TW202235806A - Toe and chamber angles inspection apparatus - Google Patents

Abstract

A toe and chamber angles inspection apparatus which comprises an object fastened frame, a computation device, and a display device. The object fastened frame is utilized to carry the computation device and fasten the object. The computation device is used to acquire the sensing data from inertial sensor and calculate those data to obtain the values of toe and chamber angles. The display device will display the evaluated results from the computation device. An algorithm for the toe and chamber angles inspection is also proposed. During this inspection, the x-axis of the apparatus is not necessary to align precisely.

Description

Toe angle and inclination detection device

The invention relates to the alignment angle of the wheel, especially a detection device for the toe angle and inclination angle of the wheel.

By the way, the most commonly used means of transportation for modern people is the car. In the field of car maintenance and repair, wheel alignment is related to the suspension system, and is also directly related to an important part of driving safety. Wheel alignment refers to the arrangement of the wheels, that is, The angle of the wheels with respect to the direction of travel and the ground when the vehicle is running. In order to keep the car running and turning stably, and to automatically return to the center after turning, and to reduce the wear of the wheels and steering mechanism parts while the car is running, the installation between the steering wheel, the steering adjustment and the front axle must be Certain relative position and angle, and this installation configuration is called front alignment or trailing alignment, is collectively referred to as alignment. Therefore, the importance of the wheel alignment angle detection device is self-evident, and how to quickly and effectively verify that the alignment angle of the wheel meets the relevant specifications of the design performance of this type of vehicle has always been one of the important issues in the field of automobile maintenance technology, and wheel alignment The angle includes the toe-in angle and the camber angle (that is, the inclination angle, hereinafter referred to as the inclination angle).

Wherein, the aforementioned toe angle is the angle between the two tires on the same wheel axle, and the aforementioned inclination angle is the angle between the center line of the tire surface and the vertical line of the ground. In order to measure the above angle, it is necessary to use a detection device for the toe angle and inclination angle to assist in the measurement. The existing toe angle and inclination detection technology has gradually evolved from a mechanical device to an optical Learning computer vision four wheel alignment angle detection system, such as the typical optical computer vision four Wheel alignment angle detection system. However, the mechanical operation process is more complicated and time-consuming, and the detection accuracy is poor. Therefore, the detection of the alignment angle of the wheels on the market today is mainly based on the detection of optical computer vision technology.

However, the known optical computer vision technology is a wheel alignment angle detection system. In order to measure the angle, the vehicle must be parked on a platform, and at least one detection board (Target Board) for detection is installed on the wheel before the system is operated. And when the system starts to measure, the wheel must move a certain distance. However, due to the cumbersome adjustment procedures when the optical detection system is installed or shifted for some reason, plus the inconvenience of installing a detection board during detection and the danger of moving the wheels during detection, etc. Another ROC invention patent No. I571612 "inclination measuring device" uses an accelerometer (Accelerometer) and a three-dimensional coordinate conversion calculation method to measure the inclination angle, but the method provided in the previous patent cannot measure the toe angle.

In other words, the existing wheel orientation detection devices are not perfect, and there are problems of cumbersome operation, time-consuming and insufficient detection accuracy, or the inability to simultaneously measure the toe angle and inclination angle, and how to solve the aforementioned problems becomes a problem. The problem to be solved urgently of the present invention.

The reason is that the inventor of the present invention then aimed at the problems faced by the above-mentioned existing ones, devoted himself to research and cooperated with the application of theories, adhered to many years of experience in design, development and implementation of this related industry, improved the lack of existing structures, and finally successfully developed a kind of The toe angle and inclination detection device is used to overcome the troubles and inconveniences caused by cumbersome operations.

Therefore, the main purpose of the present invention is to provide a toe-in angle and inclination angle detection device, so as to simplify the operation process, save the time of measurement operation, and improve the convenience and safety of measurement.

Moreover, the second main purpose of the present invention is to provide a toe-in angle and inclination detection device, which can effectively improve the detection accuracy and improve the reliability of wheel alignment.

In addition, another main purpose of the present invention is to provide a toe angle and inclination angle detection device, which can simultaneously measure the toe angle and inclination angle of the wheels, and further improve the safety of vehicle speed.

Based on this, the present invention mainly realizes the foregoing purpose and its effects through the following technical means, which are used to detect the toe-in angle and inclination angle of at least one wheel to be tested of a carrier, which includes:

A detection frame, which has a base, and at least one fixing element is provided at both ends of the detection frame, so that the detection frame can be selectively tightly combined with the plane of the wheel to be tested to form a parallel shape by using the fixing element;

A calculation module, which is set on the base surface of the test frame, and is parallel to the plane of the wheel to be tested, and the calculation module has a computing unit, and the computing unit can include a memory unit, and the computing The unit has a computing software that includes at least one three-axis Euler angle calculation formula, and the computing unit is electrically connected to a sensing unit, so that the sensing unit can be used for detection and calculation of the toe angle and the toe angle of the wheel to be tested. The parameters required for the calculation formula of the three-axis Euler angle of inclination, and the calculation unit is electrically connected to a transmission unit, and the calculation unit is electrically connected to a power unit to supply the power required by the calculation module as a whole;

A display control module, which is an external module and transmits data with the calculation module through a communication link, the display control module has a control software, and the display control module has a communication unit with the calculation module The transmission unit of the content, and the display control module has a display unit.

Thereby, through the specific realization of the above-mentioned technical means, the present invention can use the sensing unit of the calculation device to obtain the parameters relative to the wheel to be tested, and use the calculation software of the calculation unit to obtain the three-axis Euler angle of the wheel to be tested value, and then measure the angle values of the toe angle and inclination angle of the two wheels to be tested, and the position of the detection device does not need to be placed in an accurate horizontal position, that is, it does not need to be accurately aligned with the x-axis of the wheel coordinate system to be tested, that is Accurate measurement of the toe angle and camber angle can greatly improve the reliability and practicality, thereby increasing the added value of the product and improving its economic efficiency.

In order to enable your examiners to further understand the composition, characteristics and other purposes of the present invention, the following are some preferred embodiments of the present invention, and describe them in detail with the accompanying drawings, and at the same time allow those familiar with this technical field to implement them in detail .

1: Detection frame

11: base

12: Fixed end of detection frame

2: Computing device

21: Inertial sensor unit

211: Gyroscope

22: Operation unit

221: Computing software

23: Memory unit

24: Data transmission and reception unit

25: Display unit

26: Power supply unit

3: Display remote control device

31: Control software

32: Data transmission and reception unit

33: Detection control button

34: Data display unit

4: carrier

41: Wheel to be tested

The first figure: is the three-dimensional view of the toe-in angle and inclination angle detection device of the present invention;

The second figure: is the system diagram of the toe-in angle and inclination angle detection device of the present invention;

The third figure: is a schematic diagram of the implementation of the remote control device displayed in the toe angle and inclination detection device of the present invention;

Figure 4: It is a schematic flow diagram of the toe-in angle and inclination angle detection device of the present invention in implementing the measurement;

Figure 5: It is a schematic diagram of the first action of the toe angle and inclination detection device of the present invention during actual measurement, which is used to illustrate the implementation state of the detection frame placement plane for initialization;

Figure 6: It is a schematic diagram of the second action of the toe-in angle and inclination detection device of the present invention during actual measurement, which is used to illustrate the implementation state of the detection frame placed on the right wheel frame of the vehicle; and

Figure 7: It is a schematic diagram of the third action of the toe-in angle and inclination detection device of the present invention during actual measurement, which is used to illustrate the implementation state of the detection frame placed on the left wheel frame of the vehicle.

The present invention is a kind of toe-in angle and inclination angle detection device, among the specific embodiment of the present invention and its components illustrated in the accompanying drawings, all about front and rear, left and right, top and bottom, upper and lower, and horizontal and vertical The references are for convenience of description only, and do not limit the present invention, nor limit its components to any position or spatial orientation. The dimensions specified in the drawings and description can be changed according to the design and requirements of the present invention without departing from the patent scope of the present invention.

And the detailed composition of the toe angle and inclination detection device of the present invention, please refer to shown in the first figure, this detection device (A) comprises a detection frame (1), a calculating device ( 2) and a display remote control device (3) for remote communication connection;

Also, as shown in Figures 1, 2 and 3, the detection rack (1) has a base (11), and the overall structure of the base (11) is presented in a geometric form, such as an inverted Y shape , circular, triangular, square or polygonal, and at least one fixed end (12) of the testing frame (1) is provided at both ends of the testing frame (1) for As shown in the sixth and seventh figures, the test frame (1) can be fixed on at least one wheel (41) [such as a wheel] of a carrier (40) [such as a car body] by using the fixed end (12) of the test frame on the plane [such as the wheel frame], so that the detection frame (1) can be closely combined with the plane of the wheel to be tested (41) into a parallel shape;

And this calculation device (2) is the base (11) surface that this testing frame (1) is established, makes this calculation device (2) and the plane of the wheel to be measured (41) be parallel shape, again this calculation device (2) It has a computing unit (22), and the computing unit (22) may include a memory unit (23), wherein the memory unit (23) may form the same semiconductor element as the computing unit (22), or in The outside is coupled and electrically connected to the calculation unit (22), and the memory unit (23) is used to store calibration parameters, identification data, error message records, or store calculated data of the calculation device (2) , and a calculation software (221) is stored in the memory unit (23) of the calculation unit (22), and the calculation software (221) contains at least one three-axis Euler Angle [Euler Angle] calculation formula, and the calculation unit (22) coupled and electrically connected to an inertial sensor unit (21), and the inertial sensor unit (21) further includes at least one gyroscope (211), so that the inertial sensor unit (21) It can be used to detect and provide the required parameters for calculating the three-axis Yula angle calculation formula of the toe angle and inclination angle of the wheel (41) to be tested;

則為量測時之檢測系統x軸偏角，ψ _W 為單邊前束角，如圖一所示，若ψ、θ、

分別為計算裝置(2)中慣性感測器單元(21)〔如陀螺儀〕感測之三軸尤拉角，亦即 And the calculation formula of the three-axis Euler angle of the calculation software (221) of the aforementioned calculation unit (22) is as follows, if the x , y and z axes of the measuring platform coordinate system are respectively defined as forward, leftward and upward Cartesian coordinates system [Cartesian Coordinate System], the x , y and z axes of the coordinate system W of the wheel to be measured (41) are respectively defined as horizontally forward, along the side plane of the wheel to be measured (41) and on the side of the wheel to be measured (41) The plane is outward, and x and y of the coordinate system S of the detection device (A) are coplanar with the side plane of the wheel to be measured (41), and the z axis of the detection device (A) is then aligned with the coordinates of the wheel to be measured (41). The z -axis of the system W is the same, and the side plane of the wheel (41) to be tested is outward, so that θ _W is the camber angle of the wheel,

Then it is the x -axis deflection angle of the detection system during measurement, ψ _W is the toe-in angle of one side, as shown in Figure 1, if ψ , θ ,

Respectively, the three-axis Euler angles sensed by the inertial sensor unit (21) [such as a gyroscope] in the computing device (2), that is

when

and

but

If the two wheels to be tested (41) are respectively placed on the left and right sides, the inclination angles of the two wheels to be tested (41) can be marked as θ _WL and θ _WR respectively, and the included angles with the x-axis are respectively marked as ψ _WL and ψ _WR . Taking the detection of wheels as an example, defined by the toe angle ( τ ), then

τ = ψ _WR - ψ _WL . ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． Equation (5)

及

投影向量之夾角，即前束角亦可為 Be two toe angles before the wheels (41) to be measured, or the x -axis of the detection device (A) of right wheel and left wheel is respectively in

and

The included angle of the projection vector, that is, the toe angle can also be

And according to the equations (3), (5), (6), the operation of calculating the toe angle and the value of the inclination angle can be carried out;

In addition, the calculation unit (22) of the calculation device (2) is coupled and electrically connected to a data transmission and reception unit (24), and the data transmission and reception unit (24) can be wireless technology (such as infrared, bluetooth, radio or WiFi, etc.), wired technology (such as Parallel or serial communication bus RS-232, RJ-45, etc.] or both coexist, and according to some embodiments, the computing unit (22) is coupled and electrically connected to a display unit (25), the The display unit (25) is used to display the calculated three-axis Euler angle value, toe angle and inclination angle value, or the state of the calculation device (2), etc. after the calculation unit (22), the display unit (25) is not necessary. In addition, a power supply unit (26) coupled and electrically connected to the computing unit (22) is provided in the computing device (2) to supply the overall power required by the computing device (2). The power supply unit (26) Can be selected from any one of batteries, commercial power, solar cells or accumulators or a combination of two or more; and

Moreover, the display remote control device (3) can be an external module, which is used to display the three-axis Yular angle value, toe angle and inclination value, status or other relevant information and data calculated by the computing device (2). , and the display remote control device (3) has a control software (31), the control software (31) is used to encode, interpret and calculate digital data, and the display remote control device (3) has a data transmission unit (32), and the data transmission and reception unit (32) is compatible with the data transmission and reception unit (24) of the computing device (2), and the data transmission and reception unit (24) can be a wireless technology [such as infrared, bluetooth , wireless radio frequency or WiFi, etc.], wired technology (such as RS-232, RJ-45 of parallel or serial communication bus, etc.) or both coexist, and the display remote control device (3) has a detection control button (33 ), wherein the detection control button (33) includes a plurality of buttons with different functions, such as "initial", "interruption", "reset", "left wheel", "front beam" or "right wheel" or the like, the detection The control button (33) can be a physical button or a screen touch button, and the display remote control device (3) has a data display unit (34), and the data display unit (34) is used to display the operation unit (22) or The three-axis Euler angle value and toe angle calculated by the control software (31) And inclination value, or the status of the display remote control device (3) or other related control data and data.

In this way, a detection device capable of accurately and synchronously measuring the front toe angle and the inclination angle is formed.

And the toe-in angle and inclination angle detection device of the present invention are as disclosed in the fourth, fifth, sixth and seventh figures during the actual simulation test, in operation:

Firstly, the detection device (A) and the carrier (4) with the wheel (41) to be tested are placed on the detection platform;

Afterwards, open detection device (A) power supply;

Next, it is judged whether the detection device (A) is stable, if not, it is judged again whether the detection device (A) is stable. If yes, proceed to the next step;

Next, as shown in the sixth figure, the detection frame (1) of the detection device (A) is set on the wheel to be measured on the right (41) by using the fixed end (12) of the detection frame, and the wheel to be measured on the right side ( 41) detection;

Afterwards, it is judged again whether the detection device (A) is stable, if not, it is judged again whether the detection device (A) is stable. If yes, proceed to the next step;

Then, synchronously store the toe angle and inclination data of the right wheel to be tested (41), and perform the detection of the left side to be tested wheel (41), as shown in the seventh figure, and the detection frame ( 1) Use the fixed end (12) of the test frame to set the wheel to be tested (41) on the left side;

Then, it is judged whether the detection device is stable, if not, it is judged again whether the detection device (A) is stable. If yes, proceed to the next step;

Then, synchronously execute the toe angle before storing the left side wheel to be measured (41) and execute calculation results and display, and display the results on the display unit (25) or the data display unit (34) of the remote control device (3);

Finally, the detection of the wheels to be tested (41) of the entire carrier (4) is ended.

，與x軸夾角ψ _W 係以

計算所得，其中

及

可分別由前述之等式(1)及(2)計算得出。若兩待測車輪(41)分別置於左右兩邊，則兩待測車輪(41)之傾角可分別標示為θ _LW 、θ _WR ，且與x軸之夾角分別標示為ψ _WL 、ψ _WR ，以檢測車輪為例，由前束角(τ)定義，則兩待測車輪(41)之前束角為τ=ψ _WR -ψ _WL ，或右輪及左輪之待測車輪(41)的檢測裝置(A)x軸分別在

及

投影向量之夾角，即兩待測車輪(41)之前束角亦可為

。藉由以上所述，進而提供一種藉由該計算裝置(2)之慣性感測單元(21)與檢測架(1)之檢測架固定端(12)抵靠於該待測車輪(41)一面處，進而檢測兩待測車輪(41)之前束角及個別傾角數值。 Furthermore, for a further explanation, please refer to those shown in the first, fourth and fifth figures. When the detection device (A) measures the wheel (41) to be measured of the carrier (4), the detection device (A) The inertial sensing unit (21) of the calculation device (2) performs the sensing operation, and then the calculation unit (22) of the calculation device (2) performs calculations to obtain the inclination angle θ _W of the wheel (41) to be measured Numerical value and x -axis included angle ψ _W , and the inclination angle θ _W of the wheel (41) to be measured is given by

, and the x -axis angle ψ _W system by

Calculated, of which

and

can be calculated by the aforementioned equations (1) and (2) respectively. If the two wheels to be tested (41) are respectively placed on the left and right sides, the inclination angles of the two wheels to be tested (41) can be marked as θ _LW and θ _WR respectively, and the included angles with the x -axis are respectively marked as ψ _WL and ψ _WR . Take the detection of wheels as an example, defined by the toe angle ( τ ), then the toe angle of the two wheels to be measured (41) is τ = ψ _WR - ψ _WL , or the detection device of the wheels to be measured (41) of the right wheel and the left wheel ( A) The x- axis is at

and

The included angle of projection vector, i.e. the toe angle before two wheels to be measured (41) also can be

. Based on the above, there is provided a method whereby the inertial sensing unit (21) of the computing device (2) and the fixed end (12) of the detection frame (1) abut against one side of the wheel (41) to be tested place, and then detect the toe angle and individual inclination values of the two wheels to be tested (41).

Through the foregoing description, the toe angle and inclination detection device (A) of the present invention can utilize the inertial sensing unit (21) of the computing device (2) to obtain parameters relative to the wheel to be measured (41), and use the computing unit (22 ) computing software (221) to obtain the three-axis Euler angle value of the wheel to be tested, and then measure the angle values of the toe angle and inclination angle of the two wheels to be tested (41), and the placement position of the detection device (A) The toe and camber values of the carrier (4) can be accurately measured without placing it in an accurate horizontal position, that is, without precisely aligning the x -axis of the coordinate system of the wheel (41) to be tested, greatly improving its practicality sex.

From this, it can be understood that the present invention is an excellent creation. In addition to effectively solving the problems faced in the detection of the toe angle and inclination angle in the past, it can greatly improve the efficacy, and there is no identical or similar one in the same technical field. The creation or public use of the product also has the enhancement of efficacy, so the present invention has met the requirements of "novelty" and "progressiveness" of the invention patent, and the application for the invention patent is filed according to law. In addition, it needs to be stated that the above description is the specific embodiment of the present invention and the technical principles used. If changes are made according to the concept of the present invention, the functions produced will not exceed those covered by the description and drawings. Both the spirit and spirit should be stated within the scope of the present invention.

1: Detection frame

11: base

12: Fixed end of detection frame

2: Computing device

21: Inertial sensor unit

211: Gyroscope

22: Operation unit

221: Computing software

23: Memory unit

24: Data transmission and reception unit

25: Display unit

26: Power supply unit

3: Display remote control device

31: Control software

32: Data transmission and reception unit

33: Detection control button

34: Data display unit

4: carrier

41: Wheel to be tested

Claims (10)

A toe-in and inclination detection device is used to detect the toe-in and inclination of at least one wheel to be tested on a carrier, which includes: A detection frame, which has a base, and at least one fixing element is provided at both ends of the detection frame, so that the detection frame can be selectively tightly combined with the plane of the wheel to be tested to form a parallel shape by using the fixing element; A calculation device, which is set on the base surface of the detection frame, and is parallel to the plane of the wheel to be tested, and the calculation device has a computing unit, and the computing unit can include a memory unit, and the computing unit has A calculation software including at least one three-axis Euler angle calculation formula, and the calculation unit is electrically connected to an inertial sensing unit, so that the inertial sensing unit can be used for detection and calculation of the toe angle of the wheel to be measured and The parameters required for the three-axis Euler angle calculation formula of the inclination angle, and the calculation device can have a display unit, and the calculation unit is electrically connected to a data transmission and receiving unit, and the calculation unit is electrically connected to the power supply unit. Supply the power required by the computing module as a whole; A display remote control device, which is an external device and transmits data with the computing device through a communication link, the display remote control device has a control software, and the display remote control device has a data transmission device compatible with the computing device data transmission unit receiving unit, and the display remote control device has a data display unit. The toe angle and inclination detection device as described in claim 1, wherein the base of the detection frame can be inverted Y, circular, triangular, square or polygonal. The toe angle and inclination angle detecting device as described in Claim 1, wherein the memory unit of the computing device may be the same semiconductor element as the computing unit. As claimed in claim 1, the toe angle and inclination angle detection device, wherein the inertial sensor unit of the computing device further includes at least one gyroscope. According to claim 1, the toe angle and inclination angle detection device, wherein the transmission unit of the computing device and the display remote control device can be wireless technology, wired technology or both. The toe angle and inclination detection device as described in claim 1, wherein the computing unit of the computing device is electrically connected to a display unit. As described in Claim 1, the toe angle and inclination angle detection device, wherein the power unit of the calculation device can be selected from any one of batteries, mains power, solar cells, or storage batteries, or a combination of two or more. The toe angle and inclination angle detecting device as described in Claim 1, wherein the display remote control device further has a detection control button, and the detection control button can be a physical button or a screen touch button. The toe angle and inclination detection device as described in claim 1, wherein the calculation formula of the three-axis eura angle of the calculation software of the calculation unit is as follows, if the x , y and z axes of the coordinate system of the measuring platform are respectively defined as forward and The left and upward Cartesian coordinate systems, the x , y and z axes of the coordinate system W of the wheel to be tested are respectively defined as horizontally forward, upward along the side plane of the wheel to be tested, and outward along the side plane of the wheel to be tested, and the detection device The x and y of the coordinate system S are coplanar with the side plane of the wheel to be tested, and the z-axis of the detection device is the same as the z - axis of the coordinate system W of the wheel to be tested, which means that the side plane of the wheel to be tested is outward, so that θ _W is the camber angle of the wheel,

Then it is the x -axis deflection angle of the detection system during measurement, ψ _W is the toe angle of one side, if ψ , θ ,

are the three-axis Euler angles sensed by the inertial sensing unit in the computing device, namely when

and

but

If the two wheels to be tested are placed on the left and right sides respectively, the inclination angles of the two wheels to be tested can be marked as θ _WL , θ _WR , and the included angles with the x -axis are marked as ψ _WL , ψ _WR respectively. Taking the wheel to be tested as an example, the The toe angle ( τ ) is defined; then τ = ψ _WR - ψ _WL . ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． ． Equation (5) is the toe angle of the two wheels to be tested, or the x -axis of the detection device of the right wheel and the left wheel is respectively at

and

The included angle of the projection vector, that is, the toe angle can also be

in

and

can be calculated by the aforementioned equations (1) and (2), respectively, According to equations (3), (5), and (6), the operation of calculating the toe angle and the value of the inclination angle can be performed. A detection method for a toe angle and inclination detection device as described in claim 1, the process steps include: (1) First place the carrier and the detection device on the detection platform; (2) Turn on the power of the detection device or reset the detection device; (3) After the data is solved and stabilized, install the detection device on a wheel to be tested on the carrier; (4) After the data is solved and stabilized, the front toe angle and camber angle of the wheel to be tested can be obtained, and the aforementioned data are stored; (5) Another wheel to be tested is installed on the carrier after the original detection device is removed; (6) After the data is solved and stabilized, the front toe angle and camber angle of the wheel to be tested can be obtained, and the aforementioned data are stored; and (7) Perform data calculation and display the result on the first unit or display device.

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