WO2025016089A1 - 测量装置和测量方法 - Google Patents

测量装置和测量方法 Download PDF

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Publication number
WO2025016089A1
WO2025016089A1 PCT/CN2024/097788 CN2024097788W WO2025016089A1 WO 2025016089 A1 WO2025016089 A1 WO 2025016089A1 CN 2024097788 W CN2024097788 W CN 2024097788W WO 2025016089 A1 WO2025016089 A1 WO 2025016089A1
Authority
WO
WIPO (PCT)
Prior art keywords
bushing
magnetic field
field direction
sensing unit
magnetic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2024/097788
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English (en)
French (fr)
Inventor
周大为
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Yinwang Intelligent Technology Co Ltd
Original Assignee
Shenzhen Yinwang Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Yinwang Intelligent Technology Co Ltd filed Critical Shenzhen Yinwang Intelligent Technology Co Ltd
Priority to EP24842089.5A priority Critical patent/EP4715319A1/en
Publication of WO2025016089A1 publication Critical patent/WO2025016089A1/zh
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
    • G01B7/06—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness
    • G01B7/10—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness using magnetic means, e.g. by measuring change of reluctance
    • G01B7/102—Height gauges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
    • G01B7/06—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/14—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring distance or clearance between spaced objects or spaced apertures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G01M17/04—Suspension or damping

Definitions

  • the embodiments of the present application relate to the field of mechanical and electronic technology, and more specifically, to a measuring device and a measuring method.
  • the embodiments of the present application provide a measuring device and a measuring method, which can be applicable to a variety of different vehicle models and scenarios for measuring suspension height, and have good versatility for measuring suspension height.
  • a measuring device which is used to measure the height of a suspension system arranged between a load-bearing structure and a wheel of a vehicle, wherein the suspension system includes a shock absorber, a swing arm and a bushing, wherein the swing arm is arranged between the load-bearing structure and the wheel, the shock absorber is arranged between the swing arm and the load-bearing structure, the bushing is arranged at the connection between the swing arm and the load-bearing structure and/or the wheel, and the bushing includes a bushing inner ring and a bushing outer ring.
  • the measuring device includes a sensing unit and a processing unit, wherein the sensing unit is used to obtain relative rotation information between the bushing inner ring and the bushing outer ring; and the processing unit is used to determine first indication information according to the relative rotation information, wherein the first indication information is used to indicate the height of the suspension system.
  • the load-bearing structure of the vehicle is the load-bearing body.
  • the load-bearing structure of the vehicle is the vehicle frame.
  • the measuring device in the present application determines the height of the suspension system based on the relative rotation information between the inner ring of the bushing and the outer ring of the bushing, when it is applied to a vehicle to measure the height of the suspension, it is not necessary to design a specific bracket for each vehicle model and suspension arrangement, which can reduce the related adaptation work, which is reflected in that the measuring device has good versatility for measuring the height of the suspension, which is conducive to modularization and platformization.
  • the sensing unit may include: a magnetic field direction sensing unit arranged at a first position of the first part of the bushing, the magnetic field direction sensing unit can be used to obtain change information of the magnetic field direction at the first position, the relative rotation information includes the change information of the magnetic field direction at the first position, and the first part of the bushing may be one of the inner ring of the bushing or the outer ring of the bushing.
  • the relative rotation information between the inner ring and the outer ring of the bushing is obtained by obtaining the information on the change in the direction of the magnetic field, so that a more accurate measurement result of the suspension height can be obtained at a lower cost, and the difficulty of manufacturing and assembling the suspension height measurement device can be reduced.
  • the second portion of the bushing is provided with a magnetic element, which can be used to generate a magnetic field at the first position, and the second portion of the bushing is the other of the inner ring of the bushing or the outer ring of the bushing.
  • the suspension height measuring device may include a magnetic element, and the magnetic element and the magnetic field direction sensing unit rotate along with the rotation of the inner ring and the outer ring of the swing arm bushing respectively.
  • the suspension height measuring device may not include magnetic elements.
  • the specifications and arrangement of corresponding magnetic elements may be indicated in the instruction manual of the measuring device, so that the relative movement between the inner ring and the outer ring of the swing arm bushing can be determined according to the change in the direction of the magnetic field.
  • the magnetic field direction sensing unit and the magnetic element may be arranged relatively to each other along the axial direction of the bushing, and the magnetization direction of the magnetic element may be perpendicular to the axial direction of the bushing.
  • the change information of the magnetic field direction can more accurately reflect the rotation between the inner ring and the outer ring of the swing arm bushing, which can improve the accuracy of the measurement results of the suspension height.
  • the projection area of the magnetic element in the axial direction of the bushing, is larger than the projection area of the magnetic field direction sensing unit, and the ratio of the projection area of the magnetic element to the projection area of the magnetic field direction sensing unit is greater than or equal to a first threshold.
  • the projected area of the magnetic element is more than 5 times that of the magnetic field direction sensing unit.
  • the first threshold value may also be other values such as 8 or 10.
  • the first threshold value can be determined according to the magnetic field distribution of the plane perpendicular to the axis of the bushing and used to arrange the magnetic field direction sensing unit. For example, in the plane, the better the uniformity of the magnetic field strength at the installation position of the magnetic field direction sensing unit and its surrounding area, the smaller the value (such as 5) can be used for the first threshold value; and when the uniformity of the magnetic field strength is poor, the first threshold value can be used for a larger value (such as 8, 9).
  • the projection area of the magnetic element in the axial direction of the bushing is much larger than the projection area of the magnetic field direction sensing unit, the measurement error caused by installation deviation, vibration and other factors can be reduced.
  • the measuring device may further include a shell connected to the outer ring of the bushing, and the magnetic field direction sensing unit is fixed to the shell.
  • the magnetic field direction sensing unit Since the magnetic field direction sensing unit is fixed to the housing connected to the outer ring of the bushing, the magnetic field direction sensing unit can move with the movement of the outer ring of the swing arm bushing; correspondingly, since the magnetic element is arranged on the inner ring of the bushing, the magnetic element can move with the movement of the inner ring of the bushing.
  • the housing that can be adapted to a commonly used bushing and arranging the magnetic field direction sensing unit in the above manner, it is conducive to realizing the platformization and modularization of the suspension height measurement device.
  • the sensing unit may include: at least one pair of magnetic field direction sensing units disposed on a first end surface of the first portion of the bushing and uniformly distributed circumferentially.
  • At least one pair of magnetic field direction sensing units are evenly arranged circumferentially on any side end surface of the outer ring or the inner ring of the bushing.
  • the measuring device may further include: at least one pair of magnetic elements arranged on the first end surface of the second part of the bushing and uniformly distributed circumferentially, the at least one pair of magnetic elements corresponding one-to-one to at least one pair of magnetic field direction sensing units, and the second part of the bushing is the other of the inner ring of the bushing or the outer ring of the bushing.
  • the first end face of the first part of the bushing and the first end face of the second part of the bushing are located on the same side of the bushing.
  • the first end face of the bushing inner ring faces the rear of the vehicle, and correspondingly, the first end face of the bushing outer ring also faces the rear of the vehicle.
  • the measurement error caused by uneven magnetic field distribution can be reduced.
  • At least one pair of magnetic field direction sensing units includes a first magnetic field direction sensing unit pair, and the induction directions of the two magnetic field direction sensing units in the first magnetic field direction sensing unit pair are the same; at least one pair of magnetic elements includes a first magnetic element pair, and the first magnetic poles of the magnetic elements in the first magnetic element pair point to the axis of the bushing, and the angle between the magnetization direction of the magnetic elements in the first magnetic element pair and the induction direction of the magnetic field direction sensing units in the first magnetic field direction sensing unit pair can be greater than or equal to the second threshold.
  • the first magnetic field direction sensing unit pair is any pair of magnetic field direction sensing units.
  • the two magnetic field direction sensing units in the first magnetic field direction sensing unit pair are distributed on both sides of the bushing axis and are arranged opposite to each other, for example, the south poles (or north poles) of the two units both point to the bushing axis direction.
  • the second threshold may be 85°, 88°, or other values.
  • the magnetization direction of the magnetic element in the first magnetic element pair is perpendicular to the induction direction of the magnetic field direction induction unit in the first magnetic field direction induction unit pair.
  • the at least one pair of magnetic field direction sensing units may include a magnetic field direction sensing unit pair #1 and a magnetic field direction sensing unit pair #2, and correspondingly, the at least one pair of magnetic elements includes a magnetic element pair #1 and a second magnetic element pair #2.
  • the induction directions of the magnetic field direction sensing units #1 and #2 in the magnetic field direction sensing unit pair #1 are the same, and the two are evenly arranged along the circumference.
  • the induction directions of the magnetic field direction sensing units #3 and #4 in the magnetic field direction sensing unit pair #2 are the same, and are evenly arranged along the circumference.
  • the magnetic field direction sensing unit and the second magnetic field direction sensing unit may be unevenly arranged along the circumference.
  • the magnetic field direction sensing units #1, #2, #3 and #4 are arranged on the same circumference based on the axis of the bushing, and the arc length between the magnetic field direction sensing units #1 and #3 may be less than the arc length between the magnetic field direction sensing units #2 and #3.
  • the induction directions of the magnetic field direction sensing units #1 and #3 may be the same clockwise or counterclockwise, or the induction directions of the two may be opposite.
  • the difference between the first distance and the second distance is less than a third threshold value, and the first distance and the second distance are respectively the distances between the two magnetic field direction sensing units in the first magnetic field direction sensing unit pair and the axis of the bushing; and/or, the difference between the third distance and the fourth distance is less than a fourth threshold value, and the third distance and the fourth distance are respectively the distances between the two magnetic elements in the first magnetic element pair and the axis of the bushing.
  • a magnetic field direction sensing unit and its corresponding magnetic field direction sensing unit are both arranged on the same end face of the outer ring of the bushing and are distributed on the same circumference based on the bushing axis.
  • the two are not distributed on the same circumference, but the difference in radius of the two circumferences where the two are respectively located is less than or equal to a third threshold value (such as 3 mm, 5 mm).
  • the two magnetic elements in a first magnetic element pair are both arranged on the same end face of the inner ring of the bushing and are distributed on the same circumference based on the bushing axis.
  • the two magnetic elements are not distributed on the same circumference, but the radii of the two circumferences where the two magnetic elements are located are less than or equal to the fourth threshold value (such as 3 mm, 4 mm).
  • the third threshold value and the fourth threshold value may also be other values, such as 6 mm, which is not limited in this application.
  • the interference of the uneven distribution of magnetic field strength on the measurement results during the relative rotation of the inner ring and outer ring of the bushing can be reduced.
  • the magnetic field direction sensing unit includes a magnetoresistive sensor or a plurality of magnetic induction coils.
  • the measuring device can be realized in a simpler manner, which can reduce the cost and difficulty of designing and manufacturing the measuring device.
  • the magnetic field intensity at the first position is greater than or equal to a fifth threshold.
  • the magnetic field strength at the installation position of the magnetic field direction sensing unit may be greater than or equal to 28 or 30 millitesla.
  • the fifth threshold value may also be other values, such as 25 millitesla.
  • the interference of insufficient magnetic field strength on the measurement result can be reduced.
  • the sensing unit includes at least one strain sensing unit, and the at least one strain sensing unit is arranged on the end face of the vibration-damping rubber of the bushing, for measuring the shape change information of the vibration-damping rubber, the vibration-damping rubber is arranged between the inner ring of the bushing and the outer ring of the bushing, and the relative rotation information between the inner ring of the bushing and the outer ring of the bushing includes the deformation information of the vibration-damping rubber.
  • the damping rubber between the two will deform.
  • the height of the suspension is determined based on the deformation of the damping rubber. This allows for more accurate suspension height information to be obtained at a lower cost, and can reduce the difficulty of manufacturing and assembling the suspension height measuring device.
  • a measurement method is provided, the method being used to measure the height of a suspension system arranged between a load-bearing structure and a wheel of a vehicle, the suspension system comprising a shock absorber, a swing arm and a bushing, the swing arm being arranged between the load-bearing structure and the wheel, the shock absorber being arranged between the swing arm and the load-bearing structure, the bushing being arranged at a connection position between the swing arm and the load-bearing structure and/or the wheel, the bushing comprising a bushing inner ring and a bushing outer ring, the measurement method comprising: obtaining relative rotation information between the bushing inner ring and the bushing outer ring; determining first indication information based on the relative rotation information, the first indication information being used to indicate the height of the suspension system.
  • obtaining the relative rotation information between the inner ring of the bushing and the outer ring of the bushing may include: obtaining the change information of the magnetic field direction at the first position through a magnetic field direction sensing unit, the magnetic field direction sensing unit is arranged in the first part of the bushing, the magnetic field at the first position is generated by a magnetic element arranged in the second part of the bushing, the first part of the bushing is one of the inner ring of the bushing or the outer ring of the bushing, the second part of the bushing is the other of the inner ring of the bushing or the outer ring of the bushing, and the relative rotation information includes the change information of the magnetic field direction.
  • the magnetic field direction sensing unit and the magnetic element are arranged relatively to each other along the axial direction of the bushing, and the magnetization direction of the magnetic element is perpendicular to the axial direction of the bushing.
  • the projection area of the magnetic element in the axial direction of the bushing, is larger than the projection area of the magnetic field direction sensing unit, and the ratio of the projection area of the magnetic element to the projection area of the magnetic field direction sensing unit is greater than or equal to a first threshold.
  • the magnetic field direction sensing unit is disposed in the first part of the bushing, including: the magnetic field direction sensing unit is fixed to a shell connected to the outer ring of the bushing.
  • the first position includes multiple positions
  • obtaining the change information of the magnetic field direction at the first position through a magnetic field direction sensing unit includes: obtaining the change information of the magnetic field direction at the multiple positions through at least one pair of magnetic field direction sensing units; wherein the at least one pair of magnetic field direction sensing units are arranged on the first end surface of the first part of the bushing and are uniformly distributed along the circumferential direction, and the magnetic fields at the multiple positions are generated by at least one pair of magnetic elements arranged on the first end surface of the second part of the bushing and uniformly distributed along the circumferential direction, and the at least one pair of magnetic field direction sensing units corresponds one-to-one to the at least one pair of magnetic elements.
  • the at least one pair of magnetic field direction sensing units includes a first magnetic field direction sensing unit pair, the induction directions of the two magnetic field direction sensing units in the first magnetic field direction sensing unit pair are the same, the at least one pair of magnetic elements includes a first magnetic element pair, the first magnetic poles of the magnetic elements in the first magnetic element pair point to the axis of the bushing, and the angle between the magnetization direction of the magnetic elements in the first magnetic element pair and the induction direction of the magnetic field direction sensing units in the first magnetic field direction sensing unit pair is greater than or equal to a second threshold.
  • the difference between the first distance and the second distance is less than a third threshold value, and the first distance and the second distance are respectively the distances between the two magnetic field direction sensing units in the first magnetic field direction sensing unit pair and the axis of the bushing; and/or the difference between the third distance and the fourth distance is less than a fourth threshold value, and the third distance and the fourth distance are respectively the distances between the two magnetic elements in the first magnetic element pair and the axis of the bushing.
  • the magnetic field intensity at the first position is greater than or equal to a fifth threshold.
  • the obtaining of the relative rotation information between the inner ring of the bushing and the outer ring of the bushing includes: obtaining shape transformation information of a vibration-damping rubber through at least one strain sensing unit, the vibration-damping rubber being arranged between the outer ring of the bushing and the inner ring of the bushing, and the at least one strain sensing unit being arranged on the end face of the vibration-damping rubber; determining the relative rotation information between the inner ring of the bushing and the outer ring of the bushing based on the shape change information of the vibration-damping rubber.
  • a measuring device which includes a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the measuring device can execute the method in any possible implementation of the second aspect above.
  • a system which includes a suspension system and a measuring device in any possible implementation of the first aspect or the third aspect.
  • a vehicle comprising wheels, a load-bearing structure and a suspension system, and a measuring device in any possible implementation of the first aspect or the third aspect.
  • a computer-readable storage medium stores instructions, and when the instructions are executed by a processor, the processor implements the method in any possible implementation manner of the second aspect.
  • a computer program product comprising: a computer program code, when the computer program code is run on a computer, the computer executes the method in any possible implementation of the second aspect.
  • a chip comprising a circuit, the circuit being used to execute the method in any possible implementation of the second aspect above.
  • FIG1 is a schematic diagram of an application scenario of a suspension system provided in an embodiment of the present application.
  • FIG. 2 is a schematic structural diagram of a conventional suspension height measuring device
  • FIG3 is a schematic diagram of an application scenario of a measurement device provided in an embodiment of the present application.
  • FIG4 is a schematic diagram of the structure of a measuring device provided in an embodiment of the present application.
  • FIG5 is a schematic diagram of a working scenario of a magnetic field direction sensing unit provided in an embodiment of the present application.
  • FIG6 is a schematic diagram of the structure of another measuring device provided in an embodiment of the present application.
  • FIG7 is a schematic diagram of another working scenario of a magnetic field direction sensing unit provided in an embodiment of the present application.
  • FIG8 is a schematic diagram of a working scenario of a measuring device provided in an embodiment of the present application.
  • FIG9 is a schematic diagram of the structure of another measuring device provided in an embodiment of the present application.
  • FIG. 10 is a flow chart of a measurement method provided in an embodiment of the present application.
  • the suspension system may include a plurality of connecting devices arranged between the vehicle's load-bearing structure and the wheels, which can transmit the force and torque between the wheels and the vehicle body, can buffer the impact force transmitted to the vehicle body by the road surface through the wheels, and reduce the vibration caused by road surface excitation.
  • FIG1 is a schematic diagram of an application scenario of a suspension system provided by an embodiment of the present application.
  • the suspension system 100 may mainly include an upper swing arm 103, a lower swing arm 104, a shock absorber 105, a spring 106, and a swing arm bushing (107, 108, 109, 110).
  • the shock absorber 105 can provide a damping force to attenuate vibration, and the spring 106 can support the weight of the vehicle body and provide a buffering function.
  • the upper swing arm 103, the lower swing arm 104, and the swing arm bushing (107, 108, 109, 110) constitute a guide mechanism, which can guide the movement of the suspension by connecting the wheel 101 to the vehicle's load-bearing structure 102.
  • the load-bearing structure is a vehicle frame; for a load-bearing vehicle body, the vehicle's load-bearing structure is a vehicle body.
  • the following description takes the load-bearing structure 102 as a vehicle frame as an example.
  • the vehicle frame in the following description may be adaptively replaced with a vehicle body.
  • Air suspension can improve ride comfort by using air springs with variable stiffness characteristics.
  • Air suspension can also adjust the height of the vehicle body by adjusting the length of the air spring.
  • Active suspension can dynamically and adaptively adjust its stiffness and/or damping characteristics according to the driving conditions of the vehicle, thereby improving the vehicle's handling stability and driving smoothness.
  • the air suspension and active suspension may also include a suspension height measuring device 120 (as shown in FIG. 1 ) and an electronic control unit, as well as an actuator (not shown in FIG. 1 ).
  • the suspension height measuring device 120 can measure the suspension height and obtain suspension height information.
  • the electronic control unit can control the actuation of the actuator according to the obtained suspension height information, thereby realizing the functions of active vibration reduction and height adjustment.
  • the actuator may include pneumatic components such as air pumps and air valves, which can be used to adjust the length of the air spring to achieve the adjustment of the vehicle body height.
  • the actuator may include main force generating components such as motors and hydraulic cylinders, which can be used to realize the function of active vibration reduction. The following is a brief introduction to the suspension height measuring device in conjunction with FIG. 2 .
  • FIG2 is a schematic diagram of the structure of the suspension height measuring device 120.
  • the suspension height measuring device 120 may include a tie rod 121, a swing rod 122, an angle sensor 123 and a bracket 124, as well as connectors between the components (not shown in FIG2).
  • the swing rod 122 and the tie rod 121 may rotate relative to each other along an axis 127, and the swing rod 122 and the angle sensor 123 may rotate relative to each other along an axis 128.
  • the bracket 124 may be fixed to the vehicle frame 102, and the tie rod 121 may be fixed to the upper swing arm or the lower swing arm by fasteners (such as bolts), or by welding or riveting.
  • the relative position of the upper swing arm 103 and the frame 102 changes.
  • the swing rod 122 in the suspension height measuring device will rotate relative to the angle sensor 123 around the axis 128. According to the rotation angle of the swing rod 122 relative to the angle sensor 123, combined with the kinematic relationship between the various components, the suspension height can be converted.
  • the bracket 124, the pull rod 121, etc. need to be adaptively designed, resulting in poor versatility of the suspension height measuring device.
  • additional actuation space is required, which limits the installation position of the suspension height measuring device and increases the difficulty of arranging the suspension height measuring device.
  • the embodiments of the present application provide a measuring device and a measuring method, which can be applicable to a variety of different vehicle models and suspension height measurement scenarios, have good versatility for measuring suspension height, and are easy to arrange and install.
  • Fig. 3 is a schematic diagram of an application scenario of a measuring device provided in an embodiment of the present application.
  • the swing arm bushing (107, 108, 109, 110) may include a bushing outer ring, a bushing inner ring, and a vibration-damping rubber disposed therebetween.
  • the measuring device 150 can be used to measure the suspension height, and the measuring device 150 can include a sensing unit 151 and a processing unit 152.
  • the sensing unit 151 can be used to obtain the relative rotation information between the inner ring of the bushing and the outer ring of the bushing;
  • the processing unit 152 can be used to obtain the relative rotation information between the inner ring of the bushing and the outer ring of the bushing;
  • Element 152 can be used to determine first indication information based on the relative rotation information, and the first indication information is used to indicate the height of the suspension system. For example, taking the scenario shown in FIG.
  • the change in the height of the suspension system can be calculated based on the relative rotation information between the inner ring of the bushing and the outer ring of the bushing.
  • the changed suspension height can be obtained based on the suspension height in the initial state and the change in the suspension height.
  • the relative rotation information between the inner ring of the bushing and the outer ring of the bushing can be measured in a variety of ways.
  • a magnetic element and a magnetic field direction sensing unit can be respectively provided on the outer ring of the bushing and the inner ring of the bushing, so that the two can move with the movement of the outer ring of the bushing and the inner ring of the bushing respectively.
  • the relative movement information between the outer ring of the bushing and the inner ring of the bushing can be determined according to the torsional deformation of the vibration damping rubber.
  • the measuring device 150 can be arranged around the swing arm bushing, and communicate with the processing devices such as the vehicle domain controller and the autonomous driving domain controller through the vehicle's communication circuit.
  • the processing unit 152 can calculate the height of the suspension system based on the relative rotation information between the inner ring of the bushing and the outer ring of the bushing, and accordingly, the indication information sent by the measuring device 150 to the domain controller includes the height of the suspension system.
  • the indication information sent by the measuring device 150 to the domain controller may include the relative rotation angle between the inner ring of the bushing and the outer ring of the bushing, and accordingly, the domain controller can calculate the height of the suspension system based on the indication information.
  • Fig. 4 is a schematic diagram of a structure of a measuring device provided in an embodiment of the present application. Components in Fig. 4 that have the same or similar functions as those in Fig. 1 are numbered the same as those in Fig. 1.
  • the measuring device 200 can be regarded as an implementation of the measuring device 150.
  • the height of the suspension can be determined based on the relative rotation information between the bushing inner ring 1073 and the bushing outer ring 1071.
  • Fig. 4 can be understood as a cross-sectional view of the swing arm bushing 107 (the cross section is along the x direction).
  • the magnetic element 201 and the magnetic field direction sensing unit 202 can be respectively disposed on the bushing outer ring 1071 and the bushing inner ring 1073. In other words, the magnetic element 201 and the magnetic field direction sensing unit 202 can respectively remain relatively stationary with the bushing outer ring 1071 and the bushing inner ring 1073. By sensing the change in the magnetic field direction through the magnetic field direction sensing unit 202, the relative rotation information between the bushing outer ring 1071 and the bushing inner ring 1073 can be determined.
  • the magnetic element 201 and the magnetic field direction sensing unit 202 may be coaxially arranged, for example, relatively arranged along the bushing axis 207 , and the magnetization direction of the magnetic element 201 may be perpendicular to the bushing axis 207 .
  • the magnetic element 201 may belong to the measuring device 200 , or may not belong to the measuring device 200 .
  • the magnetic field direction sensing unit 202 and the processing unit 203 can be fixed to the housing 204, and the housing 204 and the bushing outer ring 1071 can be connected by means of snaps, bolts, etc.; the magnetic element 201 can be mechanically connected to the fastener 111 and the bushing inner ring 1073 by means of welding, riveting, snaps, etc., and then fixed to the frame 102.
  • the processing unit 203 can determine the change in the suspension height based on the level signal generated thereby.
  • the magnetic element 202 can be fixed to the housing 204, and the magnetic field direction sensing unit 202 and the processing unit 203 can be connected to the fastener 111 by gluing, clamping, etc., and then remain relatively still with the bushing inner ring 1073 and the frame 102.
  • FIG. 5 is a schematic diagram of a working scenario of a magnetic field direction sensing unit provided in an embodiment of the present application.
  • the magnetic element 201 , the magnetic field direction sensing unit 202 and the processing unit 203 may constitute an angle measurement unit 206 .
  • the magnetic element 201 may be in a shape of a cuboid, a cube, or the like.
  • the magnetic element 201 in order to reduce the interference of the fluctuation of the magnetic field intensity sensed by the magnetic field direction sensing unit 202 on the measurement result, as shown in (a) of Figure 5, the magnetic element 201 can be disc-shaped and the magnetization direction can be along the circumferential radial direction.
  • the separation line between the south pole part 2011 and the north pole part 2012 of the magnetic element 201 can be parallel to the axis 207, that is, the magnetization direction of the magnetic element 201 can be perpendicular to the axis 207, as shown in (a) of Figure 5.
  • the rotation plane of the magnetic element 201 can also be perpendicular to the axis 207.
  • the magnetic element 201 and the magnetic field direction sensing unit 202 can be coaxially arranged relative to each other along the axis 207.
  • the magnetic field direction sensing unit 202 and the processing unit 203 are stationary, when the magnetic element 201 rotates along the axis 207, the magnetic field direction sensing unit 202 can generate a corresponding electrical signal according to the change in the magnetic field direction.
  • the processing unit 203 can determine the rotation angle of the magnetic element 201 relative to the axis 207 based on the electrical signal. By combining the kinematic characteristics (such as size, initial angle, etc.) of the swing arm, spring, and shock absorber in the suspension system, the suspension height can be calculated.
  • the magnetic element 201 and the magnetic field direction sensing unit 202 may be coaxially arranged relative to each other along the axis 207 in the design state, due to the existence of factors such as installation and vibration, the magnetic element 201 and the magnetic field direction sensing unit 202 may be eccentric, thereby affecting the accuracy of the measurement results.
  • the magnetic field direction sensing unit 202 may be a component with low sensitivity to magnetic field intensity, such as a magnetoresistive sensor. In this way, the error caused by the eccentricity of the magnetic element 201 and the magnetic field direction sensing unit 202 and the irregular shapes of the two can be reduced.
  • the distance (denoted as a) between the magnetic element 201 and the magnetic field direction sensing unit 202 should meet a preset condition.
  • a can be within a preset range.
  • the lower limit of the preset range can be 30 millimeters (mm), 28 mm, 35 mm, or other values.
  • the upper limit of the preset range can be 48 mm, 50 mm, 55 mm. The lower limit or upper limit can also be other values.
  • the angle measurement unit 226 shown in FIG5( b ) may be understood as a deformation or expansion of the angle measurement unit 206 .
  • the angle measurement unit 226 may include a magnetic element 221 , a magnetic field direction sensing unit 222 , and a processing unit 223 .
  • the magnetic element 221 may include a plurality of circumferentially distributed permanent magnets, and the magnetic field direction sensing unit 222 may include a plurality of circumferentially distributed coils.
  • the coils in the magnetic field direction sensing unit 222 may generate corresponding signals under a changing magnetic field, thereby enabling measurement of the rotation angle of the magnetic element 221.
  • the magnetic element 221 may include more or fewer permanent magnets, such as 3, 6, or other numbers.
  • the magnetic field sensing unit 222 may include more or fewer induction coils.
  • Another measuring device 300 provided by the present application is briefly described below in conjunction with FIG6 to FIG8 .
  • the measuring device 300 can be regarded as another implementation of the measuring device 150 .
  • Fig. 6 is a schematic diagram of the structure of another measuring device provided in an embodiment of the present application.
  • Fig. 6 (a) can be understood as a schematic diagram of the cross section of the swing shaft bushing 107
  • Fig. 6 (b) can be understood as a schematic diagram of the longitudinal section of the swing shaft bushing.
  • the measuring device 300 may include a magnetic field direction sensing unit 302 and a magnetic field direction sensing unit 305 , which may be used to measure the directions of the magnetic fields generated by the magnetic elements 301 and 304 , respectively.
  • the magnetic elements 301 and 304 can be fixed to one side end surface of the bushing inner ring 1073 by fasteners (such as bolts 111) or by other processes such as gluing, clamping, etc., as shown in (a) of FIG6.
  • the magnetic field direction sensing units 302 and 305 can be fixed to the same side end surface of the bushing outer ring 1071.
  • the magnetization directions of the magnetic elements 301 and 304 can be along the circumferential radial direction, and the magnetization directions of the two can be opposite.
  • the upper half of 301 is its magnetic field north pole
  • the upper half of 304 is its magnetic field south pole.
  • the magnetic field sensing directions of the magnetic field direction sensing units 302 and 305 are the same. For example, when the magnetic field direction sensing units 302 and 305 sense a left magnetic field, both can output a positive level signal, and when sensing a right magnetic field, both can output a negative level signal.
  • the magnetic field direction sensing units 302 and 305 can be understood as a pair of magnetic field direction sensing units (also referred to as a magnetic field direction sensing unit pair), and correspondingly, the magnetic elements 301 and 304 can be understood as a pair of magnetic elements (also referred to as a magnetic element pair).
  • the magnetic field direction sensing unit 302 can be arranged relative to the magnetic element 301, so that the magnetic element 301 and the magnetic field direction sensing unit 302 can form an angle measurement unit #1.
  • the magnetic field direction sensing unit 305 can be arranged relative to the magnetic element 304 to form an angle measurement unit #2.
  • the working mode of the magnetic field direction sensing unit involved in the measuring device 300 is briefly introduced by taking the angle measurement unit #1 as an example.
  • FIG7 shows a schematic diagram of another working scenario of a magnetic field direction sensing unit.
  • the upper half of the magnetic element 301 is its magnetic field north pole
  • the lower half is its magnetic field south pole.
  • the magnetic flux lines are emitted from the magnetic field north pole and point to the magnetic field south pole.
  • the sensing direction of the magnetic field direction sensing unit 302 is to the left.
  • (a) in FIG. 7 can be understood as the initial state of the magnetic element 301 and the magnetic field direction sensing unit 302 , that is, it can be understood as the state when the positions of the bushing outer ring 1071 and the bushing inner ring 1073 do not change relative to each other.
  • the distance between the magnetic element 301 and the magnetic direction sensing unit 302 should meet a preset condition.
  • the distance between the magnetic element 301 and the magnetic direction sensing unit 302 can be within a preset range.
  • the minimum value of the preset range can be 25 mm, 28 mm, 30 mm, etc.
  • the maximum value of the preset range can be 40 mm, 45 mm.
  • the maximum value and/or minimum value of the preset range can also be other values.
  • the measuring device 300 may further include a processing unit 303 and/or a processing unit 306.
  • the processing unit 303 and the processing unit 306 may be the same processing unit or different processing units.
  • the magnetic field direction sensing units 302 and 305 may be arranged on the same circuit board, which is fixed to the outer ring of the bushing 1071; the circuit board includes the processing unit 303, and the magnetic field direction sensing units 302 and 305 may send electrical signals to the processing unit.
  • the magnetic field direction sensing units 302 and 305 may be components with low sensitivity to magnetic field intensity, such as magnetoresistive sensors.
  • the magnetic elements 301 and 304 may be disposed on the outer ring of the bushing, and the magnetic field direction sensing units 302 and 305 may be disposed on the inner ring of the bushing.
  • the measuring device 300 may further include more or more pairs of magnetic field direction sensing units and corresponding magnetic elements.
  • the measuring device 300 may include three magnetic field direction sensing units, which may be evenly arranged on one side end face of the outer ring of the bushing along the circumferential direction, and correspondingly, three magnetic elements may be evenly arranged on the same side end face of the inner ring of the bushing along the circumferential direction.
  • the measuring device 300 may include two pairs of magnetic field direction sensing units, which may be evenly arranged on one side end face of the outer ring of the bushing along the circumferential direction, and two pairs of magnetic elements may be evenly arranged on the same side end face of the inner ring of the bushing along the circumferential direction.
  • the magnetic element 301 and the magnetic field direction sensing unit 302 are arranged relative to each other and are arranged on the upper side of the inner ring 1073 of the bushing and the outer ring 1071 of the bushing respectively; the magnetic element 304 and the magnetic field direction sensing unit 305 are arranged relative to each other and are arranged on the lower side of the inner ring 1073 of the bushing and the outer ring 1071 of the bushing respectively.
  • the magnetization directions of the magnetic elements 301 and 304 are opposite, and the magnetic field sensing directions of the magnetic field direction sensing units 302 and 305 are the same; the magnetic field direction sensing units 302 and 305 sense the magnetic fields of the magnetic elements 301 and 304 respectively and convert them into electrical signals.
  • the measuring directions of the angle measuring units #1 and #2 are opposite.
  • the working mode of the measuring device 300 in this state is briefly described below in conjunction with FIG8. (a) to (d) in FIG8 respectively show the output of the measuring device 300 in different states.
  • the magnetic field direction sensing unit 302 can generate signal 1
  • the magnetic field direction sensing unit 305 can generate signal 2
  • signal 3 can be understood as the difference between signal 1 and signal 2. According to the mapping relationship between the suspension height and the level, and signal 3, the suspension height can be obtained.
  • the sensing direction of the magnetic field direction sensing unit 302 is perpendicular to the magnetic field direction of 301
  • the sensing direction of the magnetic field direction sensing unit 305 is perpendicular to the magnetic field direction of the magnetic element 304
  • the magnetic field direction sensing units 302 and 305 output zero level.
  • the signals output by the magnetic field direction sensing units 302 and 305 can be respectively shown as signal 1 and signal 2 as shown in (a) of FIG8 , and at this time, signal 3 is zero level, which can indicate that the suspension height is the initial height.
  • the bushing outer ring 1071 rotates relative to the bushing inner ring 1073, causing the magnetic field direction sensing units 302 and 305 to rotate relative to the magnetic elements 301 and 304, respectively, and the generated level signal changes. Since the magnetization directions of the magnetic elements 301 and 304 are opposite, and the magnetic field induction directions of the magnetic field direction sensing units 302 and 305 are the same, one of the magnetic field direction sensing units 302 and 305 will generate a positive level signal, and the other will generate a negative level signal. For example, when the bushing inner ring 1073 rotates relative to the bushing outer ring 1071 in the direction of the arrow shown in (b) of FIG. 8, signal 1 can be a positive level signal, and signal 2 can be a negative level signal.
  • the magnetic field direction induction units 302 and 305 still output zero level.
  • the signal 1 and the signal 2 may be as shown in (c) of FIG. 8.
  • both the signals 1 and 2 are both positive or negative.
  • both the signals 1 and 2 can be negative level signals.
  • the signals 1 and 2 can be equal, and the signal 3 can be zero.
  • the measuring directions of the angle measuring units #1 and #2 may be the same.
  • the suspension height may be determined based on the sum of the signals output by the magnetic field direction sensing units 302 and 305 and the mapping relationship between the suspension height and the level.
  • Fig. 9 is a schematic diagram of another measuring device provided in an embodiment of the present application.
  • the measuring device 400 may include multiple strain units, such as strain units 401 and 402, and a processing unit 403 (not shown in the figure).
  • the multiple strain units 401 are arranged on the end surface of the vibration-damping rubber of the swing arm bushing, and are used to sense the deformation of the vibration-damping rubber.
  • the processing unit 403 is used to determine the height of the suspension according to the deformation of multiple positions of the vibration-damping bushing. For example, taking the swing arm bushing 107 as an example, when the height of the suspension changes, resulting in a change in the relative position of the upper swing arm 103 and the frame 102, the vibration-damping rubber 1072 will be twisted. Therefore, by determining the deformation of multiple positions of the vibration-damping bushing, the height of the suspension can be determined.
  • the measuring device 400 may include more or fewer strain units, for example, 3, 5, etc.
  • FIG10 is a flow chart of a measurement method provided in an embodiment of the present application.
  • the method 600 may be performed by the measurement device 150, or by the processing unit 152, or by one or more processors included in the processing unit 152.
  • the method 600 may include:
  • S620 Determine first indication information according to the relative rotation information, where the first indication information is used to indicate the height of the suspension system.
  • the first part of the bushing can be one of the inner ring of the bushing or the outer ring of the bushing
  • the second part of the bushing can be the other of the inner ring of the bushing or the outer ring of the bushing.
  • the magnetic field direction sensing unit (such as the magnetic field direction sensing unit 202, 222, 302) can be arranged on the first part of the swing arm bushing; (such as 201, 221, 301) can be arranged on the second part of the swing arm bushing.
  • the magnetic field direction sensing unit is relatively stationary with the first part of the swing arm bushing and relatively stationary with the second part of the swing arm bushing.
  • the magnetic field direction sensing unit is arranged relative to the axial direction of the bushing, and the magnetization direction of the magnetic element is perpendicular to the axial direction of the bushing.
  • the magnetic field direction sensing unit and the magnetic element are arranged as shown in (a) or (b) in FIG5 .
  • the ratio of the projected area of the magnetic element to the projected area of the magnetic field direction sensing unit is greater than or equal to a first threshold.
  • the first threshold is 5, in the direction of the axis 207, the projected area of the magnetic element 201 is at least 5 times the projected area of the magnetic field direction sensing unit.
  • the magnetic field direction sensing unit is fixed to a shell connected to the outer ring of the bushing.
  • the at least one pair of magnetic field direction sensing units are arranged on the first end surface of the first part of the swing arm bushing and are evenly distributed along the circumferential direction; the at least one pair of magnetic field direction sensing units correspond one-to-one to at least one pair of magnetic elements, and the at least one pair of magnetic elements are arranged on the first end surface of the second part of the swing arm bushing and are evenly distributed along the circumferential direction.
  • the magnetic field direction sensing units 302 and 305 are respectively arranged on the end surface of the bushing outer ring 1071, and the corresponding magnetic elements 301 and 304 are respectively arranged on the same side end surface of the bushing outer ring 1073.
  • the induction directions of the two magnetic field direction induction units in the magnetic field direction induction unit pair are the same, and the first magnetic poles of the two magnetic elements in the magnetic element pair are arranged opposite to each other.
  • the induction directions of the magnetic field direction induction units 302 and 305 are the same, and the south poles (or north poles) of the magnetic elements 301 and 304 are arranged opposite to each other.
  • the angle between the induction direction of the magnetic field direction induction unit in the magnetic field direction induction unit pair and the magnetization direction of the magnetic element in the corresponding magnetic element pair is greater than or equal to the second threshold.
  • the magnetization direction of the magnetic element 301 is perpendicular to the induction direction of the magnetic field direction induction unit 302.
  • the magnetic field direction sensing unit 302 is disposed on a first circumference based on the axis of the bushing
  • the magnetic field direction sensing unit 305 is disposed on a second circumference based on the axis of the bushing, and the difference between the radius of the first circumference and the second circumference is less than Or equal to a third threshold (eg, 3 mm, 5 mm).
  • a third threshold eg, 3 mm, 5 mm
  • the magnetic element 301 is arranged on the third circumference based on the axis of the bushing, and the magnetic element 304 is arranged on the fourth circumference based on the axis of the bushing, and the difference between the radii of the third circle and the fourth circle is less than or equal to a fourth threshold value (for example, 3mm, 4mm).
  • a fourth threshold value for example, 3mm, 4mm
  • the absolute value of the difference between the radius of the first circle and the radius of the third circle may be within a preset range, for example, between 25 and 40 mm.
  • the magnetic field direction sensing unit can sense a magnetic field of sufficient strength.
  • the maximum value and/or the minimum value of the preset range may be other values.
  • the magnetic field strength at the location where the magnetic field direction sensing unit is located is greater than or equal to the fifth threshold.
  • the magnetic field strength at the location where the magnetic field direction sensing unit 202 is located can be greater than or equal to 30 millitesla.
  • the magnetic field strength at the location where the magnetic field direction sensing unit 302 and/or 305 is located can be greater than or equal to 28 millitesla.
  • obtaining the relative rotation information between the inner ring of the bushing and the outer ring of the bushing may include: obtaining deformation information of the damping rubber; and determining the relative rotation information between the inner ring of the bushing and the outer ring of the bushing according to the deformation information of the damping rubber.
  • the deformation information of the damping rubber 1072 may be obtained by the strain sensing unit 401 and/or 402, and the relative motion information between the inner ring of the bushing 1073 and the outer ring of the bushing 1071 may be calculated according to the deformation information.
  • An embodiment of the present application also provides a bushing with a measuring function, which may include a bushing inner ring, a bushing outer ring and a vibration-damping rubber, and a measuring device as shown in any one of Figures 3 to 9.
  • An embodiment of the present application also provides a system, which includes a swing arm, a shock absorber, a bushing, and a measuring device as shown in any one of Figures 3 to 9.
  • An embodiment of the present application also provides an intelligent driving device, which includes a suspension system and a measuring device as shown in any one of Figures 3 to 9.
  • the intelligent driving devices mentioned in this application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc.
  • the intelligent driving device may be a vehicle, which is a vehicle in a broad sense, and may be a vehicle (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), agricultural equipment (such as a lawn mower, a harvester, etc.), amusement equipment, a toy vehicle, etc.
  • the embodiment of this application does not specifically limit the type of vehicle.
  • the vehicles in the present application may include pure electric vehicle/battery electric vehicle (pure EV/battery EV), hybrid electric vehicle (hybrid electric vehicle, HEV), range extended electric vehicle (range extended electric vehicle, REEV), plug-in hybrid electric vehicle (plug-in hybrid electric vehicle, PHEV) or new energy vehicle (new energy vehicle, NEV), etc.
  • pure EV/battery EV pure electric vehicle/battery electric vehicle
  • HEV hybrid electric vehicle
  • range extended electric vehicle range extended electric vehicle
  • REEV range extended electric vehicle
  • plug-in hybrid electric vehicle plug-in hybrid electric vehicle
  • PHEV plug-in hybrid electric vehicle
  • new energy vehicle new energy vehicle
  • a and/or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural.
  • the character "/" generally indicates that the associated objects before and after are in an "or" relationship.
  • the disclosed systems, devices and methods can be implemented in other ways.
  • the device embodiments described above are only illustrative, for example, the division of the units is only a logical function. In actual implementation, there may be other ways of division, for example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not performed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, which may be electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art.
  • the computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program codes.

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Abstract

本申请实施例提供了一种测量装置和测量方法，该测量装置用于测量悬架系统的高度，悬架系统包括设置于车辆的承载结构与车轮间的摆臂，以及设置在摆臂与承载结构或车轮的连接部位的衬套，衬套包括衬套内圈和衬套外圈。该测量装置包括感应单元和处理单元，其中，感应单元用于获取衬套内圈和衬套外圈间的相对转动信息，处理单元可以用于根据该相对转动信息，确定用于指示悬架系统的高度的第一指示信息。本申请实施例可以适用于电动汽车、混合动力汽车等新能源汽车，通过该测量装置测量悬架高度时，能够无需针对车型、悬架的布置方式设计特定的支架，可以减少针对车型、悬架的适配工作，对于测量悬架高度具有较好的通用性。

Description

测量装置和测量方法
本申请要求在2023年7月18日提交中国国家知识产权局、申请号为202310882479.5、发明名称为“测量装置和测量方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及机械电子技术领域，更具体地，涉及一种测量装置和测量方法。
背景技术
随着车辆技术的快速发展，空气悬架以及能够动态调节刚度与阻尼特性的主动悬架越来越多的应用于车辆中。相较于传统悬架，空气悬架和主动悬架能够调节悬架高度、改善车身振动，提升车辆的乘坐舒适性。悬架高度能否精准检测，将直接影响空气悬架和主动悬架的性能，进而影响车辆综合性能。由于现在常用的悬架高度测量装置通用性较差，为了准确检测悬架高度，对于不同的车型，往往需要复杂的适配工作。因此，如何提升悬架高度测量装置的通用性成为需要解决的问题。
发明内容
本申请实施例提供一种测量装置和测量方法，能够适用于多种不同的车型和测量悬架高度的场景，对于测量悬架高度具有较好的通用性。
第一方面，提供了一种测量装置，该测量装置用于测量设置在车辆的承载结构和车轮之间的悬架系统的高度，该悬架系统包括减振器、摆臂和衬套，其中，摆臂设置在承载结构和车轮之间，减振器设置在摆臂与承载结构之间，该衬套设置在摆臂与承载结构和/或车轮的连接部位，衬套包括衬套内圈和衬套外圈。该测量装置包括感应单元和处理单元，其中，感应单元用于获取衬套内圈和衬套外圈间的相对转动信息；处理单元用于根据该相对转动信息，确定第一指示信息，所述第一指示信息用于指示悬架系统的高度。
在车辆采用承载式车身时，车辆的承载结构为该承载式车身。在车辆采用非承载式车身时，车辆的承载结构为车辆的车架。
由于悬架系统的高度发生变化时，摆臂与车轮和/或车身间会发生相对运动，摆臂衬套的衬套内圈(简称为内圈)和衬套外圈(简称为外圈)随之发生相对转动。由于本申请中的测量装置根据衬套内圈和衬套外圈间的相对转动信息确定悬架系统的高度，在将其应用在车辆以测量悬架高度时，可以无需针对各车型、悬架的布置方式设计特定的支架，能够减少相关的适配工作，体现为该测量装置对于悬架高度的测量具有较好的通用性，有利于实现模块化和平台化。
结合第一方面，在第一方面的某些实现方式中，感应单元可以包括：设置在衬套的第一部分的第一位置处的磁场方向感应单元，磁场方向感应单元可以用于获取第一位置处的磁场方向的变化信息，相对转动信息包括第一位置处的磁场方向的变化信息，衬套的第一部分可以为衬套内圈或衬套外圈中的一个。
本申请中，通过磁场方向的变化信息获取衬套内圈和衬套外圈间的相对转动信息，能够以较低的成本获取较为准确的悬架高度的测量结果，能够降低悬架高度测量装置的制造和装配难度。
结合第一方面，在第一方面的某些实现方式中，衬套的第二部分设置有磁性元件，磁性元件可以用于生成第一位置处的磁场，衬套的第二部分为衬套内圈或衬套外圈中的另一个。
一个实施例中，该悬架高度测量装置中可以包含磁性元件，该磁性元件和磁场方向感应单元分别跟随摆臂衬套的内圈和外圈的转动而转动。
又一个实施例中，该悬架高度测量装置中可以不包含磁性元件，比如可以在测量装置的说明书中指示相适配的磁性元件的规格及布置方式，从而能够根据磁场方向的变化情况确定摆臂衬套的内圈和外圈间的相对运动情况。
结合第一方面，在第一方面的某些实现方式中，磁场方向感应单元和磁性元件可以沿衬套的轴线方向相对设置，磁性元件的充磁方向可以垂直于衬套的轴线方向。
本申请中，通过上述布置方式，使得磁场方向的变化信息能够更为准确的反映摆臂衬套的内圈和外圈间的转动情况，能够提升悬架高度的测量结果的准确度。
结合第一方面，在第一方面的某些实现方式中，在衬套的轴线方向上，磁性元件的投影面积大于磁场方向感应单元的投影面积，且磁性元件的投影面积与磁场方向感应单元的投影面积的比值大于或等于第一阈值。
一个实施例中，在衬套轴线方向上，磁性元件的投影面积是磁场方向感应单元的5倍以上。一些可能的实现方式中，该第一阈值也可以是8、10等其他数值。
又一个实施例中，可以根据垂直于衬套的轴线且用于布置磁场方向感应单元的平面的磁场分布情况，确定该第一阈值。例如，该平面中，磁场方向感应单元的安装位置及其周边区域的磁场强度的均一性越好，该第一阈值可以采用越小的数值(比如5)；而在磁场强度的均一性较差时，第一阈值可以采用较大的数值(比如8、9)。
本申请中，由于在衬套轴线方向上，磁性元件的投影面积远大于磁场方向感应单元的投影面积，能够降低由于安装偏差、振动等因素所导致的测量误差。
结合第一方面，在第一方面的某些实现方式中，测量装置还可以包括与衬套外圈相连的壳体，磁场方向感应单元固定于壳体。
由于磁场方向感应单元固定在与衬套外圈相连的壳体，磁场方向感应单元能够跟随摆臂衬套外圈的运动而运动；相应地，由于磁性元件设置于衬套内圈，使得磁性元件能够跟随衬套内圈的运动而运动。本申请中，通过采用能够与常用形式的衬套相适配壳体，并按照上述方式设置磁场方向感应单元，有利于实现悬架高度测量装置的平台化与模块化。
结合第一方面，在第一方面的某些实现方式中，感应单元可以包括：设置在衬套的第一部分的第一端面，且周向均匀分布的至少一对磁场方向感应单元。
本申请中，在衬套外圈或衬套内圈的任一侧端面，周向均匀设置至少一对磁场方向感应单元，通过构成一对磁场方向感应单元的两个磁场方向感应单元感知磁场方向的变化，能够降低由于安装偏差、振动等因素所导致的测量误差。
结合第一方面，在第一方面的某些实现方式中，测量装置还可以包括：设置在衬套的第二部分的第一端面，且周向均匀分布的至少一对磁性元件，至少一对磁性元件与至少一对磁场方向感应单元一一对应，衬套的第二部分为衬套内圈或衬套外圈中的另一个。
示例性地，衬套的第一部分的第一端面与衬套的第二部分的第一端面位于衬套的同一侧。例如，衬套内圈的第一端面为朝向车辆的后方，相应地，衬套外圈的第一端面也朝向车辆的后方。
本申请中，通过设置与磁场方向感应单元对所对应的磁性元件对，能够降低由于磁场分布不均匀所导致的测量误差。
结合第一方面，在第一方面的某些实现方式中，至少一对磁场方向感应单元包括第一磁场方向感应单元对，第一磁场方向感应单元对中的两个磁场方向感应单元的感应方向相同；至少一对磁性元件包括第一磁性元件对，第一磁性元件对中的磁性元件的第一磁极指向衬套的轴线，第一磁性元件对中的磁性元件的充磁方向与第一磁场方向感应单元对中的磁场方向感应单元的感应方向间的夹角可以大于或等于第二阈值。
示例性地，该第一磁场方向感应单元对为任意一对磁场方向感应单元。该第一磁场方向感应单元对中的两个磁场方向感应单元分布于衬套轴线的两侧并且相对设置，比如，二者的南极(或北极)均指向衬套的轴线方向。
示例性地，第二阈值可以为85°、88°，也可以是其他数值。例如，第一磁性元件对中的磁性元件的充磁方向垂直于第一磁场方向感应单元对中的磁场方向感应单元的感应方向。
一个实施例中，该至少一对磁场方向感应单元可以包括磁场方向感应单元对#1和磁场方向感应单元对#2，相应地，该至少一对磁性元件包括磁性元件对#1和第二磁性元件对#2。磁场方向感应单元对#1中的磁场方向感应单元#1和#2的感应方向相同，且二者沿周向均匀布置。磁场方向感应单元对#2中的磁场方向感应单元#3和#4的感应方向相同，且沿周向均匀布置。磁场方向感应单元和第二磁场方向感应单元沿周向可以不均匀布置。例如，磁场方向感应单元#1、#2、#3和#4设置于以衬套轴线为基准的同一圆周上，磁场方向感应单元#1和#3之间的弧长可以小于磁场方向感应单元#2和#3之间的弧长。磁场方向感应单元#1和#3的感应方向可以同为顺时针或逆时针方向，或者，二者的感应方向可以相反。
实际场景中，由于安装、振动等因素不可避免地会导致第一磁场方向感应单元与第一磁性元件对之间存在偏心。本申请中，采用上述方式布置时，能够降低由于安装、振动所造成偏心而导致的误差。
结合第一方面，在第一方面的某些实现方式中，第一距离与第二距离的差小于第三阈值，第一距离和第二距离分别为第一磁场方向感应单元对中的两个磁场方向感应单元与衬套的轴线的距离；和/或，第三距离与第四距离的差小于第四阈值，第三距离和第四距离分别为第一磁性元件对中的两个磁性元件与衬套的轴线的距离。
一个实施例中，一个磁场方向感应单元与其所对应的磁场方向感应单元，都设置在衬套外圈的同一端面，且分布在以衬套轴线为基准的同一个圆周上。或者，二者未分布于同一圆周，但是二者分别所在的两个圆周的半径的差小于或等于第三阈值(比如3毫米、5毫米)。
又一个实施例中，一个磁性元件第一磁性元件对中的两个磁性元件，都设置在衬套内圈的同一端面，且分布在以衬套轴线为基准的同一圆周上。或者，二者未分布于同一圆周，但是二者分别所在的两个圆周的半径小于或等于第四阈值(比如3毫米、4毫米)。上述第三阈值、第四阈值也可以是其他数值，比如6毫米，本申请对此不做限定。
本申请中，通过将同一磁性元件对中的两个磁性元件设置在尺寸相近的两个圆周，和/或，将同一磁场方向感应单元对中的两个磁场方向感应单元设置在尺寸相近的两个圆周，能够降低由于衬套内圈和外圈相对转动过程中磁场强度分布不均匀对测量结果的干扰。
结合第一方面，在第一方面的某些实现方式中，磁场方向感应单元包括磁阻传感器或多个磁感应线圈。
本申请中，通过采用磁阻传感器或磁感应线圈，能够以较简单的方式实现该测量装置，能够降低该测量装置的成本和设计制造难度。
结合第一方面，在第一方面的某些实现方式中，第一位置处的磁场强度大于或等于第五阈值。
示例性地，磁场方向感应单元安装位置处的磁场强度可以大于或等于28、30毫特斯拉。该第五阈值也可以是其他数值，比如25毫特斯拉等。
本申请中，通过确保磁场方向感应单元安装位置处的磁场强度，能够降低磁场强度不足对测量结果的干扰。
结合第一方面，在第一方面的某些实现方式中，感应单元包括至少一个应变感应单元，至少一个应变感应单元设置于衬套的减振橡胶的端面，用于测量该减振橡胶的形状变化信息，减振橡胶设置在衬套内圈和衬套外圈之间，衬套内圈和衬套外圈间的相对转动信息包括减振橡胶的形变信息。
由于悬架摆臂衬套的内圈和外圈发生相对转动时，处于二者之间的减振橡胶会发生形变，本申请中，根据减振橡胶的形变情况确定悬架的高度，能够以较低的成本获取较为准确的悬架高度信息，能够降低悬架高度测量装置的制造和装配难度。
第二方面，提供了一种测量方法，该方法用于测量设置在车辆的承载结构和车轮之间的悬架系统的高度，该悬架系统包括减振器、摆臂和衬套，摆臂设置在承载结构和车轮之间，减振器设置在摆臂与承载结构之间，衬套设置在摆臂与承载结构和/或车轮的连接部位，该衬套包括衬套内圈和衬套外圈，该测量方法包括：获取衬套内圈和衬套外圈间的相对转动信息；根据相对转动信息，确定第一指示信息，该第一指示信息用于指示悬架系统的高度。
结合第二方面，在第二方面的某些实现方式中，获取衬套内圈和衬套外圈间的相对转动信息，可以包括：通过磁场方向感应单元获取第一位置处的磁场方向的变化信息，磁场方向感应单元设置于衬套的第一部分，第一位置处的磁场由设置于衬套的第二部分的磁性元件生成，衬套的第一部分为衬套内圈或衬套外圈中的一个，衬套的第二部分为衬套内圈或衬套外圈中的另一个，相对转动信息包括磁场方向的变化信息。
结合第二方面，在第二方面的某些实现方式中，所述磁场方向感应单元和所述磁性元件沿所述衬套的轴线方向相对设置，所述磁性元件的充磁方向垂直于所述衬套的所述轴线方向。
结合第二方面，在第二方面的某些实现方式中，在所述衬套的轴线方向上，所述磁性元件的投影面积大于所述磁场方向感应单元的投影面积，且所述磁性元件的投影面积与所述磁场方向感应单元的投影面积的比值大于或等于第一阈值。
结合第二方面，在第二方面的某些实现方式中，所述磁场方向感应单元设置于所述衬套的第一部分，包括：所述磁场方向感应单元固定于与所述衬套外圈相连的壳体。
结合第二方面，在第二方面的某些实现方式中，所述第一位置包括多个位置，所述通过磁场方向感应单元获取第一位置处磁场方向的变化信息，包括：通过至少一对磁场方向感应单元获取所述多个位置处的磁场方向的变化信息；其中，所述至少一对磁场方向感应单元设置于所述衬套的所述第一部分的第一端面且沿周向均匀分布，所述多个位置处的磁场由设置在衬套的所述第二部分的第一端面且沿周向均匀分布的至少一对磁性元件生成，所述至少一对磁场方向感应单元与所述至少一对磁性元件一一对应。
结合第二方面，在第二方面的某些实现方式中，所述至少一对磁场方向感应单元包括第一磁场方向感应单元对，所述第一磁场方向感应单元对中的两个磁场方向感应单元的感应方向相同，所述至少一对磁性元件包括第一磁性元件对，所述第一磁性元件对中的磁性元件的第一磁极指向所述衬套的轴线，所述第一磁性元件对中的磁性元件的充磁方向与所述第一磁场方向感应单元对中的磁场方向感应单元的感应方向间的夹角大于或等于第二阈值。
结合第二方面，在第二方面的某些实现方式中，第一距离与第二距离的差小于第三阈值，所述第一距离和所述第二距离分别为所述第一磁场方向感应单元对中的两个磁场方向感应单元与所述衬套的轴线的距离；和/或，第三距离与第四距离的差小于第四阈值，所述第三距离和所述第四距离分别为所述第一磁性元件对中的两个磁性元件与所述衬套的轴线的距离。
结合第二方面，在第二方面的某些实现方式中，所述第一位置处的磁场强度大于或等于第五阈值。
结合第二方面，在第二方面的某些实现方式中，所述获取所述衬套内圈和所述衬套外圈间的相对转动信息，包括：通过至少一个应变感应单元获取减振橡胶的形状转化信息，所述减振橡胶设置于所述衬套外圈和衬套内圈之间，所述至少一个应变感应单元设置于所述减振橡胶的端面；根据所述减振橡胶的所述形状变化信息，确定所述衬套内圈和所述衬套外圈间的相对转动信息。
第三方面，提供了一种测量装置，该测量装置包括存储器和处理器，其中，存储器用于存储计算机程序，处理器用于执行存储器中存储的计算机程序，使得该测量装置能够执行上述第二方面中任一可能的实现方式中的方法。
第四方面，提供了一种系统，该系统包括悬架系统，以及上述第一方面或第三方面中任一可能的实现方式中的测量装置。
第五方面，提供了一种车辆，该车辆包括车轮、承载结构和悬架系统，以及上述第一方面或第三方面中任一可能的实现方式中的测量装置。
第六方面，提供了一种计算机可读存储介质，上述计算机可读存储介质存储有指令，当上述指令被处理器执行时，使得处理器实现上述第二方面中任一种可能实现方式中的方法。
第七方面，提供了一种计算机程序产品，上述计算机程序产品包括：计算机程序代码，当上述计算机程序代码在计算机上运行时，使得计算机执行上述第二方面中任一种可能实现方式中的方法。
第八方面，提供了一种芯片，该芯片包括电路，该电路用于执行上述第二方面任一种可能实现方式中的方法。
附图说明
图1是本申请实施例提供的一种悬架系统的应用场景的示意图；
图2是一种传统悬架高度测量装置的结构示意图；
图3是本申请实施例提供的一种测量装置的应用场景的示意图；
图4是本申请实施例提供的一种测量装置的结构示意图；
图5是本申请实施例提供的一种磁场方向感应单元的工作场景的示意图；
图6是本申请实施例提供的另一种测量装置的结构示意图；
图7是本申请实施例提供的另一种磁场方向感应单元的工作场景的示意图；
图8是本申请实施例提供的测量装置的工作场景的示意图；
图9是本申请实施例提供的另一种测量装置的结构示意图；
图10是本申请实施例提供的一种测量方法的流程性示意图。
具体实施方式
在本申请的描述中，需要说明的是，除非另有说明，“多个”的含义是两个以上；术语“上”、“下”、“左”、“右”、“内”、“外”等指示的方位或位置关系仅是为了便于描述本申请和简化描述，而不是指示或暗 示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”、“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。“垂直”并不是严格意义上的垂直，而是在误差允许范围之内。“平行”并不是严格意义上的平行，而是在误差允许范围之内。
还需要说明的是，除非另有明确的规定和限定，术语“安装”、“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，可视具体情况理解上述术语在本申请中的具体含义。
下面将结合附图，对本申请实施例中的技术方案进行描述。
悬架系统可以包括设置于车辆的承载结构与车轮间的多个连接装置，能够传递车轮与车身间的力和力矩，能够缓冲路面经车轮传递给车身的冲击力，减少路面激励所引起的振动。
图1是本申请实施例提供的一种悬架系统的应用场景的示意图。如图1所示，该悬架系统100主要可以包括上摆臂103、下摆臂104、减振器105、弹簧106、摆臂衬套(107、108、109、110)。减振器105可以提供阻尼力以衰减振动，弹簧106能够支撑车身重量，可以提供缓冲的功能。上摆臂103、下摆臂104和摆臂衬套(107、108、109、110)等构成导向机构，通过连接车轮101与车辆的承载结构102，能够对悬架的运动起到导向作用。对于非承载式车身而言，该承载结构为车架；对于承载式车身而言，车辆的承载结构为车身。下文以承载结构102为车架为例进行说明，对于涉及承载式车身的场景，可以适应性地将下文中的车架替换为车身。
相较于传统悬架，空气悬架通过采用具有变刚度特性的空气弹簧，能够提升乘坐舒适性。空气悬架还可以通过调节空气弹簧的长度，实现对车身高度的调节。主动悬架能够根据车辆的行驶条件，对其刚度和/或阻尼特性进行动态自适应调节，从而提升车辆的操纵稳定性、行驶平顺性。
为实现上述效果，相较于传统的悬架系统，空气悬架、主动悬架还可以包括悬架高度测量装置120(如图1所示)和电子控制单元，以及执行部件(图1未示出)。悬架高度测量装置120能够测量悬架高度，获取悬架高度信息。电子控制单元能够根据所获取的悬架高度信息，控制执行部件作动，从而实现主动减振、高度调节的功能。例如，对于空气悬架，执行部件可以包括气泵、气阀等气动元件，可以用于调节空气弹簧的长度，以实现车身高度的调节。又例如，对于主动悬架，执行部件可以包括电机、液压缸等主动力发生元件，可以用于实现主动减振的功能。以下结合图2简要介绍悬架高度测量装置的。
示例性地，图2是悬架高度测量装置120的结构示意图。如图2所示，该悬架高度测量装置120可以包括拉杆121、摆杆122、角度传感器123和支架124，以及各组件间的连接件(图2未示出)。摆杆122与拉杆121可沿轴线127相对转动，摆杆122与角度传感器123可沿轴线128相对旋转。通过紧固件(比如螺栓)，或通过焊接、铆接工艺，可以将支架124与车架102固定，将拉杆121与上摆臂或下摆臂固定。
一个实施例中，以图1所示场景为例，当悬架高度发生变化时，上摆臂103与车架102的相对位置发生变化。对于悬架高度测量装置120而言，由于拉杆121固定于上摆臂103，支架124固定于车架102，悬架高度测量装置中的摆杆122将绕轴线128的相对与角度传感器123转动。根据摆杆122相对于角度传感器123转动的角度，结合各部件间的运动学关系，能够换算得到悬架高度。
然而由于安装位置和布置空间的限制，将上述悬架高度测量装置布置于不同的车型时，需要对支架124、拉杆121等进行适应性设计，导致该悬架高度测量装置的通用性较差。而且摆杆相对于角度传感器转动时需要额外的作动空间，限制了该悬架高度测量装置的安装位置，加大了布置该悬架高度测量装置的难度。
鉴于此，本申请实施例提供了一种测量装置和测量方法，能够适用于多种不同的车型以及悬架高度的测量场景，对于测量悬架高度具有较好的通用性，且便于布置与安装。
示例性地，图3是本申请实施例提供的一种测量装置的应用场景的示意图。如图3中的(a)所示，摆臂衬套(107、108、109、110)可以包括衬套外圈、衬套内圈以及设置在二者间的减振橡胶。
结合图1所示场景，由于摆臂衬套设置在摆臂(103、104)与车轮101和/或车架102的连接部位，当悬架高度发生变化时，如图3中的(a)所示，摆臂(103、104)与车轮101和/或车架102间的相对运动将会带动衬套内圈和衬套外圈发生相对转动，相应地，减振橡胶会发生扭转变形。
如图3中的(b)所示，测量装置150可以用于测量悬架高度，该测量装置150可以包括感应单元151和处理单元152。其中，感应单元151可以用于获取衬套内圈和衬套外圈间的相对转动信息；处理单 元152可以用于根据该相对转动信息，确定第一指示信息，该第一指示信息用于指示悬架系统的高度。例如，以图1所示场景为例，基于车轮101、摆臂(103、104)、车架102、减振器105、弹簧106等部件的间的运动学关系，可以根据衬套内圈和衬套外圈间的相对转动信息，计算悬架系统高度的变化情况。可以根据初始状态下的悬架高度，以及悬架高度的变化情况，得到变化后的悬架高度。
示例性地，可以通过多种方式测量衬套内圈和衬套外圈间的相对转动信息。例如，可以在衬套外圈和衬套内圈上分别设置磁性元件和磁场方向感应单元，使得二者可以分别随着衬套外圈和衬套内圈的运动而运动。又例如，可以根据减振橡胶的扭转变形的情况，确定衬套外圈和衬套内圈间的相对运动信息。
一个实施例中，该测量装置150可以设置于摆臂衬套周边，通过车辆的通信电路与整车域控制器、自动驾驶域控制器等处理装置进行通信。例如，处理单元152可以根据衬套内圈和衬套外圈间的相对转动信息，计算悬架系统的高度，相应地，测量装置150向域控制器所发送的指示信息中包括悬架系统的高度。又例如，测量装置150向域控制器发送的指示信息中可以包括衬套内圈和衬套外圈的相对转动角度，相应地，域控制器可以根据该指示信息计算悬架系统的高度。
以下结合图4至图9对本申请实施例所涉及的测量装置做进一步说明。
示例性地，图4是本申请实施例提供的一种测量装置的结构示意图。图4中功能与图1相同或相似的部件，使用了与图1相同的编号。测量装置200可以视为测量装置150的一种实现方式。
假设该测量装置200设置于摆臂衬套107，能够基于衬套内圈1073和衬套外圈1071间的相对转动信息，确定悬架的高度。图4可以理解为摆臂衬套107的横截面的截面图(截面沿x方向)。
一个实施例中，以图1所示场景为例，衬套外圈1071可以与上摆臂103固定；可以通过紧固件(比如螺栓111)，将衬套内圈1073与车架102固定，如图4所示。在此情形下，当悬架高度发生变化时，摆臂103与车架102和车轮101间的相对位置发生变化。对摆臂衬套107而言，由于衬套外圈1071与摆臂103相对静止，衬套内圈1073与车架102相对静止，衬套外圈1071与衬套内圈1073间的相对位置会发生变化，同时减振橡胶1072会发生扭转。
示例性地，该测量装置200可以包括磁场方向感应单元202和处理单元203。磁场方向感应单元202的安装位置处的磁场可以由磁性元件201产生。磁场方向感应单元202可以感应其所在位置的磁场的变化。
一个实施例中，该磁性元件201和磁场方向感应单元202可以分别设置于衬套外圈1071和衬套内圈1073。换句话说，磁性元件201和磁场方向感应单元202可以分别与衬套外圈1071和衬套内圈1073保持相对静止。通过磁场方向感应单元202感知磁场方向的变化，能够确定衬套外圈1071和衬套内圈1073间的相对转动信息。
又一个实施例中，如图4所示，磁性元件201和磁场方向感应单元202可以同轴设置，比如沿衬套轴线207相对设置，磁性元件201的充磁方向可以垂直于该衬套轴线207。
示例性地，该磁性元件201可以属于该测量装置200，或者，也可以不属于该测量装置200。
一个实施例中，测量装置200可以不包含磁性元件201。例如，测量装置200仅包含处理单元203，以及与衬套外圈1071相对静止设置的磁场方向感应单元202。在该场景下，可以在测量装置200的产品说明书、用户手册等指导文件中，指示能够与该磁场方向感应单元202适配的磁性元件201的规格、安装位置等信息。通过适配相应的磁性元件，使得磁场方向感应单元202所感知的磁场方向的变化能够体现衬套外圈1071和衬套内圈1073间的相对转动信息。
示例性地，如图4所示，磁场方向感应单元202、处理单元203可以固定于壳体204，可以通过卡扣、螺栓等方式连接壳体204与衬套外圈1071；可以通过焊接、铆接、卡扣等方式，将磁性元件201与紧固件111和衬套内圈1073机械连接，进而固定于车架102。在该场景下，当悬架高度发生变化导致上摆臂103与车架102的相对位置存在变化时，与车架102保持相对静止的磁性元件201，和，与上摆臂103保持相对静止的磁场方向感应单元202间的相对位置存在变化，处理单元203可以根据由此产生的电平信号，确定悬架高度的变化。
一个实施例中，可以将磁性元件202固定于壳体204，可以将磁场方向感应单元202和处理单元203通过胶接、卡接等方式与紧固件111连接，进而与衬套内圈1073和车架102保持相对静止。
又一个实施例中，该测量装置200也设置于摆臂衬套108、109或110。
示例性地，图5是本申请实施例提供的一种磁场方向感应单元的工作场景的示意图。如图5中的(a)所示，磁性元件201、磁场方向感应单元202和处理单元203可以构成角度测量单元206。
一个实施例中，磁性元件201可以为长方体、正方体等形状。
又一个实施例中，为了降低磁场方向感应单元202所感知到的磁场强度的波动对于测量结果的干扰，如图5中的(a)所示，磁性元件201可以为圆盘形，磁化方向可以为沿圆周径向。
又一个实施例中，为进一步降低磁场强度波动对测量结果的干扰，磁性元件201的南极部分2011与北极部分2012的分隔线可以平行于轴线207，也就是说，磁性元件201的充磁方向可以垂直于轴线207，如图5中的(a)所示。磁性元件201的转动平面也可以垂直于轴线207。进一步地，磁性元件201和磁场方向感应单元202可以沿轴线207同轴相对设置。
示例性地，以图5中的(a)所示场景为例，假设磁场方向感应单元202和处理单元203静止，当磁性元件201沿轴线207转动时，磁场方向感应单元202可以根据磁场方向的变化，产生对应的电信号。处理单元203可以根据该电信号，确定磁性元件201相对于轴线207的转动角度。通过结合悬架系统中摆臂、弹簧、减震器的运动学特征(比如尺寸、初始角度等)，能够计算得到悬架高度。
实际场景中，即使在设计状态下，磁性元件201和磁场方向感应单元202沿轴线207同轴相对设置，由于安装、振动等因素的存在，都可能导致磁性元件201和磁场方向感应单元202存在偏心，从而影响测量结果的准确度。
一个实施例中，为了降低偏心对测量结果的影响，在沿轴线207方向上，磁性元件201的投影面积与磁场方向感应单元202的投影面积的比值大于或等于第一阈值。比如，该第一阈值为5、8，或者也可以为其他尺寸。
本申请实施例中，沿上述轴线方向，当磁性元件207的投影面积远大于磁场方向感应单元202的投影面积时，可以降低二者偏心所导致的测量误差。
又一个实施例中，磁场方向感应单元202可以采用磁阻传感器等对磁场强度敏感度低的元器件。通过该方式，可以降低由于磁性元件201和磁场方向感应单元202偏心，以及二者形状不规则所导致的误差。
又一个实施例中，沿轴线207方向，磁性元件201和磁场方向感应单元202间的距离(记作a)应满足预设条件。例如，a可以处于预设范围之内。预设范围的下限值可以为30毫米(millimeter，mm)、28mm、35mm，或其他数值。该预设范围的上限值可以为48mm、50mm、55mm。该下限值或者上限值，也可以为其他数值。
示例性地，如图5中的(b)所示角度测量单元226，可以理解为角度测量单元206的变形或扩展。该角度测量单元226可以包括磁性元件221、磁场方向感应单元222和处理单元223。
一个实施例中，如图5中的(b)所示，该磁性元件221可以包括多个周向分布的永磁体，磁场方向感应单元222可以包括多个周向分布的线圈，当磁性元件221沿轴线207转动时，磁场方向感应单元222中的线圈可以在变化的磁场下产生相应的信号，从而可以实现对于磁性元件221旋转角度的测量。
一些可能的实现方式中，该磁性元件221可以包括更多或更少的永磁体，比如，3个、6个，或其他数量。相应地，该磁场感应单元222可以包括更多或更少的感应线圈。
以下结合图6至图8简要介绍本申请提供的另一种测量装置300。测量装置300可以视作测量装置150的另一种实现方式。
示例性地，图6是本申请实施例提供的另一种测量装置的结构示意图。图6中的(a)可以理解为摆轴衬套107的横截面示意图，图6中的(b)可以理解为摆轴衬套的纵截面的示意图。
如图6中的(a)所示，该测量装置300可以包括磁场方向感应单元302和磁场方向感应单元305，可以分别用于测量磁性元件301和304所产生磁场的方向。
一个实施例中，可以通过紧固件(比如螺栓111)，或者，采用其他工艺比如胶接、卡接等方式，将磁性元件301和304可以固定于衬套内圈1073的一侧端面，如图6中的(a)所示。相应地，磁场方向感应单元302和305可以固定于衬套外圈1071的同一侧端面。
又一个实施例中，磁性元件301和304的磁化方向可以为沿圆周径向，二者的磁化方向可以相反。比如，301上半部分为其磁场北极，304上半部分为其磁场南极。磁场方向感应单元302和305的磁场感应方向相同。比如，当磁场方向感应单元302和305感应到向左的磁场时，二者都可以输出正电平信号，感应向右的磁场时，二者输出负电平信号。
该磁场方向感应单元302和305可以理解为一对磁场方向感应单元(也可以称为磁场方向感应单元对)，相应地，磁性元件301和304可以理解为一对磁性元件(也可以称为磁性元件对)。
磁场方向感应单元302可以相对于磁性元件301布置，由此，磁性元件301和磁场方向感应单元302可以组成角度测量单元#1。类似地，磁场方向感应单元305可以相对于磁性元件304布置，组成角度测量单元#2。以下结合图7，以角度测量单元#1为例，简要介绍测量装置300中所涉及的磁场方向感应单元的工作方式。
示例性地，图7示出了另一种磁场方向感应单元的工作场景的示意图。如图7中的(a)所示，磁性元件301上半部分为其磁场北极，下半部分为磁场南极，磁感线由磁场北极发出，指向磁场南极。磁场方向感应单元302的感应方向向左。
图7中的(a)可以理解为磁性元件301和磁场方向感应单元302的初始状态，即可以理解为衬套外圈1071和衬套内圈1073的位置未发生相对变化时的状态。
假设磁场方向感应单元302静止，当磁性元件301沿箭头方向运动时，如图7中的(b)所示，磁场方向感应单元302所感测到的磁场方向发生变化，相应的，磁场方向感应单元302所输出的信号将随之改变。
一个实施例中，磁性元件301和磁性方向感应单元302间的距离应满足预设条件。例如，在图7中的(a)所示场景下，磁性元件301和磁性方向感应单元302间的距离可以处于预设范围之内。例如，该预设范围的最小值可以为25mm、28mm、30mm等，该预设范围的最大值，可以为40mm、45mm。该预设范围的最大值和/或最小值也可以为其他数值。
示例性地，测量装置300还可以包括处理单元303和/或处理单元306。处理单元303和处理单元306可以为同一处理单元，也可以为不同的处理单元。例如，磁场方向感应单元302和305可以设置于同一电路板，该电路板固定于衬套外圈1071；该电路板包括处理单元303，磁场方向感应单元302和305可以向该处理单元发送电信号。
一个实施例中，磁场方向感应单元302、305可以采用磁阻传感器等对磁场强度敏感度低的元器件。
又一个实施例中，磁性元件301、304可以设置于衬套外圈，磁场方向感应单元302、305可以设置于衬套内圈。
又一个实施例中，测量装置300还可以包括更多个或者更多对的磁场方向感应单元，以及相应的磁性元件。例如，测量装置300可以包括3个磁场方向感应单元，该3个磁场方向感应单元可以沿周向均匀设置于衬套外圈的一侧端面，相应地，可以沿周向在衬套内圈的同一侧端面均匀地设置3个磁性元件。又例如，测量装置300可以包括2对磁场方向感应单元，2对磁场方向感应单元可以沿周向均匀设置于衬套外圈的一侧端面，可以沿周向在衬套内圈的同一侧端面均匀地设置2对磁性元件。
示例性地，以图6所示场景为例，磁性元件301和磁场方向感应单元302相对布置，且分别布置于衬套内圈1073和衬套外圈1071的上侧；磁性元件304和磁场方向感应单元305相对布置，且分别布置于衬套内圈1073和衬套外圈1071的下侧。磁性元件301和304的磁化方向相反，且磁场方向感应单元302和305的磁场感应方向相同；磁场方向感应单元302和305分别感应磁性元件301和304的磁场并转化为电信号。也就是说，角度测量单元#1和#2的测量方向相反。以下结合图8简要介绍该状态下的测量装置300的工作方式。图8中的(a)至(d)分别示出了不同状态下测量装置300的输出情况。磁场方向感应单元302可以产生信号1，磁场方向感应单元305可以产生信号2，信号3可以理解为信号1与信号2的差，根据悬架高度与电平间的映射关系，以及信号3，可以得到悬架高度。
当悬架高度处于初始状态时，磁场方向感应单元302的感应方向与301的磁场方向垂直，磁场方向感应单元305的感应方向与磁性元件304的磁场方向垂直，磁场方向感应单元302和305输出零电平。例如，磁场方向感应单元302、305输出的信号可以分别如图8中的(a)所示信号1、信号2所示，此时信号3为零电平，可以表示悬架高度为初始高度。
当悬架高度变化时，衬套外圈1071相对于衬套内圈1073转动，导致磁场方向感应单元302和305分别相对于磁性元件301和304发生转动，所产生的电平信号发生变化。而由于磁性元件301和304的磁化方向相反，且磁场方向感应单元302和305的磁场感应方向相同，磁场方向感应单元302和305中的一个将产生正电平信号，另一个将产生负电平信号。例如，衬套内圈1073相对于衬套外圈1071沿如图8中的(b)所示箭头方向转动时，信号1可以为正电平信号，信号2可以为负电平信号。
当衬套外圈1071和衬套内圈1073存在纵向偏心(z方向偏心)时，由于磁性元件的磁场方向与磁场方向感应单元的感应方向垂直，磁场方向感应单元302和305依然输出零电平。例如，衬套内圈1073相对于衬套外圈1071沿如图8中的(c)所示箭头方向平动时，信号1、信号2可以如图8中的(c)所示。
当衬套外圈1071和衬套内圈1073存在横向偏心(y方向偏心)时，由于磁性元件301、304的磁化方向相反，磁场方向感应单元302、305的感应方向相同，信号1和信号2的同为正电平或负电平。例如，衬套内圈1073相对于衬套外圈1071沿如图8中的(d)所示箭头方向平动时，信号1、信号2可以均为负电平信号。又例如，假设磁性元件301、304为同型号永磁体且距离摆臂衬套轴线的径向距离相同，磁场方向感应单元302、305为同型号磁阻传感器且距离摆臂衬套轴线的径向距离相同，在该场景下，信号1和信号2可以相等，信号3可以为零。
一个实施例中，角度测量单元#1和#2的测量方向可以相同。在此情况下，可以根据磁场方向感应单元302、305所输出的信号的和，以及悬架高度与电平间的映射关系，确定悬架高度。
示例性地，图9是本申请实施例提供的另一种测量装置的示意图。如图9所示，该测量装置400可以包括多个应变单元，比如应变单元401和402，还包括处理单元403(图中未示出)。
该多个应变单元401设置于摆臂衬套的减振橡胶的端面，用于感测该减振橡胶的形变。处理单元403用于根据该减振衬套的多个位置的形变，确定悬架的高度。例如，以摆臂衬套107为例，当悬架高度发生变化，导致上摆臂103与车架102的相对位置存在变化时，减振橡胶1072会发生扭转。由此，通过确定该减振衬套多个位置的形变，能够确定悬架的高度。
一些可能的实现方式中，该测量装置400可以包括更多或更少的应变单元，比如，3个、5个等。
示例性地，图10是本申请实施例提供的一种测量方法的流程性示意图。该方法600可以由测量装置150执行，或者由处理单元152执行，或者可以由处理单元152所包含一个或多个处理器执行，该方法600可以包括：
S610，获取衬套内圈和衬套外圈间的相对转动信息。
S620，根据该相对转动信息确定第一指示信息，第一指示信息用于指示悬架系统的高度。
可选地，获取衬套内圈和衬套外圈间的相对转动信息可以包括：获取衬套的第一部分的第一位置处的磁场方向的变化信息；该根据该相对转动信息确定第一指示信息，可以包括：根据该第一位置处的磁场方向的变化信息，确定第一指示信息。
示例性地，该衬套的第一部分可以为衬套内圈或衬套外圈中的一个，衬套的第二部分可以为衬套内圈或衬套外圈中的另一个。磁场方向感应单元(比如上述磁场方向感应单元202、222、302)，可以设置于摆臂衬套的第一部分；(比如201、221、301)可以设置于摆臂衬套的第二部分。换句话说，磁场方向感应单元与摆臂衬套的第一部分相对静止，与摆臂衬套的第二部分相对静止。
一些可能的实现方式中，磁场方向感应单元和沿衬套的轴线方向相对设置，磁性元件的充磁方向垂直于该衬套的轴线方向。例如，按照图5中的(a)或(b)所示方式设置磁场方向感应单元和磁性元件。
一些可能的实现方式中，在衬套的轴线方向上，磁性元件的投影面积与磁场方向感应单元的投影面积的比值大于或等于第一阈值。例如，假设第一阈值为5，在轴线207方向上，磁性元件201的投影面积至少是磁场方向感应单元的投影面积的5倍以上。
一些可能的实现方式中，磁场方向感应单元固定于与衬套外圈相连的壳体。
一些可能的实现方式中，获取衬套内圈和衬套外圈间的相对转动信息可以包括：获取至少一对磁场方向感应单元所获取的磁场方向的变化信息；该根据该相对运动信息确定第一指示信息，可以包括：根据该至少一对磁场方向感应单元所获取的磁场方向的变化信息，确定第一指示信息。其中，该至少一对磁场方向感应单元设置在摆臂衬套的第一部分的第一端面，且沿周向均匀分布；该至少一对磁场方向感应单元与至少一对磁性元件一一对应，该至少一对磁性元件设置在摆臂衬套的第二部分的第一端面且沿周向均匀分布。例如，如图6所示，磁场方向感应单元302和305分别设置在衬套外圈1071的端面，对应的磁性元件301和304分别设置在衬套外圈1073的同一侧端面。
一个实施例中，磁场方向感应单元对中的两个磁场方向感应单元的感应方向相同，磁性元件对中的两个磁性元件的第一磁极相对设置。例如，如图6所示，磁场方向感应单元302和305的感应方向相同，磁性元件301和304的南极(或者北极)相对设置。
又一个实施例中，磁场方向感应单元对中的磁场方向感应单元的感应方向，和对应的磁性元件对中的磁性元件的充磁方向之间的夹角大于或等于第二阈值。例如，如图7中的(a)所示，磁性元件301的充磁方向与磁场方向感应单元302的感应方向垂直。
又一个实施例中，如图6所示，假设磁场方向感应单元302设置于以衬套轴线为基准的第一圆周，磁场方向感应单元305设置于以衬套轴线为基准的第二圆周，该第一圆周和第二圆周的半径间的差小于 或等于第三阈值(比如，3mm、5mm)。
又一个实施例中，如图6所示，假设磁性元件301设置于以衬套轴线为基准的第三圆周，磁性元件304设置于以衬套轴线为基准的第四圆周，该第三圆周和第四圆周的半径间的差小于或等于第四阈值(比如，3mm、4mm)。
又一个实施例中，该第一圆周和第三圆周的半径的差的绝对值可以处于预设范围之内。例如，处于25～40mm之间。
一方面，当衬套内圈和衬套外圈存在图8中的(c)或(d)所示的偏心时，由于该偏心远小于该预设范围的最小值(比如25mm)，可以使得偏心所引起的磁感线分布变化，远小于衬套内圈和衬套外圈间的转动所造成的磁场方向的变化，从而能够降低偏心对于测量结果的影响。另一方面，由于第一圆周和第三圆周的半径的差的绝对值小于该预设范围的最大值(比如40mm)，在衬套内圈和衬套外圈的相对转动过程中，可以保证磁场方向感应单元能够感知到足够强度的磁场。
一些其他的实现方式中，该预设范围的最大值和/或最小值可以是其他数值。
又一个实施例中，磁场方向感应单元所在位置处的磁场强度大于或等于第五阈值。例如，如图4所示，磁场方向感应单元202所在位置的处的磁场强度可以大于或等于30毫特斯拉。又例如，如图6所示，磁场方向感应单元302和/或305所在位置处的磁场强度可以大于或等于28毫特斯拉。
可选地，获取衬套内圈和衬套外圈间的相对转动信息可以包括：获取减振橡胶的形变信息；根据该减振橡胶的形变信息确定衬套内圈和衬套外圈的相对转动信息。例如，如图9所示，由于衬套内圈1073和衬套外圈1071相对转动时，减振橡胶1072会发生形变。可以通过应变感应单元401和/或402获取减振橡胶1072的形变信息，根据该形变信息，可以计算衬套内圈1073和衬套外圈1071间的相对运动信息。
本申请实施例还提供了一种具备测量功能的衬套，该衬套可以包括衬套内圈、衬套外圈和减振橡胶，以及如图3至图9中任一项所示的测量装置。
本申请实施例还提供了一种系统，该系统包括摆臂、减振器、衬套，以及如图3至图9中任一项所示的测量装置。
本申请实施例还提供了一种智能驾驶设备，该智能驾驶设备包括悬架系统以及如图3至图9中任一项所示的测量装置。
本申请所提及的智能驾驶设备可以包括路上交通工具、水上交通工具、空中交通工具、工业设备、农业设备、或娱乐设备等。例如智能驾驶设备可以为车辆，该车辆为广义概念上的车辆，可以是交通工具(如商用车、乘用车、摩托车、飞行车、火车等)，工业车辆(如：叉车、挂车、牵引车等)，工程车辆(如挖掘机、推土车、吊车等)，农用设备(如割草机、收割机等)，游乐设备，玩具车辆等，本申请实施例对车辆的类型不作具体限定。例如，本申请中的车辆可以包括纯电动汽车(pure electric vehicle/battery electric vehicle，pure EV/battery EV)、混合动力汽车(hybrid electric vehicle，HEV)、增程式电动汽车(range extended electric vehicle，REEV)、插电式混合动力汽车(plug-in hybrid electric vehicle，PHEV)或新能源汽车(new energy vehicle，NEV)等。
本申请实施例中所使用的术语只是为了描述特定实施例的目的，而并非旨在作为对本申请的限制。如在本申请的说明书和所附权利要求书中所使用的那样，单数表达形式“一个”、“一种”、“所述”、“上述”、“该”和“这一”旨在也包括例如“一个或多个”这种表达形式，除非其上下文中明确地有相反指示。还应当理解，在本申请以下各实施例中，“至少一个”、“一个或多个”是指一个、两个或两个以上。术语“和/或”，用于描述关联对象的关联关系，表示可以存在三种关系；例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B的情况，其中A、B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能 划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (29)

  1. 一种测量装置，其特征在于，用于测量设置在车辆的承载结构和车轮之间的悬架系统的高度，所述悬架系统包括减振器、摆臂和衬套，所述摆臂设置在所述承载结构和所述车轮之间，所述减振器设置在所述摆臂与所述承载结构之间，所述衬套设置在所述摆臂与所述承载结构和/或所述车轮的连接部位，所述衬套包括衬套内圈和衬套外圈，所述测量装置包括：
    感应单元，用于获取所述衬套内圈和所述衬套外圈间的相对转动信息；
    处理单元，用于根据所述相对转动信息，确定第一指示信息，所述第一指示信息用于指示所述悬架系统的高度。
  2. 根据权利要求1所述的测量装置，其特征在于，所述感应单元包括：
    设置在所述衬套的第一部分的第一位置处的磁场方向感应单元，所述磁场方向感应单元用于获取所述第一位置处的磁场方向的变化信息，所述相对转动信息包括所述第一位置处的所述磁场方向的所述变化信息，所述衬套的所述第一部分为所述衬套内圈或所述衬套外圈中的一个。
  3. 根据权利要求2所述的测量装置，其特征在于，所述衬套的第二部分设置有磁性元件，所述磁性元件用于生成所述第一位置处的磁场，所述衬套的所述第二部分为所述衬套内圈或所述衬套外圈中的另一个。
  4. 根据权利要求3所述的测量装置，其特征在于，所述磁场方向感应单元和所述磁性元件沿所述衬套的轴线方向相对设置，所述磁性元件的充磁方向垂直于所述衬套的所述轴线方向。
  5. 根据权利要求3或4所述的测量装置，其特征在于，在所述衬套的轴线方向上，所述磁性元件的投影面积大于所述磁场方向感应单元的投影面积，且所述磁性元件的投影面积与所述磁场方向感应单元的投影面积的比值大于或等于第一阈值。
  6. 根据权利要求2至5中任一项所述的测量装置，其特征在于，所述测量装置还包括与所述衬套外圈相连的壳体，所述磁场方向感应单元固定于所述壳体。
  7. 根据权利要求2所述的测量装置，其特征在于，所述感应单元包括：
    设置在所述衬套的所述第一部分的第一端面，且周向均匀分布的至少一对磁场方向感应单元。
  8. 根据权利要求7所述的测量装置，其特征在于，所述测量装置还包括：
    设置在所述衬套的第二部分的第一端面，且周向均匀分布的至少一对磁性元件，所述至少一对磁性元件与所述至少一对磁场方向感应单元一一对应，所述衬套的所述第二部分为所述衬套内圈或所述衬套外圈中的另一个。
  9. 根据权利要求8所述的测量装置，其特征在于，
    所述至少一对磁场方向感应单元包括第一磁场方向感应单元对，所述第一磁场方向感应单元对中的两个磁场方向感应单元的感应方向相同；
    所述至少一对磁性元件包括第一磁性元件对，所述第一磁性元件对中的磁性元件的第一磁极指向所述衬套的轴线，所述第一磁性元件对中的磁性元件的充磁方向与所述第一磁场方向感应单元对中的磁场方向感应单元的感应方向间的夹角大于或等于第二阈值。
  10. 根据权利要求9所述的测量装置，其特征在于，
    第一距离与第二距离的差小于第三阈值，所述第一距离和所述第二距离分别为所述第一磁场方向感应单元对中的两个磁场方向感应单元与所述衬套的轴线的距离；和/或，
    第三距离与第四距离的差小于第四阈值，所述第三距离和所述第四距离分别为所述第一磁性元件对中的两个磁性元件与所述衬套的轴线的距离。
  11. 根据权利要求2至9中任一项所述的测量装置，其特征在于，所述磁场方向感应单元包括磁阻传感器或多个磁感应线圈。
  12. 根据权利要求2至10中任一项所述的测量装置，其特征在于，所述第一位置处的磁场强度大于或等于第五阈值。
  13. 根据权利要求1所述的测量装置，其特征在于，所述感应单元包括至少一个应变感应单元，所述至少一个应变感应单元设置于所述衬套的减振橡胶的端面，用于测量所述减振橡胶的形状变化信息，所述减振橡胶设置在所述衬套的所述衬套内圈和所述衬套外圈之间，所述相对转动信息是根据所述减振 橡胶的形状变化信息确定的。
  14. 一种测量方法，其特征在于，用于测量设置在车辆的承载结构和车轮之间的悬架系统的高度，所述悬架系统包括减振器、摆臂和衬套，所述摆臂设置在所述承载结构和所述车轮之间，所述减振器设置在所述摆臂与所述承载结构之间，所述衬套设置在所述摆臂与所述承载结构和/或所述车轮的连接部位，所述衬套包括衬套内圈和衬套外圈，所述测量方法包括：
    获取所述衬套内圈和所述衬套外圈间的相对转动信息；
    根据所述相对转动信息，确定第一指示信息，第一指示信息用于指示所述悬架系统的高度。
  15. 根据权利要求14所述的测量方法，其特征在于，所述获取所述衬套内圈和所述衬套外圈间的相对转动信息，包括：
    通过磁场方向感应单元获取第一位置处的磁场方向的变化信息，所述磁场方向感应单元设置于所述衬套的第一部分，所述第一位置处的磁场由设置于所述衬套的第二部分的磁性元件生成，所述衬套的所述第一部分为所述衬套内圈或所述衬套外圈中的一个，所述衬套的所述第二部分为所述衬套内圈或所述衬套外圈中的另一个，所述相对转动信息包括所述磁场方向的变化信息。
  16. 根据权利要求15所述的测量方法，其特征在于，所述磁场方向感应单元和所述磁性元件沿所述衬套的轴线方向相对设置，所述磁性元件的充磁方向垂直于所述衬套的所述轴线方向。
  17. 根据权利要求15或16所述的测量方法，其特征在于，在所述衬套的轴线方向上，所述磁性元件的投影面积大于所述磁场方向感应单元的投影面积，且所述磁性元件的投影面积与所述磁场方向感应单元的投影面积的比值大于或等于第一阈值。
  18. 根据权利要求15至17中任一项所述的测量方法，其特征在于，所述磁场方向感应单元设置于所述衬套的第一部分，包括：所述磁场方向感应单元固定于与所述衬套外圈相连的壳体。
  19. 根据权利要求15所述的测量方法，其特征在于，所述第一位置包括多个位置，所述通过磁场方向感应单元获取第一位置处磁场方向的变化信息，包括：
    通过至少一对磁场方向感应单元获取所述多个位置处的磁场方向的变化信息；
    其中，所述至少一对磁场方向感应单元设置于所述衬套的所述第一部分的第一端面且沿周向均匀分布，所述多个位置处的磁场由设置在衬套的所述第二部分的第一端面且沿周向均匀分布的至少一对磁性元件生成，所述至少一对磁场方向感应单元与所述至少一对磁性元件一一对应。
  20. 根据权利要求19所述的测量方法，其特征在于，所述至少一对磁场方向感应单元包括第一磁场方向感应单元对，所述第一磁场方向感应单元对中的两个磁场方向感应单元的感应方向相同，所述至少一对磁性元件包括第一磁性元件对，所述第一磁性元件对中的磁性元件的第一磁极指向所述衬套的轴线，所述第一磁性元件对中的磁性元件的充磁方向与所述第一磁场方向感应单元对中的磁场方向感应单元的感应方向间的夹角大于或等于第二阈值。
  21. 根据权利要求20所述的测量方法，其特征在于，
    第一距离与第二距离的差小于第三阈值，所述第一距离和所述第二距离分别为所述第一磁场方向感应单元对中的两个磁场方向感应单元与所述衬套的轴线的距离；和/或，
    第三距离与第四距离的差小于第四阈值，所述第三距离和所述第四距离分别为所述第一磁性元件对中的两个磁性元件与所述衬套的轴线的距离。
  22. 根据权利要求15至21中任一项所述的测量方法，其特征在于，所述磁场方向感应单元包括磁阻传感器或多个磁感应线圈。
  23. 根据权利要求15至22中任一项所述的测量方法，其特征在于，所述第一位置处的磁场强度大于或等于第五阈值。
  24. 根据权利要求14所述的测量方法，其特征在于，所述获取所述衬套内圈和所述衬套外圈间的相对转动信息，包括：
    通过至少一个应变感应单元获取减振橡胶的形状转化信息，所述减振橡胶设置于所述衬套外圈和衬套内圈之间，所述至少一个应变感应单元设置于所述减振橡胶的端面；
    根据所述减振橡胶的所述形状变化信息，确定所述衬套内圈和所述衬套外圈间的所述相对转动信息。
  25. 一种测量装置，其特征在于，包括：
    存储器，用于存储计算机程序；
    处理器，用于执行所述存储器中存储的计算机程序，以使得所述装置执行如权利要求14至24中任 一项所述的测量方法。
  26. 一种系统，其特征在于，包括悬架系统，以及如权利要求1至13中任一项所述的测量装置，或如权利要求25所述的测量装置。
  27. 一种车辆，其特征在于，包括车轮、承载结构和悬架系统，以及如权利要求1至13中任一项所述的测量装置，或如权利要求25所述的测量装置。
  28. 一种计算机可读存储介质，其特征在于，其上存储有指令，所述指令被处理器执行时，以使得处理器实现如权利要求14至24中任一项所述的方法。
  29. 一种计算机程序产品，其特征在于，所述计算机程序产品包括：计算机程序代码，当上述计算机程序代码在计算机上运行时，使得计算机执行如权利要求14至24中任一项所述的方法。
PCT/CN2024/097788 2023-07-18 2024-06-06 测量装置和测量方法 Pending WO2025016089A1 (zh)

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US5003704A (en) * 1989-03-16 1991-04-02 Schubert Farms, Inc. Distance measuring device and method for use with vehicles
CN104142202A (zh) * 2013-05-08 2014-11-12 富士重工业株式会社 衬套分力检测装置
CN113635831A (zh) * 2021-07-21 2021-11-12 一汽解放汽车有限公司 车辆悬架系统的故障分级预警方法、装置和计算机设备
CN115135520A (zh) * 2020-02-27 2022-09-30 沃尔沃卡车集团 用于车辆的车轮悬架控制系统和控制悬架装置的方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5003704A (en) * 1989-03-16 1991-04-02 Schubert Farms, Inc. Distance measuring device and method for use with vehicles
CN104142202A (zh) * 2013-05-08 2014-11-12 富士重工业株式会社 衬套分力检测装置
CN115135520A (zh) * 2020-02-27 2022-09-30 沃尔沃卡车集团 用于车辆的车轮悬架控制系统和控制悬架装置的方法
CN113635831A (zh) * 2021-07-21 2021-11-12 一汽解放汽车有限公司 车辆悬架系统的故障分级预警方法、装置和计算机设备

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