CN220220892U - Angle detection system and vehicle - Google Patents

Abstract

The utility model provides an angle detection system and a vehicle, wherein the angle detection system is used for detecting the turning angle of wheels of the vehicle, and the angle detection system comprises: a bracket assembly mounted to a frame of the vehicle; one end of the rocker arm is rotatably connected with the bracket assembly, the other end of the rocker arm is connected with a suspension of the vehicle, the suspension of the vehicle is used for driving wheels to turn, and the rocker arm can rotate relative to the bracket assembly under the driving of the suspension; the rotation angle sensor is arranged on the bracket assembly and is used for detecting the rotation angle of the rocker arm; and the vehicle controller is electrically connected with the corner sensor and is used for determining the turning angle of the wheels according to the detection result of the corner sensor.

Description

Angle detection system and vehicle

Technical Field

The utility model relates to the technical field of engineering vehicles, in particular to an angle detection system and a vehicle.

Background

Because the mining vehicle adopts hydraulic steering, the steering angle information of the wheels needs to be fed back in real time on the unmanned mining vehicle, and therefore the accuracy of the steering angle information feedback is very important for the accuracy of unmanned control.

In the prior art, a mine car adopting an independent suspension is generally provided with an oil cylinder built-in displacement sensor, and the sensor needs to increase the length of the oil cylinder, so that the problem of difficult arrangement of partial vehicles exists. In addition, the oil cylinder needs to be disassembled when the built-in displacement sensor of the oil cylinder is maintained, so that the maintenance cost is increased, and the maintenance working hours are increased.

Disclosure of Invention

The present utility model aims to solve at least one of the technical problems existing in the prior art or related art.

To this end, a first object of the present utility model is to propose an angle detection system.

A second object of the utility model is to propose a vehicle.

To achieve at least one of the above objects, according to a first aspect of the present utility model, there is provided an angle detection system for detecting a turning angle of a wheel of a vehicle, the angle detection system including: a bracket assembly mounted to a frame of the vehicle; one end of the rocker arm is rotatably connected with the bracket assembly, the other end of the rocker arm is connected with a suspension of the vehicle, the suspension of the vehicle is used for driving wheels to turn, and the rocker arm can rotate relative to the bracket assembly under the driving of the suspension; the rotation angle sensor is arranged on the bracket assembly and is used for detecting the rotation angle of the rocker arm; and the vehicle controller is electrically connected with the corner sensor and is used for determining the turning angle of the wheels according to the detection result of the corner sensor.

The application provides an angle detecting system for in the vehicle that has independent suspension, the vehicle that has independent suspension includes frame and suspension, and suspension and frame rotationally are connected, and the suspension links to each other with the wheel of vehicle, when the suspension rotates for the frame, and the suspension can drive the wheel and turn in certain angle range, and then realizes the turn of vehicle. It is understood that in the process of controlling the vehicle to walk, the turning angle of the wheels needs to be monitored, and therefore, the application provides an angle detection system which can be used in the vehicle, and the turning angle of the wheels in the vehicle can be detected through the angle detection system, so that the control precision of the vehicle is improved.

Further, the angle detecting system comprises a bracket component, a rocker arm, a corner sensor and a vehicle controller, wherein the bracket component is used for installing and fixing the rocker arm and the corner sensor, one end of the rocker arm can move along with a suspension, the other end of the rocker arm can rotate relative to the bracket component under the driving of the suspension, the corner sensor can detect the rotation angle of the rocker arm, and the vehicle controller can determine the turning angle of a wheel according to the rotation angle of the rocker arm detected by the corner sensor. Specifically, the bracket component is mounted on a frame of the vehicle, one end of the rocker arm is connected with a suspension bracket of the vehicle, the other end of the rocker arm is rotatably connected with the bracket component, and the suspension bracket drives the rocker arm to rotate relative to the bracket component fixed on the frame under the condition that the suspension bracket rotates relative to the frame because the suspension bracket can rotate relative to the frame. The rotation angle sensor is arranged on the support assembly, the rotation angle sensor and the rocker arm are connected to one end of the support assembly in a relative mode, the rotation angle of the rocker arm can be detected by the rotation angle sensor, and the rotation angle of the rocker arm is the rotation angle of the suspension relative to the frame as the rocker arm rotates along with the suspension. The vehicle controller is electrically connected with the corner sensor, and the vehicle controller can receive the rotation angle of the rocker arm detected by the corner sensor, and the vehicle controller determines the turning angle of the wheels according to the detection result of the corner sensor.

Through set up rocking arm and corner sensor in angle detecting system to connect the one end of rocking arm in the suspension of vehicle, the other end rotationally connects in the bracket component of installing in the frame, thereby can make the rocking arm rotate along with the suspension, detect the turned angle of rocking arm through the corner sensor, with the turned angle of determining suspension, and then confirm the turning angle of wheel according to the testing result of corner sensor through the vehicle controller, realize the detection to the turning angle of wheel in the vehicle, so as to control the turning angle of wheel, realize the accurate control to the vehicle operation. Compared with the displacement sensor with the built-in oil cylinder, the angle detection system provided by the application does not need to increase the length of the oil cylinder, saves the space occupied by the oil cylinder, reduces the arrangement difficulty of parts, does not need to detach the oil cylinder when the angle detection system is maintained, reduces the maintenance difficulty and improves the maintenance efficiency.

The angle detection system according to the present utility model may further have the following distinguishing technical features:

in some embodiments, optionally, the angle detection system further includes: the magnetic piece is connected with the rocker arm, the rocker arm drives the magnetic piece to rotate relative to the rotation angle sensor, and the rotation angle sensor determines the rotation angle of the rocker arm according to the rotation angle of the magnetic piece.

In this solution, the angle detection system is further defined. The angle detection system further comprises a magnetic part, the magnetic part is connected with one end of the rocker arm, which is connected with the bracket assembly, and the rocker arm can drive the magnetic part to rotate relative to the rotation angle sensor. The magnetic piece can form a magnetic field, the magnetic field formed by the magnetic piece changes under the condition that the magnetic piece rotates along with the rocker arm relative to the rotation angle sensor, and the rotation angle sensor can determine the angle rotated by the magnetic piece according to the change of the magnetic field, so that the angle rotated by the rocker arm is determined.

Through setting up the magnetic part that can carry out pivoted along with the rocking arm in angle detecting system, can make the angle sensor confirm the angle that the magnetic part rotated according to the magnetic field change that the magnetic part formed, and then confirm the angle that the rocking arm rotated, realize the angle detection function of angle sensor.

In some embodiments, optionally, the rocker arm has a rocker arm shaft, the bracket assembly has a mounting hole, and the rocker arm shaft is disposed through the mounting hole; the angle detection system further includes: the connecting piece is used for rotatably connecting the rocker arm rotating shaft to the mounting hole, the magnetic piece is fixedly mounted at the end part of the connecting piece, and the connecting piece can drive the magnetic piece to rotate along with the rocker arm rotating shaft relative to the bracket assembly.

In this solution, the angle detection system is further defined. In order to make the rocking arm rotationally connect in bracket component, this application has set up the rocking arm pivot in the rocking arm to set up the mounting hole with the rocking arm pivot adaptation on bracket component, the rocking arm pivot is worn to locate in the mounting hole, and angle detecting system still includes the connecting piece, and the connecting piece is used for rotationally connecting the rocking arm pivot in the mounting hole. Under the condition that the connecting piece connects the rocker arm rotating shaft with the mounting hole, the connecting piece synchronously rotates along with the rocker arm rotating shaft, and under the condition that the rocker arm rotates relative to the bracket assembly, the rocker arm rotating shaft in the rocker arm drives the connecting piece to synchronously rotate relative to the bracket assembly.

Further, the magnetic piece is fixedly arranged at the upper end of the connecting piece, and the connecting piece can drive the magnetic piece to synchronously rotate relative to the bracket component along with the rocker arm rotating shaft. The rotation angle sensor detects the magnetic field change of the magnetic member, and the vehicle controller determines the turning angle of the wheels according to the detection result of the rotation angle sensor.

In one possible solution, the connecting member is configured as a bolt, the magnetic member is sleeved on the head of the bolt, and a threaded rod of the bolt is connected to the bracket assembly through the rocker shaft to rotatably connect the rocker shaft to the bracket assembly.

By arranging the connecting piece in the angle detection system, the rocker arm can be connected to the bracket assembly through the connecting piece on one hand, and the magnetic piece can be installed and positioned on the other hand.

In some embodiments, optionally, the angle detection system further includes: the support block is arranged between the bracket assembly and the corner sensor and is used for supporting the corner sensor so that a space is reserved between the corner sensor and the magnetic piece.

In this technical scheme still is equipped with the supporting shoe in angle detecting system, and the supporting shoe is located between bracket component and the corner sensor, and the supporting shoe is used for supporting the corner sensor, so, can make to keep suitable distance between corner sensor and the magnetic part. Specifically, the supporting block is made of a material without magnetism, and the material of the supporting block can be 316 stainless steel so as to avoid influencing the magnetic field of the magnetic piece. The supporting block is provided with a through hole which is opposite to the magnetic piece so as to avoid the influence of the supporting piece on the magnetic field of the magnetic piece and enable the rotation angle sensor to normally detect the magnetic field formed by the magnetic piece.

In some aspects, optionally, the bracket assembly comprises: the rocker arm is rotatably connected to the support plate, and the rotation angle sensor is arranged on the support plate; the two ends of any first supporting piece are respectively connected with the frame and the supporting plate, and the first supporting piece is used for supporting the supporting plate.

In this technical solution, the structure of the bracket assembly is defined. The support assembly comprises a support plate and a plurality of first support pieces, wherein the rocker arm is rotationally connected to the support plate, the corner sensor is mounted on the support plate, and specifically, the corner sensor, the support block and the support plate are sequentially arranged along the height direction of the support assembly. The supporting plate is made of a material which is not magnetic, and the material of the supporting plate can be 316 stainless steel so as to avoid influencing the magnetic field of the magnetic piece.

Further, the number of the first supporting pieces is multiple, two ends of any first supporting piece are respectively connected with the frame and the supporting plate, and the first supporting pieces are used for supporting and fixing the supporting plate.

In some embodiments, optionally, the angle detection system further includes: and two ends of the second supporting piece are respectively connected with the rocker arm and the suspension.

In this technical solution, a second support is also provided in the angle detection system, the second support being used to connect the rocker arm with the suspension. Specifically, one end of the second supporting piece is fixedly connected with one end of the rocker arm, which is away from the bracket assembly, and the other end of the second supporting piece is connected to the suspension.

By providing a second support in the angle detection system, the connection of the rocker arm to the suspension can be achieved.

In some embodiments, optionally, the vehicle controller determines the median calibration value according to the detection result of the rotation angle sensor when the wheel is located at the median position, and determines the turning angle of the wheel according to the detection result of the rotation angle sensor and the median calibration value when the wheel turns.

In this embodiment, the vehicle controller is defined. The vehicle controller can determine the turning angle of the wheels based on the detection result of the turning angle sensor. Specifically, the vehicle controller determines the median calibration value corresponding to the wheel when the wheel is at the median position before determining the turning angle of the wheel. When the wheel is located at the middle position, the angle sensor detects the rotated angle of the magnetic piece, and the vehicle controller determines a middle position calibration value according to the detection result of the angle sensor at the moment. After the vehicle controller determines the median calibration value, the angle sensor detects the angle rotated by the magnetic member under the condition that the wheel turns, and the vehicle controller determines the turning angle of the wheel according to the detection result of the angle sensor under the condition that the wheel turns and the median calibration value. Therefore, the installation angle of the magnetic piece and the rotation angle sensor is not required to be limited, and the assembly difficulty is reduced.

In some aspects, optionally, the vehicle controller is capable of controlling operation of the wheels in accordance with a turning angle of the wheels.

In the technical scheme, the vehicle controller is further limited, after the vehicle controller determines the turning angle of the wheels, the turning angles of the wheels can be closed-loop controlled according to the feedback angles of the wheels, so that the turning angles of the wheels are always consistent with the target turning angles, the turning angles of the wheels are controlled conveniently, and the accurate control of the running of the vehicle is realized.

The second aspect of the present utility model also proposes a vehicle comprising: the angle detection system provided by the first aspect of the utility model; the bracket component in the angle detection system is arranged on the frame; the suspension is movably connected with the frame, the suspension can rotate relative to the frame, and one end of a rocker arm in the angle detection system is connected with the suspension; and the wheel is connected with the suspension, and the suspension can drive the wheel to turn.

The vehicle that this application provided, including frame, suspension and wheel, suspension and frame swing joint, the wheel links to each other with the suspension, and the suspension can rotate for the frame, and then drives the wheel and turn. The support assembly in the angle detection system is arranged on the frame, one end of the rocker arm in the angle detection system is connected with the suspension, the other end of the rocker arm is rotatably connected with the support assembly, the rocker arm rotates along with the suspension relative to the support assembly under the condition that the suspension drives the wheel to turn, the rotation angle of the rocker arm can be detected by the rotation angle sensor in the angle detection system, and the turning angle of the wheel is determined by the vehicle controller in the angle detection system according to the detection result of the rotation angle sensor. Thus, detection of the turning angle of the wheels can be achieved. The vehicle controller can also control the running of the wheels according to the turning angles of the wheels, so that the turning angles of the wheels can be conveniently controlled, and the accurate control of the running of the vehicle is realized.

The vehicle provided by the second aspect of the utility model has all the advantages of the angle detection system because the vehicle comprises the angle detection system provided by the first aspect of the utility model.

The vehicle includes a mining vehicle.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows, or may be learned by practice of the utility model.

Drawings

The foregoing and/or additional aspects and advantages of the utility model will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 shows one of the structural schematic diagrams of an angle detection system of an embodiment of the present utility model;

FIG. 2 shows a second schematic diagram of the angle detection system according to an embodiment of the present utility model;

FIG. 3 shows an exploded view of an angle detection system of one embodiment of the present utility model;

fig. 4 shows a schematic diagram of the transmission and conversion process of the CAN signal of the present utility model.

The correspondence between the reference numerals and the component names in fig. 1 to 4 is:

100 angle detection system, 110 bracket assembly, 111 backup pad, 112 first support, 120 rocking arm, 121 second support, 122 rocking arm pivot, 130 rotation angle sensor, 140 vehicle controller, 150 connecting piece, 151 magnetism piece, 160 supporting shoe, 200 frames, 300 suspension, 400 steering controller.

Detailed Description

In order that the above-recited objects, features and advantages of the present utility model will be more clearly understood, a more particular description of the utility model will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model, however, the present utility model may be practiced in other ways than those described herein, and therefore the scope of the present utility model is not limited to the specific embodiments disclosed below.

An angle detection system 100 and a vehicle provided according to some embodiments of the present utility model are described below with reference to fig. 1 to 4.

In an embodiment according to the present application, as shown in fig. 1, 2 and 3, a first aspect of the present utility model proposes an angle detection system 100 for detecting a turning angle of a wheel of a vehicle, the angle detection system 100 comprising: a bracket assembly 110 mounted to a frame 200 of the vehicle; the rocker arm 120, one end of the rocker arm 120 is rotatably connected to the bracket assembly 110, the other end of the rocker arm 120 is connected to the suspension 300 of the vehicle, the suspension 300 of the vehicle is used for driving wheels to turn, and the rocker arm 120 can rotate relative to the bracket assembly 110 under the driving of the suspension 300; the rotation angle sensor 130 is installed on the bracket assembly 110, and the rotation angle sensor 130 is used for detecting the rotation angle of the rocker arm 120; and a vehicle controller 140 electrically connected to the rotation angle sensor 130, the vehicle controller 140 determining a turning angle of the wheel according to a detection result of the rotation angle sensor 130.

The angle detection system 100 provided by the application is used in a vehicle with an independent suspension 300, the vehicle with the independent suspension 300 comprises a frame 200 and a suspension 300, the suspension 300 is rotatably connected with the frame 200, the suspension 300 is connected with wheels of the vehicle, and when the suspension 300 rotates relative to the frame 200, the suspension 300 can drive the wheels to turn within a certain angle range, so that the turning of the vehicle is realized. It is understood that in the process of controlling the vehicle to walk, the turning angle of the wheels needs to be monitored, and therefore, the application proposes an angle detection system 100 capable of being used in the vehicle, and the turning angle of the wheels in the vehicle can be detected by the angle detection system 100, so as to improve the control accuracy of the vehicle.

Further, the angle detection system 100 includes a bracket assembly 110, a rocker arm 120, a rotation angle sensor 130, and a vehicle controller 140, wherein the bracket assembly 110 is used for installing and fixing the rocker arm 120 and the rotation angle sensor 130, one end of the rocker arm 120 can move along with the suspension 300, the other end of the rocker arm 120 can rotate relative to the bracket assembly 110 under the driving of the suspension 300, the rotation angle sensor 130 can detect the rotation angle of the rocker arm 120, and the vehicle controller 140 can determine the turning angle of the wheel according to the rotation angle of the rocker arm 120 detected by the rotation angle sensor. Specifically, the bracket assembly 110 is mounted to the frame 200 of the vehicle, one end of the swing arm 120 is connected to the suspension 300 of the vehicle, and the other end is rotatably connected to the bracket assembly 110, and since the suspension 300 can rotate relative to the frame 200, the suspension 300 drives the swing arm 120 to rotate relative to the bracket assembly 110 fixed to the frame 200 in the case that the suspension 300 rotates relative to the frame 200. The rotation angle sensor 130 is installed on the bracket assembly 110, the rotation angle sensor 130 and one end of the rocker arm 120 connected to the bracket assembly 110 are arranged opposite to each other, the rotation angle of the rocker arm 120 can be detected by the rotation angle sensor 130, and the rotation angle of the rocker arm 120 is the rotation angle of the suspension 300 relative to the frame 200 because the rocker arm 120 rotates along with the suspension 300. The vehicle controller 140 is electrically connected to the rotation angle sensor 130, and the vehicle controller 140 can receive the rotation angle of the swing arm 120 detected by the rotation angle sensor 130, and the vehicle controller 140 determines the turning angle of the wheels according to the detection result of the rotation angle sensor 130.

The rocker arm 120 and the rotation angle sensor are arranged in the angle detection system 100, one end of the rocker arm 120 is connected with the suspension 300 of the vehicle, the other end of the rocker arm 120 is rotatably connected with the bracket assembly 110 arranged on the frame 200, so that the rocker arm 120 can rotate along with the suspension 300, the rotation angle of the rocker arm 120 is detected through the rotation angle sensor 130 to determine the rotation angle of the suspension 300, and the turning angle of the wheels in the vehicle is determined through the vehicle controller 140 according to the detection result of the rotation angle sensor 130, so that the turning angle of the wheels is conveniently controlled, and the accurate control of the vehicle operation is realized. Compared with the displacement sensor with the built-in oil cylinder, the angle detection system 100 provided by the application does not need to increase the length of the oil cylinder, saves the space occupied by the oil cylinder, reduces the arrangement difficulty of parts, does not need to detach the oil cylinder when the angle detection system 100 is maintained, reduces the maintenance difficulty and improves the maintenance efficiency.

In some embodiments, optionally, as shown in fig. 1, 2, and 3, the angle detection system 100 further includes: the magnetic element 151 is connected with the rocker arm 120, the rocker arm 120 drives the magnetic element 151 to rotate relative to the rotation angle sensor 130, and the rotation angle sensor 130 determines the rotation angle of the rocker arm 120 according to the rotation angle of the magnetic element 151.

In this embodiment, the angle detection system 100 is further defined. The angle detecting system 100 further includes a magnetic member 151, where the magnetic member 151 is connected to one end of the rocker arm 120 connected to the bracket assembly 110, and the rocker arm 120 can drive the magnetic member 151 to rotate relative to the rotation angle sensor 130. The magnetic member 151 can form a magnetic field, and when the magnetic member 151 rotates with the rocker arm 120 relative to the rotation angle sensor 130, the magnetic field formed by the magnetic member 151 changes, and the rotation angle sensor 130 can determine the angle through which the magnetic member 151 rotates according to the change of the magnetic field, and further determine the angle through which the rocker arm 120 rotates.

By providing the magnetic member 151 capable of rotating with the swing arm 120 in the angle detection system 100, the angle sensor 130 can determine the angle through which the magnetic member 151 rotates according to the magnetic field change formed by the magnetic member 151, and further determine the angle through which the swing arm 120 rotates, thereby realizing the angle detection function of the angle sensor 130.

In some embodiments, optionally, as shown in fig. 1, 2 and 3, the rocker 120 has a rocker shaft 122, the bracket assembly 110 has a mounting hole, and the rocker shaft 122 is threaded through the mounting hole; the angle detection system 100 further includes: the connecting piece 150, the connecting piece 150 is used for rotatably connecting the rocker arm rotating shaft 122 to the mounting hole, the magnetic piece 151 is fixedly mounted at the end part of the connecting piece 150, and the connecting piece 150 can drive the magnetic piece 151 to rotate along with the rocker arm rotating shaft 122 relative to the bracket assembly 110.

In this embodiment, the angle detection system 100 is further defined. In order to enable the rocker arm 120 to be rotatably connected to the bracket assembly 110, the rocker arm rotating shaft 122 is disposed in the rocker arm 120, and a mounting hole adapted to the rocker arm rotating shaft 122 is disposed on the bracket assembly 110, the rocker arm rotating shaft 122 is disposed in the mounting hole in a penetrating manner, and the angle detection system 100 further comprises a connecting member 150, wherein the connecting member 150 is used for rotatably connecting the rocker arm rotating shaft 122 to the mounting hole. In the case that the link 150 connects the rocker shaft 122 to the mounting hole, the link 150 rotates synchronously with the rocker shaft 122, and in the case that the rocker 120 rotates relative to the bracket assembly 110, the rocker shaft 122 in the rocker 120 drives the link 150 to rotate synchronously relative to the bracket assembly 110.

Further, the magnetic member 151 is fixedly mounted on the upper end of the connecting member 150, and the connecting member 150 can drive the magnetic member 151 to rotate synchronously with the rocker shaft 122 relative to the bracket assembly 110. The rotation angle sensor 130 detects a change in the magnetic field of the magnetic member 151, and the vehicle controller 140 determines the turning angle of the wheel based on the detection result of the rotation angle sensor 130.

In one possible embodiment, the coupling 150 is configured as a bolt with the magnetic member 151 sleeved on the head of the bolt and the threaded shank of the bolt coupled to the bracket assembly 110 through the rocker shaft 122 to rotatably couple the rocker shaft 122 to the bracket assembly 110.

By providing the connector 150 in the angle detection system 100, the rocker arm 120 can be connected to the bracket assembly 110 via the connector 150 on the one hand, and the magnetic member 151 can be mounted and positioned on the other hand.

In some embodiments, optionally, as shown in fig. 1, 2, and 3, the angle detection system 100 further includes: the supporting block 160 is disposed between the bracket assembly 110 and the rotation angle sensor 130, and the supporting block 160 is used for supporting the rotation angle sensor 130 so that a space is provided between the rotation angle sensor 130 and the magnetic member 151.

In this embodiment, the angle detecting system 100 further includes a supporting block 160, where the supporting block 160 is disposed between the bracket assembly 110 and the rotation angle sensor 130, and the supporting block 160 is used to support the rotation angle sensor 130, so that a suitable distance between the rotation angle sensor 130 and the magnetic member 151 can be maintained. Specifically, the supporting block 160 is made of a material having no magnetism, and the material of the supporting block 160 may be 316 stainless steel to avoid affecting the magnetic field of the magnetic member 151. The supporting block 160 has a through hole disposed opposite to the magnetic member 151 to prevent the magnetic member 151 from being influenced by the magnetic field of the magnetic member 151, so that the rotation angle sensor 130 can normally detect the magnetic field formed by the magnetic member 151.

In some embodiments, optionally, as shown in fig. 1, 2, and 3, the bracket assembly 110 includes: a support plate 111, the swing arm 120 is rotatably connected to the support plate 111, and the rotation angle sensor 130 is mounted to the support plate 111; the first support members 112 are connected to the frame 200 and the support plate 111 at both ends of any one of the first support members 112, respectively, and the first support members 112 are used for supporting the support plate 111.

In this embodiment, the structure of the bracket assembly 110 is defined. The bracket assembly 110 includes a support plate 111 and a plurality of first support members 112, wherein the swing arm 120 is rotatably coupled to the support plate 111, and the rotation angle sensor 130 is mounted to the support plate 111, specifically, the rotation angle sensor 130, the support block 160, and the support plate 111 are sequentially disposed along a height direction of the bracket assembly 110. The support plate 111 is made of a material having no magnetism, and the material of the support plate 111 may be 316 stainless steel to avoid influence on the magnetic field of the magnetic member 151.

Further, the number of the first supporting members 112 is plural, two ends of any one of the first supporting members 112 are respectively connected to the frame 200 and the supporting plate 111, and the first supporting members 112 are used for supporting and fixing the supporting plate 111.

In some embodiments, optionally, as shown in fig. 1, 2, and 3, the angle detection system 100 further includes: and a second support member 121, both ends of the second support member 121 being connected to the swing arm 120 and the suspension 300, respectively.

In this embodiment, a second support 121 is further provided in the angle detection system 100, the second support 121 being used to connect the rocker arm 120 with the suspension 300. Specifically, one end of the second support member 121 is fixedly coupled to one end of the swing arm 120 facing away from the bracket assembly 110, and the other end is coupled to the suspension 300.

By providing the second support 121 in the angle detection system 100, the connection of the rocker arm 120 to the suspension 300 may be achieved.

In some embodiments, optionally, the vehicle controller 140 determines a median calibration value according to the detection result of the rotation angle sensor 130 in the case where the wheel is located in the median position, and determines the turning angle of the wheel according to the detection result of the rotation angle sensor 130 and the median calibration value in the case where the wheel turns.

In this embodiment, the vehicle controller 140 is defined. The vehicle controller 140 can determine the turning angle of the wheels based on the detection result of the rotation angle sensor 130. Specifically, the vehicle controller 140 determines the median calibration value corresponding to the wheel when the wheel is at the median position, before determining the turning angle of the wheel. When the wheel is at the neutral position, the rotation angle sensor 130 detects the angle through which the magnetic member 151 rotates, and the vehicle controller 140 determines the neutral position calibration value based on the detection result of the rotation angle sensor 130 at this time. After the vehicle controller 140 determines the median calibration value, the angle sensor 130 detects the angle through which the magnetic member 151 rotates in the case where the wheel turns, and the vehicle controller 140 determines the turning angle of the wheel based on the detection result of the angle sensor 130 in the case where the wheel turns and the median calibration value. In this way, the mounting angles of the magnetic member 151 and the rotation angle sensor 130 can be not limited, and the assembly difficulty can be reduced.

In some embodiments, the vehicle controller 140 may optionally be capable of controlling the operation of the wheels in accordance with their turning angle.

In this embodiment, the vehicle controller 140 is further defined, and after the vehicle controller 140 determines the turning angle of the wheel, the turning angle of the wheel may be closed-loop controlled according to the angle fed back by the wheel, so that the turning angle of the wheel always keeps consistent with the target turning angle, so as to control the turning angle of the wheel, and realize accurate control on the running of the vehicle.

Specifically, the vehicle controller 140 is connected to the steering controller 400, and a PID (Proportional Integral Derivative proportional-integral-derivative) control module is built in the steering controller 400, and the PID control module performs PID closed-loop control on the steering actuator according to a difference between a target steering angle of the wheel and a feedback actual steering angle, so that the actual steering angle of the wheel is always consistent with the target steering angle.

In one possible embodiment, the angle detection system 100 includes a support column (i.e., first support 112), a mounting support plate (i.e., support plate 111), a spacer block (i.e., support block 160), a rotation angle sensor 130, a rocker arm 120, and a magnet (i.e., magnetic member 151). The support column is used for supporting the installation support plate; the installation support plate is used for fixing the rotation angle sensor 130 and the rocker arm 120, and is made of 316 stainless steel non-ferromagnetic materials; the cushion block is used for supporting the corner sensor 130, is convenient for wire harness connection, keeps a proper distance between the magnet and the corner sensor 130, and is made of 316 stainless steel non-ferromagnetic materials; the rotation angle sensor 130 is used for converting the rotation angle of the rocker arm 120 into a CAN (Controller Area Network controller area network) signal; the rocker arm 120 is capable of moving with the suspension 300 and transmitting rotation to the magnet; the magnet is integrated on the rocker 120 fixing bolt (namely the connecting piece 150) and is positioned at the rotating shaft of the rocker 120, the magnet is positioned 3mm below the sensor, and the rocker 120 fixing bolt is also used for fixing the rotating shaft of the rocker 120.

As shown in fig. 4, the CAN signal is transmitted and converted as follows:

the vehicle VCU (Vehicle Control Unit electric vehicle controller) (i.e., the vehicle controller 140) receives the value fed back from the rotation angle sensor 130, with an actual feedback value of 0 to 3599 and a resolution of 0.1 °. The vehicle VCU receives the value fed back by the sensor and then converts the value, the rotation angle range of the wheels of the mine car is generally between-50 degrees and 50 degrees, and the conversion process is adopted as follows:

a= (actual value-median calibration) +1000;

due to the characteristics of the rotation angle sensor 130, depending on the installation angle, a problem of zero crossing of the actual value may occur, and further processing of the value a is required:

if a >1500, the scaled value = a-3600;

if a <500, the converted value = a+3600;

if 500.ltoreq.A.ltoreq.1500, the converted value=A;

the vehicle VCU sends the converted value to the steering controller 400 and calculates the actual steering angle of the wheels:

actual steering angle of the wheel= (converted value-1000)/10;

the steering controller 400 performs closed-loop control of the wheel turning angle according to the feedback result.

The median calibration is determined as follows:

steering is carried out to rotate the vehicle to the middle position (the middle position can be detected by equipment, such as four-wheel positioning, and the middle position can be judged by other modes such as vehicle running);

and sending a specific message to the vehicle VCU, and replying to and recording the feedback value of the rotation angle sensor 130 at the moment as a median calibration value by the vehicle VCU.

The corner detection system provided by the application can be suitable for the mine car of the independent suspension 300 and is used for feeding back the corner precision of the full-hydraulic steering system, and the reliability of the corner detection system is good; the corner detection system is convenient to replace and maintain, and is convenient to replace when the sensor is damaged relative to a displacement sensor arranged in the oil cylinder; the rotation angle sensor 130 adopted by the rotation angle detection system is a 0-360-degree sensor, the magnet angle is not required to be considered during installation, and the angle conversion can be realized through the simple calibration of the VCU of the vehicle; the signal conversion is completed by the vehicle VCU, and the calibration operation is simple.

The second aspect of the present utility model also proposes a vehicle comprising: the angle detection system 100 proposed in the first aspect of the present utility model; a frame 200, wherein the bracket assembly 110 of the angle detection system 100 is arranged on the frame 200; the suspension 300 is movably connected with the frame 200, the suspension 300 can rotate relative to the frame 200, and one end of the rocker 120 in the angle detection system 100 is connected with the suspension 300; and the wheel is connected with the suspension 300, and the suspension 300 can drive the wheel to turn.

The vehicle provided by the application comprises a frame 200, a suspension 300 and wheels, wherein the suspension 300 is movably connected with the frame 200, the wheels are connected with the suspension 300, and the suspension 300 can rotate relative to the frame 200 so as to drive the wheels to turn. The bracket assembly 110 in the angle detection system 100 is arranged on the frame 200, one end of the rocker arm 120 in the angle detection system 100 is connected with the suspension 300, the other end of the rocker arm 120 is rotatably connected with the bracket assembly 110, the rocker arm 120 rotates along with the suspension 300 relative to the bracket assembly 110 under the condition that the suspension 300 drives the wheel to turn, the rotation angle of the rocker arm 120 can be detected by the rotation angle sensor 130 in the angle detection system 100, and the turning angle of the wheel is determined by the vehicle controller 140 in the angle detection system 100 according to the detection result of the rotation angle sensor 130. Thus, detection of the turning angle of the wheels can be achieved. The vehicle controller 140 can also control the operation of the wheels according to the turning angles of the wheels, so that the turning angles of the wheels can be conveniently controlled, and accurate control of the operation of the vehicle is realized.

The vehicle according to the second aspect of the present utility model, including the angle detection system 100 according to the first aspect of the present utility model, has all the advantages of the angle detection system 100.

The vehicle includes a mining vehicle.

In the present utility model, the term "plurality" means two or more, unless explicitly defined otherwise. The terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; "coupled" may be directly coupled or indirectly coupled through intermediaries. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present specification, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (10)

1. An angle detection system for detecting a turning angle of a wheel of a vehicle, the angle detection system comprising:

a bracket assembly mounted to a frame of the vehicle;

one end of the rocker arm is rotatably connected with the bracket assembly, the other end of the rocker arm is connected with a suspension of the vehicle, the suspension of the vehicle is used for driving the wheel to turn, and the rocker arm can rotate relative to the bracket assembly under the driving of the suspension;

the rotation angle sensor is arranged on the bracket assembly and is used for detecting the rotation angle of the rocker arm;

and the vehicle controller is electrically connected with the corner sensor and is used for determining the turning angle of the wheels according to the detection result of the corner sensor.

2. The angle detection system of claim 1, further comprising:

the magnetic piece is connected with the rocker arm, the rocker arm drives the magnetic piece to rotate relative to the rotation angle sensor, and the rotation angle sensor determines the rotation angle of the rocker arm according to the rotation angle of the magnetic piece.

3. The angle detection system of claim 2, wherein,

the rocker arm is provided with a rocker arm rotating shaft, the bracket assembly is provided with a mounting hole, and the rocker arm rotating shaft penetrates through the mounting hole;

the angle detection system further includes:

the connecting piece is used for rotatably connecting the rocker arm rotating shaft to the mounting hole, the magnetic piece is fixedly mounted at the end part of the connecting piece, and the connecting piece can drive the magnetic piece to rotate along with the rocker arm rotating shaft relative to the bracket assembly.

4. The angle detection system according to claim 2 or 3, further comprising:

the support block is arranged between the support assembly and the rotation angle sensor and is used for supporting the rotation angle sensor so that a distance is reserved between the rotation angle sensor and the magnetic piece.

5. The angle detection system of any one of claims 1-3, wherein the bracket assembly comprises:

the rocker arm is rotatably connected to the supporting plate, and the rotation angle sensor is arranged on the supporting plate;

the two ends of the first supporting pieces are respectively connected with the frame and the supporting plate, and the first supporting pieces are used for supporting the supporting plate.

6. The angle detection system according to any one of claims 1 to 3, further comprising:

and two ends of the second supporting piece are respectively connected with the rocker arm and the suspension.

7. An angle detection system according to any one of claims 1 to 3, characterized in that,

the vehicle controller determines a median calibration value according to a detection result of the rotation angle sensor when the wheel is located at a median position, and determines a turning angle of the wheel according to a detection result of the rotation angle sensor and the median calibration value when the wheel turns.

8. The angle detection system of claim 7, wherein,

the vehicle controller is capable of controlling operation of the wheels in accordance with a turning angle of the wheels.

9. A vehicle, characterized by comprising:

the angle detection system of any one of claims 1 to 8;

the bracket component in the angle detection system is arranged on the frame;

the suspension is movably connected with the frame, the suspension can rotate relative to the frame, and one end of a rocker arm in the angle detection system is connected with the suspension;

and the wheel is connected with the suspension, and the suspension can drive the wheel to turn.

10. The vehicle of claim 9, wherein the vehicle is further characterized by,

the vehicle includes a mining vehicle.