Pulley rotation angle detection method, device, storage medium, and apparatus

Abstract

The application discloses a kind of wheel rotation angle detection method, equipment, storage medium and device, the application is by obtaining the displacement variation of preset sensor when the torque of sliding pulley is loaded to first torque from counterclockwise to clockwise;According to the displacement variation, the pulley rotation angle and pulley shaft rotation angle corresponding to the sliding pulley are calculated;According to the pulley rotation angle and the pulley shaft rotation angle, the relative rotation angle between pulley and pulley shaft is calculated.Because the application is based on the displacement variation of preset sensor acquisition relative rotation angle between pulley and pulley shaft, the application cannot directly use rotary encoder to measure the rotation angle of pulley and pulley shaft relative to prior art, the application realizes the high-precision measurement of relative rotation angle between sliding pulley and pulley shaft, and can satisfy the production requirement of automatic batch detection.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of gearbox, in particular to a pulley rotation angle detection method, device, storage medium and apparatus. BACKGROUND

[0002] At present, the automobile power transmission system as the power transmission device between the automobile engine and the driving wheel, which includes gearbox, transmission shaft and main differential reducer and other main components, in the transmission system, there is a relative rotation gap between the pulley and the pulley shaft, the size of the gap affects the steel belt transmission characteristics, due to the limitation of the structure of the workpiece and the state of the automatic incoming material, the measurement space is limited, and in the process of loading torque, the gap between the pulley and the pulley shaft is very small, and the center of the two does not coincide due to stress, it is difficult to accurately measure and ensure stability, and the rotation angle cannot be directly measured by using the rotary encoder to determine the gap between the pulley and the pulley shaft. Therefore, the CVT transmission main and slave pulley rotation angle test method based on the rotary encoder in the prior art cannot meet the automatic detection of the rotation angle of the pulley and the pulley shaft.

[0003] The above content is only used to assist in understanding the technical solutions of the present application, and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0004] The main purpose of the present application is to provide a pulley rotation angle detection method, device, storage medium and apparatus, which aims to solve the technical problem that the prior art cannot directly use the rotary encoder to measure the rotation angle of the pulley and the pulley shaft.

[0005] To achieve the above purpose, the present application provides a pulley rotation angle detection method, which comprises the following steps:

[0006] Obtaining the displacement change of the preset sensor when the torque of the sliding pulley is loaded from counterclockwise to clockwise to the first torque;

[0007] According to the displacement change, the pulley rotation angle and the pulley shaft rotation angle corresponding to the sliding pulley are calculated;

[0008] According to the pulley rotation angle and the pulley shaft rotation angle, the relative rotation angle between the pulley and the pulley shaft is calculated.

[0009] Optionally, the step of obtaining the displacement change of the preset sensor when the torque of the sliding pulley is loaded from counterclockwise to clockwise to the first torque, comprises:

[0010] When the sliding pulley is loaded with torque counterclockwise to the first torque, the counterclockwise displacement change value collected by the preset sensor is obtained;

[0011] Obtaining a reverse-time displacement change value collected by the preset sensor when the sliding pulley is loaded with the clockwise torque to the first torque;

[0012] Determining a displacement change amount according to the reverse-time displacement change value and the forward-time displacement change value.

[0013] Optionally, the preset sensor comprises a first sensor, a second sensor and a third sensor arranged peripherally on a pulley detection tool; the preset sensor further comprises a fourth sensor, a fifth sensor and a sixth sensor arranged peripherally on a pulley shaft detection tool; the step of obtaining the reverse-time displacement change value collected by the preset sensor when the sliding pulley is loaded with the counterclockwise torque to the first torque comprises:

[0014] Obtaining a first reverse-time displacement change value, a second reverse-time displacement change value, a third reverse-time displacement change value, a fourth reverse-time displacement change value, a fifth reverse-time displacement change value and a sixth reverse-time displacement change value collected by the first sensor to the sixth sensor when the sliding pulley is loaded with the counterclockwise torque to the first torque;

[0015] The step of obtaining the forward-time displacement change value collected by the preset sensor when the sliding pulley is loaded with the clockwise torque to the first torque comprises:

[0016] Obtaining a first forward-time displacement change value, a second forward-time displacement change value, a third forward-time displacement change value, a fourth forward-time displacement change value, a fifth forward-time displacement change value and a sixth forward-time displacement change value collected by the first sensor to the sixth sensor when the sliding pulley is loaded with the clockwise torque to the first torque.

[0017] Optionally, the displacement change amount comprises a first displacement change amount to a sixth displacement change amount; the step of determining the displacement change amount according to the reverse-time displacement change value and the forward-time displacement change value comprises:

[0018] Determining a first displacement change amount according to the first reverse-time displacement change value and the first forward-time displacement change value;

[0019] Determining a second displacement change amount according to the second reverse-time displacement change value and the second forward-time displacement change value;

[0020] Determining a third displacement change amount according to the third reverse-time displacement change value and the third forward-time displacement change value;

[0021] Determining a fourth displacement change amount according to the fourth reverse-time displacement change value and the fourth forward-time displacement change value;

[0022] Determining a fifth displacement change amount according to the fifth reverse-time displacement change value and the fifth forward-time displacement change value;

[0023] determining a sixth displacement variation amount according to the sixth reverse time displacement variation value and the sixth forward time displacement variation value.

[0024] Optionally, the step of calculating the pulley rotation angle and the pulley shaft rotation angle corresponding to the sliding pulley according to the displacement variation amount comprises:

[0025] calculating the pulley rotation angle corresponding to the sliding pulley according to the first variation amount, the second variation amount and the third variation amount;

[0026] calculating the pulley shaft rotation angle corresponding to the sliding pulley according to the fourth variation amount, the fifth variation amount and the sixth variation amount.

[0027] Optionally, the step of calculating the relative rotation angle between the pulley and the pulley shaft according to the pulley rotation angle and the pulley shaft rotation angle comprises:

[0028] obtaining the rotation angle direction corresponding to the pulley rotation angle and the pulley shaft rotation angle;

[0029] judging whether the rotation directions of the pulley and the pulley shaft are consistent according to the rotation angle direction, and calculating the relative rotation angle between the pulley and the pulley shaft according to the judging result.

[0030] Optionally, the step of judging whether the pulley rotation angle and the pulley shaft rotation angle coincide according to the rotation angle direction, and calculating the relative rotation angle between the pulley and the pulley shaft according to the judging result comprises:

[0031] when the rotation directions of the pulley and the pulley shaft are consistent, calculating the absolute value of the absolute value difference between the pulley rotation angle and the pulley shaft rotation angle, and determining the relative rotation angle between the pulley and the pulley shaft according to the absolute value of the absolute value difference;

[0032] when the rotation directions of the pulley and the pulley shaft are inconsistent, calculating the sum of the absolute values of the pulley rotation angle and the pulley shaft rotation angle, and determining the relative rotation angle between the pulley and the pulley shaft according to the sum of the absolute values.

[0033] In addition, to achieve the above object, the present application further provides a pulley rotation angle detection device, which comprises a memory, a processor and a pulley rotation angle detection program stored in the memory and executable on the processor, and the pulley rotation angle detection program is configured to implement the steps of the pulley rotation angle detection method as described above.

[0034] In addition, to achieve the above object, the present application further provides a storage medium, which stores a pulley rotation angle detection program, and the pulley rotation angle detection program implements the steps of the pulley rotation angle detection method as described above when executed by a processor.

[0035] In addition, to achieve the above object, the application further provides a pulley rotation angle detection device, which comprises:

[0036] a displacement determination module, configured to acquire a displacement change amount of a preset sensor when a torque of a sliding pulley is loaded from counterclockwise to clockwise to a first torque;

[0037] a rotation angle calculation module, configured to calculate a pulley rotation angle and a pulley shaft rotation angle corresponding to the sliding pulley according to the displacement change amount;

[0038] The rotation angle calculation module is further configured to calculate a relative rotation angle between the pulley and the pulley shaft according to the pulley rotation angle and the pulley shaft rotation angle.

[0039] The application calculates the relative rotation angle between the pulley and the pulley shaft based on the displacement change amount collected by the preset sensor, and realizes high-precision measurement of the relative rotation angle between the sliding pulley and the pulley shaft, and can meet the production requirements of automatic batch detection. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 is a structural schematic diagram of a pulley rotation angle detection device of a hardware running environment related to an embodiment scheme of the application;

[0041] Figure 2 is a flowchart of a first embodiment of a pulley rotation angle detection method of the application;

[0042] Figure 3 is a preset sensor schematic diagram of a second embodiment of a pulley rotation angle detection method of the application;

[0043] Figure 4 is a flowchart of a third embodiment of a pulley rotation angle detection method of the application;

[0044] Figure 5 is a structural block diagram of a first embodiment of a pulley rotation angle detection device of the application.

[0045] The implementation of the object, functional features and advantages of the application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0046] It should be understood that the specific embodiments described herein are only used to explain the application, and are not used to limit the application.

[0047] Refer to Figure 1 , Figure 1 The figure is a schematic diagram of a wheel rotation angle detection device structure for a hardware operating environment involved in an embodiment of the present application.

[0048] As Figure 1 shown, the wheel rotation angle detection device can include a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 can include a display screen (Display), and the optional user interface 1003 can also include a standard wired interface, a wireless interface. The wired interface of the user interface 1003 can be a USB interface in the present application. The network interface 1004 can optionally include a standard wired interface, a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 can be a high-speed random access memory (Random Access Memory, RAM), and can also be a stable memory (Non-volatile Memory, NVM), such as a disk memory. The memory 1005 can also be an independent storage device from the aforementioned processor 1001.

[0049] Those skilled in the art can understand that Figure 1 the structure shown in the figure does not constitute a limitation on the wheel rotation angle detection device, and can include more or fewer components than the figure, or combine certain components, or different component arrangements.

[0050] As Figure 1 shown, the memory 1005, which is identified as a computer storage medium, can include an operating system, a network communication module, a user interface module, and a wheel rotation angle detection program.

[0051] In Figure 1 the wheel rotation angle detection device, the network interface 1004 is mainly used to connect a background server and communicate data with the background server; the user interface 1003 is mainly used to connect a user device; the wheel rotation angle detection device calls the wheel rotation angle detection program stored in the memory 1005 through the processor 1001, and executes the wheel rotation angle detection method provided by the embodiment of the present application.

[0052] Based on the above hardware structure, embodiments of the wheel rotation angle detection method of the present application are proposed.

[0053] Refer to Figure 2 , Figure 2The first embodiment of the belt wheel rotation angle detection method is shown in the flowchart.

[0054] The belt wheel rotation angle detection method comprises the following steps:

[0055] Step S10: Obtain the displacement change amount of the preset sensor when the torque of the sliding belt wheel is loaded from counterclockwise to clockwise to the first torque.

[0056] It should be noted that the execution subject of the present embodiment can be a device with a belt wheel rotation angle detection function. The device can be a computer. The present embodiment takes a belt wheel rotation angle detection device as an example, and the present embodiment does not limit the same. In the present embodiment and the following embodiments, the belt wheel rotation angle detection device is taken as an example to illustrate the belt wheel rotation angle detection method. The preset sensor is a micrometer-level displacement sensor prearranged on the periphery of the sliding belt wheel detection tool and the sliding belt wheel shaft detection tool.

[0057] It should be understood that the torque of the sliding belt wheel is loaded from counterclockwise to clockwise to the first torque, which means that the sliding belt wheel is loaded from counterclockwise to the first torque to clockwise to the first torque.

[0058] It should be understood that when the torque of the sliding belt wheel is loaded from counterclockwise to clockwise to the first torque, the displacement change amount collected by the micrometer-level displacement sensor on the periphery of the sliding belt wheel detection tool and the sliding belt wheel shaft detection tool is obtained when the torque of the sliding belt wheel is loaded counterclockwise to the first torque, and the displacement change amount collected by the micrometer-level displacement sensor on the periphery of the sliding belt wheel detection tool and the sliding belt wheel shaft detection tool is obtained when the torque of the sliding belt wheel is loaded clockwise to the first torque.

[0059] Further, the step S10 comprises: obtaining the counterclockwise displacement change value collected by the preset sensor when the torque of the sliding belt wheel is loaded counterclockwise to the first torque; obtaining the clockwise displacement change value collected by the preset sensor when the torque of the sliding belt wheel is loaded clockwise to the first torque; and determining the displacement change amount according to the counterclockwise displacement change value and the clockwise displacement change value.

[0060] It should be noted that the displacement change amount of the preset sensor when the sliding pulley is loaded from counterclockwise to clockwise to the first torque is that, in the angle detection process, the floating manipulator and the fixed manipulator clamp the workpiece at the same time, the floating manipulator clamps the workpiece, the motor loads the sliding pulley through the floating manipulator to a preset first torque T1 in counterclockwise direction, the detection tool fixed on the floating manipulator rotates a certain angle, when the torque reaches the specified T1 tolerance range, the counterclockwise displacement change value collected by the micrometer level displacement sensor arranged on the periphery of the sliding pulley detection tool and the sliding pulley shaft detection tool can be read respectively. When the motor loads the sliding pulley shaft through the floating manipulator to a preset first torque T1 in clockwise direction, the clockwise displacement change value collected by the micrometer level displacement sensor arranged on the periphery of the sliding pulley detection tool and the sliding pulley shaft detection tool can be read respectively.

[0061] It can be understood that, when the torque of the sliding pulley is loaded from counterclockwise to clockwise to the first torque, the displacement change amount is determined according to the counterclockwise displacement change value and the clockwise displacement change value collected by the micrometer level displacement sensor arranged on the periphery of the sliding pulley detection tool and the sliding pulley shaft detection tool.

[0062] Step S20: calculating the pulley angle and the pulley shaft angle corresponding to the sliding pulley according to the displacement change amount.

[0063] It should be noted that the pulley angle corresponding to the sliding pulley is calculated by the displacement change amount collected by the sensor installed on the periphery of the detection tool on the sliding pulley. The pulley shaft angle corresponding to the sliding pulley shaft is calculated by the displacement change amount collected by the sensor installed on the periphery of the detection tool on the sliding pulley shaft.

[0064] Step S30: calculating the relative angle between the pulley and the pulley shaft according to the pulley angle and the pulley shaft angle.

[0065] It should be noted that the relative angle between the sliding pulley and the pulley shaft is calculated by the preset formula, the pulley angle and the pulley shaft angle, so as to ensure high-precision measurement of the relative angle in the case of small gap amount.

[0066] In a specific implementation, a relative rotation gap exists between the pulley and the pulley shaft in the transmission system, and the size of the gap affects the steel belt transmission characteristics. Therefore, in the case of loading positive and negative 20 Nm torque, the gap amount cannot be greater than 4 minutes, and the device is required to meet the requirements of automated production, and the device technical indicators GRR<20%, and the repeat accuracy Cg>2.0. The above requirements have high accuracy and stability for the device, and have high challenges for the contact measurement method. Due to the limitation of the structure of the workpiece and the state of the automatic incoming material, the measurement space is limited, and in the process of loading torque, the gap amount between the pulley and the pulley shaft is extremely small, and due to the force, the centers of the two do not coincide, which is difficult to accurately measure and ensure stability, and the rotary encoder cannot be directly used for measurement. To solve the above problems, the present scheme proposes a CVT pulley rotation angle detection method based on a displacement sensor, which amplifies the measured gap through the lever principle, uses the displacement sensor to obtain the displacement change amount when the torque is loaded, and according to the geometric relationship between the displacement change amounts, the relative rotation angle between the pulley and the pulley shaft is obtained. Thus, the effective accuracy of the gap amount between the pulley and the pulley shaft is improved.

[0067] The embodiment obtains the displacement change amount of the preset sensor when the torque of the sliding pulley is loaded from counterclockwise to clockwise to the first torque; calculates the pulley rotation angle and the pulley shaft rotation angle corresponding to the sliding pulley according to the displacement change amount; and calculates the relative rotation angle between the pulley and the pulley shaft according to the pulley rotation angle and the pulley shaft rotation angle. Since the embodiment calculates the relative rotation angle between the pulley and the pulley shaft based on the displacement change amount collected by the preset sensor, the embodiment cannot directly measure the rotation angle of the pulley and the pulley shaft using the rotary encoder, and the embodiment realizes high-precision measurement of the relative rotation angle between the sliding pulley and the pulley shaft, and can meet the production requirements of automated batch detection.

[0068] Based on the above Figure 2 The first embodiment is shown, and a second embodiment of the pulley rotation angle detection method is proposed.

[0069] In the embodiment, the preset sensors include a first sensor, a second sensor and a third sensor arranged peripherally on the detection tool of the pulley; the preset sensors further include a fourth sensor, a fifth sensor and a sixth sensor arranged peripherally on the detection tool of the pulley shaft; the step of obtaining the counterclockwise displacement change values collected by the preset sensors when the pulley is loaded with the torque counterclockwise to the first torque includes: obtaining the first counterclockwise displacement change value, the second counterclockwise displacement change value, the third counterclockwise displacement change value, the fourth counterclockwise displacement change value, the fifth counterclockwise displacement change value and the sixth counterclockwise displacement change value collected by the first sensor to the sixth sensor when the pulley is loaded with the torque counterclockwise to the first torque; the step of obtaining the clockwise displacement change values collected by the preset sensors when the pulley is loaded with the torque clockwise to the first torque includes: obtaining the first clockwise displacement change value, the second clockwise displacement change value, the third clockwise displacement change value, the fourth clockwise displacement change value, the fifth clockwise displacement change value and the sixth clockwise displacement change value collected by the first sensor to the sixth sensor when the pulley is loaded with the torque clockwise to the first torque.

[0070] It should be noted that, with reference to Figure 3 The preset sensor schematic diagram shows that the first sensor S1 and the second sensor S2 are arranged at the same height with a first preset distance D1, the third sensor S3 is arranged at the same height with the first sensor S1 and the second sensor S2 in the direction perpendicular to the first sensor S1 and in the radial direction of the pulley, and the center between the first sensor S1 and the second sensor S2 is aligned with the center of the workpiece. Similarly, the fourth sensor S4, the fifth sensor S5 and the sixth sensor S6 are arranged around the detection tool of the pulley shaft, and the distance between the fourth sensor S4 and the fifth sensor S5 is a second preset distance D2.

[0071] In the specific implementation, the floating manipulator 1 and the fixed manipulator 2 clamp the workpiece at the same time. The manipulator 1 clamps the workpiece, the motor loads the pulley 1 counterclockwise with the set torque T1 through the floating manipulator 1, the detection tool 1 fixed on the manipulator 1 rotates, and the displacement change values S 11 , S 21 , S 31 of the three sensors S1, S2 and S3 arranged around the detection tool 1 are read respectively when the torque reaches the specified T1 tolerance range. 41 , S 51 , S 61 of the three sensors S4, S5 and S6 arranged around the detection tool 1 are read respectively when the torque reaches the specified T1 tolerance range. 41 , S 51 , S 61 of the three sensors S4, S5 and S6 arranged around the detection tool 1 are read respectively when the torque reaches the specified T1 tolerance range.12 , S 22 , S 32 , S 42 , S 52 , S 62 .

[0072] Further, the displacement change amount includes a first displacement change amount to a sixth displacement change amount, and the step of determining the displacement change amount according to the reverse-time displacement change value and the forward-time displacement change value includes: determining the first displacement change amount according to the first reverse-time displacement change value and the first forward-time displacement change value; determining the second displacement change amount according to the second reverse-time displacement change value and the second forward-time displacement change value; determining the third displacement change amount according to the third reverse-time displacement change value and the third forward-time displacement change value; determining the fourth displacement change amount according to the fourth reverse-time displacement change value and the fourth forward-time displacement change value; determining the fifth displacement change amount according to the fifth reverse-time displacement change value and the fifth forward-time displacement change value; and determining the sixth displacement change amount according to the sixth reverse-time displacement change value and the sixth forward-time displacement change value.

[0073] In a specific implementation, ΔS1 = |S 12 -S 11 |; ΔS2 = |S 22 -S 21 |; ΔS3 = |S 32 -S 31 |, ΔS1, ΔS2, and ΔS3 are respectively change amounts of the sensors S1, S2, and S3 when the reverse-time to forward-time torque is loaded to the first torque T1; ΔS4 = |S 42 -S 41 |; ΔS5 = |S 52 -S 51 |; and ΔS6 = |S 62 -S 61 |; ΔS4, ΔS5, and ΔS6 are respectively change amounts of the sensors S4, S5, and S6 when the reverse-time to forward-time torque is loaded to the first torque T1.

[0074] Further, the step of calculating the pulley rotation angle and the pulley shaft rotation angle corresponding to the sliding pulley according to the displacement change amount includes: calculating the pulley rotation angle corresponding to the sliding pulley according to the first change amount, the second change amount, and the third change amount; and calculating the pulley shaft rotation angle corresponding to the sliding pulley according to the fourth change amount, the fifth change amount, and the sixth change amount.

[0075] In a specific implementation, the pulley rotation angle corresponding to the sliding pulley is calculated according to a preset rotation angle calculation formula, the first change amount, the second change amount, and the third change amount; for example:

[0076] Sliding pulley rotation angle:

[0077] According to the preset rotation angle calculation formula, the fourth change amount, the fifth change amount and the sixth change amount, the rotation angle of the pulley corresponding to the sliding pulley is calculated; for example:

[0078] Pulley shaft rotation angle:

[0079] According to the above formula 1 and formula 2, the rotation angle of the pulley and the rotation angle of the pulley shaft can be calculated respectively.

[0080] In this embodiment, the displacement change amount of the preset sensor when the torque of the sliding pulley is loaded from counterclockwise to clockwise to the first torque is obtained; the rotation angle of the pulley corresponding to the sliding pulley is calculated according to the displacement change amount; the relative rotation angle between the pulley and the pulley shaft is calculated according to the rotation angle of the pulley and the rotation angle of the pulley shaft. Since this embodiment calculates the relative rotation angle between the pulley and the pulley shaft based on the displacement change amount collected by the preset sensor, this embodiment cannot directly measure the rotation angle of the pulley and the pulley shaft using the rotary encoder, and this embodiment realizes high-precision measurement of the relative rotation angle between the sliding pulley and the pulley shaft, and can meet the production requirements of automatic batch detection.

[0081] Reference Figure 4 , Figure 4 The flowchart of the third embodiment of the pulley rotation angle detection method of the present application is shown in the above Figure 2 Based on the first embodiment shown in the above

[0082] In this embodiment, step S30 comprises:

[0083] Step S301: Obtain the rotation angle direction corresponding to the pulley rotation angle and the pulley shaft rotation angle.

[0084] Step S302: According to the rotation direction, it is judged whether the rotation directions of the pulley and the pulley shaft are consistent, and the relative rotation angle between the pulley and the pulley shaft is calculated according to the judgment result.

[0085] Further, the step S302 comprises: when the rotation directions of the pulley and the pulley shaft are consistent, calculating the absolute value of the absolute value difference between the pulley rotation angle and the pulley shaft rotation angle, and determining the relative rotation angle between the pulley and the pulley shaft according to the absolute value of the absolute value difference; when the rotation directions of the pulley and the pulley shaft are inconsistent, calculating the sum of the absolute values of the pulley rotation angle and the pulley shaft rotation angle, and determining the relative rotation angle between the pulley and the pulley shaft according to the sum of the absolute values.

[0086] It should be noted that the relative rotation angle θ between the sliding pulley and the pulley shaft is calculated according to the relative motion relationship between the sliding pulley and the pulley shaft and a preset relative rotation angle calculation formula;

[0087] In a specific implementation, the relative rotation angle θ between the pulley rotation angle and the pulley shaft rotation angle is calculated according to the pulley rotation angle and the pulley shaft rotation angle and a preset relative rotation angle calculation formula; wherein the preset relative rotation angle calculation formula is:

[0088]

[0089] Wherein θ1 represents the pulley rotation angle, and θ2 represents the pulley shaft rotation angle.

[0090] The embodiment obtains the displacement change amount of the preset sensor when the torque of the sliding pulley is loaded from counterclockwise to clockwise to the first torque, calculates the pulley rotation angle and the pulley shaft rotation angle corresponding to the sliding pulley according to the displacement change amount, and calculates the relative rotation angle between the pulley and the pulley shaft according to the pulley rotation angle and the pulley shaft rotation angle. Since the relative rotation angle between the pulley and the pulley shaft is calculated based on the displacement change amount collected by the preset sensor in the embodiment, the rotation encoder cannot be directly used to measure the rotation angle of the pulley and the pulley shaft in the prior art. The embodiment realizes high-precision measurement of the relative rotation angle between the sliding pulley and the pulley shaft, and can meet the production requirements of automatic batch detection.

[0091] In addition, in order to achieve the above-mentioned purpose, the application further provides a storage medium, wherein the storage medium stores a pulley rotation angle detection program, and the pulley rotation angle detection program is executed by a processor to realize the steps of the pulley rotation angle detection method as described above.

[0092] Reference Figure 5 , Figure 5 The structure block diagram of the first embodiment of the pulley rotation angle detection device of the application is shown in the figure.

[0093] As Figure 5 shown, the pulley rotation angle detection device provided by the embodiment of the application comprises:

[0094] The displacement determination module 10 is configured to obtain the displacement change amount of the preset sensor when the torque of the sliding pulley is loaded from counterclockwise to clockwise to the first torque;

[0095] The rotation angle calculation module 20 is configured to calculate the pulley rotation angle and the pulley shaft rotation angle corresponding to the sliding pulley according to the displacement change amount.

[0096] The rotation angle calculation module 20 is further configured to calculate the relative rotation angle between the pulley and the pulley shaft according to the pulley rotation angle and the pulley shaft rotation angle.

[0097] The embodiment obtains the displacement change amount of the preset sensor when the torque of the sliding pulley is loaded from counterclockwise to clockwise to the first torque, calculates the pulley rotation angle and the pulley shaft rotation angle corresponding to the sliding pulley according to the displacement change amount, and calculates the relative rotation angle between the pulley and the pulley shaft according to the pulley rotation angle and the pulley shaft rotation angle. Since the relative rotation angle between the pulley and the pulley shaft is calculated based on the displacement change amount collected by the preset sensor in the embodiment, the rotation angle of the pulley and the pulley shaft cannot be directly measured by using a rotary encoder in the prior art. The embodiment realizes high-precision measurement of the relative rotation angle between the sliding pulley and the pulley shaft, and can meet the production requirements of automatic batch detection.

[0098] Further, the displacement determination module 10 is further used to obtain the counterclockwise displacement change value collected by the preset sensor when the torque of the sliding pulley is loaded to the first torque counterclockwise, obtain the clockwise displacement change value collected by the preset sensor when the torque of the sliding pulley is loaded to the first torque clockwise, and determine the displacement change amount according to the counterclockwise displacement change value and the clockwise displacement change value.

[0099] Further, the displacement determination module 10 is further used to obtain the first counterclockwise displacement change value, the second counterclockwise displacement change value, the third counterclockwise displacement change value, the fourth counterclockwise displacement change value, the fifth counterclockwise displacement change value, and the sixth counterclockwise displacement change value collected by the first sensor to the sixth sensor when the torque of the sliding pulley is loaded to the first torque counterclockwise, and obtain the first clockwise displacement change value, the second clockwise displacement change value, the third clockwise displacement change value, the fourth clockwise displacement change value, the fifth clockwise displacement change value, and the sixth clockwise displacement change value collected by the first sensor to the sixth sensor when the torque of the sliding pulley is loaded to the first torque clockwise.

[0100] Further, the displacement determination module 10 is further used to determine the first displacement change amount according to the first counterclockwise displacement change value and the first clockwise displacement change value, determine the second displacement change amount according to the second counterclockwise displacement change value and the second clockwise displacement change value, determine the third displacement change amount according to the third counterclockwise displacement change value and the third clockwise displacement change value, determine the fourth displacement change amount according to the fourth counterclockwise displacement change value and the fourth clockwise displacement change value, determine the fifth displacement change amount according to the fifth counterclockwise displacement change value and the fifth clockwise displacement change value, and determine the sixth displacement change amount according to the sixth counterclockwise displacement change value and the sixth clockwise displacement change value.

[0101] Further, the rotation angle calculation module 20 is further configured to calculate a belt wheel rotation angle corresponding to the sliding belt wheel according to the first change amount, the second change amount and the third change amount, and calculate a belt wheel shaft rotation angle corresponding to the sliding belt wheel according to the fourth change amount, the fifth change amount and the sixth change amount.

[0102] Further, the rotation angle calculation module 20 is further configured to obtain a rotation angle direction corresponding to the belt wheel rotation angle and the belt wheel shaft rotation angle, determine whether the rotation directions of the belt wheel and the belt wheel shaft are consistent according to the rotation angle direction, and calculate a relative rotation angle between the belt wheel and the belt wheel shaft according to a determination result.

[0103] Further, the rotation angle calculation module 20 is further configured to, when the rotation directions of the belt wheel and the belt wheel shaft are consistent, calculate an absolute value of a difference between the absolute values of the belt wheel rotation angle and the belt wheel shaft rotation angle, and determine the relative rotation angle between the belt wheel and the belt wheel shaft according to the absolute value of the difference; and when the rotation directions of the belt wheel and the belt wheel shaft are inconsistent, calculate a sum of the absolute values of the belt wheel rotation angle and the belt wheel shaft rotation angle, and determine the relative rotation angle between the belt wheel and the belt wheel shaft according to the sum of the absolute values.

[0104] It should be understood that the above is only an example, and does not constitute any limitation on the technical solutions of the present application. In specific applications, those skilled in the art can set it up according to the needs, and the present application does not limit this.

[0105] It should be noted that the above-described workflow is only illustrative and does not limit the scope of protection of the present application. In actual application, those skilled in the art can select part or all of them to achieve the purpose of the embodiment according to actual needs, which is not limited here.

[0106] In addition, technical details not described in detail in this embodiment can be referred to the belt wheel rotation angle detection method provided by any embodiment of the present application, which will not be described here.

[0107] It should be noted that in this paper, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or system. Without more limitation, the element defined by the sentence "includes a" does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0108] The above-mentioned embodiment numbers of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments. In the unit claims in which several devices are listed, several of the devices can be embodied by the same hardware item. The use of the words first, second, and third does not represent any order, and the words can be interpreted as names.

[0109] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by means of software and a necessary general hardware platform, and of course, can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory image (ROM) / random access memory (RAM), a magnetic disk, an optical disk), and includes a plurality of instructions for causing an end device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application.

[0110] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent flow transformation using the content of the specification and drawings of the present application, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A wheel turn angle detection method characterized by comprising: The belt wheel rotation angle detection method comprises the following steps: Obtaining the displacement change of the preset sensor when the torque of the sliding belt wheel is loaded from counterclockwise to clockwise to the first torque; According to the displacement change, the corresponding belt wheel rotation angle and belt wheel shaft rotation angle of the sliding belt wheel are calculated; According to the belt wheel rotation angle and the belt wheel shaft rotation angle, the relative rotation angle between the belt wheel and the belt wheel shaft is calculated; The preset sensor comprises a first sensor, a second sensor, and a third sensor arranged on the periphery of the belt wheel detection tool; the preset sensor further comprises a fourth sensor, a fifth sensor, and a sixth sensor arranged on the periphery of the belt wheel shaft detection tool; the displacement change comprises a first displacement change to a sixth displacement change; the step of obtaining the displacement change of the preset sensor when the torque of the sliding belt wheel is loaded from counterclockwise to clockwise to the first torque comprises: When the sliding belt wheel is loaded with torque counterclockwise to the first torque, the first counterclockwise displacement change value, the second counterclockwise displacement change value, the third counterclockwise displacement change value, the fourth counterclockwise displacement change value, the fifth counterclockwise displacement change value, and the sixth counterclockwise displacement change value collected by the first sensor to the sixth sensor are obtained; When the sliding belt wheel is loaded with torque clockwise to the first torque, the first clockwise displacement change value, the second clockwise displacement change value, the third clockwise displacement change value, the fourth clockwise displacement change value, the fifth clockwise displacement change value, and the sixth clockwise displacement change value collected by the first sensor to the sixth sensor are obtained; According to the first counterclockwise displacement change value and the first clockwise displacement change value, the first displacement change is determined; According to the second counterclockwise displacement change value and the second clockwise displacement change value, the second displacement change is determined; According to the third counterclockwise displacement change value and the third clockwise displacement change value, the third displacement change is determined; According to the fourth counterclockwise displacement change value and the fourth clockwise displacement change value, the fourth displacement change is determined; According to the fifth counterclockwise displacement change value and the fifth clockwise displacement change value, the fifth displacement change is determined; According to the sixth counterclockwise displacement change value and the sixth clockwise displacement change value, the sixth displacement change is determined; The step of calculating the relative rotation angle between the belt wheel and the belt wheel shaft according to the belt wheel rotation angle and the belt wheel shaft rotation angle comprises: Obtaining the rotation direction corresponding to the belt wheel rotation angle and the belt wheel shaft rotation angle; According to the rotation direction, it is judged whether the rotation directions of the belt wheel and the belt wheel shaft are consistent, and the relative rotation angle between the belt wheel and the belt wheel shaft is calculated according to the judgment result.

2. The wheel turn angle detecting method according to claim 1, wherein The step of calculating the belt wheel rotation angle and the belt wheel shaft rotation angle corresponding to the sliding belt wheel according to the displacement change comprises: According to the first displacement change, the second displacement change, and the third displacement change, the belt wheel rotation angle corresponding to the sliding belt wheel is calculated; According to the fourth displacement change, the fifth displacement change, and the sixth displacement change, the belt wheel shaft rotation angle corresponding to the sliding belt wheel is calculated.

3. The wheeled turn corner detection method according to any one of claims 1-2, wherein, The step of judging whether the belt wheel rotation angle and the belt wheel shaft rotation angle coincide according to the rotation direction, and calculating the relative rotation angle between the belt wheel and the belt wheel shaft according to the judgment result comprises: When the rotation direction of the pulley is consistent with the rotation direction of the pulley shaft, the absolute value of the absolute value difference between the pulley rotation angle and the pulley shaft rotation angle is calculated, and the relative rotation angle between the pulley and the pulley shaft is determined according to the absolute value of the absolute value difference; When the rotation direction of the pulley is inconsistent with the rotation direction of the pulley shaft, the absolute value sum of the pulley rotation angle and the pulley shaft rotation angle is calculated, and the relative rotation angle between the pulley and the pulley shaft is determined according to the absolute value sum.

4. A wheel turn angle detecting apparatus characterized by comprising: The pulley rotation angle detection device comprises a memory, a processor, and a pulley rotation angle detection program stored on the memory and executable on the processor, and the processor implements the steps of the pulley rotation angle detection method according to any one of claims 1 to 3 when executing the pulley rotation angle detection program.

5. A storage medium, characterized by The storage medium stores a pulley rotation angle detection program, and the processor implements the steps of the pulley rotation angle detection method according to any one of claims 1 to 3 when executing the pulley rotation angle detection program.

6. A wheel turn angle detecting device characterized by comprising: The pulley rotation angle detection device is used to execute the pulley rotation angle detection method according to any one of claims 1 to 3; the pulley rotation angle detection device comprises: A displacement determination module is configured to obtain a displacement change amount of a preset sensor when a torque of a sliding pulley is loaded from counterclockwise to clockwise to a first torque; A rotation angle calculation module is configured to calculate a pulley rotation angle and a pulley shaft rotation angle corresponding to the sliding pulley according to the displacement change amount; The rotation angle calculation module is further configured to calculate a relative rotation angle between the pulley and the pulley shaft according to the pulley rotation angle and the pulley shaft rotation angle.

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