Shifter calibration method and system

Abstract

The present invention discloses a shifter calibration method and system, wherein the shifter calibration method comprises: obtaining the default initial position of the shift lever of the shifter as the initial gear state; sending a shift instruction according to the initial gear state to control the shifter to shift; reading the angle value of the current shift lever position of the shifter and calculating the upper and lower limit thresholds and saving them in the shifter; executing the above steps to calibrate all gears of the shifter in sequence. The present invention can improve the automation and accuracy of the shifter calibration.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a shifter calibration method and system. Background Art

[0002] With the development of science and technology and the improvement of people's material living standards, cars have become more and more popular and have gradually entered ordinary people's homes. As an indispensable component of a car, the accuracy of the shifter affects the performance of the car. In actual use, the shifter can match the car's driving speed with the gear position, which can reduce the waste of gasoline and protect the engine. However, due to the inevitable differences in the mechanical manufacturing of the shifter, there are unknown deviations in the angles of each gear position of each shifter. In order to eliminate this unknown deviation and achieve accurate shifting, it is required to calibrate the gear position of the shifter before it leaves the factory.

[0003] Currently, the calibration of the shifter is performed manually by operators, which wastes manpower costs and also results in large calibration deviations. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a shifter calibration method, which can improve the automation and accuracy of the shifter calibration.

[0005] The invention also provides a shifter calibration system.

[0006] In a first aspect, an embodiment of the present invention provides a shifter calibration method, comprising:

[0007] Get the default initial position of the shift lever of the shifter as the initial gear state;

[0008] Sending a shift instruction according to the initial gear state controls the shifter to shift gears;

[0009] Reading the angle value of the current shift lever position of the shifter and saving it in the shifter;

[0010] By executing the above steps, all gear positions of the shifter are calibrated in sequence.

[0011] The shifter calibration method of the embodiment of the present invention has at least the following beneficial effects: it can automatically control the shifting operation, and if the shifting is successful, read and save the angle value information of the current shift lever position of the shifter, thereby improving the automation and accuracy of the shifter calibration.

[0012] A gear shift calibration method according to some other embodiments of the present invention further includes:

[0013] After the calibration is completed, the host computer automatically generates first identification information and writes the first identification information into the shifter;

[0014] Acquiring second identification information of the shifter;

[0015] Determining whether the first identification information and the second identification information are the same;

[0016] If they are the same, it is determined that the host computer successfully writes the first identification information into the shifter.

[0017] The shifter calibration method of this embodiment has at least the following beneficial effects: after the shifter gear position calibration is completed, if the calibration is successful, first identification information will be generated on the host computer, and the host computer will write the above first identification information into the shifter. In order to verify whether the host computer writes the first identification information successfully, the host computer will read the identification information of the shifter again, that is, the second identification information, and compare the first identification information and the second identification information. If they are the same, it is confirmed that the host computer has successfully written the shifter identification information.

[0018] A shift calibration method according to some other embodiments of the present invention further includes the steps of: obtaining a shifter engagement state;

[0019] When the shifter engagement state is engagement, the host computer sends an opening solenoid valve instruction to the shifter.

[0020] The shifter calibration method of this embodiment has at least the following beneficial effects: it can provide the prerequisite for the calibration in the present invention, that is, the shifter is connected and the solenoid valve of the shifter is opened to perform the next calibration work.

[0021] According to some other embodiments of the gear shift calibration method of the present invention, obtaining the initial gear state of the gear shifter includes:

[0022] Get infrared sensing signal;

[0023] Determining that the position of the shift lever is at a default initial position by the acquired infrared sensing signal, and taking the default initial position of the shift lever as an initial gear position state;

[0024] When it is determined to be the initial gear state, the initial gear is set to the first gear.

[0025] The shifter calibration method of this embodiment has at least the following beneficial effects: it can determine that the shift lever is in the default initial position through the infrared sensing signal, and define the gear position of the determined default initial position of the shift lever as the P gear, and can accurately determine the initial gear position during the calibration process, providing a gear reference basis for the calibration of all gears.

[0026] According to some other embodiments of the gear shift calibration method of the present invention, the sending of the gear shift instruction to control the gear shifter to shift gears specifically includes:

[0027] The shift command is sent to control the auxiliary shift device to move the shift lever of the shifter to shift gears.

[0028] The shifter calibration method of this embodiment has at least the following beneficial effects: it can automatically shift gears through the auxiliary shift device, and can judge whether the shift is successful or not by the touch switch installed on the auxiliary shift device, which can play a role in accurate judgment during the actual calibration process.

[0029] The gear shift calibration method according to some other embodiments of the present invention further includes determining whether the gear shift is successful, specifically including:

[0030] Obtain a first release signal and a second release signal installed on the auxiliary shifting device, wherein the first release signal is a release signal of a first touch switch installed on the first mechanical shift lever of the auxiliary shifting device, and the second release signal is a release signal of a second touch switch installed on the second mechanical shift lever of the auxiliary shifting device; determine whether the first release signal and the second release signal are preset release signals, and if so, determine that the shifting is successful.

[0031] The shifter calibration method of this embodiment has at least the following beneficial effects: it can determine whether the shifter is successful by the release signal of the touch switch, thereby improving the automation and intelligence of the calibration system.

[0032] According to some other embodiments of the gear shift calibration method of the present invention, the determining whether the gear shift is successful also includes: determining whether the first release signal and the second release signal are preset release signals, and if so, after a set time, if the first release signal and the second release signal do not change, then it is determined that the gear shift is successful.

[0033] The shifter calibration method of this embodiment has at least the following beneficial effects: through this embodiment, the accuracy of the calibration method can be further improved on the basis of automation and intelligence of the detection system.

[0034] In the second aspect, an embodiment of the present invention provides a shifter calibration system: comprising a host computer, a shifter, an auxiliary shifting device, and a communication module, wherein the auxiliary shifting device and the communication module are both connected to the host computer, the shifter is connected to the communication module, the host computer is used to receive and send instructions or calibration information, the auxiliary shifting device is used to assist in moving the shift lever of the shifter, and the shifter is the calibrated object.

[0035] A shifter calibration system according to an embodiment of the present invention has at least the following beneficial effects: it can provide a shifter calibration system that can realize automatic control shifting through an auxiliary shifting device, and can realize real-time display and control by a host computer.

[0036] According to some other embodiments of the shifter calibration system of the present invention, the auxiliary shift device includes a mechanical arm, and the mechanical arm includes two mechanical shift levers, and a touch switch is respectively provided on the two mechanical shift levers.

[0037] A shifter calibration system according to an embodiment of the present invention has at least the following beneficial effects: it is possible to determine whether a shift is successful by lightly touching a switch.

[0038] According to some other embodiments of the present invention, the shifter calibration system:

[0039] It also includes a control unit, which is connected to the host computer. The control unit includes an infrared transceiver module and a switch signal receiving module, and both the infrared transceiver module and the switch signal receiving module are connected to the host computer.

[0040] A shifter calibration system according to an embodiment of the present invention has at least the following beneficial effects: the information of the control unit can be transmitted to the host computer in a timely manner.

[0041] The purpose of setting the infrared transceiver module is to determine whether the shift lever of the calibrated shifter is in the default initial position, and the purpose of setting the switch signal receiving module is to determine whether the shift is correct. Through the limitations of the above two modules, the shifter calibration is more accurate.

[0042] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a module block diagram of a specific embodiment of a shifter calibration system in an embodiment of the present invention;

[0044] Figure 2 is a schematic diagram of the movement of a shift lever in a specific embodiment of a shifter calibration system in an embodiment of the present invention;

[0045] Figure 3 is a schematic diagram of the shifting principle in a specific embodiment of a shifter calibration system in an embodiment of the present invention;

[0046] Figure 4 is a flow chart of a specific embodiment of a shifter calibration system in an embodiment of the present invention;

[0047] Figure 5 yes Figure 4 Specific flow chart of step S3000;

[0048] Figure 6 yes Figure 4 Specific flow chart of step S4000 in FIG. DETAILED DESCRIPTION

[0049] P gear: Parking gear, parking gear;

[0050] R gear: Reverse gear, reverse gear;

[0051] N gear: Neutral gear, neutral gear;

[0052] D gear: Drive gear, forward gear;

[0053] S gear: Sport gear, sports mode.

[0054] The following will be combined with the embodiments to clearly and completely describe the concept of the present invention and the technical effects produced, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the present invention.

[0055] In the description of the present invention, if it involves a description of orientation, for example, the orientation or position relationship indicated by "upper", "lower", "front", "back", "left", "right", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. If a feature is referred to as being "set", "fixed", "connected", or "installed" on another feature, it can be directly set, fixed, or connected to the other feature, or it can be indirectly set, fixed, connected, or installed on the other feature.

[0056] In the description of the embodiments of the present invention, if "several" is involved, it means more than one, if "multiple" is involved, it means more than two, if "greater than", "less than" or "exceed" is involved, it should be understood as not including the number itself, if "above", "below" or "within" is involved, it should be understood as including the number itself. If "first" or "second" is involved, it should be understood as being used to distinguish technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0057] For ease of understanding, the first gear, the second gear, the third gear, the fourth gear, and the fifth gear are described as P gear, R gear, N gear, D gear, and S gear, respectively, in the following embodiments. Figure 1 , is a module block diagram of a specific embodiment of a shifter calibration system in an embodiment of the present invention.

[0058] Specifically, it includes a host computer, a shifter, an auxiliary shifting device, and a communication module, wherein the auxiliary shifting device and the communication module are both connected to the host computer, the shifter is connected to the communication module, the host computer is used to receive and send instructions or calibration information, the auxiliary shifting device is used to assist in moving the shift lever of the shifter, and the shifter is the calibrated object.

[0059] Among them, when the host computer recognizes that the shifter is connected, the host computer sends a command to open the solenoid valve. When the shifter receives this command, it will open the solenoid valve. Then when the host computer recognizes that the shift lever of the shifter is in the default initial position, the calibration software on the host computer will first read the Hall angle of the P gear and send it to the shifter through the communication module for storage. Then the host computer sends a control command to drive the auxiliary shift device to turn the shift handle of the shifter in sequence. As the position of the shift handle changes, the calibration software on the host computer will read the Hall angles of the R gear, N gear, D gear and S gear in sequence. The above-mentioned Hall angle calibration values ​​are sent to the shifter through the communication module for storage. The shifter will calculate the logical judgment thresholds of the P gear, R gear, N gear, D gear and S gear according to the corresponding calibration values ​​and save them at the same time. The corresponding gear calibration information will also be displayed on the host computer. When all gears are calibrated successfully, the host computer A correct and unique product serial number will be generated and written into the shifter. The upper computer will then send a command to request the product serial number to the shifter. After receiving the command, the shifter will send the product serial number to the upper computer. After obtaining the product serial number, the upper computer will check it with the previously generated product serial number. After the check is correct, the upper computer will send a print command to the printer to control the printer to print out the product serial number label, wherein the logic judgment threshold in this embodiment is set to 40% of the difference between the calibrated angle values ​​of two adjacent gears. For example, the Hall angle difference between the P gear and the R gear is 100 degrees, the calibrated angle of the P gear is 0 degrees, and the calibrated angle of the R gear is 100 degrees. The upper limit of the logic judgment threshold of the P gear is 40 degrees, and the lower limit of the logic judgment threshold of the R gear is 60 degrees. Thus, the above-mentioned logic judgment threshold and the above-mentioned calibrated Hall angle value can accurately judge the gear information of each gear.

[0060] Among them, the host computer can be a computer or an industrial computer, for example, a computer with calibration software installed in the form of a website or an installation package. The software can display calibration gear information, solenoid valve switch status, product serial number and other identification information, but is not limited to the above identification information. The identification information type can be set on the calibration software according to actual conditions.

[0061] The auxiliary shifting device includes a mechanical arm, which includes two mechanical shift levers, each of which is provided with a touch switch. The mechanical arm is responsible for pushing the shift lever of the shifter into each gear position in sequence, wherein the gear positions include R gear, N gear, D gear, and S gear.

[0062] Specifically, refer to Figure 2 , the direction of the arrow indicates the direction in which the shift lever of the shifter is moved by the mechanical arm, and is the cross-section of the mechanical arm when pushing the shift lever. There are two mechanical levers on the mechanical arm, and both mechanical levers are provided with touch switches. When the mechanical arm pushes the shift lever, it will place the shift lever in the middle of its two mechanical levers, which are the first mechanical lever 100, the second mechanical lever 200, and the shift lever 300. The first mechanical lever 100 is equipped with a first touch switch 1000, and the second mechanical lever 200 is equipped with a second touch switch 1100. During the calibration process, the above-mentioned mechanical arm pushes the shift lever 300 to move forward from the P gear. During the movement, the shift lever 300 first moves close to the first mechanical lever 100 and presses the first touch switch 1000 at the same time. When it is close to the next gear R gear, the shift lever 300 automatically moves forward into the R gear. At this time, the shift lever 300 leaves the first mechanical lever 100, releases the first touch switch 1000, and the shift lever 300 approaches the second mechanical lever 200 and is installed on the second mechanical lever 200. The second touch switch 1100 on the upper part is pressed, and the mechanical gear lever continues to move until the upper computer receives that both touch switch signals are release signals. It can be understood that before reaching the gear position that needs to be calibrated, one touch switch is always pressed. When the shift lever is pushed to a certain angle, the next gear will automatically suck the shift lever into its own gear position. At this time, the robotic arm will slowly push forward until the touch switches on the two mechanical gear levers of the robotic arm are released at the same time. The upper computer will immediately send a stop command to the above-mentioned robotic arm, and the robotic arm will stop pushing the mechanical gear lever. When the duration reaches the set time, the upper computer determines that the touch switches on the two mechanical gear levers are still in the released state, and it is considered that the shift lever 300 has entered the correct gear position. At this time, the upper computer begins to calibrate the angle of the corresponding gear. The above-mentioned set time is 2 seconds in this embodiment.

[0063] It can be understood that in the process of the above-mentioned mechanical arm pushing the shift lever 300 to move, the shift lever 300 will drive the circular magnet in the shifter to rotate. Once the shift lever 300 enters the correct gear position, the main controller in the shifter obtains the calibrated Hall angle value of the current gear by reading the angle value of the non-contact rotating Hall sensor chip, and the upper computer obtains this calibrated Hall angle value by querying the main controller in the shifter. The main controller can be a single-chip microcomputer, an ARM processor, but is not limited to the above main controllers. Any processor that can play the role of the main controller in this embodiment can be used.

[0064] Reference Figure 3 , is a schematic diagram of the calibration principle, in which the gear Hall angle calibration value 400, gear Hall angle calibration value 500, gear Hall angle calibration value 600, gear Hall angle calibration value 700 are the Hall angle calibration values ​​of the R gear, N gear, D gear, and S gear that need to be calibrated, respectively. The logical judgment threshold 800 and the logical judgment threshold 900 calculated based on the calibration values, for example, from the N gear to the left, it is necessary to cross the logical judgment threshold 800 to be identified as the R gear, and from the R gear to the right, it is necessary to cross the logical judgment threshold 900 to be identified as the N gear, and the other gears are similar. The threshold calculated above is approximately 40% of the difference between the calibration values ​​of two adjacent gears, but the above value can be set according to the actual situation. The gear calibrated by the above Hall angle value and the above logical judgment threshold has a higher accuracy and is more conducive to improving the reliability of the shifter calibration.

[0065] Specifically, the above-mentioned communication module adopts the CAN bus, which is responsible for the CAN communication data transmission between the computer and the gear shifter. The CAN communication bus has strong real-time performance, strong anti-electromagnetic interference ability and low cost, and can automatically resend the information after it is damaged. It is more suitable for the requirements of the accuracy of gear calibration information transmission in this embodiment, and can effectively reduce costs.

[0066] Specifically, it also includes a printer for printing identification information. The identification information can be a string of numbers or letters, and the identification information is used as the product serial number of the shifter, and the product serial number is printed on the label paper.

[0067] Specifically, it includes a control unit, the control unit is connected to a host computer, the control unit includes an infrared transceiver module and a switch signal receiving module, and the infrared transceiver module and the switch signal receiving module are both connected to the host computer.

[0068] The above-mentioned touch switch can also be understood as controlling the on and off of the switch by lightly touching the switch, that is, lightly pressing the switch to turn it on, and releasing it to turn it off. The present invention adopts an ultra-thin patch-type touch switch, whose pin is patch-type and has a height of only 0.8mm, which is suitable for high-density installation and can be better installed on the above-mentioned mechanical lever.

[0069] Specifically, the infrared transceiver module is used to determine whether the shift lever of the shifter is in the default initial position. When the shifter is connected, if the shift lever of the shifter is in the default initial position, the infrared transmission signal is reflected by the shift lever to the infrared receiver, and is sensed by the host computer through the control unit. The host computer then confirms that the gear position of the shifter is the initial gear position at this time; and the switch signal receiving module receives the switch signal of the touch switch to determine whether the shifter has successfully shifted to other gears except the initial gear.

[0070] In another embodiment of the present invention, referring to Figure 4 , is a flow chart of a specific embodiment of a shifter calibration method in an embodiment of the present invention, which specifically includes the steps of:

[0071] S3000: Acquire a default initial position of a shift lever of a shifter as an initial gear position state;

[0072] Specifically, when the solenoid valve of the shifter is opened, it is determined whether the shift lever of the shifter is in the default initial position. If it is in the default position, this gear position is defined as P gear. It can be understood that when calibrating, it is also necessary to first determine the initial gear position and then start the calibration, wherein it is determined whether the shift lever of the shifter is in the default initial position. If so, the gear position of the identified initial position is calibrated as P gear.

[0073] More specifically, the initial gear position is obtained through the identification method of the infrared transceiver module. In this embodiment, the correct initial gear position and related information are pre-set. When the shifter is successfully connected and the solenoid valve is opened, the infrared module recognizes that a shift lever is detected in the set default initial gear position, and defines this gear as the initial gear, that is, P gear.

[0074] S4000: sending a shift instruction according to the initial gear information to control the shifter to shift gears;

[0075] It can be understood that the car gears include P gear, R gear, N gear, D gear, and S gear, all of which need to be calibrated. In the above steps, the initial gear P gear is determined and calibrated, and then the remaining gears are calibrated. The host computer sends a command to the above-mentioned auxiliary shifting device to push the shifter to the R gear position, and so on, to complete the calibration after shifting to N gear, D gear, and S gear.

[0076] S5000: Read the angle value of the current shift lever position of the shifter and save it in the shifter;

[0077] Specifically, during the calibration process of the above gear position, when the calibration is successful, the host computer will send a command to save the gear position and gear angle value to the gear shifter, and the host computer will display the currently calibrated gear position information and angle value.

[0078] In another embodiment of the present invention, in order to better improve the accuracy of calibration and the convenience of subsequent operations, the following steps are added in this embodiment:

[0079] S6000: After the calibration is completed, the host computer automatically generates first identification information and writes the first identification information into the shifter;

[0080] S7000: The host computer obtains the second identification information of the shifter;

[0081] S8000: Determine whether the first identification information and the second identification information are the same;

[0082] If they are the same, it is judged that the upper computer has successfully written the first identification information into the shifter. If they are different, it is judged that the upper computer has failed to write the first identification information into the shifter. At this time, the upper computer will rewrite the first identification information into the shifter until the first identification information written into the shifter is the same as the second identification information read into the shifter.

[0083] Specifically, taking the above-mentioned identification information as the product serial number as an example, when the above-mentioned P gear, R gear, N gear, D gear, and S gear are all calibrated, the host computer automatically generates a unique product serial number, and sends an instruction to write the product serial number to the shifter, and then sends an instruction to request the product serial number to the shifter. After receiving the above instruction, the shifter will send the product serial number back to the host computer, and the host computer will check it with the product serial number automatically generated before after receiving it; it is understandable that after each gear is calibrated, the relevant gear information and calibration angle will be saved in the shifter. Finally, after all gears are calibrated successfully or qualified, the host computer will automatically generate a unique product serial number and send it to the shifter for storage. When the host computer wants to obtain the above product serial number, it only needs to send a request to obtain the product serial number to finally obtain the product serial number.

[0084] S9000: Send a print command to the printer to print the identification information of the above-mentioned shifter.

[0085] Specifically, the above identification information includes the product serial number. When the user needs the product serial number, the host computer has obtained the product serial number through the above steps. At this time, a print command is sent to the printer to print the product serial number of the shifter that has been calibrated and successfully calibrated.

[0086] It can be understood that the product serial number can be finally generated in this embodiment because each time the gear is calibrated, according to the preset information on the upper computer, if a gear is calibrated successfully, the upper computer will display the corresponding gear and calibration angle until all gears are calibrated. At this time, all gears are not only calibrated, but also completely accurate. Finally, all gears are accurately completed, and the upper computer will generate the final unique product serial number and write it into the gear shifter.

[0087] In another embodiment of the present invention, the steps are further included:

[0088] S1000: Obtaining the shifter engagement status;

[0089] Specifically, firstly, it is detected whether the shifter to be calibrated is connected. If it is connected, the following steps are performed. If it is not connected, the shifter connection detection is always performed.

[0090] S2000: When the shifter is in the engaged state, the host computer sends an opening solenoid valve command to the shifter;

[0091] Specifically, when it is detected that the shifter to be calibrated is connected, the upper computer sends an opening solenoid valve command to the current shifter. More specifically, the upper computer used in this embodiment is a computer. When the computer determines that the shifter is connected through the communication module, the computer will send an opening solenoid valve command to the shifter. It can be understood that the solenoid valve of the shifter is locked by default before calibration. When the shifter is connected to the computer for calibration, the solenoid valve of the shifter needs to be opened first, so as to prepare for the normal calibration operation below. Figure 5 , Figure 5 yes Figure 4 A flow chart of a specific embodiment of step S3000 in FIG. 1 is a flow chart of a specific embodiment of step S3000, which specifically includes the following steps:

[0092] S3100: Get infrared sensing signal;

[0093] Specifically, the infrared sensing signal is generated by an infrared transceiver module, wherein the infrared sensing peripheral device is installed in a fixed default position, and the infrared module circuit is on the control unit. The control unit is connected to the host computer, so that the host computer can obtain the infrared sensing signal through the control unit. The purpose of obtaining the infrared sensing signal is to execute step S3200 in the method of this embodiment.

[0094] S3200: confirming that the shift lever of the shifter is in a default initial position by acquiring the infrared sensing signal, and taking the default initial position of the shift lever as an initial gear position state;

[0095] Specifically, the host computer has preset initial gear status information. When the shifter is successfully connected, the host computer determines the initial gear by obtaining the infrared sensing signal. When the obtained infrared sensing signal determines that the shift lever is in the preset initial position, the gear at this time is determined to be the initial gear.

[0096] S3300: When it is determined that the initial gear state is set, the initial gear is set to the first gear;

[0097] Specifically, the above-mentioned initial gear is set to P gear, which can also be called the first gear, and the above-mentioned P gear is calibrated.

[0098] Specifically, after the initial gear position is successfully determined in the above steps, this initial gear position is set as P gear in this embodiment, and the upper computer reads the angle value of the shift lever at this time from the shifter. The upper computer receives the current angle value of the P gear sent back by the shifter, and then the upper computer sends a command to the shifter requesting the shifter to save the P gear calibration angle value and also save the calculated P gear calibration logic threshold lower limit. At this time, the P gear calibration is completed.

[0099] Reference Figure 6 ,yes Figure 4 A flow chart of a specific embodiment of step S4000 in FIG. 1 is a flow chart of a specific embodiment of step S4000, which specifically includes the following steps:

[0100] S4100: Sending a shift command to control the auxiliary shift device to move the shift lever of the shifter to shift gears;

[0101] S4200: Acquire release signals of two touch switches installed in the auxiliary shift device;

[0102] Specifically, the auxiliary gear shifting device includes two mechanical gear levers, each of which is provided with a light touch switch, and whether the gear shifting is successful is determined by whether the two light touch switches are released.

[0103] S4300: When it is determined that the two touch switches are simultaneously releasing signals, the auxiliary shifting device stops operating;

[0104] Specifically, a first release signal and a second release signal installed on the auxiliary shift device are obtained, wherein the first release signal is a release signal of a first light touch switch installed on a first mechanical shift lever of the auxiliary shift device, and the second release signal is a release signal of a second light touch switch installed on a second mechanical shift lever of the auxiliary shift device;

[0105] It is determined whether the first release signal and the second release signal are preset release signals. If so, it is determined that the gear shift is successful. Specifically, when the two touch switches are released at the same time, the host computer sends a stop command to the auxiliary gear shift device. After receiving the stop command, the auxiliary gear shift device stops moving the two mechanical gear levers on the auxiliary gear shift device, and it can be preliminarily determined that the gear shift is successful. In order to calibrate more accurately, the following steps are also included in this embodiment:

[0106] S4400: If the state of the touch switch does not change after reaching the set time, it is determined that the gear shift is successful.

[0107] Specifically, the above-mentioned determination of whether the gear shift is successful also includes: determining whether the above-mentioned first release signal and the second release signal are preset release signals. If so, after the set time is reached, the first release signal and the second release signal do not change, then it is determined that the gear shift is successful.

[0108] In this embodiment, the set time is 2 seconds. When both touch switches are in the released state and the duration is 2 seconds, the gear shift is judged to be successful. The gear shifter saves the gear information and angle value, and the upper computer also displays the gear information.

[0109] Specifically, the host computer detects whether the touch switches on the two mechanical levers of the manipulator are released at the same time through the switch signal receiving module in the control unit. If the two touch switches have been released at the same time, the host computer sends a command to the manipulator to control the stopping of the pushing of the mechanical lever of the manipulator. After the set time is reached, it is confirmed again whether the touch switches on the two mechanical levers are still released at the same time. If yes, it is confirmed that the shift lever has entered the correct R gear position. At this time, the computer calibration software shows that the current calibrated gear is R gear. If it is detected that the touch switches on the two mechanical levers are not released at the same time, the mobile manipulator is controlled to push the shift lever to the R gear position. The above set time is 2 seconds in this embodiment. At this time, the host computer calibration software shows that the gear currently being calibrated is R gear, and the host computer calibration software sends a request to the shifter to read the current angle value of R gear.

[0110] More specifically, Figure 2, is a cross section of the above-mentioned mechanical arm when pushing the shift lever. In the process of the auxiliary shift device pushing the shift lever to move, taking the shift from P gear to R gear as an example, the first mechanical shift lever 100 pushes the shift lever 300 to move the second mechanical shift lever 200. During the pushing process, the light touch switch installed on the first mechanical shift lever 100 is pressed by the shift lever 300. When it is about to move to R gear, the shift lever 300 is automatically attracted to the R gear fixed position. At this time, the shift lever is disengaged from the light touch switch installed on the first mechanical shift lever 100, and the second mechanical shift lever 200 The touch switch installed on is pressed by the shift lever. At this time, the first mechanical shift lever 100 and the second mechanical shift lever 200 continue to move until the touch switches on the two mechanical shift levers are in the released state. The upper computer sends a stop command to the above-mentioned auxiliary shift device to stop moving. After the touch switch is in the released state for 2 seconds, the touch switches on the two mechanical shift levers are still in the released state. At this time, the gear shift is successful, and the upper computer displays that the current gear is R gear. The upper computer reads the angle value of the shift lever at this time from the shifter, and sends it to the shifter to save this angle value.

[0111] Specifically, when the upper computer receives the current Hall angle value of the R gear sent back by the shifter, the upper computer sends a command to the shifter to request to save the R gear calibration angle value and also save the calculated P gear calibration logic threshold upper limit and R gear calibration logic threshold lower limit. At this time, the R gear calibration is completed. In this embodiment, the calibration logic threshold is 40% of the difference between the calibration values ​​of two adjacent gears, wherein the logic judgment threshold is set to 40% of the difference between the calibration angle values ​​of two adjacent gears in this embodiment. For example, the Hall angle difference between the P gear and the R gear is 100 degrees, the calibration angle of the P gear is 0 degrees, and the calibration angle of the R gear is 100 degrees. Then the logic judgment threshold upper limit of the P gear is 40 degrees, and the logic judgment threshold lower limit of the R gear is 60 degrees. Therefore, the gear information of each gear can be accurately judged by the above logic judgment threshold and the above calibration Hall angle value. However, the above values ​​can be set according to actual conditions, not limited to the above percentage values. The above angle values ​​and the above logic thresholds can improve the accuracy of the shifter calibration, thereby improving the reliability of the calibration method.

[0112] If the host computer does not receive the current angle value of the R gear sent back, the host computer sends a request instruction to the shifter again to read the current angle value of the R gear.

[0113] The same operation is performed for other gears, for example: the upper computer controls the movement of the auxiliary gear shifting device, and controls the shift lever to move to the N gear position.

[0114] Specifically, the host computer detects whether the touch switches on the two mechanical gear levers of the auxiliary gear shifting device are released at the same time. If the touch switches on the two mechanical gear levers are released at the same time, the host computer sends a stop command to stop pushing the auxiliary gear shifting device. After the set time is reached, it is detected whether the touch switches on the two mechanical gear levers are still released at the same time. If so, it is considered that the gear lever has entered the correct N gear position, and the host computer displays that the current calibrated gear position is N gear. If it is detected that the touch switches on the two mechanical gear levers are not released at the same time, the auxiliary gear shifting device is controlled to push the gear lever to continue to move to the N gear position.

[0115] When the above-mentioned gear calibration is successful, the calibration software of the host computer sends a command to the shifter to request to read the current angle value of the N gear. If the host computer receives the current angle value of the N gear sent back by the shifter, the calibration software of the host computer sends a request to the shifter to save the N gear calibration angle value and also saves the calculated R gear calibration logic threshold upper limit and N gear calibration logic threshold lower limit. At this time, the N gear calibration is completed.

[0116] If the host computer does not receive the current angle value of the N gear sent back by the shifter, the host computer calibration software continues to send a request to the shifter to read the current angle value of the N gear.

[0117] Thereafter, the host computer controls the auxiliary shift device to push the shift lever to move to the D gear position.

[0118] The host computer detects whether the touch switches on the two mechanical levers of the robot arm are released at the same time. If so, the push of the mechanical lever of the robot arm is stopped immediately. Then, when the set time is reached, the host computer detects again whether the touch switches on the two mechanical levers are still released at the same time. If so, it is determined that the shift lever has entered the correct D gear position. At this time, the host computer displays that the current calibrated gear position is D gear.

[0119] If it is detected that the touch switches on the two mechanical shift levers are not released at the same time, the mobile auxiliary shift device pushes the shift lever to the D gear position.

[0120] When the two touch switches are released at the same time for a set time, the host computer sends a request command to the shifter to request to read the current angle value of the D gear.

[0121] If the host computer receives the current angle value of the D gear sent back by the shifter, the host computer calibration software sends a save command to the shifter to request to save the D gear calibration angle value and also saves the calculated N gear calibration logic threshold upper limit and D gear calibration logic threshold lower limit. At this time, the D gear calibration is completed.

[0122] If the host computer does not receive the current angle value of the D gear sent back by the shifter, the host computer continues to send a request to the shifter to read the current angle value of the D gear.

[0123] The upper computer controls the mobile auxiliary shift device to push the shift lever to move slowly to the S gear position.

[0124] At the same time, the upper computer detects whether the touch switches on the two mechanical gear levers of the auxiliary gear shifting device are released at the same time. If they are released at the same time, the upper computer controls to stop pushing the mechanical gear lever of the auxiliary gear shifting device. After the set time is reached, it detects whether the touch switches on the two mechanical gear levers are still released at the same time. If the two touch switches are released, it is confirmed that the gear lever has entered the correct S gear position. At this time, the computer calibration software displays that the current calibrated gear position is S gear. If the upper computer detects that the touch switches on the two mechanical gear levers are not released at the same time, the auxiliary gear shifting device is moved to push the gear lever to the S gear position.

[0125] The host computer sends a read instruction to the shifter to request to read the current angle value of the S gear.

[0126] If the current angle value of the S gear is transmitted back by the shifter, the upper computer sends a save command to the shifter to request to save the S gear calibration angle value and also save the calculated D gear calibration logic threshold upper limit and S gear calibration logic threshold lower limit and upper limit. At this time, the S gear calibration is completed.

[0127] If the current angle value of the S gear transmitted back by the shifter is not received, the upper computer calibration software continues to send a read command to the shifter to request reading the current angle value of the S gear.

[0128] Specifically, after the above gear calibration is completed and successfully calibrated, the host computer will generate a unique product serial number and send the product serial number to the shifter for storage. When the user needs the product serial number or the calibration personnel need to affix the product serial number to the shifter to indicate that the calibrated shifter is qualified, the host computer will send a request instruction to the shifter. After the shifter receives the request instruction, it will send the product serial number it has saved to the host computer. The host computer will display the product serial number, and the host computer will send a print instruction to the printer to print out the product serial number. If the host computer does not receive the product serial number sent by the shifter, the host computer will send a request product serial number command to the shifter again.

[0129] Detect whether the current shifter is disconnected. If the shifter is disconnected, reset the position of the auxiliary shift device, detect whether a shifter to be calibrated is connected, and re-detect the connection of the next shifter to be calibrated, otherwise continue the current detection.

[0130] The above-mentioned calibration angle value and threshold value are saved in the gear shifter. When the host computer needs to read, it sends a read instruction to the gear shifter. The main controller in the gear shifter will send the information to be read to the host computer, thereby realizing the reading of the gear calibration information. The above-mentioned host computer can be a computer or other industrial computer. The above-mentioned instruction transmission is carried out through a communication module. The above-mentioned identification information can be a product serial number or other identification information. The above-mentioned host computer is installed with calibration software, and the calibration software is installed on the host computer in the form of a web page or an installation package, so that the gear shifter identification information can be viewed intuitively, thereby improving the ease of user operation.

[0131] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0132] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A shifter calibration method, characterized in that: include: Get the default initial position of the shift lever of the shifter as the initial gear state; Sending a shift command according to the initial gear state controls the shifter to shift gears, and judging whether the shifting is successful; wherein, sending a shift command to control the shifter to shift gears specifically includes: sending a shift command to control an auxiliary shift device to move the shift lever of the shifter to shift gears; judging whether the shifting is successful specifically includes: obtaining a first release signal and a second release signal installed on the auxiliary shift device, wherein the first release signal is a release signal of a first touch switch installed on a first mechanical shift lever of the auxiliary shift device, and the second release signal is a release signal of a second touch switch installed on a second mechanical shift lever of the auxiliary shift device; judging whether the first release signal and the second release signal are preset release signals, and if so, judging that the shifting is successful; Reading the angle value of the current shift lever position of the shifter and saving it in the shifter; By executing the above steps, all gear positions of the shifter are calibrated in sequence.

2. A shifter calibration method according to claim 1, characterized in that: Also includes: After the calibration is completed, the host computer automatically generates first identification information and writes the first identification information into the shifter; Acquiring second identification information of the shifter; Determining whether the first identification information and the second identification information are the same; If they are the same, it is determined that the host computer successfully writes the first identification information into the shifter.

3. A shifter calibration method according to claim 1, characterized in that: Also includes the steps: Get the shifter engagement status; When the shifter engagement state is engagement, the host computer sends an opening solenoid valve instruction to the shifter.

4. A shifter calibration method according to claim 1, characterized in that: The step of obtaining a default initial position of a shift lever of the shifter as an initial gear position state includes: Get infrared sensing signal; Confirming that a shift lever of a shifter is in a default initial position by acquiring the infrared sensing signal, and taking the default initial position of the shift lever as an initial gear position state; When it is determined to be the initial gear state, the initial gear is set to the first gear.

5. The shifter calibration method according to claim 1, characterized in that: The determining whether the gear shift is successful also includes: determining whether the first release signal and the second release signal are preset release signals, and if so, after a set time, if the first release signal and the second release signal do not change, it is determined that the gear shift is successful.

6. A shifter calibration system, applied to a shifter calibration method according to any one of claims 1 to 5, characterized in that: It includes a host computer, a shifter, an auxiliary shifting device, and a communication module. The auxiliary shifting device and the communication module are both connected to the host computer. The shifter is connected to the communication module. The host computer is used to receive and send instructions or calibration information. The auxiliary shifting device is used to assist in moving the shift lever of the shifter. The shifter is the calibrated object.

7. A shifter calibration system according to claim 6, characterized in that: The auxiliary shifting device comprises a mechanical arm, and the mechanical arm comprises two mechanical shifting levers, and a light touch switch is respectively arranged on the two mechanical shifting levers.

8. The shifter calibration system according to claim 6, characterized in that: It also includes a control unit, which is connected to the host computer. The control unit includes an infrared transceiver module and a switch signal receiving module, and both the infrared transceiver module and the switch signal receiving module are connected to the host computer.

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