Method and system for detecting vertical relationship between axle and frame

Abstract

The present application relates to a method and system for detecting the vertical relationship between a vehicle axle and a vehicle frame. The method comprises: obtaining a first projection point of the axle's wheel hub center along a first direction toward a projection plane, and obtaining a second projection point of the axle's wheel hub center along the first direction toward the projection plane after the projection plane is translated a preset distance along the first direction; the first direction is the direction in which the longitudinal beam of the axle extends; the projection plane is perpendicular to the first direction; if the first projection point and the second projection point coincide, the axle and the frame are determined to be in a vertical state. Based on the states of the first and second projection points, the vertical relationship between the axle and the frame is determined, thereby resolving the technical problem in the prior art of being unable to detect whether the axle and the frame are vertical.

Description

Technical Field

[0001] The present application relates to the technical field of axle installation detection, and in particular to a method and system for detecting the vertical relationship between an axle and a vehicle frame. Background Art

[0002] During the commercial vehicle trial production and mass production process, the errors in the processing accuracy and assembly dimension chain of the center and rear axle assemblies, the frame, and the suspension system components ultimately resulted in the axle and frame not being in a perpendicular relationship, resulting in a certain degree of deflection.

[0003] Axle misalignment relative to the frame can lead to tire wear after long-distance driving, resulting in severe wear on one side of the tire. This increases tire costs and can easily lead to accidents. Furthermore, long-term driving can cause mechanical wear at the connecting components between the axle and frame, increasing the misalignment between the two. During vehicle maintenance, it's impossible to verify the perpendicular relationship between the axle and frame. Summary of the Invention

[0004] Based on this, it is necessary to provide a method and system for detecting the vertical relationship between the axle and the frame, which can detect whether the axle and the frame are perpendicular, in order to address the above technical problems.

[0005] In a first aspect, the present application provides a method for detecting the vertical relationship between an axle and a frame, comprising the following steps:

[0006] Obtaining a first projection point of the hub center of the axle along a first direction toward a projection plane, and a second projection point of the hub center of the axle along the first direction toward the projection plane after the projection plane is translated a preset distance along the first direction; the first direction is an extension direction of a longitudinal beam of the vehicle frame; and the projection plane is perpendicular to the first direction;

[0007] If the first projection point and the second projection point coincide with each other, it is determined that the axle and the frame are in a vertical state.

[0008] In one embodiment, the method further comprises:

[0009] If the first projection point and the second projection point do not coincide, then determine the offset distance between the axle and the frame; the offset distance is the distance along the first direction between the projection point of the intersection of the central axis of the axle and the centerline of the axle on the central axis of one of the push rods and the intersection point of the central axis of the axle and the central axis of one of the push rods;

[0010] The angles of the axle and the frame are adjusted according to the offset distance, and the adjusted axle and frame are in a vertical state.

[0011] In one embodiment, determining the offset distance between the axle and the frame includes:

[0012] Obtain a first distance value between the first projection point and the second projection point along a second direction; the second direction is an extension direction of the crossbeam of the frame;

[0013] An offset distance is obtained according to the first distance value, the preset distance, and a second distance value between the center line of the axle and the center axis of one of the push rods along the second direction.

[0014] In one embodiment, obtaining the offset distance according to the first distance value, the preset distance, and a second distance value between the centerline of the axle and the center axis of one of the push rods along the second direction includes:

[0015] Obtain a first right triangle with the first distance value and the preset distance value as right-angled sides;

[0016] Obtaining a second right triangle with a second distance value between the central axis of the frame and the central axis of one of the push rods along a second direction and the offset distance as right-angled sides;

[0017] According to the triangle similarity principle, the offset distance is obtained from the first right triangle and the second right triangle.

[0018] In one embodiment, obtaining the offset distance of the first right triangle and the second right triangle according to the triangle similarity principle includes:

[0019] The preset distance is set to a second distance value, and a first right triangle and a second right triangle are obtained that are congruent with each other;

[0020] According to the triangle congruence principle, the offset distance is obtained from the first right triangle and the second right triangle; the offset distance is equal to the first distance value.

[0021] In one embodiment, adjusting the angle between the axle and the frame according to the offset distance so that the axle and the frame are in a vertical state after adjustment includes:

[0022] The thickness of the adjustment piece is determined based on the offset distance, and the adjustment piece is added between one of the push rods and a balance bracket in the same direction as the push rod. The axle is rotated to a preset angle so that the axle and the frame are in a vertical state.

[0023] In a second aspect, the present application further provides a system for detecting the vertical relationship between an axle and a frame, comprising:

[0024] A measuring device, configured to obtain a first projection point of the hub center of the axle toward a projection plane along a first direction, and a second projection point of the hub center of the axle toward the projection plane along the first direction after the projection plane is translated a preset distance along the first direction; the first direction is an extension direction of a longitudinal beam of the vehicle frame; and the projection plane is perpendicular to the first direction;

[0025] A control device includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0026] Obtaining a first projection point of the hub center of the axle along a first direction toward a projection plane, and a second projection point of the hub center of the axle along the first direction toward the projection plane after the projection plane is translated a preset distance along the first direction; the first direction is an extension direction of a longitudinal beam of the vehicle frame; and the projection plane is perpendicular to the first direction;

[0027] If the first projection point and the second projection point coincide with each other, it is determined that the axle and the frame are in a vertical state.

[0028] In one embodiment, the measuring device includes a transmitting device and a receiving device;

[0029] The transmitting device is installed on the outer end face of the wheel hub of the axle; the transmitting device includes a laser probe, which is used to transmit a laser beam, and the laser beam is perpendicular to the central axis of the axle; the second direction is the extension direction of the crossbeam of the frame;

[0030] The receiving device is vertically mounted on the vehicle frame along the second direction. The receiving device comprises a projection screen, which coincides with the projection surface.

[0031] In one embodiment, the launch device further includes a first magnetic base and a telescopic rod;

[0032] The laser probe is fixedly mounted on one end face of the first magnetic base through a telescopic rod, and the end face of the first magnetic base perpendicular to the one end face is adsorbed on the outer end face of the wheel hub.

[0033] In one embodiment, the receiving device further comprises a second magnetic stand, an extension stand, and a digital display screen;

[0034] One end of the extension frame is vertically screwed to one side end face of the second magnetic base, and the side end face of the second magnetic base perpendicular to the one side end face is adsorbed on the vehicle frame; the digital display screen is vertically screwed to the other end of the extension frame away from the second magnetic base, and the lateral extension direction of the digital display screen is parallel to the first direction; the projection screen is vertically screwed to the digital display screen, and the projection screen is perpendicular to the digital display screen.

[0035] The above-mentioned method and system for detecting the vertical relationship between the axle and the frame obtain a first projection point of the wheel hub center of the axle along the first direction toward the projection plane, and a second projection point of the wheel hub center of the axle along the first direction toward the projection plane after the projection plane is translated a preset distance along the first direction, and the projection plane is perpendicular to the first direction. According to the states of the first projection point and the second projection point, the vertical relationship between the axle and the frame is judged, thereby solving the technical problem in the prior art that it is impossible to detect whether the axle and the frame are perpendicular. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 2. A diagram showing an application environment of a method for detecting a vertical relationship between a vehicle axle and a vehicle frame according to an embodiment;

[0037] Figure 2 1 is a flow chart of a method for detecting the vertical relationship between an axle and a vehicle frame in one embodiment;

[0038] Figure 3 A method for adjusting a vehicle axle and a vehicle frame when they are in a deflected state in one embodiment;

[0039] Figure 4 A schematic top view modeling diagram corresponding to an embodiment in which the axle and the frame are in a deflected state;

[0040] Figure 5 A schematic diagram of a process for determining an offset distance between an axle and a vehicle frame in one embodiment;

[0041] Figure 6 A schematic diagram of a process for obtaining an offset distance according to a first distance value, a preset distance, and a second distance value in one embodiment;

[0042] Figure 7 Schematic diagram of the installation of an adjusting member in one embodiment;

[0043] Figure 8 is a schematic structural diagram of a transmitting device in one embodiment;

[0044] Figure 9 is a schematic structural diagram of a receiving device in another embodiment;

[0045] Figure 10 is a diagram of the internal structure of a computer device in one embodiment;

[0046] In the figure, 102-axle; 104-V rod; 106-frame; 108-left balancing bracket; 110-left push rod; 112-right balancing bracket; 114-right push rod; 116-wheel hub; 200-measuring device; 210-transmitting device; 211-first magnetic base; 212-telescopic rod; 213-laser probe; 220-receiving device; 221-second magnetic base; 222-extension frame; 223-digital display screen; 224-projection screen; 300-adjustment part. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0048] The method for detecting the vertical relationship between the axle and the frame provided in the embodiment of the present application can be applied to Figure 1In the application environment shown, the axle 102 is connected to the frame 106 at its geometric center via a V-rod 104. The frame 106 includes a left longitudinal beam and a right longitudinal beam spaced apart from each other, and a crossbeam (not shown) connecting the left and right longitudinal beams and perpendicular to the left and right longitudinal beams. Without considering the horizontal position fixation, the axle 102 can rotate left and right by a certain angle around the V-rod 104 and the axle connection point as the center. The deflection between the axle 102 and the frame 106 mainly occurs in the horizontal position. The main reasons are: the left longitudinal beam of the frame 106 is connected to the left balancing bracket 108 and the left push rod 110, and finally connected to the left axle 102. The right longitudinal beam of the frame 106 is connected to the right balancing bracket 112 and the right push rod 114, and finally connected to the right axle 102. The dimensional accuracy errors and assembly errors of the related components on both sides of the left and right longitudinal beams result in the axle 102 being non-perpendicular to the frame 106. The measuring device 200 is used to obtain a first projection point of the center of the wheel hub 116 of the axle 102 along a first direction toward the projection plane, and a second projection point of the center of the wheel hub 116 of the axle 102 along the first direction toward the projection plane after the projection plane is translated a preset distance along the first direction. The first direction is the extension direction of the longitudinal beams of the frame 106, and the first direction is consistent with the longitudinal direction of the left and right longitudinal beams of the frame 106. The projection plane is perpendicular to the first direction. The measuring device 200 is in communication with a control device (not shown). The control device determines the perpendicularity of the axle 102 and the frame 106 based on the states of the first and second projection points. If the first and second projection points coincide, the axle 102 and the frame 106 are determined to be perpendicular. If the first and second projection points do not coincide, the axle 102 and the frame 106 are determined to be skewed.

[0049] The measuring device 200 may be a laser sensing device or other light sensing device; the control device may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, etc.

[0050] In one embodiment, Figure 2 As shown, a method for detecting the vertical relationship between the axle 102 and the frame 106 is provided, and the method is applied to Figure 1 The control device in FIG. 1 is taken as an example to illustrate the method, which includes the following steps:

[0051] Step 202 , obtaining a first projection point of the center of the wheel hub 116 of the axle 102 along a first direction toward a projection plane, and a second projection point of the center of the wheel hub 116 of the axle 102 along the first direction toward the projection plane after the projection plane is translated a preset distance along the first direction; the first direction is an extension direction of the longitudinal beam of the frame 106; the projection plane is perpendicular to the first direction.

[0052] The first projection point and the second projection point are obtained by using the measuring device 200. Figure 1As shown, measuring device 200 includes a transmitter 210 and a receiver 220. Transmitter 210 is used to transmit laser light and is mounted on a plane between adjacent bolt heads of the wheel hub of axle 102. The emission point of the laser light in transmitter 210 is equivalent to the center of the wheel hub. Receiver 220 is used to receive the laser light emitted by transmitter 210 and display the projection point of the laser light on the projection surface. Receiver 220 is mounted perpendicularly to vehicle frame 106 along the second direction.

[0053] It should be noted that this embodiment only requires one transmitting device 210 and one receiving device 220. The transmitting device 210 and the receiving device 220 form a set of sensing devices. The laser light emitted by the transmitting device 210 is projected onto the receiving device 220, and the receiving device 220 displays the projected position.

[0054] Specifically, the transmitting device 210 is mounted on the outer end face of the wheel hub 116 of the axle 102. The light source of the laser probe 213 is equivalent to the center of the wheel hub 116 of the axle 102. The light beam emitted by the laser probe 213 is projected along a first direction onto the projection screen 224 of the receiving device 220. The first projection point of the laser probe 213 on the projection screen 224 is recorded as the first projection point C. The projection screen 224 is translated along the first direction by a preset distance, and the preset translation distance of the projection screen 224 along the first direction is calculated by the capacitive sensor on the digital display screen 223. The light beam emitted by the laser probe 213 is projected again along the first direction onto the translated projection screen 224. The second projection point of the laser probe 213 on the projection screen 224 is recorded as the second projection point D. If the axle 102 is perpendicular to the vehicle frame 106, then according to the principle of straight lines, the two projection points of the laser probe 213 at the same position on the projection screen 224 at different positions should coincide. Based on this, the vertical relationship between the axle 102 and the frame 106 is determined.

[0055] Step 204 : If the first projection point and the second projection point coincide with each other, it is determined that the axle 102 and the frame 106 are in a vertical state.

[0056] If the axle 102 is perpendicular to the vehicle frame 106, then according to the principle of straight lines, the two projection points of the laser probe 213 at the same position on the projection surface at different positions should coincide. If the two projection points do not coincide, it is determined that the axle 102 and the vehicle frame 106 are in a skewed state.

[0057] In the above-mentioned method for detecting the vertical relationship between the axle and the frame, a first projection point of the center of the wheel hub 116 of the axle 102 along the first direction toward the projection plane is obtained, and after the projection plane is translated along the first direction by a preset distance, a second projection point of the center of the wheel hub 116 of the axle 102 along the first direction toward the projection plane is obtained, and the projection plane is perpendicular to the first direction. According to the states of the first projection point and the second projection point, the vertical relationship between the axle 106 and the frame 106 is judged, thereby solving the technical problem in the prior art that it is impossible to detect whether the axle 102 and the frame 106 are perpendicular.

[0058] In one embodiment, if the first projection point and the second projection point do not coincide, it is determined that the axle 102 and the frame 106 are in a skewed state. When the vehicle has traveled a long distance on the road, severe wear of the tire on one side will occur, resulting in increased tire consumption costs and a high risk of safety accidents. In addition, after a long period of driving, the user's vehicle will also cause mechanical wear in multiple locations of the connecting components between the axle 102 and the frame, increasing the skew angle between the axle 102 and the frame 106. However, during the maintenance of the user's vehicle, there is no way to solve the problem of the skew between the axle 102 and the frame 106. In order to solve the above problem, this embodiment provides a method for detecting the offset distance between the axle 102 and the frame 106 and adjusting the offset distance, such as Figure 3 As shown, the method for detecting the offset distance between the axle 102 and the frame 106 and adjusting the offset distance includes:

[0059] In step 302, if the first projection point and the second projection point do not coincide, the offset distance between the axle 102 and the frame 106 is determined; the offset distance is the distance along the first direction between the projection point of the intersection of the central axis of the axle 102 and the center line of the axle on the central axis of one of the push rods and the intersection point of the central axis of the axle 102 and the central axis of one of the push rods.

[0060] When the axle 102 and the frame 106 are in a deflected state, a top-down projection modeling is performed to obtain the following: Figure 4 The modeling diagram shown in Figure 4In the figure, point B represents the light source of the laser probe 213, the laser beam emitted by the laser probe 213 for the first time is recorded as line segment BC, and the first projection point of the laser probe 213 on the projection screen 224 is recorded as the first projection point C; after the projection screen 224 is translated along the first direction for a preset distance, the beam emitted by the laser probe 213 is projected again along the first direction onto the translated projection screen 224, and the preset distance translated along the first direction of the projection screen 224 is recorded as line segment CE, the laser beam emitted by the laser probe 213 for the second time is recorded as line segment BD, and the second projection point of the laser probe 213 on the projection screen 224 is recorded as the second projection point D; wherein, both the laser beam BC and the laser beam BD are perpendicular to the central axis of the axle 102. The preset distance translated along the first direction of the projection screen 224 is calculated by the capacitive sensor in the digital display screen 223. By Figure 4 It can be seen that the preset distance is equal to the length of line segment CE; the first distance value between the first projection point and the second projection point along the second direction is equal to the length of line segment DE, where the length of line segment DE can be calculated by a control device or obtained by manual measurement.

[0061] Figure 4 In the figure, five straight lines are distributed along the first direction, namely the center line of the left longitudinal beam of the frame 106, the central axis of the left push rod 110, the center line of the axle, the center axis of the right push rod 114 and the center line of the right longitudinal beam of the frame 106; the central axis of the axle 102 intersects with the above five straight lines respectively. The intersection of the central axis of the axle 102 and the center line of the axle is recorded as point A; the projection point of the intersection point A of the central axis of the axle 102 and the center line of the axle on the central axis of the right push rod 114 is recorded as point F; the intersection point of the central axis of the axle 102 and the center line of the right push rod 114 is recorded as point G; the offset distance between the axle 102 and the frame 106 is the distance along the first direction between the projection point F of the intersection point A of the central axis of the axle 102 and the center line of the axle on the central axis of the right push rod 114 and the intersection point G of the central axis of the axle 102 and the right push rod 114, that is, the offset distance between the axle 102 and the frame 106 is equal to the distance between point F and point G along the first direction, that is, the offset distance between the axle 102 and the frame 106 is equal to the length of the line segment FG. By Figure 4 It can be seen that ∠DCE=∠FAG, ∠CDE=∠AGF, that is, Rt△CDE∽Rt△AGF, wherein the length of line segment CE is calculated by the capacitive sensor in the digital display screen 223, and line segment AF is a known structural parameter. According to the principle of equal ratios of corresponding sides of similar triangles, the length of line segment FG can be obtained by knowing the lengths of line segments CE and AF, that is, the offset distance between the axle 102 and the frame 106 can be obtained.

[0062] Specifically, when the axle 102 and the frame 106 are in a deflected state, a top-down projection model is performed to obtain the following: Figure 4In the modeling schematic diagram shown, the first projection point of the laser probe 213 on the projection screen 224 is recorded as the first projection point C, and the second projection point of the laser probe 213 on the projection screen 224 is recorded as the second projection point D. The preset distance CE of the projection screen 224 translated along the first direction is calculated by the capacitive sensor in the digital display screen 223, and the first distance value DE in the second direction between the first projection point C and the second projection point D is obtained by a control device or manual measurement, and a right triangle △CDE formed by the line segment CD, the line segment CE and the line segment DE is obtained. The intersection of the central axis of the axle 102 and the center line of the axle is marked as point A; the projection point of the intersection of the central axis of the axle 102 and the center line of the axle on the center line of the right push rod 114 is marked as point F; the intersection of the central axis of the axle 102 and the center line of the right push rod 114 is marked as point G; the distance value between the center line of the axle and the center line of the right push rod 114 along the second direction is obtained, that is, the length of the line segment AF is obtained; the right triangle △AGF formed by the line segments AF, AG and FG is obtained, according to Figure 4 It can be seen that Rt△CDE∽Rt△AGF. According to the principle that the corresponding sides of similar triangles are in equal proportions, the length of the line segment FG is obtained. The length of the line segment FG is the offset distance between the axle 102 and the frame 106 .

[0063] Step 304 : adjusting the angle between the axle 102 and the frame 106 according to the offset distance. After adjustment, the axle 102 and the frame 106 are in a vertical state.

[0064] Axle 102 is connected to frame 106 at its geometric center via V-bar 104. Without regard for horizontal fixation, axle 102 can rotate left and right around the point of connection between V-bar 106 and the axle. Therefore, when axle 102 and frame 106 are skewed, the adjustment strategy is to adjust the angle of rotation of axle 102 around the point of connection between V-bar 106 and the axle. This resolves the displacement difference between the first and second projection points, directly addressing the non-perpendicularity between axle 102 and frame 106 and ultimately resolving the skew between axle 102 and frame 106.

[0065] In this embodiment, the specific deflection value of the vertical relationship between the axle 102 and the frame 106 can be detected based on the first distance value along the second direction between the first projection point and the second projection point, and the angle between the axle 102 and the frame 106 can be adjusted based on the offset distance. After the adjustment, the axle 102 and the frame 106 are in a vertical state, which can solve the problem of no way to solve the deflection of the axle 102 and the frame 106 during the user's vehicle maintenance process.

[0066] In one embodiment, Figure 5 As shown, determining the offset distance between the axle 102 and the frame 106 includes:

[0067] Step 502 : Obtain a first distance value between the first projection point and the second projection point along a second direction; the second direction is an extension direction of the crossbeam of the vehicle frame 106 .

[0068] Specifically, if Figure 4 As shown, the first projection point of the laser probe 213 on the projection screen 224 is recorded as the first projection point C, and the second projection point of the laser probe 213 on the projection screen 224 is recorded as the second projection point D. The control device calculates the horizontal displacement difference between the two projection points based on the two different projection points, that is, the length of the line segment DE, and displays the horizontal displacement difference on the receiving device 220.

[0069] Step 504 : Obtain an offset distance according to the first distance value, the preset distance, and a second distance value along a second direction between the center line of the axle and the center axis of one of the push rods.

[0070] The projection screen 224 coincides with the projection surface. Therefore, the preset distance the projection surface translates along the first direction is equal to the preset distance the projection screen 224 translates along the first direction. This preset distance can be calculated by the capacitive grid sensor in the digital display screen 223. The specific principle of distance measurement using the capacitive grid sensor is as follows: The structure of a general capacitive grid sensor includes a moving grid plate and a fixed grid plate. The moving grid plate includes an emitter and a receiver, and the fixed grid plate includes a reflector. The reflector forms a flat plate capacitor with the emitter and the receiver, respectively. By applying an n-phase excitation signal to the emitter, the reflector reflects this signal to the receiver. As the moving grid plate moves, the phase change of the induced signal at the receiver and the displacement satisfy the following relationship: when the displacement changes by a width of w, the receiver produces a phase difference of 360° / n. Based on this relationship, the displacement of the moving grid plate can be obtained. In this embodiment, the projection screen 224 is equivalent to a moving grid plate, and the digital display screen 223 is equivalent to a fixed grid plate. When the projection screen 224 moves a preset distance, the preset distance is obtained according to the phase change of the sensing signal of the digital display screen 223.

[0071] like Figure 4 As shown, the second distance value along the second direction between the center line of the axle and the central axis of the right push rod 114 is the length of the line segment AF. The line segment AF is a known structural parameter and can be obtained by manual measurement or based on the axle and frame product structure diagram.

[0072] Specifically, a manual or mechanical measurement method is used to obtain the first distance value between the first projection point C and the second projection point D in the second direction, that is, the length of the line segment DE, and obtain the right triangle △CDE formed by the line segments CD, CE, and DE. The distance value between the center line of the axle and the central axis of the right push rod 114 along the second direction is obtained, that is, the length of the line segment AF; the right triangle △AGF formed by the line segments AF, AG, and FG is obtained, according to Figure 4 It can be seen that Rt△CDE∽Rt△AGF. According to the principle that the corresponding sides of similar triangles are equal in proportion, the length of line segment FG is obtained. The length of line segment FG is the offset distance between the axle and the frame.

[0073] In this embodiment, the offset distance between the axle 102 and the frame 106 and the first distance between the first projection point and the second projection point are respectively placed in two similar right triangles. Based on the principle that the corresponding sides of similar triangles are equal in proportion, the offset distance between the axle 102 and the frame 106 is obtained. Compared with other distance measurement methods, the calculation process of obtaining the offset distance between the axle 102 and the frame 106 using the triangle similarity principle is simple.

[0074] In one embodiment, Figure 6 As shown, obtaining the offset distance according to the first distance value, the preset distance, and the second distance value between the center line of the axle and the central axis of one of the push rods along the second direction includes:

[0075] Step 602: Obtain a first right triangle with a first distance value and a preset distance value as right-angled sides.

[0076] The first distance value is the length of the line segment DE, the preset distance value is the length of the line segment CE, and the first right triangle is a right triangle △CDE.

[0077] Step 604 : Obtain a second right triangle with a second distance value between the central axis of the frame and the central axis of one of the push rods along a second direction and an offset distance as right-angled sides.

[0078] The second distance value is the length of line segment AF, the offset distance is the length of line segment FG, and the second right triangle is right triangle △AGF.

[0079] Step 606: Obtain an offset distance based on the triangle similarity principle, the first right triangle, and the second right triangle.

[0080] Here, right triangle △CDE is similar to right triangle △AGF. Therefore, the ratio between line segment AF and line segment CE is equal to the ratio between line segment FG and line segment DE. The mathematical expression is: According to this data expression, the expression of line segment FG can be obtained as follows: The length of line segment FG is the offset distance. If the preset distance for the projection screen 224 to translate along the first direction is set to half the distance between the central axes of the left and right push rods, that is, the preset distance is set to equal the second distance value, then the first right triangle and the second right triangle are congruent, as mathematically expressed as: Rt△CDE≌Rt△AGF. Based on the triangle congruence principle, it can be concluded that line segment FG is equal to line segment DE, that is, the offset distance between the axle 102 and the frame 106 is equal to the first distance between the first projection point C and the second projection point D along the second direction.

[0081] In this embodiment, the preset distance for the projection screen 224 to be translated along the first direction is set to be half of the distance between the central axes of the left and right push rods, that is, the preset distance is set to be equal to the second distance value, so that congruent triangles △CDE and triangle △AGF can be obtained, and then the offset distance between the axle and the frame is equal to the first distance value along the second direction between the first projection point and the second projection point. Compared with the offset distance obtained by proportional conversion of the side lengths of similar triangles, this embodiment omits the proportional conversion process and can intuitively display the offset distance, thereby improving the efficiency of obtaining the offset distance.

[0082] In one embodiment, adjusting the angle between the axle 102 and the frame 106 according to the offset distance so that the axle 102 and the frame 106 are in a vertical state after adjustment includes the following steps:

[0083] The thickness of the adjustment member 300 is determined based on the offset distance, and the adjustment member 300 is added between one of the push rods and the balance bracket in the same direction as the push rod. The axle 102 is rotated to a preset angle so that the axle 102 and the frame 106 are in a vertical state.

[0084] The thickness of the adjustment member 300 is equal to the offset distance. The adjustment member 300 can be added between the left push rod 110 and the left balance bracket 108, or between the right push rod 114 and the right balance bracket 112. It is understood that the adjustment member 300 can be a gasket.

[0085] The position of the adjusting member 300 is as follows Figure 7 As shown in FIG. , since the geometric center of the axle is rigidly connected to the frame 106 via the V-rod 104, when the push rod is released, the axle 102 can be considered to be able to rotate along a circle centered around the connection point between the V-rod 104 and the axle. Therefore, the thickness of the added adjustment member 300 is equal to the offset distance. After the adjustment member 300 is added, the axle 102 rotates so that the axle 102 and the frame 106 are perpendicular.

[0086] In this embodiment, the angle between the axle 102 and the frame 106 can be adjusted based on the offset distance between the axle 102 and the frame 106 , thereby fundamentally solving the deflection problem.

[0087] In one embodiment, after measuring and adjusting the vertical relationship between the axle 102 and the frame 106, the transmitter 210 is mounted at the center of the wheel hub 116 on the left side of the axle 102, and the receiver 220 is mounted on the left frame 106, and a first measurement reading is taken. The transmitter 210 is then mounted at the center of the wheel hub 116 on the right side of the axle 102, and the receiver 220 is mounted on the right frame 106, and a second measurement reading is taken. If the first and second measurement readings are the same, the axle 102 is determined to be in the center assembly position relative to the frame 106. If the first measurement reading is greater than the second measurement reading, the axle 102 is determined to be positioned to the left relative to the frame 106. If the first measurement reading is less than the second measurement reading, the axle 102 is determined to be positioned to the right relative to the frame 106. The first and second measurement readings both represent the position information of the projection point. The relative magnitude of the two measurement readings is used to determine the left-to-right installation position deviation of the axle 102 relative to the frame 106.

[0088] In one embodiment, detailed steps of a method for detecting and adjusting the vertical relationship between an axle and a frame are provided as follows:

[0089] A first projection point C of the center of the wheel hub 116 of the axle 102 along the first direction toward the projection plane is obtained, and a second projection point D of the center of the wheel hub 116 of the axle 102 along the first direction toward the projection plane after the projection plane is translated a preset distance along the first direction is obtained; the first direction is the extension direction of the longitudinal beam of the frame 106; the projection plane is perpendicular to the first direction; if the first projection point and the second projection point coincide, it is determined that the axle 102 and the frame 106 are in a vertical state; otherwise, it is determined that the axle 102 and the frame 106 are in a skewed state.

[0090] When the axle 102 and the frame 106 are in a deflected state, a first distance value between the first projection point C and the second projection point D along the second direction is obtained, that is, Figure 4 The line segment DE in FIG, and the second distance value between the center line of the axle and the center axis of the right push rod 114 along the second direction, that is, Figure 4 The second direction is the extension direction of the crossbeam of the frame 106. Obtain a first right triangle with a right-angle side having the first distance value and the preset distance value, that is, Figure 4 The right triangle △CDE in the figure is obtained, and a second right triangle with the second distance value and the offset distance between the axle 102 and the frame 106 as right angle sides is obtained, that is, Figure 4 The right triangle △AGF in the figure; wherein the offset distance is the distance along the first direction between the projection of the intersection point of the central axis of the axle 102 and the center line of the axle on the central axis of one of the push rods and the intersection point of the central axis of the axle 102 and the central axis of one of the push rods, that is, Figure 4The middle line segment FG. According to the geometric relationship deduction, the first right triangle is similar to the second right triangle. Therefore, the ratio between the line segment AF and the line segment CE is equal to the ratio between the line segment FG and the line segment DE. The mathematical expression is: According to this data expression, the expression of line segment FG can be obtained as follows: If the preset distance for the projection screen 224 to translate along the first direction is set to be half the distance between the central axes of the left and right push rods, that is, the preset distance is set to be equal to the second distance value, then the first right triangle and the second right triangle are congruent, and the mathematical expression is: Rt△CDE≌Rt△AGF. According to the triangle congruence principle, it can be concluded that the line segment FG is equal to the line segment DE, that is, the offset distance between the axle 102 and the frame 106 is equal to the first distance value between the first projection point C and the second projection point D along the second direction.

[0091] The thickness of the adjusting member 300 is set to be equal to the offset distance, and the adjusting member 300 is set between the left push rod 110 and the left balancing bracket 108, or between the right push rod 114 and the right balancing bracket 112. At this time, the axle 102 rotates to a preset angle so that the axle 102 and the frame 106 are in a vertical state.

[0092] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0093] Based on the same inventive concept, embodiments of the present application also provide a system for detecting the vertical relationship between an axle and a vehicle frame, for implementing the aforementioned method for detecting the vertical relationship between an axle and a vehicle frame. The solution provided by this system is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more embodiments of the system for detecting the vertical relationship between an axle and a vehicle frame provided below can be found in the aforementioned limitations of the method for detecting the vertical relationship between an axle and a vehicle frame, and will not be further elaborated here.

[0094] In one embodiment, a system for detecting the vertical relationship between an axle and a vehicle frame is provided, comprising: a measuring device 200 and a control device, wherein:

[0095] The measuring device 200 is used to obtain a first projection point of the center of the wheel hub 116 of the axle 102 toward the projection plane along the first direction, and a second projection point of the center of the wheel hub 116 of the axle 102 toward the projection plane along the first direction after the projection plane is translated a preset distance along the first direction; the first direction is the extension direction of the longitudinal beam of the frame 106; the projection plane is perpendicular to the first direction.

[0096] The control device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the following steps are implemented:

[0097] Obtaining a first projection point of the center of the wheel hub 116 of the axle 102 along a first direction toward the projection plane, and a second projection point of the center of the wheel hub 116 of the axle 102 along the first direction toward the projection plane after the projection plane is translated a preset distance along the first direction; the first direction is an extension direction of the longitudinal beam of the frame 106; the projection plane is perpendicular to the first direction;

[0098] If the first projection point and the second projection point coincide with each other, it is determined that the axle 102 and the frame 106 are in a vertical state.

[0099] In one embodiment, Figure 7 As shown, the measuring device 200 includes a transmitting device 210 and a receiving device 220;

[0100] The emitting device 210 is installed on the outer end face of the wheel hub 116 of the axle 102; the emitting device 210 includes a laser probe 213, which is used to emit a laser beam, and the laser beam is perpendicular to the central axis of the axle 102; the second direction is the extension direction of the crossbeam of the frame 106.

[0101] The emitting device 210 is used to emit laser light, and the emitting point of the laser light in the emitting device 210 is equivalent to the center of the wheel hub.

[0102] The receiving device 220 is vertically mounted on the vehicle frame 106 along the second direction. The receiving device 220 includes a projection screen 224 . The projection screen 224 coincides with the projection surface.

[0103] The receiving device 220 is used to receive the laser emitted by the transmitting device 210 and display the projection point of the laser on the projection surface. The receiving device 220 is vertically mounted on the vehicle frame 106 along the second direction.

[0104] It should be noted that this embodiment only requires one transmitting device 210 and one receiving device 220. The transmitting device 210 and the receiving device 220 form a set of sensing devices. The laser light emitted by the transmitting device 210 is projected onto the receiving device 220, and the receiving device 220 displays the projected position.

[0105] In one embodiment, Figure 8As shown, the launching device 210 further includes a first magnetic base 211 and a telescopic rod 212;

[0106] The laser probe 213 is fixedly mounted on one end face of the first magnetic base 211 via a telescopic rod 212 , and the end face of the first magnetic base 211 perpendicular to the one end face is adsorbed on the outer end face of the hub 116 .

[0107] The laser probe 213 corresponds to the center of the wheel hub 116. Adjusting the length of the telescopic rod 212 adjusts the projection of the laser probe 213 on the receiving device 220. The laser probe 213 is used to emit a laser beam perpendicular to the central axis of the axle 102. The second direction corresponds to the direction of extension of the crossbar of the frame 106. The first magnetic base 211 has a built-in permanent magnet rotary switch. Rotating the permanent magnet rotary switch clockwise generates magnetic force, while rotating the permanent magnet rotary switch counterclockwise blocks the magnetic force.

[0108] In one embodiment, Figure 9 As shown, the receiving device 220 further includes a second magnetic stand 221 , an extension frame 222 and a digital display screen 223 ;

[0109] One end of the extension frame 222 is vertically screwed to one side end face of the second magnetic base 221, and the side end face of the second magnetic base 221 perpendicular to the one side end face is adsorbed on the frame 106; the digital display screen 223 is vertically screwed to the other end of the extension frame 222 away from the second magnetic base 221, and the lateral extension direction of the digital display screen 223 is parallel to the first direction; the projection screen 224 is vertically screwed to the digital display screen 223, the projection screen 224 is perpendicular to the digital display screen 223, and the projection screen 224 coincides with the projection surface.

[0110] The capacitive barrier sensor in the digital display screen 223 can be used to calculate the preset distance that the projection screen 224 has translated in the first direction. Adjusting the extension distance of the extension bracket 222 in the second direction adjusts the position of the projection screen 224 to receive the laser light emitted by the transmitter 210. The second magnetic base 221 has a built-in permanent magnet rotary switch. Rotating the switch clockwise generates magnetic force, while rotating it counterclockwise blocks the magnetic force.

[0111] It should be noted that the method for calculating the preset distance that the projection screen 224 moves in the first direction by the digital display screen 223 belongs to the prior art and will not be described again here.

[0112] Each module involved in the aforementioned axle-to-frame vertical relationship detection can be implemented in whole or in part via software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor within a computer device in hardware form, or can be stored in a computer device memory in software form, allowing the processor to call and execute the corresponding operations of each module.

[0113] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 10 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for detecting the vertical relationship between the axle and the frame is implemented. The display unit of the computer device is used to form a visually visible image, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse, etc.

[0114] Those skilled in the art will understand that Figure 10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0115] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0116] Obtaining a first projection point of the center of the wheel hub 116 of the axle 102 along a first direction toward the projection plane, and a second projection point of the center of the wheel hub 116 of the axle 102 along the first direction toward the projection plane after the projection plane is translated a preset distance along the first direction; the first direction is an extension direction of the longitudinal beam of the frame 106; the projection plane is perpendicular to the first direction;

[0117] If the first projection point and the second projection point coincide with each other, it is determined that the axle 102 and the frame 106 are in a vertical state.

[0118] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0119] If the first projection point and the second projection point do not coincide, the offset distance between the axle 102 and the frame 106 is determined; the offset distance is the distance along the first direction between the projection point of the intersection of the central axis of the axle 102 and the axle centerline on the central axis of one of the push rods and the intersection point of the central axis of the axle 102 and the central axis of one of the push rods;

[0120] The angles between the axle 102 and the frame 106 are adjusted according to the offset distance, and the adjusted axle 102 and the frame 106 are in a vertical state.

[0121] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0122] Obtain a first distance value between the first projection point and the second projection point along a second direction; the second direction is an extension direction of the crossbeam of the frame 106;

[0123] An offset distance is obtained according to the first distance value, the preset distance, and a second distance value between the center line of the axle and the center axis of one of the push rods along the second direction.

[0124] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0125] Obtain a first right triangle with the first distance value and the preset distance value as right-angled sides;

[0126] Obtaining a second right triangle with a second distance value between the central axis of the frame and the central axis of one of the push rods along a second direction and the offset distance as right-angled sides;

[0127] According to the triangle similarity principle, the offset distance is obtained from the first right triangle and the second right triangle.

[0128] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0129] The preset distance is set to a second distance value, and a first right triangle and a second right triangle are obtained that are congruent with each other;

[0130] According to the triangle congruence principle, the offset distance is obtained from the first right triangle and the second right triangle; the offset distance is equal to the first distance value.

[0131] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0132] Obtaining a first projection point of the center of the wheel hub 116 of the axle 102 along a first direction toward the projection plane, and a second projection point of the center of the wheel hub 116 of the axle 102 along the first direction toward the projection plane after the projection plane is translated a preset distance along the first direction; the first direction is an extension direction of the longitudinal beam of the frame 106; the projection plane is perpendicular to the first direction;

[0133] If the first projection point and the second projection point coincide with each other, it is determined that the axle 102 and the frame 106 are in a vertical state.

[0134] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0135] If the first projection point and the second projection point do not coincide, the offset distance between the axle 102 and the frame 106 is determined; the offset distance is the distance along the first direction between the projection point of the intersection of the central axis of the axle 102 and the axle centerline on the central axis of one of the push rods and the intersection point of the central axis of the axle 102 and the central axis of one of the push rods;

[0136] The angles between the axle 102 and the frame 106 are adjusted according to the offset distance, and the adjusted axle 102 and the frame 106 are in a vertical state.

[0137] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0138] Obtain a first distance value between the first projection point and the second projection point along a second direction; the second direction is an extension direction of the crossbeam of the frame 106;

[0139] An offset distance is obtained according to the first distance value, the preset distance, and a second distance value between the center line of the axle and the center axis of one of the push rods along the second direction.

[0140] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0141] Obtain a first right triangle with the first distance value and the preset distance value as right-angled sides;

[0142] Obtaining a second right triangle with a second distance value between the central axis of the frame and the central axis of one of the push rods along a second direction and the offset distance as right-angled sides;

[0143] According to the triangle similarity principle, the offset distance is obtained from the first right triangle and the second right triangle.

[0144] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0145] The preset distance is set to a second distance value, and a first right triangle and a second right triangle are obtained that are congruent with each other;

[0146] According to the triangle congruence principle, the offset distance is obtained from the first right triangle and the second right triangle; the offset distance is equal to the first distance value.

[0147] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0148] Obtaining a first projection point of the center of the wheel hub 116 of the axle 102 along a first direction toward the projection plane, and a second projection point of the center of the wheel hub 116 of the axle 102 along the first direction toward the projection plane after the projection plane is translated a preset distance along the first direction; the first direction is an extension direction of the longitudinal beam of the frame 106; the projection plane is perpendicular to the first direction;

[0149] If the first projection point and the second projection point coincide with each other, it is determined that the axle 102 and the frame 106 are in a vertical state.

[0150] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0151] If the first projection point and the second projection point do not coincide, the offset distance between the axle 102 and the frame 106 is determined; the offset distance is the distance along the first direction between the projection point of the intersection of the central axis of the axle 102 and the axle centerline on the central axis of one of the push rods and the intersection point of the central axis of the axle 102 and the central axis of one of the push rods;

[0152] The angles between the axle 102 and the frame 106 are adjusted according to the offset distance, and the adjusted axle 102 and the frame 106 are in a vertical state.

[0153] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0154] Obtain a first distance value between the first projection point and the second projection point along a second direction; the second direction is an extension direction of the crossbeam of the frame 106;

[0155] An offset distance is obtained according to the first distance value, the preset distance, and a second distance value between the center line of the axle and the center axis of one of the push rods along the second direction.

[0156] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0157] Obtain a first right triangle with the first distance value and the preset distance value as right-angled sides;

[0158] Obtaining a second right triangle with a second distance value between the central axis of the frame and the central axis of one of the push rods along a second direction and the offset distance as right-angled sides;

[0159] According to the triangle similarity principle, the offset distance is obtained from the first right triangle and the second right triangle.

[0160] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0161] The preset distance is set to a second distance value, and a first right triangle and a second right triangle are obtained that are congruent with each other;

[0162] According to the triangle congruence principle, the offset distance is obtained from the first right triangle and the second right triangle; the offset distance is equal to the first distance value.

[0163] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions.

[0164] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, etc., but are not limited to these.

[0165] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0166] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for detecting the vertical relationship between axle and frame, characterized in that: The following steps are involved: Obtaining a first projection point of the hub center of the axle along a first direction toward a projection plane, and obtaining a second projection point of the hub center of the axle along the first direction toward the projection plane after the projection plane is translated a preset distance along the first direction; the first direction is an extension direction of a longitudinal beam of the vehicle frame; and the projection plane is perpendicular to the first direction; If the first projection point and the second projection point coincide with each other, it is determined that the axle and the frame are in a vertical state; If the first projection point and the second projection point do not coincide, determining an offset distance between the axle and the frame; the offset distance being a distance along a first direction between a projection point of an intersection of the central axis of the axle and the centerline of the axle on the central axis of one of the push rods and an intersection point of the central axis of the axle and the central axis of one of the push rods; adjusting the angle between the axle and the frame according to the offset distance, so that the axle and the frame are in a vertical state after adjustment; Wherein, determining the offset distance between the axle and the frame includes: Obtaining a first distance value between the first projection point and the second projection point along a second direction; the second direction is an extension direction of a crossbeam of the vehicle frame; Obtaining an offset distance according to the first distance value, the preset distance, and a second distance value between the centerline of the axle and the center axis of one of the push rods along the second direction specifically includes: Acquire a first right triangle with the first distance value and the preset distance value as right-angled sides; Obtaining a second right triangle with a second distance between the central axis of the frame and the central axis of one of the push rods along the second direction and the offset distance as right-angled sides; The offset distance is obtained based on the triangle similarity principle, the first right triangle and the second right triangle.

2. The method according to claim 1, characterized in that The obtaining the offset distance based on the triangle similarity principle, the first right triangle, and the second right triangle includes: The preset distance is set to the second distance value, and the first right triangle and the second right triangle are obtained, which are congruent triangles; According to the triangle congruence principle, an offset distance is obtained from the first right triangle and the second right triangle; the offset distance is equal to the first distance value.

3. The method according to any one of claims 1 to 2, characterized in that The adjusting the angle between the axle and the frame according to the offset distance, wherein the axle and the frame are in a vertical state after adjustment, comprises: The thickness of the adjustment member is determined based on the offset distance, and the adjustment member is added between one of the push rods and a balance bracket in the same direction as the push rod. The axle is rotated by a preset angle so that the axle and the frame are in a vertical state.

4. A system for detecting the vertical relationship between an axle and a frame, characterized in that: include: A measuring device for obtaining a first projection point of the hub center of the axle toward the projection surface along the first direction, and a second projection point of the hub center of the axle toward the projection surface along the first direction after the projection surface is translated a preset distance along the first direction; the first direction is the extension direction of the longitudinal beam of the frame; the projection surface is perpendicular to the first direction; if the first projection point and the second projection point coincide with each other, it is determined that the axle and the frame are in a vertical state; if the first projection point and the second projection point do not coincide with each other, the offset distance between the axle and the frame is determined; the offset distance is the distance value along the first direction between the projection point of the intersection of the central axis of the axle and the center line of the axle on the central axis of one of the push rods and the intersection of the central axis of the axle and the central axis of one of the push rods; according to the offset distance Adjust the angle between the axle and the frame, so that the axle and the frame are in a vertical state after adjustment; obtain a first distance value between the first projection point and the second projection point along a second direction; the second direction is the extension direction of the crossbeam of the frame; obtain an offset distance according to the first distance value, the preset distance, and a second distance value between the center line of the axle and the central axis of one of the push rods along the second direction, specifically for: obtaining a first right triangle with the first distance value and the preset distance value as right-angled sides; obtaining a second right triangle with the second distance value between the central axis of the frame and the central axis of one of the push rods along the second direction and the offset distance as right-angled sides; obtain the offset distance according to the triangle similarity principle, the first right triangle, and the second right triangle; A control device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method according to any one of claims 1 to 3 when executing the computer program.

5. The system according to claim 4, characterized in that The measuring device includes a transmitting device and a receiving device; The transmitting device is mounted on the outer end face of the wheel hub of the axle; the transmitting device includes a laser probe, the laser probe is used to emit a laser beam, and the laser beam is perpendicular to the central axis of the axle; the second direction is the extension direction of the crossbeam of the frame; The receiving device is vertically mounted on the vehicle frame along the second direction. The receiving device comprises a projection screen, and the projection screen coincides with the projection surface.

6. The system according to claim 5, characterized in that The launching device also includes a first magnetic base and a telescopic rod; The laser probe is fixedly mounted on one end face of the first magnetic base through a telescopic rod, and the end face of the first magnetic base perpendicular to the one end face is adsorbed on the outer end face of the wheel hub.

7. The system according to claim 5, characterized in that The receiving device also includes a second magnetic stand, an extension stand and a digital display screen; One end of the extension frame is vertically screwed to one side end face of the second magnetic base, and the side end face of the second magnetic base perpendicular to the one side end face is adsorbed on the vehicle frame; the digital display screen is vertically screwed to the other end of the extension frame away from the second magnetic base, and the lateral extension direction of the digital display screen is parallel to the first direction; the projection screen is vertically screwed to the digital display screen, and the projection screen is perpendicular to the digital display screen.

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