear according to the first angle, the rotation angle of the second angle measurement gear, and the rotation angle of the circle counting gear. The number of turns calculates the turning angle of the steering wheel.
在一个实施例中，所述第一转轴的上端、第二转轴的上端和第三转轴的上端分别对应设有第一磁钢、第二磁钢和第三磁钢，所述第一角度传感器位于所述第一磁钢的上方，所述第二角度传感器位于所述第二磁钢的上方，所述第三角度传感器位于所述第三磁钢的上方，以使所述第一角度传感器、第二角度传感器和第三角度传感器通过巨磁效应测量出所述第一角度测量齿轮和第二角度测量齿轮的转动角度以及第三角度测量齿轮的转动圈数。In one embodiment, the upper end of the first rotating shaft, the upper end of the second rotating shaft and the upper end of the third rotating shaft are respectively provided with a first magnet, a second magnet and a third magnet, and the first angle sensor Located above the first magnetic steel, the second angle sensor is located above the second magnetic steel, and the third angle sensor is located above the third magnetic steel, so that the first angle sensor , the second angle sensor and the third angle sensor measure the rotation angles of the first angle measurement gear and the second angle measurement gear and the number of rotations of the third angle measurement gear through giant magnetic effect.
在一个实施例中，所述第一磁钢、第二磁钢和第三磁钢为柱形磁钢。In one embodiment, the first magnet, the second magnet and the third magnet are cylindrical magnets.
在一个实施例中，所述第一角度传感器、第二角度传感器和第三角度传感器为TLE5012B角度传感器，所述第一角度传感器和第二角度传感器的寄存器配置为角度值寄存器，所述第三角度传感器的寄存器配置为IIF计数器值，所述第一角度传感器输出所述第一角度测量齿轮在当前圈的转动角度，所述第二角度传感器输出所述第二角度测量齿轮在当前圈的转动角度，所述第三角度传感器输出所述计圈齿轮的转动圈数。In one embodiment, the first angle sensor, the second angle sensor and the third angle sensor are TLE5012B angle sensors, the registers of the first angle sensor and the second angle sensor are configured as angle value registers, and the third The register of the angle sensor is configured as an IIF counter value, the first angle sensor outputs the rotation angle of the first angle measurement gear in the current circle, and the second angle sensor outputs the rotation angle of the second angle measurement gear in the current circle angle, the third angle sensor outputs the number of rotations of the counting gear.
在一个实施例中，所述主控单元为STM8AF5268单片机，所述主控单元和所述第一角度传感器、第二角度传感器和第三角度传感器之间通信具体包括：所述STM8AF5268单片机通过控制器局域网络CAN和所述第一角度传感器、第二角度传感器和第三角度传感器之间连接，通过串行外设接口SPI实时读取各传感器的测量数值。In one embodiment, the main control unit is a STM8AF5268 single-chip microcomputer, and the communication between the main control unit and the first angle sensor, the second angle sensor and the third angle sensor specifically includes: the STM8AF5268 single-chip microcomputer through a controller The local area network CAN is connected with the first angle sensor, the second angle sensor and the third angle sensor, and the measurement value of each sensor is read in real time through the serial peripheral interface SPI.
在一个实施例中，所述主齿轮的齿数为90，所述第一角度测量齿轮的齿数为30，所述第二角度测量齿轮的齿数为27，所述计圈齿轮的齿数为30，根据所述第一角度测量齿轮的转动角度、所述第二角度测量齿轮的转动角度、所述计圈齿轮的转动圈数计算出所述方向盘的转动角度具体包括：方向盘在一个方向的转角等于计圈齿轮的转动圈数乘120度再加上第一角度测量齿轮角度值减去第二角度测量齿轮角度值的差值。In one embodiment, the number of teeth of the main gear is 90, the number of teeth of the first angle measurement gear is 30, the number of teeth of the second angle measurement gear is 27, and the number of teeth of the circle counting gear is 30, according to The calculation of the rotation angle of the steering wheel from the rotation angle of the first angle measurement gear, the rotation angle of the second angle measurement gear, and the number of rotations of the counting gear specifically includes: the rotation angle of the steering wheel in one direction is equal to the rotation angle of the counting wheel. The number of rotations of the circle gear is multiplied by 120 degrees, plus the difference between the angle value of the first angle measurement gear minus the angle value of the second angle measurement gear.
在一个实施例中，根据所述第一角度测量齿轮的转动角度、所述第二角度测量齿轮的转动角度、所述计圈齿轮的转动圈数计算出所述方向盘的转动角度具体包括：主控单元读取所述第一角度传感器、第二角度传感器和第三角度传感器的寄存器的值得到所述第一角度测量齿轮的转动角度、所述第二角度测量齿轮的转动角度和计圈齿轮的转动圈数，主控单元根据预设算法计算出所述方向盘的转角。In one embodiment, calculating the rotation angle of the steering wheel according to the rotation angle of the first angle measurement gear, the rotation angle of the second angle measurement gear, and the number of rotations of the counting gear specifically includes: The control unit reads the values of the registers of the first angle sensor, the second angle sensor and the third angle sensor to obtain the rotation angle of the first angle measurement gear, the rotation angle of the second angle measurement gear and the lap gear The main control unit calculates the rotation angle of the steering wheel according to a preset algorithm.
在一个实施例中，当检测到第一角度传感器、第二角度传感器和第三角度传感器中的至少一个故障时，主控单元重新读取所述第一角度传感器、第二角度传感器和第三角度传感器的寄存器的值。In one embodiment, when at least one failure of the first angle sensor, the second angle sensor and the third angle sensor is detected, the main control unit reads the first angle sensor, the second angle sensor and the third angle sensor again. The value of the register of the angle sensor.
在一个实施例中，当所述第一角度测量齿轮角度值减去第二角度测量齿轮角度值的差值发生跃变时，则检测第一角度测量齿轮和第二角度测量齿轮是否故障，若是，则第一角度传感器和第二角度传感器为正常工作状态，若否，则检测第一角度传感器、第二角度传感器和第三角度传感器是否故障。In one embodiment, when the difference between the angle value of the first angle measuring gear minus the angle value of the second angle measuring gear changes abruptly, it is detected whether the first angle measuring gear and the second angle measuring gear are faulty, and if , then the first angle sensor and the second angle sensor are in normal working state, if not, it is detected whether the first angle sensor, the second angle sensor and the third angle sensor are faulty.
在一个实施例中，所述第一角度测量齿轮位于所述主齿轮的左侧，所述第二测量齿轮位于所述主齿轮的右侧，所述计圈齿轮位于所述主齿轮的左后侧。In one embodiment, the first angle measuring gear is located on the left side of the main gear, the second measuring gear is located on the right side of the main gear, and the lap counting gear is located on the left rear of the main gear side.
与现有技术相比，本发明的有益效果是：Compared with prior art, the beneficial effect of the present invention is:
该基于绝对传感器的车辆转向角测量系统，包括主齿轮，第一转轴、第二转轴、第三转轴、第一角度测量齿轮、第二角度测量齿轮和计圈齿轮，安装于电路板上的第一角度传感器、第二角度传感器、第三角度传感器和主控单元，所述主齿轮安装于方向盘的转轴上；所述第一转轴、第二转轴和第三转轴与所述方向盘的转轴平行设置，所述第一角度测量齿轮、第二角度测量齿轮和计圈齿轮分别对应安装于所述第一转轴、第二转轴和第三转轴上且与所述主齿轮啮合，所述第一角度传感器设于所述第一角度测量齿轮的上方用于测量所述第一角度测量齿轮的转动角度，所述第二角度传感器设于所述第二角度测量齿轮的上方用于测量所述第二角度测量齿轮的转动角度，所述第三角度传感器设于所述计圈齿轮的上方用于测量所述计圈齿轮的转动圈数，所述转动圈数为整数，所述主控单元和所述第一角度传感器、第二角度传感器和第三角度传感器之间通信，并根据所述第一角度测量齿轮的转动角度、所述第二角度测量齿轮的转动角度、所述计圈齿轮的转动圈数计算出所述方向盘的转动角度。通过四齿轮结构、角度传感器和主控单元实现对方向盘转轴旋转位置高精度、大量程的非接触式检测，输出更快、更准确的转动角度。The vehicle steering angle measuring system based on an absolute sensor includes a main gear, a first rotating shaft, a second rotating shaft, a third rotating shaft, a first angle measuring gear, a second angle measuring gear and a counting gear, and is installed on the first rotating shaft on the circuit board. An angle sensor, a second angle sensor, a third angle sensor and a main control unit, the main gear is installed on the shaft of the steering wheel; the first shaft, the second shaft and the third shaft are arranged parallel to the shaft of the steering wheel , the first angle measuring gear, the second angle measuring gear and the counting gear are respectively installed on the first rotating shaft, the second rotating shaft and the third rotating shaft and meshed with the main gear, the first angle sensor set above the first angle measuring gear for measuring the rotation angle of the first angle measuring gear, and the second angle sensor is set above the second angle measuring gear for measuring the second angle Measuring the rotation angle of the gear, the third angle sensor is arranged on the top of the counting gear for measuring the number of rotations of the counting gear, the number of rotations is an integer, the main control unit and the The first angle sensor, the second angle sensor and the third angle sensor communicate with each other, and measure the rotation angle of the gear according to the first angle, the rotation angle of the second angle measurement gear, and the rotation circle of the circle counting gear Calculate the angle of rotation of the steering wheel. Through the four-gear structure, angle sensor and main control unit, the high-precision and large-range non-contact detection of the rotation position of the steering wheel shaft is realized, and the faster and more accurate rotation angle is output.
附图说明Description of drawings
附图用来提供对本发明的进一步理解，并且构成说明书的一部分，与本发明的实施例一起用于解释本发明，并不构成对本发明的限制。在附图中：The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the description, and are used together with the embodiments of the present invention to explain the present invention, and do not constitute a limitation to the present invention. In the attached picture:
图1为本发明的基于绝对传感器的车辆转向角测量系统的四齿轮结构安装至汽车方向盘转轴上的示意图；Fig. 1 is the schematic diagram that the four-gear structure of the vehicle steering angle measurement system based on the absolute sensor of the present invention is installed on the rotating shaft of the automobile steering wheel;
图2为本发明的基于绝对传感器的车辆转向角测量系统的四齿轮结构间的啮合示意图；2 is a schematic diagram of meshing between the four-gear structure of the vehicle steering angle measurement system based on the absolute sensor of the present invention;
图3为本发明的基于绝对传感器的车辆转向角测量系统的主控单元和各传感器之间以及上位机之间的连接示意图；Fig. 3 is the schematic diagram of the connection between the main control unit and each sensor and between the host computer of the vehicle steering angle measurement system based on the absolute sensor of the present invention;
图4为本发明的基于绝对传感器的车辆转向角测量系统的角度传感器TLE50120与STM8AF单片机之间的数据通信算法流程图。Fig. 4 is a flow chart of the data communication algorithm between the angle sensor TLE50120 and the STM8AF single-chip microcomputer of the vehicle steering angle measurement system based on the absolute sensor of the present invention.
图中，1、主齿轮，2、第二角度测量齿轮，3、第一角度测量齿轮，4、计圈齿轮，5、第二转轴，6、第一转轴，7、第一磁钢，8、第一角度传感器，9、电路板，10、方向盘的转轴，11、第二角度传感器，12、第二磁钢，13、第三转轴，14、第三磁钢，15、第三角度传感器。In the figure, 1, the main gear, 2, the second angle measuring gear, 3, the first angle measuring gear, 4, the lap counting gear, 5, the second rotating shaft, 6, the first rotating shaft, 7, the first magnetic steel, 8 , the first angle sensor, 9, the circuit board, 10, the shaft of the steering wheel, 11, the second angle sensor, 12, the second magnet, 13, the third shaft, 14, the third magnet, 15, the third angle sensor .
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
在本发明实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本发明实施例和所附权利要求书中所使用的单数形式的“一种”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。Terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. As used in the embodiments of the present invention and the appended claims, the singular forms "a" and "the" are also intended to include plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.
应当理解，尽管在本发明实施例中可能采用术语第一、第二等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。It should be understood that although the terms first, second, etc. may be used to describe various information in the embodiments of the present invention, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another.
需要指出的是，在不冲突的情况下，本发明中的实施例以及实施例中的特征可以互相组合。It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.
为了进一步阐述本发明为实现预定发明目的所采取的技术手段及功效，以下结合附图及较佳实施例，对依据本发明的具体实施方式、结构、特征及其功效，详细说明如下。In order to further explain the technical means and effects of the present invention to achieve the intended purpose of the invention, the specific implementation, structure, features and effects of the present invention will be described in detail below in conjunction with the accompanying drawings and preferred embodiments.
如图1-2所示，一种基于绝对传感器的车辆转向角测量系统，包括：主齿轮1，第一转轴6、第二转轴5、第三转轴13、第一角度测量齿轮3、第二角度测量齿轮2和计圈齿轮4，安装于电路板9上的第一角度传感器8、第二角度传感器11、第三角度传感器15和主控单元，电路板9可以固定在方向盘转轴的周边，但不可随方向盘转轴转动，主齿轮1安装于方向盘的转轴10上与方向盘转轴一起转动，由此可以通过得到主齿轮1的转角进而得到方向盘的转角；第一转轴6、第二转轴5和第三转轴13与方向盘的转轴10平行设置，第一转轴6、第二转轴5和第三转轴13可以固定在车上可以转动即可，第一角度测量齿轮3、第二角度测量齿轮2和计圈齿轮4分别对应安装于第一转轴6、第二转轴5和第三转轴13上随第一转轴6、第二转轴5和第三转轴13转动且与主齿轮1啮合，主齿轮1可带动第一角度测量齿轮3、第二角度测量齿轮2和计圈齿轮4转动，第一角度传感器8设于第一角度测量齿轮3的上方用于测量第一角度测量齿轮3的转动角度，第二角度传感器11设于第二角度测量齿轮2的上方用于测量第二角度测量齿轮2的转动角度，第三角度传感器15设于计圈齿轮4的上方用于测量计圈齿轮4的转动圈数，转动圈数为整数，主控单元和第一角度传感器8、第二角度传感器11和第三角度传感器15之间通信，并根据第一角度测量齿轮3的转动角度、第二角度测量齿轮2的转动角度、计圈齿轮4的转动圈数计算出方向盘的转动角度。第一角度测量齿轮3位于主齿轮1的左侧，第二测量齿轮位于主齿轮1的右侧，计圈齿轮4位于主齿轮1的左后侧。As shown in Figure 1-2, a vehicle steering angle measurement system based on absolute sensors includes: a main gear 1, a first rotating shaft 6, a second rotating shaft 5, a third rotating shaft 13, a first angle measuring gear 3, a second rotating shaft The angle measuring gear 2 and the circle counting gear 4, the first angle sensor 8, the second angle sensor 11, the third angle sensor 15 and the main control unit installed on the circuit board 9, the circuit board 9 can be fixed on the periphery of the steering wheel shaft, But can not rotate with the steering wheel shaft, the main gear 1 is installed on the rotating shaft 10 of the steering wheel and rotates together with the steering wheel shaft, thus the rotation angle of the steering wheel can be obtained by obtaining the rotation angle of the main gear 1; the first rotating shaft 6, the second rotating shaft 5 and the second rotating shaft The three rotating shafts 13 are arranged in parallel with the rotating shaft 10 of the steering wheel. The first rotating shaft 6, the second rotating shaft 5 and the third rotating shaft 13 can be fixed on the car and can be rotated. The first angle measuring gear 3, the second angle measuring gear 2 and the meter The ring gear 4 is respectively installed on the first rotating shaft 6, the second rotating shaft 5 and the third rotating shaft 13 to rotate with the first rotating shaft 6, the second rotating shaft 5 and the third rotating shaft 13 and meshes with the main gear 1, the main gear 1 can drive The first angle measuring gear 3, the second angle measuring gear 2 and the circle counting gear 4 rotate, and the first angle sensor 8 is arranged on the top of the first angle measuring gear 3 for measuring the rotation angle of the first angle measuring gear 3, and the second The angle sensor 11 is arranged on the top of the second angle measuring gear 2 for measuring the rotation angle of the second angle measuring gear 2, and the third angle sensor 15 is arranged on the top of the circle counting gear 4 for measuring the number of rotations of the circle counting gear 4 , the number of rotations is an integer, the main control unit communicates with the first angle sensor 8, the second angle sensor 11 and the third angle sensor 15, and measures the rotation angle of the gear 3 according to the first angle, and measures the rotation angle of the gear 2 according to the second angle. The angle of rotation of the angle of rotation, the number of rotations of the counting circle gear 4 calculates the angle of rotation of the steering wheel. The first angle measuring gear 3 is located on the left side of the main gear 1 , the second measuring gear is located on the right side of the main gear 1 , and the circle counting gear 4 is located on the left rear side of the main gear 1 .
在具体实施时，可以通过程序代码设定转动角度和圈数的正负值判断方向盘具体转动的方向，比如当主齿轮1顺时针旋转时，第一角度测量齿轮3、第二角度测量齿轮2和计圈齿轮4均逆时针旋转，可以设定为，第一角度测量齿轮3、第二角度测量齿轮2和计圈齿轮4逆势针旋转时其转角和圈数为负数值，相应的计算出来的转角为负数，主控单元判定方向盘的转动方向为顺时针。In specific implementation, the positive and negative values of the rotation angle and the number of turns can be set by the program code to determine the specific direction of rotation of the steering wheel. For example, when the main gear 1 rotates clockwise, the first angle measurement gear 3, the second angle measurement gear 2 and The circle counting gear 4 all rotates counterclockwise, which can be set so that when the first angle measurement gear 3, the second angle measurement gear 2 and the circle counting gear 4 rotate counterclockwise, their rotation angle and number of turns are negative values, and the corresponding calculation If the rotation angle is a negative number, the main control unit determines that the rotation direction of the steering wheel is clockwise.
在一个实施例中，主齿轮1的齿数为90，第一角度测量齿轮3的齿数为30，第二角度测量齿轮2的齿数为27，计圈齿轮4的齿数为30，根据第一角度测量齿轮3的转动角度、第二角度测量齿轮2的转动角度、计圈齿轮4的转动圈数计算出方向盘的转动角度具体包括：方向盘在一个方向的转角等于计圈齿轮4的转动圈数乘120度再加上第一角度测量齿轮3角度值减去第二角度测量齿轮2角度值的差值。由此可以通过差值算法得到方向盘的转动角度，结构简单易于实现。In one embodiment, the number of teeth of the main gear 1 is 90, the number of teeth of the first angle measurement gear 3 is 30, the number of teeth of the second angle measurement gear 2 is 27, and the number of teeth of the circle counting gear 4 is 30. The rotation angle of the gear 3, the second angle measurement gear 2 rotation angle, the number of rotations of the counting gear 4 to calculate the rotation angle of the steering wheel specifically includes: the rotation angle of the steering wheel in one direction is equal to the number of rotations of the counting gear 4 multiplied by 120 plus the difference between the angle value of the first angle measuring gear 3 minus the angle value of the second angle measuring gear 2. Therefore, the rotation angle of the steering wheel can be obtained through a difference algorithm, and the structure is simple and easy to implement.
由此，通过四齿轮结构、角度传感器和主控单元实现对方向盘转轴旋转位置高精度、大量程的非接触式检测，输出更快、更准确的转动角度。Thus, through the four-gear structure, angle sensor and main control unit, high-precision and large-range non-contact detection of the rotation position of the steering wheel shaft is realized, and a faster and more accurate rotation angle is output.
如图1-2所示，在一个实施例中，第一转轴6的上端、第二转轴5的上端和第三转轴13的上端分别对应设有第一磁钢7、第二磁钢12和第三磁钢14，第一角度传感器8位于第一磁钢7的正上方，第二角度传感器11位于第二磁钢12的正上方，第三角度传感器15位于第三磁钢14的正上方，以使第一角度传感器8、第二角度传感器11和第三角度传感器15通过巨磁效应测量出第一角度测量齿轮3和第二角度测量齿轮2的转动角度以及第三角度测量齿轮的转动圈数，第一磁钢7、第二磁钢12和第三磁钢14为柱形磁钢。由此可以高精度、大量程的非接触式检测、输出更快、更准确的转动角度。As shown in Figure 1-2, in one embodiment, the upper end of the first rotating shaft 6, the upper end of the second rotating shaft 5 and the upper end of the third rotating shaft 13 are respectively provided with a first magnetic steel 7, a second magnetic steel 12 and a The third magnet 14, the first angle sensor 8 is located directly above the first magnet 7, the second angle sensor 11 is located directly above the second magnet 12, and the third angle sensor 15 is located directly above the third magnet 14 so that the first angle sensor 8, the second angle sensor 11 and the third angle sensor 15 measure the rotation angle of the first angle measurement gear 3 and the second angle measurement gear 2 and the rotation of the third angle measurement gear through the giant magnetic effect The number of turns, the first magnet 7, the second magnet 12 and the third magnet 14 are cylindrical magnets. Therefore, high-precision, large-range non-contact detection can be performed, and a faster and more accurate rotation angle can be output.
在一个实施例中，第一角度传感器8、第二角度传感器11和第三角度传感器15为TLE5012B角度传感器，第一角度传感器8和第二角度传感器11的寄存器配置为角度值寄存器，第三角度传感器15的寄存器配置为IIF计数器值，第一角度传感器8输出第一角度测量齿轮3在当前圈的转动角度，第二角度传感器11输出第二角度测量齿轮2在当前圈的转动角度，第三角度传感器15输出计圈齿轮4的转动圈数。由此可以高精度、大量程的非接触式检测、输出更快、更准确的转动角度。In one embodiment, the first angle sensor 8, the second angle sensor 11 and the third angle sensor 15 are TLE5012B angle sensors, the registers of the first angle sensor 8 and the second angle sensor 11 are configured as angle value registers, and the third angle The register of sensor 15 is configured as the IIF counter value, and the first angle sensor 8 outputs the rotation angle of the first angle measurement gear 3 in the current circle, the second angle sensor 11 outputs the second angle measurement gear 2 in the rotation angle of the current circle, and the third The angle sensor 15 outputs the number of rotations of the counting gear 4 . Therefore, high-precision, large-range non-contact detection can be performed, and a faster and more accurate rotation angle can be output.
在一个实施例中，主控单元为STM8AF5268单片机，主控单元和第一角度传感器8、第二角度传感器11和第三角度传感器15之间通信具体包括：STM8AF5268单片机通过控制器局域网络CAN和第一角度传感器8、第二角度传感器11和第三角度传感器15之间连接，通过串行外设接口SPI实时读取各传感器的测量数值。由此可以高精度、大量程的非接触式检测、输出更快、更准确的转动角度。In one embodiment, the main control unit is a STM8AF5268 single-chip microcomputer, and the communication between the main control unit and the first angle sensor 8, the second angle sensor 11 and the third angle sensor 15 specifically includes: the STM8AF5268 single-chip microcomputer communicates with the first angle sensor through the controller area network CAN The first angle sensor 8, the second angle sensor 11 and the third angle sensor 15 are connected, and the measurement values of each sensor are read in real time through the serial peripheral interface SPI. Therefore, high-precision, large-range non-contact detection can be performed, and a faster and more accurate rotation angle can be output.
如图3为本发明的基于绝对传感器的车辆转向角测量系统的主控单元和各传感器之间以及上位机之间的连接示意图，第一角度传感器8、第二角度传感器11和第三角度传感器15和主控芯片之间连接互相通信传输信息，主控芯片通过CAN总线收发模块和上位机连接，传输控制指令给上位机。Figure 3 is a schematic diagram of the connection between the main control unit of the vehicle steering angle measurement system based on the absolute sensor of the present invention and each sensor and between the upper computer, the first angle sensor 8, the second angle sensor 11 and the third angle sensor 15 and the main control chip are connected to communicate with each other to transmit information, and the main control chip is connected to the upper computer through the CAN bus transceiver module, and transmits control instructions to the upper computer.
如图4为本发明的基于绝对传感器的车辆转向角测量系统的角度传感器TLE50120与STM8AF单片机之间的数据通信算法流程图，主控芯片启动工作后，通过预设差值算法计算测量齿轮的转动圈数，这里测量齿轮为第一角度测量齿轮3和第二角度测量齿轮2，然后判断所有传感器是否正常工作，当正常工作时，读取测量齿轮的转动圈数，进而判断测量齿轮的差值是否发生跃变，当发生跃变时，判断齿轮是否发生故障，如果没有发生故障，则重新执行上述步骤，当齿轮发生故障时，则判定所有角度传感器正常工作，当判断为所有传感器没有正常工作时，则从传感器的寄存器中读取圈数寄存器值，重新通过差值算法确定测量齿轮的转动圈数，然后重新执行读取测量齿轮的转动圈数，进而判断测量齿轮的差值是否发生跃变的步骤。Figure 4 is a flow chart of the data communication algorithm between the angle sensor TLE50120 and the STM8AF single-chip microcomputer of the vehicle steering angle measurement system based on the absolute sensor of the present invention. After the main control chip starts to work, the rotation of the measuring gear is calculated by the preset difference algorithm The number of turns, the measuring gear here is the first angle measuring gear 3 and the second angle measuring gear 2, and then judge whether all sensors are working normally. When they are working normally, read the number of rotations of the measuring gear, and then judge the difference between the measuring gears Whether a jump occurs, when a jump occurs, judge whether the gear is faulty, if there is no fault, then perform the above steps again, when the gear is faulty, it is determined that all angle sensors are working normally, when it is judged that all sensors are not working normally , then read the number of turns register value from the register of the sensor, re-determine the number of turns of the measuring gear through the difference algorithm, and then re-read the number of turns of the measuring gear, and then judge whether the difference of the measuring gear jumps. change steps.
在一个实施例中，根据第一角度测量齿轮3的转动角度、第二角度测量齿轮2的转动角度、计圈齿轮4的转动圈数计算出方向盘的转动角度具体包括：主控单元读取第一角度传感器8、第二角度传感器11和第三角度传感器15的寄存器的值得到第一角度测量齿轮3的转动角度、第二角度测量齿轮2的转动角度和计圈齿轮4的转动圈数，主控单元根据预设算法计算出方向盘的转角。当检测到第一角度传感器8、第二角度传感器11和第三角度传感器15中的至少一个故障时，主控单元重新读取第一角度传感器8、第二角度传感器11和第三角度传感器15的寄存器的值。当第一角度测量齿轮3角度值减去第二角度测量齿轮2角度值的差值发生跃变时，则检测第一角度测量齿轮3和第二角度测量齿轮2是否故障，若是，则第一角度传感器8和第二角度传感器11为正常工作状态，若否，则检测第一角度传感器8、第二角度传感器11和第三角度传感器15是否故障。In one embodiment, calculating the rotation angle of the steering wheel according to the rotation angle of the first angle measurement gear 3, the rotation angle of the second angle measurement gear 2, and the number of rotations of the counting gear 4 specifically includes: the main control unit reads the first The value of the register of an angle sensor 8, the second angle sensor 11 and the third angle sensor 15 obtains the angle of rotation of the first angle measuring gear 3, the angle of rotation of the second angle measuring gear 2 and the number of rotations of the circle counting gear 4, The main control unit calculates the angle of rotation of the steering wheel according to a preset algorithm. When detecting at least one failure in the first angle sensor 8, the second angle sensor 11 and the third angle sensor 15, the main control unit re-reads the first angle sensor 8, the second angle sensor 11 and the third angle sensor 15 The value of the register. When the difference between the angle value of the first angle measurement gear 3 minus the angle value of the second angle measurement gear 2 jumps, then detect whether the first angle measurement gear 3 and the second angle measurement gear 2 are faulty, and if so, the first The angle sensor 8 and the second angle sensor 11 are in normal working state, if not, then detect whether the first angle sensor 8 , the second angle sensor 11 and the third angle sensor 15 are faulty.
由此，该基于绝对传感器的车辆转向角测量系统，包括主齿轮1，第一转轴6、第二转轴5、第三转轴13、第一角度测量齿轮3、第二角度测量齿轮2和计圈齿轮4，安装于电路板9上的第一角度传感器8、第二角度传感器11、第三角度传感器15和主控单元，主齿轮1安装于方向盘的转轴10上；第一转轴6、第二转轴5和第三转轴13与方向盘的转轴10平行设置，第一角度测量齿轮3、第二角度测量齿轮2和计圈齿轮4分别对应安装于第一转轴6、第二转轴5和第三转轴13上且与主齿轮1啮合，第一角度传感器8设于第一角度测量齿轮3的上方用于测量第一角度测量齿轮3的转动角度，第二角度传感器11设于第二角度测量齿轮2的上方用于测量第二角度测量齿轮2的转动角度，第三角度传感器15设于计圈齿轮4的上方用于测量计圈齿轮4的转动圈数，转动圈数为整数，主控单元和第一角度传感器8、第二角度传感器11和第三角度传感器15之间通信，并根据第一角度测量齿轮3的转动角度、第二角度测量齿轮2的转动角度、计圈齿轮4的转动圈数计算出方向盘的转动角度。通过四齿轮结构、角度传感器和主控单元实现对方向盘转轴旋转位置高精度、大量程的非接触式检测，输出更快、更准确的转动角度。Thus, the vehicle steering angle measurement system based on the absolute sensor includes a main gear 1, a first rotating shaft 6, a second rotating shaft 5, a third rotating shaft 13, a first angle measuring gear 3, a second angle measuring gear 2 and a lap counting Gear 4 is installed on the first angle sensor 8, the second angle sensor 11, the third angle sensor 15 and the main control unit on the circuit board 9, and the main gear 1 is installed on the rotating shaft 10 of the steering wheel; the first rotating shaft 6, the second The rotating shaft 5 and the third rotating shaft 13 are arranged parallel to the rotating shaft 10 of the steering wheel, and the first angle measuring gear 3, the second angle measuring gear 2 and the circle counting gear 4 are respectively installed on the first rotating shaft 6, the second rotating shaft 5 and the third rotating shaft 13 and meshed with the main gear 1, the first angle sensor 8 is arranged on the top of the first angle measuring gear 3 for measuring the rotation angle of the first angle measuring gear 3, and the second angle sensor 11 is arranged on the second angle measuring gear 2 The top is used to measure the rotation angle of the second angle measurement gear 2, and the third angle sensor 15 is arranged on the top of the circle counting gear 4 for measuring the number of turns of the circle counting gear 4, and the number of turns is an integer, and the main control unit and Communication between the first angle sensor 8, the second angle sensor 11 and the third angle sensor 15, and measure the rotation angle of the gear 3 according to the first angle, the rotation angle of the second angle measurement gear 2, and the rotation circle of the lap gear 4 Calculate the angle of rotation of the steering wheel. Through the four-gear structure, angle sensor and main control unit, the high-precision and large-range non-contact detection of the rotation position of the steering wheel shaft is realized, and the faster and more accurate rotation angle is output.
附图中的流程图和框图，图示了按照本发明各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，上述模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图或流程图中的每个方框、以及框图或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or portion of code that includes one or more logical functions for implementing specified executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block in the block diagrams or flowchart illustrations, and combinations of blocks in the block diagrams or flowchart illustrations, can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a A combination of dedicated hardware and computer instructions.
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range
在本发明的描述中，术语“第一”、“第二”、“另一”、“又一”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个特征。在本发明的实施方式的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。In the description of the present invention, the terms "first", "second", "another" and "another" are used for descriptive purposes only, and should not be understood as indicating or implying relative importance or implicitly indicating the indicated The number of technical characteristics. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of the embodiments of the present invention, "plurality" means two or more, unless otherwise specifically defined.
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。此外，在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral Ground connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more.
尽管已经示出和描述了本发明的实施例，本领域的普通技术人员可以理解：在不脱离本发明的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and modifications can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the invention is defined by the claims and their equivalents.
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