A wireless ranging-based air spring state monitoring method and device

Abstract

The application discloses a kind of air spring state monitoring method and device based on wireless ranging, it is related to air spring monitoring technical field.The method includes obtaining the initial parameter data of actual launch pulse feedback by wireless ranging sensor;The theoretical parameter data of air spring inside itself is compared with the initial parameter data obtained in step 1, the state where current air spring is located is judged;According to current state, the actual parameter data of current is obtained by weighting calculation to center distance and surrounding edge distance;Based on the actual parameter data obtained, compare and analyze with theoretical parameter data, monitor the internal state of current air spring.The application integrates ranging sensor in air spring inside by using wireless ranging mode, can realize the monitoring of air spring inside by monitoring pulse data and histogram data and feasibility etc. raw data, solve the problem such as invalidation of measurement data.

Description

Technical Field

[0001] This invention relates to the field of air spring monitoring technology, and specifically to an air spring condition monitoring method and device based on wireless ranging. Background Technology

[0002] To adjust the height of an air spring, it is usually necessary to collect the air spring's height information. In existing technologies, this is generally done by adding an external contact height sensor, such as a swing arm height sensor. This type of sensor is exposed to the outside and directly exposed to harsh external environments. For example, in cold conditions, the sensor may freeze, causing the height sensor to fail, or it may be easily damaged by external forces, causing the measurement data to fail.

[0003] Chinese patent CN212046769U discloses an air spring device and a car, relating to the field of air suspension technology. The air spring device includes an upper cover, a lower column, an airbag, and a distance sensor. The lower column and the upper cover are spaced apart vertically. The upper end of the airbag is connected to the upper cover, and the lower end is connected to the lower column to form a sealed cavity. The sealed cavity is inflated and deflated to adjust the distance between the upper cover and the lower column. The distance sensor is located on the upper cover near the sealed cavity and is used to measure the distance between the upper cover and the lower column. Although this patent also describes wireless distance measurement using a built-in distance sensor, it does not specifically disclose the monitoring process used, nor does it achieve real-time monitoring of multiple parameters such as pulse data.

[0004] Therefore, it is necessary to design a method and device for monitoring the state of air springs based on wireless ranging. Summary of the Invention

[0005] This invention addresses the problems existing in the prior art by providing a method and device for monitoring the state of an air spring based on wireless ranging.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A method for monitoring the state of an air spring based on wireless ranging includes the following steps:

[0008] Step 1: Obtain the initial parameter data fed back after the actual transmitted pulse through the wireless ranging sensor;

[0009] Step 2: Compare the theoretical parameter data of the air spring itself with the initial parameter data obtained in Step 1 to determine the current state of the air spring;

[0010] Step 3: Based on the current state, perform a weighted calculation of the center distance and the surrounding edge distances to obtain the current actual parameter data;

[0011] Step 4: Based on the obtained actual parameter data, compare and analyze it with the theoretical parameter data to monitor the current internal state of the air spring.

[0012] Based on the above technical solution, further, in step 1, the process of measuring using a wireless ranging sensor includes the following steps:

[0013] Step 11: The wireless ranging sensor measures the object being measured and obtains initial parameter data;

[0014] Step 12: Transmit the measured data to the controller;

[0015] Step 13: The controller outputs the distance and the monitored data.

[0016] Based on the above technical solution, the obtained initial parameter data and theoretical parameter data both include at least pulse data, histogram data, height and distance data, and feasibility data.

[0017] Based on the above technical solution, further, in step 2, the initial distance between the bottom of the air spring and the distance sensor is set as the height distance data. Under each height distance data, the theoretical parameter data set by the wireless distance sensor is compared. During the monitoring process, when the actual measured data is inconsistent with the theoretical parameter data, it is determined that at least one of the following conditions has occurred inside the air spring: wrinkles, deformation, and damage.

[0018] Based on the above technical solution, further, in step 4, the internal state of the air spring includes the deformation of the bladder; when the bladder is deformed, the actual measured height distance data is inconsistent with the theoretical parameter data.

[0019] Based on the above technical solution, further, when the actual measured height and distance data are inconsistent with the theoretical parameter data, the following occurs: the actual height and distance value is not within the preset error range; and / or, the number of waveforms corresponding to the actual measured height and distance data is inconsistent with the number of waveforms corresponding to the theoretical parameter data.

[0020] Based on the above technical solution, the preset error range is further defined as 5%-10% of the theoretical parameter data.

[0021] Based on the above technical solution, further, in step 3, the center distance data measured at the center point is represented as the distance from the top of the air spring to the bottom of the airbag. The current actual parameter data is obtained by weighting the center distance with the distances of several surrounding edges.

[0022] Based on the above technical solution, further, in step 4, the internal state of the air spring includes rupture of the bladder. The conditions for rupture of the bladder are a significant decrease in the received photon pulses reflected back from the wireless ranging sensor and / or a significant increase in interference data.

[0023] Based on the above technical solution, further, in step 4, the internal state of the air spring includes the wear of the buffer block. The condition for judging the wear of the buffer block is whether there is a difference in the photon pulse data reflected by different materials when the ranging sensor is irradiated.

[0024] An air spring state monitoring device based on wireless ranging employs an air spring state monitoring method based on wireless ranging, comprising a bladder and an integrated module, wherein the integrated module is placed inside the bladder and the integrated module includes at least a wireless ranging sensor.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] (1) This invention integrates a ranging sensor inside the air spring using wireless ranging, thus effectively solving problems such as measurement data failure. Furthermore, the internal lighting environment of the air spring is relatively stable, allowing for monitoring of the air spring's internal structure by tracking raw data such as pulse data, histogram data, and feasibility. This enables the detection of issues like air spring bladder deformation, damage, and buffer block failure. In practical applications, the buffer block of an air spring is subject to impact wear until it fails. This method provides early warning of buffer block failure, assisting in the repair and replacement of the air spring.

[0027] (2) The wireless ranging method used in this invention is to directly measure the time of flight. A pulse wave is emitted via a VCSEL, and a SPAD receives the pulse wave reflected back from the target object. A TDC records the flight time of each received light signal, and then a histogram is plotted based on these flight times to form a set of raw data related to the flight time (distance). In use, this ranging method may cause mutual interference if multiple devices are used in the same scenario. However, the scenario in an air spring is relatively simple, completely avoiding this defect of the ranging method.

[0028] (3) The present invention changes the contact ranging sensor to a non-contact ranging sensor, which simplifies the connection relationship; the sensor is changed from external to internal, the ranging relationship changes, and it no longer directly contacts the external environment, making the ranging environment relatively stable; by analyzing the raw data obtained by the sensor and deriving through the algorithm, not only height data can be obtained, but also other data can be obtained, and the operating status of the air spring can be monitored in real time. Attached Figure Description

[0029] Figure 1 This is a flowchart of the monitoring method of the present invention;

[0030] Figure 2 This is a process diagram of the monitoring method of the present invention;

[0031] Figure 3 This is a histogram illustrating the theoretical data in the monitoring method of this invention.

[0032] Figure 4 This is a histogram comparison of actual parameter data in Embodiment 1 of the present invention;

[0033] Figure 5 This is a schematic diagram of 3x3 points in Embodiment 1 of the present invention;

[0034] Figure 6 This is a schematic diagram of the monitoring device of the present invention.

[0035] Reference numerals: 1. Capsule skin; 2. Integrated module; 3. Buffer block; 4. Upper end cap; 5. Lower end cap. Detailed Implementation

[0036] The present invention will be further described and illustrated below with reference to the accompanying drawings and specific embodiments. The technical features of each embodiment of the present invention can be combined accordingly, provided that there is no mutual conflict.

[0037] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. Technical features in the various embodiments of the present invention can be combined accordingly without mutual conflict.

[0038] In the description of this invention, it should be understood that when an element is considered to be "connected" to another element, it can be a direct connection to the other element or an indirect connection, i.e., there is an intermediate element. Conversely, when an element is said to be "directly" connected to another element, there is no intermediate element.

[0039] Example 1

[0040] like Figure 1 and Figure 2 As shown, a method for monitoring the state of an air spring based on wireless ranging includes the following steps:

[0041] Step 1: Obtain initial parameter data fed back after the actual transmitted pulse using a wireless ranging sensor. Specifically, the measurement process using a wireless ranging sensor includes the following steps: Step 11: The wireless ranging sensor measures the object being measured and obtains data; Step 12: The measured data is transmitted to the controller; Step 13: The controller outputs the distance and the monitored data. The obtained initial parameter data and theoretical parameter data both include at least pulse data, histogram data, height and distance data, and feasibility data.

[0042] Step 2: Compare the theoretical parameter data of the air spring's internal structure with the initial parameter data obtained in Step 1 to determine the current state of the air spring. Specifically, the initial distance between the bottom of the air spring and the ranging sensor is set as the height distance data. For each height distance data, the corresponding theoretical parameter data of the wireless ranging sensor is compared. During monitoring, if the actual measured data is inconsistent with the theoretical parameter data, it is determined that at least one of the following conditions has occurred: deformation, damage, or wear inside the air spring. The height distance parameter, pulse data, histogram, and feasibility of the air spring have certain characteristic relationships. Pulse data is the data fed back from the measured illumination area. Theoretically, the sensor illumination area is the bottom of the air spring. If there are wrinkles / deformations in the air spring skin, some of the light will be irradiated onto the skin, resulting in an increase in the number of photon pulses and multiple height distance data. The histogram data is a histogram formed by the number of photon pulses received by the ranging sensor and the time axis. The photon pulse is 940nm infrared light emitted by the ranging sensor. The curve below... Figure 3 and Figure 4 That is, histogram data, in which Figure 3 This is a histogram display of theoretical parameters. Confidence level is a theoretical reference data provided by the device for the current feedback distance, indicating the reliability of the distance data. The lower the confidence level, the less reliable the data. At each actual distance, the ranging sensor obtains theoretical pulse data, a histogram, confidence level, etc. When wrinkles, deformations, or damage occur inside the air spring, the acquired data will deviate from the aforementioned theoretical data. Analyzing these data deviations reveals the operating state of the air spring, i.e., whether it is damaged, deformed, etc.

[0043] Step 3: Based on the current state, the current actual parameter data is obtained by weighting the center distance and the surrounding edge distances. Specifically, the distance measured at the center point best represents the distance from the air spring cover to the bottom of the airbag. The current actual height distance is obtained by weighting this center distance with multiple surrounding edge distances. For example, traditional ranging sensors come in various types, including single-point ranging and multi-point ranging. This solution mainly uses a 3x3 point wireless ranging sensor as an example. The center point is the most central point among these nine points, that is, the physical center. Theoretically, this point best represents the height data measured by the ranging sensor. Figure 5 As shown, taking a 3x3 point ranging sensor as an example, all eight points except the center point can be considered edge points. The distance measured at the edge points is called the edge distance, which is determined by the number of points on the height sensor. Here, we take a 3x3 sensor as an example, and all points except the center point are considered edge points. Figure 5 In this diagram, "D" represents distance and "C" represents confidence level. Using this 3x3 point measurement distance and confidence level diagram, it can be seen that D6 differs too much from the other data, while the confidence level of D9 is too low to be displayed. When performing weighted calculations, [the following is used as a reference]. Figure 5 Taking a 3x3 grid as an example, the positions are marked from left to right and from top to bottom. These nine positions can be divided into three types: the center point is D5, the vertices are D1, D3, D7, and D9, and the side points are D2, D4, D6, and D8. The weights of the center point, vertices, and side points are set as a, b, and c, respectively; where a + 4 × b + 4 × c = 1; the distances measured at positions D1-D9 correspond to n1-n9, respectively; then the calculated actual parameter data is n = n1 × b + n2 × c + n3 × b + n4 × c + n5 × a + n6 × c + n7 × b + n8 × c + n9 × b. Simultaneously, combined with... Figure 4 Histograms were generated and compared for the data at the center point D5, the vertex D3, and the side point D4, respectively, which can intuitively show the distribution of pulse number under different conditions.

[0044] Step 4: Based on the obtained actual parameter data, compare and analyze it with the theoretical parameter data to monitor the current internal state of the air spring. Specifically, in Step 4, the internal state of the air spring includes the deformation of the bladder; when the bladder deforms, the actual measured height and distance data will be inconsistent with the theoretical parameter data. When the actual measured height and distance data are inconsistent with the theoretical parameter data, the following occurs: the actual height and distance value is outside the preset error range, which is 5%-10% of the theoretical parameter data; and / or, the number of waveforms corresponding to the actual measured height and distance data is inconsistent with the number of waveforms corresponding to the theoretical parameter data. For example, the actual measured distance is two or more, while theoretically there should only be one distance data. This is because the photon pulse illuminates an area, not a point, and the illuminated area may not be a plane. This can be seen in the histogram. Naturally, the obtained height data is not a single height. There is a height distance between points, while the height sensor can be understood as measuring the height data from a point to a surface. From a point to a surface, there are multiple data. Theoretically, the illuminated area is the bottom of the air spring. However, after the bladder is deformed, it may block part of the illuminated area. Naturally, the distance from the height sensor to the blocked part of the bladder and the distance from the height sensor to the unblocked part (the bottom of the air spring) will be displayed. This situation is abnormal. When this situation occurs, we can determine that the air spring is operating in an abnormal state.

[0045] The internal state of the air spring includes rupture of the bladder. The condition for rupture is a significant decrease in the number of photon pulses received from the wireless ranging sensor and / or a significant increase in interference data. Specifically, after the bladder ruptures, the wireless ranging sensor will no longer be in a completely dark environment. This is reflected in the measurement data as follows: the overall number of returned photon pulses is reduced compared to the characteristic value, and the number of photon pulses received by the ranging point on the damaged side is significantly reduced. At the same time, due to the introduction of an external light source, the interference throughout the day will also increase.

[0046] The internal state of the air spring includes the wear of the buffer block. This wear produces debris that falls to the bottom of the air spring. The material of this debris differs from that of the air spring's bottom. The photon data reflected by the ranging sensor from different materials also varies. These two conditions determine the wear condition of the buffer block. Specifically, during normal use, the buffer block is worn down by impacts, becoming relatively uniform powder distributed at the bottom of the air spring. The material of the buffer block differs from that of the air spring's bottom, and different materials have different reflectivities for photon pulses. These different reflectivities manifest as different numbers of received pulses under the same conditions. During buffer block wear, the difference between the height data measured at the edge ranging point and the theoretical characteristic height gradually increases, and the height data tends to decrease. The number of reflected photon pulses also differs significantly from the theoretical characteristic photon pulse data, and the number of photon pulses changes in the same direction. Different degrees of wear correspond to different height and received pulse differences. The controller can deduce the current degree of buffer block wear by analyzing these two sets of differences.

[0047] Example 2

[0048] Based on the air spring state monitoring method based on wireless ranging in Example 1, an air spring state monitoring device based on wireless ranging is implemented, such as... Figure 6 As shown, the device structure includes a bladder 1 and an integrated module 2. The integrated module 2 is located inside the bladder 1 and includes at least a wireless ranging sensor, a power processing circuit, a communication circuit, a control circuit, a processor, an acceleration sensor, a temperature sensor, and a pressure sensor. The bladder 1 has an upper end cover 4 and a lower end cover 5 at both ends. A buffer block 3 is connected to the upper end cover, and the integrated module 2 is mounted on the buffer block 3. The horizontal height of the integrated module 2 is lower than that of the upper end cover 4. The communication circuit transmits the monitored data to other relevant external devices via communication. Specifically, its working principle is as follows: the processor of the integrated module activates each sensor, which collects multiple data such as temperature, pressure, acceleration, and height inside the air spring. The processor of the integrated module processes the raw data returned by each sensor in conjunction with the monitoring method in Example 1 to obtain the current state inside the air spring and the vehicle's driving state. The processor of the integrated sensors transmits the processed data and the raw data from each sensor to the vehicle's main controller via a communication line. The vehicle's main controller can issue corresponding commands to control the integrated module to perform corresponding operations.

[0049] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions made by those skilled in the art to the technical solution of the present invention do not depart from the essence and scope of the technical solution of the present invention.

Claims

1. A method for monitoring the state of an air spring based on wireless ranging, characterized in that, Includes the following steps: Step 1: Obtain the initial parameter data fed back after the actual transmitted pulse through the wireless ranging sensor; the initial parameter data, theoretical parameter data, and actual parameter data all include at least pulse data, histogram data, altitude and distance data, and feasibility data; Step 2: Compare the theoretical parameter data of the air spring itself with the initial parameter data obtained in Step 1 to determine the current state of the air spring; wherein, the initial distance between the bottom of the air spring and the distance sensor is measured and set as the height distance data. Under each height distance data, the initial parameter data is compared with the theoretical parameter data set by the wireless distance sensor. During the monitoring process, when the actual measured initial parameter data is inconsistent with the theoretical parameter data, it is determined that the current state of the air spring is at least one of the following: deformation, breakage, and wear. Step 3: Based on the current state, calculate the current actual parameter data by weighting the center distance and the surrounding edge distances; where the center distance measured at the center point represents the distance from the top of the air spring to the bottom of the airbag; Step 4: Based on the obtained actual parameter data, compare and analyze it with the theoretical parameter data to monitor the current internal state of the air spring; the internal state of the air spring includes bladder rupture, and the conditions for bladder rupture are a significant decrease in the received photon pulses reflected back from the wireless ranging sensor and / or a significant increase in interference data.

2. The method for monitoring the state of an air spring based on wireless ranging according to claim 1, characterized in that, Step 1, the process of measuring using a wireless ranging sensor includes the following steps: Step 11: The wireless ranging sensor measures the object being measured and obtains initial parameter data; Step 12: Transmit the measured data to the controller; Step 13: The controller outputs the distance and the monitored data.

3. The method for monitoring the state of an air spring based on wireless ranging according to claim 1, characterized in that, In step 4, the internal state of the air spring includes the deformation of the bladder; when the bladder is deformed, the actual measured height and distance data are inconsistent with the theoretical parameter data.

4. The method for monitoring the state of an air spring based on wireless ranging according to claim 3, characterized in that, When the actual measured height and distance data are inconsistent with the theoretical parameter data, the following occurs: the actual height and distance value is not within the preset error range; and / or, the number of waveforms corresponding to the actual measured height and distance data is inconsistent with the number of waveforms corresponding to the theoretical parameter data.

5. The method for monitoring the state of an air spring based on wireless ranging according to claim 4, characterized in that, The preset error range is 5%-10% of the theoretical parameter data.

6. An air spring state monitoring device based on wireless ranging, employing the air spring state monitoring method based on wireless ranging as described in any one of claims 1-5, comprising a bladder and an integrated module, wherein the integrated module is placed inside the bladder and the integrated module includes at least a wireless ranging sensor.

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