Measurement device and measurement method

Abstract

The embodiment of the invention provides a measuring device and a measuring method, the measuring device is used for measuring the height of a suspension system, the suspension system comprises a swing arm arranged between a bearing structure of a vehicle and a wheel and a bushing arranged at the connecting part of the swing arm and the bearing structure or the wheel, and the bushing comprises a bushing inner ring and a bushing outer ring. The measuring device comprises a sensing unit and a processing unit, the sensing unit is used for acquiring relative rotation information between the lining inner ring and the lining outer ring, and the processing unit can be used for determining first indication information for indicating the height of the suspension system according to the relative rotation information. The suspension height measuring device can be suitable for new energy automobiles such as electric automobiles and hybrid electric automobiles, when the suspension height measuring device is used for measuring the suspension height, a specific support does not need to be designed according to the arrangement mode of the vehicle type and the suspension, adaptation work for the vehicle type and the suspension can be reduced, and the suspension height measuring device has good universality for measuring the suspension height.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of mechanical and electronic technology, and more specifically, to a measuring device and a measuring method. Background Art

[0002] With the rapid development of vehicle technology, air suspension and active suspension that can dynamically adjust stiffness and damping characteristics are increasingly used in vehicles. Compared with traditional suspension, air suspension and active suspension can adjust suspension height, improve body vibration, and enhance vehicle ride comfort. Whether the suspension height can be accurately detected will directly affect the performance of air suspension and active suspension, and thus affect the overall performance of the vehicle. Since the commonly used suspension height measuring devices are less versatile, in order to accurately detect the suspension height, complex adaptation work is often required for different models. Therefore, how to improve the versatility of the suspension height measuring device has become a problem that needs to be solved. Summary of the invention

[0003] The embodiments of the present application provide a measuring device and a measuring method, which can be applicable to a variety of different vehicle models and scenarios for measuring suspension height, and have good versatility for measuring suspension height.

[0004] In a first aspect, a measuring device is provided, which is used to measure the height of a suspension system arranged between a load-bearing structure and a wheel of a vehicle, wherein the suspension system includes a shock absorber, a swing arm and a bushing, wherein the swing arm is arranged between the load-bearing structure and the wheel, the shock absorber is arranged between the swing arm and the load-bearing structure, the bushing is arranged at the connection between the swing arm and the load-bearing structure and / or the wheel, and the bushing includes a bushing inner ring and a bushing outer ring. The measuring device includes a sensing unit and a processing unit, wherein the sensing unit is used to obtain relative rotation information between the bushing inner ring and the bushing outer ring; and the processing unit is used to determine first indication information according to the relative rotation information, wherein the first indication information is used to indicate the height of the suspension system.

[0005] When the vehicle adopts a load-bearing body, the load-bearing structure of the vehicle is the load-bearing body. When the vehicle adopts a non-load-bearing body, the load-bearing structure of the vehicle is the vehicle frame.

[0006] When the height of the suspension system changes, relative movement will occur between the swing arm and the wheel and / or the vehicle body, and the inner ring of the swing arm bushing (referred to as the inner ring) and the outer ring of the bushing (referred to as the outer ring) of the swing arm bushing will rotate relative to each other. Since the measuring device in the present application determines the height of the suspension system based on the relative rotation information between the inner ring of the bushing and the outer ring of the bushing, when it is applied to a vehicle to measure the height of the suspension, it is not necessary to design a specific bracket for each vehicle model and suspension arrangement, which can reduce the related adaptation work, which is reflected in that the measuring device has good versatility for measuring the height of the suspension, which is conducive to modularization and platformization.

[0007] In combination with the first aspect, in certain implementations of the first aspect, the sensing unit may include: a magnetic field direction sensing unit arranged at a first position of the first part of the bushing, the magnetic field direction sensing unit can be used to obtain change information of the magnetic field direction at the first position, the relative rotation information includes the change information of the magnetic field direction at the first position, and the first part of the bushing may be one of the inner ring of the bushing or the outer ring of the bushing.

[0008] In the present application, the relative rotation information between the inner ring and the outer ring of the bushing is obtained by obtaining the information on the change in the direction of the magnetic field, so that a more accurate measurement result of the suspension height can be obtained at a lower cost, and the difficulty of manufacturing and assembling the suspension height measurement device can be reduced.

[0009] In combination with the first aspect, in some implementations of the first aspect, the second portion of the bushing is provided with a magnetic element, which can be used to generate a magnetic field at the first position, and the second portion of the bushing is the other of the inner ring of the bushing or the outer ring of the bushing.

[0010] In one embodiment, the suspension height measuring device may include a magnetic element, and the magnetic element and the magnetic field direction sensing unit rotate along with the rotation of the inner ring and the outer ring of the swing arm bushing respectively.

[0011] In another embodiment, the suspension height measuring device may not include magnetic elements. For example, the specifications and arrangement of corresponding magnetic elements may be indicated in the instruction manual of the measuring device, so that the relative movement between the inner ring and the outer ring of the swing arm bushing can be determined according to the change in the direction of the magnetic field.

[0012] In combination with the first aspect, in certain implementations of the first aspect, the magnetic field direction sensing unit and the magnetic element may be arranged relatively to each other along the axial direction of the bushing, and the magnetization direction of the magnetic element may be perpendicular to the axial direction of the bushing.

[0013] In the present application, through the above arrangement, the change information of the magnetic field direction can more accurately reflect the rotation between the inner ring and the outer ring of the swing arm bushing, and the accuracy of the measurement result of the suspension height can be improved.

[0014] In combination with the first aspect, in certain implementations of the first aspect, in the axial direction of the bushing, the projection area of ​​the magnetic element is larger than the projection area of ​​the magnetic field direction sensing unit, and the ratio of the projection area of ​​the magnetic element to the projection area of ​​the magnetic field direction sensing unit is greater than or equal to a first threshold.

[0015] In one embodiment, in the axial direction of the bushing, the projected area of ​​the magnetic element is more than 5 times that of the magnetic field direction sensing unit. In some possible implementations, the first threshold value may also be other values ​​such as 8 or 10.

[0016] In another embodiment, the first threshold value can be determined according to the magnetic field distribution of the plane perpendicular to the axis of the bushing and used to arrange the magnetic field direction sensing unit. For example, in the plane, the better the uniformity of the magnetic field strength at the installation position of the magnetic field direction sensing unit and its surrounding area, the smaller the value (such as 5) can be used for the first threshold value; and when the uniformity of the magnetic field strength is poor, the first threshold value can be used for a larger value (such as 8, 9).

[0017] In the present application, since the projection area of ​​the magnetic element in the axial direction of the bushing is much larger than the projection area of ​​the magnetic field direction sensing unit, the measurement error caused by installation deviation, vibration and other factors can be reduced.

[0018] In combination with the first aspect, in certain implementations of the first aspect, the measuring device may further include a shell connected to the outer ring of the bushing, and the magnetic field direction sensing unit is fixed to the shell.

[0019] Since the magnetic field direction sensing unit is fixed to the housing connected to the outer ring of the bushing, the magnetic field direction sensing unit can move with the movement of the outer ring of the swing arm bushing; correspondingly, since the magnetic element is arranged on the inner ring of the bushing, the magnetic element can move with the movement of the inner ring of the bushing. In the present application, by adopting a housing that can be adapted to a commonly used bushing and arranging the magnetic field direction sensing unit in the above manner, it is conducive to realizing the platformization and modularization of the suspension height measurement device.

[0020] In combination with the first aspect, in certain implementations of the first aspect, the sensing unit may include: at least one pair of magnetic field direction sensing units disposed on a first end surface of the first portion of the bushing and uniformly distributed circumferentially.

[0021] In the present application, at least one pair of magnetic field direction sensing units are evenly arranged circumferentially on any side end surface of the outer ring or the inner ring of the bushing. By sensing the change of the magnetic field direction through the two magnetic field direction sensing units that constitute a pair of magnetic field direction sensing units, the measurement error caused by installation deviation, vibration and other factors can be reduced.

[0022] In combination with the first aspect, in certain implementations of the first aspect, the measuring device may further include: at least one pair of magnetic elements arranged on the first end surface of the second part of the bushing and uniformly distributed circumferentially, the at least one pair of magnetic elements corresponding one-to-one to at least one pair of magnetic field direction sensing units, and the second part of the bushing is the other of the inner ring of the bushing or the outer ring of the bushing.

[0023] Exemplarily, the first end face of the first part of the bushing and the first end face of the second part of the bushing are located on the same side of the bushing. For example, the first end face of the bushing inner ring faces the rear of the vehicle, and correspondingly, the first end face of the bushing outer ring also faces the rear of the vehicle.

[0024] In the present application, by providing a pair of magnetic elements corresponding to a pair of magnetic field direction sensing units, the measurement error caused by uneven magnetic field distribution can be reduced.

[0025] In combination with the first aspect, in certain implementations of the first aspect, at least one pair of magnetic field direction sensing units includes a first magnetic field direction sensing unit pair, and the induction directions of the two magnetic field direction sensing units in the first magnetic field direction sensing unit pair are the same; at least one pair of magnetic elements includes a first magnetic element pair, and the first magnetic poles of the magnetic elements in the first magnetic element pair point to the axis of the bushing, and the angle between the magnetization direction of the magnetic elements in the first magnetic element pair and the induction direction of the magnetic field direction sensing units in the first magnetic field direction sensing unit pair can be greater than or equal to the second threshold.

[0026] Exemplarily, the first magnetic field direction sensing unit pair is any pair of magnetic field direction sensing units. The two magnetic field direction sensing units in the first magnetic field direction sensing unit pair are distributed on both sides of the bushing axis and are arranged opposite to each other, for example, the south poles (or north poles) of the two units both point to the bushing axis direction.

[0027] Exemplarily, the second threshold may be 85°, 88°, or other values. For example, the magnetization direction of the magnetic element in the first magnetic element pair is perpendicular to the induction direction of the magnetic field direction induction unit in the first magnetic field direction induction unit pair.

[0028] In one embodiment, the at least one pair of magnetic field direction sensing units may include a magnetic field direction sensing unit pair #1 and a magnetic field direction sensing unit pair #2, and correspondingly, the at least one pair of magnetic elements includes a magnetic element pair #1 and a second magnetic element pair #2. The induction directions of the magnetic field direction sensing units #1 and #2 in the magnetic field direction sensing unit pair #1 are the same, and the two are evenly arranged along the circumference. The induction directions of the magnetic field direction sensing units #3 and #4 in the magnetic field direction sensing unit pair #2 are the same, and are evenly arranged along the circumference. The magnetic field direction sensing unit and the second magnetic field direction sensing unit may be unevenly arranged along the circumference. For example, the magnetic field direction sensing units #1, #2, #3 and #4 are arranged on the same circumference based on the axis of the bushing, and the arc length between the magnetic field direction sensing units #1 and #3 may be less than the arc length between the magnetic field direction sensing units #2 and #3. The induction directions of the magnetic field direction sensing units #1 and #3 may be the same clockwise or counterclockwise, or the induction directions of the two may be opposite.

[0029] In actual scenarios, factors such as installation and vibration will inevitably lead to eccentricity between the first magnetic field direction sensing unit and the first magnetic element pair. In the present application, when the above arrangement is adopted, the error caused by eccentricity caused by installation and vibration can be reduced.

[0030] In combination with the first aspect, in certain implementations of the first aspect, the difference between the first distance and the second distance is less than a third threshold value, and the first distance and the second distance are respectively the distances between the two magnetic field direction sensing units in the first magnetic field direction sensing unit pair and the axis of the bushing; and / or, the difference between the third distance and the fourth distance is less than a fourth threshold value, and the third distance and the fourth distance are respectively the distances between the two magnetic elements in the first magnetic element pair and the axis of the bushing.

[0031] In one embodiment, a magnetic field direction sensing unit and its corresponding magnetic field direction sensing unit are both arranged on the same end face of the outer ring of the bushing and are distributed on the same circumference based on the bushing axis. Alternatively, the two are not distributed on the same circumference, but the difference in radius of the two circumferences where the two are respectively located is less than or equal to a third threshold value (such as 3 mm, 5 mm).

[0032] In another embodiment, the two magnetic elements in a first magnetic element pair are both arranged on the same end face of the inner ring of the bushing and are distributed on the same circumference based on the bushing axis. Alternatively, the two magnetic elements are not distributed on the same circumference, but the radii of the two circumferences where the two magnetic elements are located are less than or equal to the fourth threshold value (such as 3 mm, 4 mm). The third threshold value and the fourth threshold value may also be other values, such as 6 mm, which is not limited in this application.

[0033] In the present application, by setting the two magnetic elements in the same magnetic element pair on two circles of similar size, and / or setting the two magnetic field direction sensing units in the same magnetic field direction sensing unit pair on two circles of similar size, the interference of the uneven distribution of magnetic field strength on the measurement results during the relative rotation of the inner ring and outer ring of the bushing can be reduced.

[0034] In combination with the first aspect, in some implementations of the first aspect, the magnetic field direction sensing unit includes a magnetoresistive sensor or a plurality of magnetic induction coils.

[0035] In the present application, by adopting a magnetoresistive sensor or a magnetic induction coil, the measuring device can be realized in a simpler manner, which can reduce the cost and difficulty of designing and manufacturing the measuring device.

[0036] In combination with the first aspect, in some implementations of the first aspect, the magnetic field intensity at the first position is greater than or equal to a fifth threshold.

[0037] For example, the magnetic field strength at the installation position of the magnetic field direction sensing unit may be greater than or equal to 28 or 30 millitesla. The fifth threshold value may also be other values, such as 25 millitesla.

[0038] In the present application, by ensuring the magnetic field strength at the installation position of the magnetic field direction sensing unit, the interference of insufficient magnetic field strength on the measurement result can be reduced.

[0039] In combination with the first aspect, in certain implementations of the first aspect, the sensing unit includes at least one strain sensing unit, and the at least one strain sensing unit is arranged on the end face of the vibration-damping rubber of the bushing, for measuring the shape change information of the vibration-damping rubber, the vibration-damping rubber is arranged between the inner ring of the bushing and the outer ring of the bushing, and the relative rotation information between the inner ring of the bushing and the outer ring of the bushing includes the deformation information of the vibration-damping rubber.

[0040] When the inner and outer rings of the suspension arm bushing rotate relative to each other, the damping rubber between the two will deform. In the present application, the height of the suspension is determined based on the deformation of the damping rubber. This allows for more accurate suspension height information to be obtained at a lower cost, and can reduce the difficulty of manufacturing and assembling the suspension height measuring device.

[0041] In a second aspect, a measurement method is provided, the method being used to measure the height of a suspension system arranged between a load-bearing structure and a wheel of a vehicle, the suspension system comprising a shock absorber, a swing arm and a bushing, the swing arm being arranged between the load-bearing structure and the wheel, the shock absorber being arranged between the swing arm and the load-bearing structure, the bushing being arranged at a connection position between the swing arm and the load-bearing structure and / or the wheel, the bushing comprising a bushing inner ring and a bushing outer ring, the measurement method comprising: obtaining relative rotation information between the bushing inner ring and the bushing outer ring; determining first indication information based on the relative rotation information, the first indication information being used to indicate the height of the suspension system.

[0042] In combination with the second aspect, in certain implementations of the second aspect, obtaining the relative rotation information between the inner ring of the bushing and the outer ring of the bushing may include: obtaining the change information of the magnetic field direction at the first position through a magnetic field direction sensing unit, the magnetic field direction sensing unit is arranged in the first part of the bushing, the magnetic field at the first position is generated by a magnetic element arranged in the second part of the bushing, the first part of the bushing is one of the inner ring of the bushing or the outer ring of the bushing, the second part of the bushing is the other of the inner ring of the bushing or the outer ring of the bushing, and the relative rotation information includes the change information of the magnetic field direction.

[0043] In combination with the second aspect, in certain implementations of the second aspect, the magnetic field direction sensing unit and the magnetic element are arranged relatively to each other along the axial direction of the bushing, and the magnetization direction of the magnetic element is perpendicular to the axial direction of the bushing.

[0044] In combination with the second aspect, in certain implementations of the second aspect, in the axial direction of the bushing, the projection area of ​​the magnetic element is larger than the projection area of ​​the magnetic field direction sensing unit, and the ratio of the projection area of ​​the magnetic element to the projection area of ​​the magnetic field direction sensing unit is greater than or equal to a first threshold.

[0045] In combination with the second aspect, in some implementations of the second aspect, the magnetic field direction sensing unit is disposed in the first part of the bushing, including: the magnetic field direction sensing unit is fixed to a shell connected to the outer ring of the bushing.

[0046] In combination with the second aspect, in certain implementations of the second aspect, the first position includes multiple positions, and obtaining the change information of the magnetic field direction at the first position through a magnetic field direction sensing unit includes: obtaining the change information of the magnetic field direction at the multiple positions through at least one pair of magnetic field direction sensing units; wherein the at least one pair of magnetic field direction sensing units are arranged on the first end surface of the first part of the bushing and are uniformly distributed along the circumferential direction, and the magnetic fields at the multiple positions are generated by at least one pair of magnetic elements arranged on the first end surface of the second part of the bushing and uniformly distributed along the circumferential direction, and the at least one pair of magnetic field direction sensing units corresponds one-to-one to the at least one pair of magnetic elements.

[0047] In combination with the second aspect, in certain implementations of the second aspect, the at least one pair of magnetic field direction sensing units includes a first magnetic field direction sensing unit pair, the induction directions of the two magnetic field direction sensing units in the first magnetic field direction sensing unit pair are the same, the at least one pair of magnetic elements includes a first magnetic element pair, the first magnetic poles of the magnetic elements in the first magnetic element pair point to the axis of the bushing, and the angle between the magnetization direction of the magnetic elements in the first magnetic element pair and the induction direction of the magnetic field direction sensing units in the first magnetic field direction sensing unit pair is greater than or equal to a second threshold.

[0048] In combination with the second aspect, in certain implementations of the second aspect, the difference between the first distance and the second distance is less than a third threshold value, and the first distance and the second distance are respectively the distances between the two magnetic field direction sensing units in the first magnetic field direction sensing unit pair and the axis of the bushing; and / or the difference between the third distance and the fourth distance is less than a fourth threshold value, and the third distance and the fourth distance are respectively the distances between the two magnetic elements in the first magnetic element pair and the axis of the bushing.

[0049] In combination with the second aspect, in some implementations of the second aspect, the magnetic field intensity at the first position is greater than or equal to a fifth threshold.

[0050] In combination with the second aspect, in certain implementations of the second aspect, the obtaining of the relative rotation information between the inner ring of the bushing and the outer ring of the bushing includes: obtaining shape transformation information of a vibration-damping rubber through at least one strain sensing unit, the vibration-damping rubber being arranged between the outer ring of the bushing and the inner ring of the bushing, and the at least one strain sensing unit being arranged on the end face of the vibration-damping rubber; determining the relative rotation information between the inner ring of the bushing and the outer ring of the bushing based on the shape change information of the vibration-damping rubber.

[0051] In a third aspect, a measuring device is provided, which includes a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the measuring device can execute the method in any possible implementation of the second aspect above.

[0052] In a fourth aspect, a system is provided, which includes a suspension system and a measuring device in any possible implementation of the first aspect or the third aspect.

[0053] In a fifth aspect, a vehicle is provided, comprising wheels, a load-bearing structure and a suspension system, and a measuring device in any possible implementation of the first aspect or the third aspect.

[0054] In a sixth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores instructions, and when the instructions are executed by a processor, the processor implements the method in any possible implementation manner of the second aspect.

[0055] In a seventh aspect, a computer program product is provided, the computer program product comprising: a computer program code, when the computer program code is run on a computer, the computer executes the method in any possible implementation of the second aspect.

[0056] In an eighth aspect, a chip is provided, the chip comprising a circuit, the circuit being used to execute the method in any possible implementation of the second aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 is a schematic diagram of an application scenario of a suspension system provided in an embodiment of the present application;

[0058] Figure 2 It is a schematic diagram of the structure of a conventional suspension height measuring device;

[0059] Figure 3 is a schematic diagram of an application scenario of a measurement device provided in an embodiment of the present application;

[0060] Figure 4 is a structural schematic diagram of a measuring device provided in an embodiment of the present application;

[0061] Figure 5 is a schematic diagram of a working scenario of a magnetic field direction sensing unit provided in an embodiment of the present application;

[0062] Figure 6 is a schematic structural diagram of another measuring device provided in an embodiment of the present application;

[0063] Figure 7 is a schematic diagram of another working scenario of a magnetic field direction sensing unit provided in an embodiment of the present application;

[0064] Figure 8 is a schematic diagram of a working scenario of a measuring device provided in an embodiment of the present application;

[0065] Fig. 9 is a schematic structural diagram of another measuring device provided in an embodiment of the present application;

[0066] Fig.10 It is a process diagram of a measurement method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0067] In the description of the present application, it should be noted that, unless otherwise specified, "multiple" means more than two; the terms "upper", "lower", "left", "right", "inside", "outside", etc., indicating the orientation or positional relationship, are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. "Vertical" is not strictly vertical, but is within the allowable error range. "Parallel" is not strictly parallel, but is within the allowable error range.

[0068] It should also be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0069] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0070] The suspension system may include a plurality of connecting devices arranged between the vehicle's load-bearing structure and the wheels, which can transmit the force and torque between the wheels and the vehicle body, can buffer the impact force transmitted to the vehicle body by the road surface through the wheels, and reduce the vibration caused by road surface excitation.

[0071] Figure 1 is a schematic diagram of an application scenario of a suspension system provided in an embodiment of the present application. Figure 1As shown, the suspension system 100 can mainly include an upper swing arm 103, a lower swing arm 104, a shock absorber 105, a spring 106, and a swing arm bushing (107, 108, 109, 110). The shock absorber 105 can provide a damping force to attenuate vibration, and the spring 106 can support the weight of the vehicle body and provide a buffering function. The upper swing arm 103, the lower swing arm 104 and the swing arm bushing (107, 108, 109, 110) constitute a guide mechanism, which can guide the movement of the suspension by connecting the wheel 101 to the vehicle's load-bearing structure 102. For a non-load-bearing vehicle body, the load-bearing structure is a frame; for a load-bearing vehicle body, the vehicle's load-bearing structure is a vehicle body. The following description takes the load-bearing structure 102 as a frame as an example. For scenarios involving load-bearing vehicles, the frame in the following description can be adaptively replaced with a vehicle body.

[0072] Compared with traditional suspension, air suspension can improve ride comfort by using air springs with variable stiffness characteristics. Air suspension can also adjust the height of the vehicle body by adjusting the length of the air spring. Active suspension can dynamically and adaptively adjust its stiffness and / or damping characteristics according to the driving conditions of the vehicle, thereby improving the vehicle's handling stability and driving smoothness.

[0073] To achieve the above effect, compared with the traditional suspension system, the air suspension and active suspension may further include a suspension height measuring device 120 (such as Figure 1 As shown) and electronic control unit, and actuator ( Figure 1 (not shown). The suspension height measuring device 120 can measure the suspension height and obtain suspension height information. The electronic control unit can control the actuator to move according to the obtained suspension height information, so as to realize the functions of active vibration reduction and height adjustment. For example, for air suspension, the actuator may include pneumatic components such as air pumps and air valves, which can be used to adjust the length of the air spring to achieve the adjustment of the vehicle body height. For another example, for active suspension, the actuator may include main force generating components such as motors and hydraulic cylinders, which can be used to realize the function of active vibration reduction. The following is combined with Figure 2 Briefly introduce the suspension height measuring device.

[0074] For example, Figure 2 Schematic diagram of the structure of the suspension height measuring device 120. Figure 2 As shown, the suspension height measuring device 120 may include a pull rod 121, a swing rod 122, an angle sensor 123 and a bracket 124, as well as connecting members ( Figure 2(not shown). The swing rod 122 and the pull rod 121 can rotate relative to each other along the axis 127, and the swing rod 122 and the angle sensor 123 can rotate relative to each other along the axis 128. The bracket 124 can be fixed to the frame 102, and the pull rod 121 can be fixed to the upper swing arm or the lower swing arm by fasteners (such as bolts), or by welding or riveting.

[0075] In one embodiment, Figure 1 Taking the illustrated scenario as an example, when the suspension height changes, the relative position of the upper swing arm 103 and the frame 102 changes. For the suspension height measuring device 120, since the pull rod 121 is fixed to the upper swing arm 103 and the bracket 124 is fixed to the frame 102, the swing rod 122 in the suspension height measuring device will rotate relative to the angle sensor 123 around the axis 128. According to the rotation angle of the swing rod 122 relative to the angle sensor 123, combined with the kinematic relationship between the various components, the suspension height can be converted.

[0076] However, due to the limitation of the installation position and the layout space, when the suspension height measuring device is arranged on different vehicle models, the bracket 124, the pull rod 121, etc. need to be adaptively designed, resulting in poor versatility of the suspension height measuring device. In addition, when the swing arm rotates relative to the angle sensor, additional actuation space is required, which limits the installation position of the suspension height measuring device and increases the difficulty of arranging the suspension height measuring device.

[0077] In view of this, the embodiments of the present application provide a measuring device and a measuring method, which can be applicable to a variety of different vehicle models and suspension height measurement scenarios, have good versatility for measuring suspension height, and are easy to arrange and install.

[0078] For example, Figure 3 Schematic diagram of an application scenario of a measurement device provided in an embodiment of the present application. Figure 3 As shown in (a), the swing arm bushing (107, 108, 109, 110) may include a bushing outer ring, a bushing inner ring and a vibration-damping rubber arranged therebetween.

[0079] Combination Figure 1 In the scenario shown, since the swing arm bushing is arranged at the connection portion between the swing arm (103, 104) and the wheel 101 and / or the frame 102, when the suspension height changes, such as Figure 3 As shown in (a), the relative movement between the swing arm (103, 104) and the wheel 101 and / or the frame 102 will drive the inner ring and the outer ring of the bushing to rotate relative to each other, and accordingly, the vibration-damping rubber will be torsionally deformed.

[0080] like Figure 3As shown in (b) of FIG. 1 , the measuring device 150 can be used to measure the height of the suspension, and the measuring device 150 can include a sensing unit 151 and a processing unit 152. The sensing unit 151 can be used to obtain the relative rotation information between the inner ring of the bushing and the outer ring of the bushing; the processing unit 152 can be used to determine the first indication information according to the relative rotation information, and the first indication information is used to indicate the height of the suspension system. For example, Figure 1 Taking the scenario shown as an example, based on the kinematic relationship between the wheel 101, the swing arm (103, 104), the frame 102, the shock absorber 105, the spring 106 and other components, the change in the height of the suspension system can be calculated according to the relative rotation information between the inner ring of the bushing and the outer ring of the bushing. The changed suspension height can be obtained according to the suspension height in the initial state and the change in the suspension height.

[0081] Exemplarily, the relative rotation information between the inner ring of the bushing and the outer ring of the bushing can be measured in a variety of ways. For example, a magnetic element and a magnetic field direction sensing unit can be respectively provided on the outer ring of the bushing and the inner ring of the bushing, so that the two can move with the movement of the outer ring of the bushing and the inner ring of the bushing respectively. For another example, the relative movement information between the outer ring of the bushing and the inner ring of the bushing can be determined according to the torsional deformation of the vibration damping rubber.

[0082] In one embodiment, the measuring device 150 can be arranged around the swing arm bushing, and communicate with the processing devices such as the vehicle domain controller and the autonomous driving domain controller through the vehicle's communication circuit. For example, the processing unit 152 can calculate the height of the suspension system based on the relative rotation information between the inner ring of the bushing and the outer ring of the bushing, and accordingly, the indication information sent by the measuring device 150 to the domain controller includes the height of the suspension system. For another example, the indication information sent by the measuring device 150 to the domain controller may include the relative rotation angle between the inner ring of the bushing and the outer ring of the bushing, and accordingly, the domain controller can calculate the height of the suspension system based on the indication information.

[0083] The following combination Figures 4 to 9 The measuring device involved in the embodiment of the present application is further described.

[0084] For example, Figure 4 It is a structural schematic diagram of a measuring device provided in an embodiment of the present application. Figure 4 Function and Figure 1 The same or similar parts are used Figure 1 The measuring device 200 may be regarded as an implementation of the measuring device 150 .

[0085] Assuming that the measuring device 200 is provided on the swing arm bushing 107 , the height of the suspension can be determined based on the relative rotation information between the bushing inner ring 1073 and the bushing outer ring 1071 . Figure 4It can be understood as a cross-sectional view of the cross section of the swing arm bushing 107 (the cross section is along the x direction).

[0086] In one embodiment, Figure 1 Taking the illustrated scenario as an example, the outer ring 1071 of the bushing can be fixed to the upper swing arm 103; the inner ring 1073 of the bushing can be fixed to the frame 102 by fasteners (such as bolts 111), such as Figure 4 In this case, when the suspension height changes, the relative positions of the swing arm 103, the vehicle frame 102 and the wheel 101 change. For the swing arm bushing 107, since the bushing outer ring 1071 and the swing arm 103 are relatively stationary, and the bushing inner ring 1073 and the vehicle frame 102 are relatively stationary, the relative positions of the bushing outer ring 1071 and the bushing inner ring 1073 will change, and the vibration damping rubber 1072 will be twisted.

[0087] Exemplarily, the measuring device 200 may include a magnetic field direction sensing unit 202 and a processing unit 203. The magnetic field at the installation location of the magnetic field direction sensing unit 202 may be generated by the magnetic element 201. The magnetic field direction sensing unit 202 may sense changes in the magnetic field at its location.

[0088] In one embodiment, the magnetic element 201 and the magnetic field direction sensing unit 202 can be respectively disposed on the bushing outer ring 1071 and the bushing inner ring 1073. In other words, the magnetic element 201 and the magnetic field direction sensing unit 202 can respectively remain relatively stationary with the bushing outer ring 1071 and the bushing inner ring 1073. By sensing the change in the magnetic field direction through the magnetic field direction sensing unit 202, the relative rotation information between the bushing outer ring 1071 and the bushing inner ring 1073 can be determined.

[0089] In another embodiment, Figure 4 As shown, the magnetic element 201 and the magnetic field direction sensing unit 202 can be coaxially arranged, for example, relatively arranged along the bushing axis 207 , and the magnetization direction of the magnetic element 201 can be perpendicular to the bushing axis 207 .

[0090] Exemplarily, the magnetic element 201 may belong to the measuring device 200 , or may not belong to the measuring device 200 .

[0091] In one embodiment, the measuring device 200 may not include the magnetic element 201. For example, the measuring device 200 only includes the processing unit 203 and the magnetic field direction sensing unit 202 which is relatively stationary with the outer ring 1071 of the bushing. In this scenario, the specifications, installation position and other information of the magnetic element 201 that can be adapted to the magnetic field direction sensing unit 202 can be indicated in the product manual, user manual and other guidance documents of the measuring device 200. By adapting the corresponding magnetic element, the change of the magnetic field direction sensed by the magnetic field direction sensing unit 202 can reflect the relative rotation information between the outer ring 1071 of the bushing and the inner ring 1073 of the bushing.

[0092] For example, Figure 4 As shown, the magnetic field direction sensing unit 202 and the processing unit 203 can be fixed to the housing 204, and the housing 204 and the bushing outer ring 1071 can be connected by means of buckles, bolts, etc.; the magnetic element 201 can be mechanically connected to the fastener 111 and the bushing inner ring 1073 by means of welding, riveting, buckles, etc., and then fixed to the frame 102. In this scenario, when the suspension height changes and causes the relative position of the upper swing arm 103 and the frame 102 to change, the relative position between the magnetic element 201 that remains relatively still with the frame 102 and the magnetic field direction sensing unit 202 that remains relatively still with the upper swing arm 103 changes, and the processing unit 203 can determine the change in the suspension height based on the level signal generated thereby.

[0093] In one embodiment, the magnetic element 202 can be fixed to the housing 204, and the magnetic field direction sensing unit 202 and the processing unit 203 can be connected to the fastener 111 by gluing, clamping, etc., and then remain relatively still with the bushing inner ring 1073 and the frame 102.

[0094] In yet another embodiment, the measuring device 200 is also disposed on the swing arm bushing 108 , 109 or 110 .

[0095] For example, Figure 5 Schematic diagram of a working scenario of a magnetic field direction sensing unit provided in an embodiment of the present application. Figure 5 As shown in (a) of FIG. 8 , the magnetic element 201 , the magnetic field direction sensing unit 202 and the processing unit 203 may constitute an angle measuring unit 206 .

[0096] In one embodiment, the magnetic element 201 may be in a shape of a cuboid, a cube, or the like.

[0097] In another embodiment, in order to reduce the interference of the fluctuation of the magnetic field intensity sensed by the magnetic field direction sensing unit 202 on the measurement result, Figure 5 As shown in (a), the magnetic element 201 may be disc-shaped, and the magnetization direction may be along the circumferential radial direction.

[0098] In another embodiment, in order to further reduce the interference of magnetic field intensity fluctuation on the measurement result, the separation line between the south pole portion 2011 and the north pole portion 2012 of the magnetic element 201 can be parallel to the axis 207, that is, the magnetization direction of the magnetic element 201 can be perpendicular to the axis 207, such as Figure 5 The rotation plane of the magnetic element 201 may also be perpendicular to the axis 207. Further, the magnetic element 201 and the magnetic field direction sensing unit 202 may be coaxially arranged along the axis 207 relative to each other.

[0099] For example, Figure 5 Taking the scenario shown in (a) in FIG. 2 as an example, assuming that the magnetic field direction sensing unit 202 and the processing unit 203 are stationary, when the magnetic element 201 rotates along the axis 207, the magnetic field direction sensing unit 202 can generate a corresponding electrical signal according to the change in the magnetic field direction. The processing unit 203 can determine the rotation angle of the magnetic element 201 relative to the axis 207 based on the electrical signal. By combining the kinematic characteristics (such as size, initial angle, etc.) of the swing arm, spring, and shock absorber in the suspension system, the suspension height can be calculated.

[0100] In actual scenarios, even if the magnetic element 201 and the magnetic field direction sensing unit 202 are coaxially arranged relative to each other along the axis 207 in the design state, due to the existence of factors such as installation and vibration, the magnetic element 201 and the magnetic field direction sensing unit 202 may be eccentric, thereby affecting the accuracy of the measurement results.

[0101] In one embodiment, in order to reduce the influence of eccentricity on the measurement result, the ratio of the projected area of ​​the magnetic element 201 to the projected area of ​​the magnetic field direction sensing unit 202 along the axis 207 is greater than or equal to a first threshold. For example, the first threshold is 5, 8, or other sizes.

[0102] In the embodiment of the present application, along the above-mentioned axial direction, when the projection area of ​​the magnetic element 207 is much larger than the projection area of ​​the magnetic field direction sensing unit 202, the measurement error caused by the eccentricity of the two can be reduced.

[0103] In another embodiment, the magnetic field direction sensing unit 202 may be a component with low sensitivity to magnetic field intensity, such as a magnetoresistive sensor. In this way, the error caused by the eccentricity of the magnetic element 201 and the magnetic field direction sensing unit 202 and the irregular shapes of the two can be reduced.

[0104] In another embodiment, along the axis 207, the distance (denoted as a) between the magnetic element 201 and the magnetic field direction sensing unit 202 should meet a preset condition. For example, a can be within a preset range. The lower limit of the preset range can be 30 millimeters (mm), 28 mm, 35 mm, or other values. The upper limit of the preset range can be 48 mm, 50 mm, 55 mm. The lower limit or upper limit can also be other values.

[0105] For example, Figure 5 The angle measurement unit 226 shown in (b) of FIG. 2 can be understood as a deformation or expansion of the angle measurement unit 206. The angle measurement unit 226 may include a magnetic element 221, a magnetic field direction sensing unit 222 and a processing unit 223.

[0106] In one embodiment, if Figure 5 As shown in (b), the magnetic element 221 may include a plurality of circumferentially distributed permanent magnets, and the magnetic field direction sensing unit 222 may include a plurality of circumferentially distributed coils. When the magnetic element 221 rotates along the axis 207, the coils in the magnetic field direction sensing unit 222 may generate corresponding signals under a changing magnetic field, thereby realizing the measurement of the rotation angle of the magnetic element 221.

[0107] In some possible implementations, the magnetic element 221 may include more or fewer permanent magnets, such as 3, 6, or other numbers. Correspondingly, the magnetic field sensing unit 222 may include more or fewer induction coils.

[0108] The following combination Figures 6 to 8 Another measuring device 300 provided in the present application is briefly introduced. The measuring device 300 can be regarded as another implementation of the measuring device 150.

[0109] For example, Figure 6 It is a schematic diagram of the structure of another measuring device provided in an embodiment of the present application. Figure 6 (a) in FIG. 1 can be understood as a cross-sectional schematic diagram of the swing shaft bushing 107. Figure 6 (b) in the figure can be understood as a schematic diagram of the longitudinal section of the swing shaft bushing.

[0110] like Figure 6 As shown in (a) of FIG. 3 , the measuring device 300 may include a magnetic field direction sensing unit 302 and a magnetic field direction sensing unit 305 , which may be used to measure the directions of the magnetic fields generated by the magnetic elements 301 and 304 , respectively.

[0111] In one embodiment, the magnetic elements 301 and 304 can be fixed to one side end surface of the inner ring 1073 of the bushing by fasteners (such as bolts 111), or by other processes such as gluing, clamping, etc. Figure 6 Accordingly, the magnetic field direction sensing units 302 and 305 can be fixed to the same side end surface of the bushing outer ring 1071.

[0112] In another embodiment, the magnetization directions of the magnetic elements 301 and 304 can be along the circumferential radial direction, and the magnetization directions of the two can be opposite. For example, the upper half of 301 is its magnetic field north pole, and the upper half of 304 is its magnetic field south pole. The magnetic field sensing directions of the magnetic field direction sensing units 302 and 305 are the same. For example, when the magnetic field direction sensing units 302 and 305 sense a left magnetic field, both can output a positive level signal, and when sensing a right magnetic field, both can output a negative level signal.

[0113] The magnetic field direction sensing units 302 and 305 can be understood as a pair of magnetic field direction sensing units (also referred to as a magnetic field direction sensing unit pair), and correspondingly, the magnetic elements 301 and 304 can be understood as a pair of magnetic elements (also referred to as a magnetic element pair).

[0114] The magnetic field direction sensing unit 302 can be arranged relative to the magnetic element 301, so that the magnetic element 301 and the magnetic field direction sensing unit 302 can form an angle measurement unit #1. Similarly, the magnetic field direction sensing unit 305 can be arranged relative to the magnetic element 304 to form an angle measurement unit #2. Figure 7 , taking angle measurement unit #1 as an example, the working mode of the magnetic field direction sensing unit involved in the measuring device 300 is briefly introduced.

[0115] For example, Figure 7 FIG. 1 is a schematic diagram showing another working scenario of a magnetic field direction sensing unit. Figure 7 As shown in (a), the upper half of the magnetic element 301 is the magnetic north pole, and the lower half is the magnetic south pole. The magnetic flux lines are emitted from the magnetic north pole and point to the magnetic south pole. The sensing direction of the magnetic field direction sensing unit 302 is leftward.

[0116] Figure 7 (a) in the figure can be understood as the initial state of the magnetic element 301 and the magnetic field direction sensing unit 302, that is, it can be understood as the state when the positions of the bushing outer ring 1071 and the bushing inner ring 1073 do not change relative to each other.

[0117] Assuming that the magnetic field direction sensing unit 302 is stationary, when the magnetic element 301 moves in the direction of the arrow, Figure 7As shown in (b) in FIG. 1 , the direction of the magnetic field sensed by the magnetic field direction sensing unit 302 changes, and accordingly, the signal output by the magnetic field direction sensing unit 302 will change accordingly.

[0118] In one embodiment, the distance between the magnetic element 301 and the magnetic direction sensing unit 302 should meet a preset condition. Figure 7 In the scenario shown in (a), the distance between the magnetic element 301 and the magnetic direction sensing unit 302 can be within a preset range. For example, the minimum value of the preset range can be 25 mm, 28 mm, 30 mm, etc., and the maximum value of the preset range can be 40 mm, 45 mm. The maximum value and / or minimum value of the preset range can also be other values.

[0119] Exemplarily, the measuring device 300 may further include a processing unit 303 and / or a processing unit 306. The processing unit 303 and the processing unit 306 may be the same processing unit or different processing units. For example, the magnetic field direction sensing units 302 and 305 may be arranged on the same circuit board, which is fixed to the outer ring of the bushing 1071; the circuit board includes the processing unit 303, and the magnetic field direction sensing units 302 and 305 may send electrical signals to the processing unit.

[0120] In one embodiment, the magnetic field direction sensing units 302 and 305 may be components with low sensitivity to magnetic field intensity, such as magnetoresistive sensors.

[0121] In another embodiment, the magnetic elements 301 and 304 may be disposed on the outer ring of the bushing, and the magnetic field direction sensing units 302 and 305 may be disposed on the inner ring of the bushing.

[0122] In another embodiment, the measuring device 300 may further include more or more pairs of magnetic field direction sensing units and corresponding magnetic elements. For example, the measuring device 300 may include three magnetic field direction sensing units, which may be evenly arranged on one side end face of the outer ring of the bushing along the circumferential direction, and correspondingly, three magnetic elements may be evenly arranged on the same side end face of the inner ring of the bushing along the circumferential direction. For another example, the measuring device 300 may include two pairs of magnetic field direction sensing units, which may be evenly arranged on one side end face of the outer ring of the bushing along the circumferential direction, and two pairs of magnetic elements may be evenly arranged on the same side end face of the inner ring of the bushing along the circumferential direction.

[0123] For example, Figure 6Taking the scenario shown as an example, the magnetic element 301 and the magnetic field direction sensing unit 302 are arranged relative to each other and are arranged on the upper side of the bushing inner ring 1073 and the bushing outer ring 1071 respectively; the magnetic element 304 and the magnetic field direction sensing unit 305 are arranged relative to each other and are arranged on the lower side of the bushing inner ring 1073 and the bushing outer ring 1071 respectively. The magnetization directions of the magnetic elements 301 and 304 are opposite, and the magnetic field direction sensing directions of the magnetic field direction sensing units 302 and 305 are the same; the magnetic field direction sensing units 302 and 305 sense the magnetic fields of the magnetic elements 301 and 304 respectively and convert them into electrical signals. In other words, the measurement directions of the angle measurement units #1 and #2 are opposite. The following is combined with Figure 8 The working mode of the measuring device 300 in this state is briefly introduced. Figure 8 (a) to (d) in the figure respectively show the output of the measuring device 300 in different states. The magnetic field direction sensing unit 302 can generate signal 1, the magnetic field direction sensing unit 305 can generate signal 2, and signal 3 can be understood as the difference between signal 1 and signal 2. According to the mapping relationship between the suspension height and the level, and signal 3, the suspension height can be obtained.

[0124] When the suspension height is in the initial state, the sensing direction of the magnetic field direction sensing unit 302 is perpendicular to the magnetic field direction of 301, and the sensing direction of the magnetic field direction sensing unit 305 is perpendicular to the magnetic field direction of the magnetic element 304, and the magnetic field direction sensing units 302 and 305 output zero level. For example, the signals output by the magnetic field direction sensing units 302 and 305 can be respectively as follows: Figure 8 As shown in signal 1 and signal 2 in (a), at this time, signal 3 is at zero level, which can indicate that the suspension height is the initial height.

[0125] When the suspension height changes, the outer ring 1071 of the bushing rotates relative to the inner ring 1073 of the bushing, causing the magnetic field direction sensing units 302 and 305 to rotate relative to the magnetic elements 301 and 304, respectively, and the generated level signal changes. Since the magnetization directions of the magnetic elements 301 and 304 are opposite, and the magnetic field sensing directions of the magnetic field direction sensing units 302 and 305 are the same, one of the magnetic field direction sensing units 302 and 305 will generate a positive level signal, and the other will generate a negative level signal. For example, the inner ring 1073 of the bushing rotates relative to the outer ring 1071 along the direction shown in FIG. Figure 8 When rotating in the direction of the arrow shown in (b), signal 1 can be a positive level signal and signal 2 can be a negative level signal.

[0126] When the bushing outer ring 1071 and the bushing inner ring 1073 are longitudinally eccentric (eccentric in the z direction), since the magnetic field direction of the magnetic element is perpendicular to the induction direction of the magnetic field direction induction unit, the magnetic field direction induction units 302 and 305 still output zero level. Figure 8 When the arrow direction (c) is in translation, signal 1 and signal 2 can be Figure 8 As shown in (c) in .

[0127] When the bushing outer ring 1071 and the bushing inner ring 1073 are lateral eccentric (eccentric in the y direction), since the magnetization directions of the magnetic elements 301 and 304 are opposite, the induction directions of the magnetic field direction sensing units 302 and 305 are the same, and the signals 1 and 2 are both positive or negative. Figure 8 When the arrow direction shown in (d) in FIG. 1 is horizontal, signal 1 and signal 2 can both be negative level signals. For another example, assuming that magnetic elements 301 and 304 are permanent magnets of the same type and have the same radial distance from the axis of the swing arm bushing, and magnetic field direction sensing units 302 and 305 are magnetoresistive sensors of the same type and have the same radial distance from the axis of the swing arm bushing, in this scenario, signal 1 and signal 2 can be equal, and signal 3 can be zero.

[0128] In one embodiment, the measuring directions of the angle measuring units #1 and #2 may be the same. In this case, the suspension height may be determined based on the sum of the signals output by the magnetic field direction sensing units 302 and 305 and the mapping relationship between the suspension height and the level.

[0129] For example, Fig. 9 Schematic diagram of another measuring device provided in an embodiment of the present application. Fig. 9 As shown, the measuring device 400 may include a plurality of strain units, such as strain units 401 and 402, and a processing unit 403 (not shown in the figure).

[0130] The multiple strain units 401 are arranged on the end surface of the vibration-damping rubber of the swing arm bushing, and are used to sense the deformation of the vibration-damping rubber. The processing unit 403 is used to determine the height of the suspension according to the deformation of multiple positions of the vibration-damping bushing. For example, taking the swing arm bushing 107 as an example, when the height of the suspension changes, resulting in a change in the relative position of the upper swing arm 103 and the frame 102, the vibration-damping rubber 1072 will be twisted. Therefore, by determining the deformation of multiple positions of the vibration-damping bushing, the height of the suspension can be determined.

[0131] In some possible implementations, the measuring device 400 may include more or fewer strain units, for example, 3, 5, etc.

[0132] For example, Fig.10 600 is a flow chart of a measurement method provided in an embodiment of the present application. The method 600 may be executed by the measurement device 150, or by the processing unit 152, or by one or more processors included in the processing unit 152. The method 600 may include:

[0133] S610, obtaining relative rotation information between the inner ring of the bushing and the outer ring of the bushing.

[0134] S620: Determine first indication information according to the relative rotation information, where the first indication information is used to indicate the height of the suspension system.

[0135] Optionally, obtaining the relative rotation information between the inner ring and the outer ring of the bushing may include: obtaining the change information of the magnetic field direction at the first position of the first part of the bushing; and determining the first indication information based on the relative rotation information may include: determining the first indication information based on the change information of the magnetic field direction at the first position.

[0136] Exemplarily, the first part of the bushing can be one of the inner ring of the bushing or the outer ring of the bushing, and the second part of the bushing can be the other of the inner ring of the bushing or the outer ring of the bushing. The magnetic field direction sensing unit (such as the magnetic field direction sensing unit 202, 222, 302) can be arranged on the first part of the swing arm bushing; (such as 201, 221, 301) can be arranged on the second part of the swing arm bushing. In other words, the magnetic field direction sensing unit is relatively stationary with the first part of the swing arm bushing and relatively stationary with the second part of the swing arm bushing.

[0137] In some possible implementations, the magnetic field direction sensing unit is arranged relative to the axial direction of the bushing, and the magnetization direction of the magnetic element is perpendicular to the axial direction of the bushing. Figure 5 The magnetic field direction sensing unit and the magnetic element are arranged in the manner shown in (a) or (b).

[0138] In some possible implementations, in the axial direction of the bushing, the ratio of the projected area of ​​the magnetic element to the projected area of ​​the magnetic field direction sensing unit is greater than or equal to a first threshold. For example, assuming that the first threshold is 5, in the direction of the axis 207, the projected area of ​​the magnetic element 201 is at least 5 times the projected area of ​​the magnetic field direction sensing unit.

[0139] In some possible implementations, the magnetic field direction sensing unit is fixed to a shell connected to the outer ring of the bushing.

[0140] In some possible implementations, obtaining the relative rotation information between the inner ring of the bushing and the outer ring of the bushing may include: obtaining the change information of the magnetic field direction obtained by at least one pair of magnetic field direction sensing units; determining the first indication information based on the relative motion information may include: determining the first indication information based on the change information of the magnetic field direction obtained by the at least one pair of magnetic field direction sensing units. The at least one pair of magnetic field direction sensing units are arranged on the first end surface of the first part of the swing arm bushing and are evenly distributed along the circumferential direction; the at least one pair of magnetic field direction sensing units correspond one-to-one to at least one pair of magnetic elements, and the at least one pair of magnetic elements are arranged on the first end surface of the second part of the swing arm bushing and are evenly distributed along the circumferential direction. For example, Figure 6 As shown, the magnetic field direction sensing units 302 and 305 are respectively arranged on the end surfaces of the bushing outer ring 1071 , and the corresponding magnetic elements 301 and 304 are respectively arranged on the same side end surface of the bushing outer ring 1073 .

[0141] In one embodiment, the sensing directions of the two magnetic field direction sensing units in the magnetic field direction sensing unit pair are the same, and the first magnetic poles of the two magnetic elements in the magnetic element pair are arranged opposite to each other. Figure 6 As shown, the sensing directions of the magnetic field direction sensing units 302 and 305 are the same, and the south poles (or north poles) of the magnetic elements 301 and 304 are arranged opposite to each other.

[0142] In another embodiment, the angle between the induction direction of the magnetic field direction induction unit in the magnetic field direction induction unit pair and the magnetization direction of the magnetic element in the corresponding magnetic element pair is greater than or equal to the second threshold. Figure 7 As shown in (a) in FIG. 8 , the magnetization direction of the magnetic element 301 is perpendicular to the sensing direction of the magnetic field direction sensing unit 302 .

[0143] In another embodiment, Figure 6 As shown, it is assumed that the magnetic field direction sensing unit 302 is set on a first circle based on the axis of the bushing, and the magnetic field direction sensing unit 305 is set on a second circle based on the axis of the bushing, and the difference between the radius of the first circle and the second circle is less than or equal to a third threshold (for example, 3mm, 5mm).

[0144] In another embodiment, Figure 6 As shown, it is assumed that the magnetic element 301 is arranged on the third circumference based on the axis of the bushing, and the magnetic element 304 is arranged on the fourth circumference based on the axis of the bushing, and the difference between the radius of the third circle and the fourth circle is less than or equal to a fourth threshold value (for example, 3mm, 4mm).

[0145] In another embodiment, the absolute value of the difference between the radius of the first circle and the radius of the third circle may be within a preset range, for example, between 25 and 40 mm.

[0146] On the one hand, when the inner ring and outer ring of the bushing exist Figure 8 When the eccentricity is shown in (c) or (d), since the eccentricity is much smaller than the minimum value of the preset range (e.g., 25 mm), the change in the distribution of magnetic flux lines caused by the eccentricity can be much smaller than the change in the direction of the magnetic field caused by the rotation between the inner ring of the bushing and the outer ring of the bushing, thereby reducing the influence of the eccentricity on the measurement result. On the other hand, since the absolute value of the difference between the radius of the first circle and the third circle is less than the maximum value of the preset range (e.g., 40 mm), during the relative rotation of the inner ring of the bushing and the outer ring of the bushing, it can be ensured that the magnetic field direction sensing unit can sense a magnetic field of sufficient strength.

[0147] In some other implementations, the maximum value and / or the minimum value of the preset range may be other values.

[0148] In another embodiment, the magnetic field intensity at the location where the magnetic field direction sensing unit is located is greater than or equal to a fifth threshold. Figure 4 As shown, the magnetic field strength at the location where the magnetic field direction sensing unit 202 is located can be greater than or equal to 30 millitesla. Figure 6 As shown, the magnetic field strength at the location where the magnetic field direction sensing unit 302 and / or 305 is located may be greater than or equal to 28 millitesla.

[0149] Optionally, obtaining the relative rotation information between the inner ring of the bushing and the outer ring of the bushing may include: obtaining deformation information of the damping rubber; and determining the relative rotation information between the inner ring of the bushing and the outer ring of the bushing according to the deformation information of the damping rubber. Fig. 9 As shown, when the bushing inner ring 1073 and the bushing outer ring 1071 rotate relative to each other, the vibration damping rubber 1072 will be deformed. The deformation information of the vibration damping rubber 1072 can be obtained by the strain sensing unit 401 and / or 402, and the relative motion information between the bushing inner ring 1073 and the bushing outer ring 1071 can be calculated based on the deformation information.

[0150] The embodiment of the present application also provides a bushing with a measuring function, which may include a bushing inner ring, a bushing outer ring and a vibration-damping rubber, as well as Figures 3 to 9 A measuring device as shown in any one of the items.

[0151] The embodiment of the present application also provides a system, which includes a swing arm, a shock absorber, a bushing, and Figures 3 to 9 A measuring device as shown in any one of the items.

[0152] The embodiment of the present application also provides an intelligent driving device, which includes a suspension system and Figures 3 to 9 A measuring device as shown in any one of the items.

[0153] The intelligent driving equipment mentioned in this application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, the intelligent driving equipment may be a vehicle, which is a vehicle in a broad sense, and may be a vehicle (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), agricultural equipment (such as a lawn mower, a harvester, etc.), amusement equipment, a toy vehicle, etc. The embodiment of this application does not specifically limit the type of vehicle. For example, the vehicle in this application may include a pure electric vehicle / battery electric vehicle (pureEV / battery EV), a hybrid electric vehicle (hybrid electric vehicle, HEV), a range extended electric vehicle (rangeextended electric vehicle, REEV), a plug-in hybrid electric vehicle (plug-in hybrid electric vehicle, PHEV) or a new energy vehicle (new energy vehicle, NEV), etc.

[0154] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to be used as limitations on the present application. As used in the specification and the appended claims of the present application, the singular expressions "one", "a kind of", "said", "above", "the" and "this" are intended to also include expressions such as "one or more", unless there is a clear contrary indication in the context. It should also be understood that in the following embodiments of the present application, "at least one", "one or more" refer to one, two or more. The term "and / or" is used to describe the association relationship of associated objects, indicating that three relationships can exist; for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0155] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0156] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0157] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0158] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0159] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0160] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0161] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A measuring device, characterized in that: The invention is used to measure the height of a suspension system arranged between a load-bearing structure and a wheel of a vehicle, wherein the suspension system comprises a shock absorber, a swing arm and a bushing, wherein the swing arm is arranged between the load-bearing structure and the wheel, the shock absorber is arranged between the swing arm and the load-bearing structure, the bushing is arranged at a connection position between the swing arm and the load-bearing structure and / or the wheel, and the bushing comprises a bushing inner ring and a bushing outer ring. The measuring device comprises: A sensing unit, used for obtaining relative rotation information between the inner ring of the bushing and the outer ring of the bushing; The processing unit is used to determine first indication information according to the relative rotation information, where the first indication information is used to indicate the height of the suspension system.

2. The measuring device according to claim 1, characterized in that The sensing unit comprises: A magnetic field direction sensing unit is arranged at a first position of a first part of the bushing, and the magnetic field direction sensing unit is used to obtain change information of the magnetic field direction at the first position, the relative rotation information includes the change information of the magnetic field direction at the first position, and the first part of the bushing is one of the inner ring of the bushing or the outer ring of the bushing.

3. The measuring device according to claim 2, characterized in that A second portion of the bushing is provided with a magnetic element for generating a magnetic field at the first position, and the second portion of the bushing is the other of the bushing inner ring or the bushing outer ring.

4. The measuring device according to claim 3, characterized in that The magnetic field direction sensing unit and the magnetic element are arranged opposite to each other along the axial direction of the bushing, and the magnetization direction of the magnetic element is perpendicular to the axial direction of the bushing.

5. The measuring device according to claim 3 or 4, characterized in that In the axial direction of the bushing, the projection area of ​​the magnetic element is larger than the projection area of ​​the magnetic field direction sensing unit, and the ratio of the projection area of ​​the magnetic element to the projection area of ​​the magnetic field direction sensing unit is greater than or equal to a first threshold.

6. The measuring device according to any one of claims 2 to 5, characterized in that The measuring device further comprises a shell connected to the outer ring of the bushing, and the magnetic field direction sensing unit is fixed to the shell.

7. The measuring device according to claim 2, characterized in that The sensing unit comprises: At least one pair of magnetic field direction sensing units is arranged on the first end surface of the first part of the bushing and is evenly distributed in the circumferential direction.

8. The measuring device according to claim 7, characterized in that The measuring device also includes: At least one pair of magnetic elements is arranged on the first end surface of the second part of the bushing and is evenly distributed circumferentially. The at least one pair of magnetic elements corresponds one-to-one to the at least one pair of magnetic field direction sensing units. The second part of the bushing is the other one of the inner ring of the bushing or the outer ring of the bushing.

9. The measuring device according to claim 8, characterized in that The at least one pair of magnetic field direction sensing units comprises a first magnetic field direction sensing unit pair, wherein the sensing directions of the two magnetic field direction sensing units in the first magnetic field direction sensing unit pair are the same; The at least one pair of magnetic elements includes a first magnetic element pair, wherein the first magnetic poles of the magnetic elements in the first magnetic element pair point to the axis of the bushing, and the angle between the magnetization direction of the magnetic elements in the first magnetic element pair and the induction direction of the magnetic field direction induction unit in the first magnetic field direction induction unit pair is greater than or equal to a second threshold.

10. The measuring device according to claim 9, characterized in that The difference between the first distance and the second distance is less than a third threshold value, and the first distance and the second distance are respectively the distances between two magnetic field direction sensing units in the first magnetic field direction sensing unit pair and the axis of the bushing; and / or, The difference between the third distance and the fourth distance is smaller than a fourth threshold value, and the third distance and the fourth distance are respectively the distances between the two magnetic elements in the first magnetic element pair and the axis of the bushing.

11. The measuring device according to any one of claims 2 to 9, characterized in that The magnetic field direction sensing unit includes a magnetoresistive sensor or a plurality of magnetic induction coils.

12. The measuring device according to any one of claims 2 to 10, characterized in that The magnetic field intensity at the first position is greater than or equal to a fifth threshold.

13. The measuring device according to claim 1, characterized in that The sensing unit includes at least one strain sensing unit, and the at least one strain sensing unit is arranged on the end face of the vibration-damping rubber of the bushing, and is used to measure the shape change information of the vibration-damping rubber. The vibration-damping rubber is arranged between the inner ring and the outer ring of the bushing, and the relative rotation information is determined based on the shape change information of the vibration-damping rubber.

14. A measurement method, characterized in that: The invention is used to measure the height of a suspension system arranged between a load-bearing structure and a wheel of a vehicle, wherein the suspension system comprises a shock absorber, a swing arm and a bushing, wherein the swing arm is arranged between the load-bearing structure and the wheel, the shock absorber is arranged between the swing arm and the load-bearing structure, the bushing is arranged at a connection position between the swing arm and the load-bearing structure and / or the wheel, and the bushing comprises a bushing inner ring and a bushing outer ring, and the measuring method comprises: Obtaining relative rotation information between the inner ring of the bushing and the outer ring of the bushing; First indication information is determined according to the relative rotation information, where the first indication information is used to indicate the height of the suspension system.

15. The measuring method according to claim 14, characterized in that: The obtaining of relative rotation information between the inner ring of the bushing and the outer ring of the bushing includes: The change information of the magnetic field direction at the first position is obtained by a magnetic field direction sensing unit, the magnetic field direction sensing unit is arranged in the first part of the bushing, the magnetic field at the first position is generated by a magnetic element arranged in the second part of the bushing, the first part of the bushing is one of the inner ring of the bushing or the outer ring of the bushing, the second part of the bushing is the other of the inner ring of the bushing or the outer ring of the bushing, and the relative rotation information includes the change information of the magnetic field direction.

16. The measuring method according to claim 15, characterized in that: The magnetic field direction sensing unit and the magnetic element are arranged opposite to each other along the axial direction of the bushing, and the magnetization direction of the magnetic element is perpendicular to the axial direction of the bushing.

17. The measuring method according to claim 15 or 16, characterized in that: In the axial direction of the bushing, the projection area of ​​the magnetic element is larger than the projection area of ​​the magnetic field direction sensing unit, and the ratio of the projection area of ​​the magnetic element to the projection area of ​​the magnetic field direction sensing unit is greater than or equal to a first threshold.

18. The measuring method according to any one of claims 15 to 17, characterized in that: The magnetic field direction sensing unit is arranged at the first part of the bushing, and comprises: the magnetic field direction sensing unit is fixed to a shell connected to the outer ring of the bushing.

19. The measuring method according to claim 15, characterized in that: The first position includes a plurality of positions, and obtaining the change information of the magnetic field direction at the first position by the magnetic field direction sensing unit includes: Acquiring the change information of the magnetic field directions at the plurality of positions by at least one pair of magnetic field direction sensing units; Among them, the at least one pair of magnetic field direction sensing units are arranged on the first end surface of the first part of the bushing and are evenly distributed along the circumference, the magnetic fields at the multiple positions are generated by at least one pair of magnetic elements arranged on the first end surface of the second part of the bushing and evenly distributed along the circumference, and the at least one pair of magnetic field direction sensing units corresponds one-to-one to the at least one pair of magnetic elements.

20. The measuring method according to claim 19, characterized in that: The at least one pair of magnetic field direction sensing units includes a first magnetic field direction sensing unit pair, the two magnetic field direction sensing units in the first magnetic field direction sensing unit pair have the same induction direction, the at least one pair of magnetic elements includes a first magnetic element pair, the first magnetic poles of the magnetic elements in the first magnetic element pair point to the axis of the bushing, and the angle between the magnetization direction of the magnetic elements in the first magnetic element pair and the induction direction of the magnetic field direction sensing units in the first magnetic field direction sensing unit pair is greater than or equal to a second threshold.

21. The measuring method according to claim 20, characterized in that: The difference between the first distance and the second distance is less than a third threshold value, and the first distance and the second distance are respectively the distances between two magnetic field direction sensing units in the first magnetic field direction sensing unit pair and the axis of the bushing; and / or, The difference between the third distance and the fourth distance is smaller than a fourth threshold value, and the third distance and the fourth distance are respectively the distances between the two magnetic elements in the first magnetic element pair and the axis of the bushing.

22. The measuring method according to any one of claims 15 to 21, characterized in that: The magnetic field direction sensing unit includes a magnetoresistive sensor or a plurality of magnetic induction coils.

23. The measuring method according to any one of claims 15 to 22, characterized in that: The magnetic field intensity at the first position is greater than or equal to a fifth threshold.

24. The measuring method according to claim 14, characterized in that: The obtaining of relative rotation information between the inner ring of the bushing and the outer ring of the bushing includes: Acquiring shape transformation information of the vibration-damping rubber through at least one strain sensing unit, wherein the vibration-damping rubber is arranged between the outer ring of the bushing and the inner ring of the bushing, and the at least one strain sensing unit is arranged on the end surface of the vibration-damping rubber; The relative rotation information between the bushing inner ring and the bushing outer ring is determined based on the shape change information of the vibration damping rubber.

25. A measuring device, characterized in that: include: Memory for storing computer programs; A processor, configured to execute the computer program stored in the memory, so that the apparatus performs the measurement method according to any one of claims 14 to 24.

26. A system, characterized in that: Comprising a suspension system and a measuring device as claimed in any one of claims 1 to 13, or a measuring device as claimed in claim 25.

27. A vehicle, characterized in that: The invention comprises a wheel, a load-bearing structure and a suspension system, and a measuring device as claimed in any one of claims 1 to 13 or a measuring device as claimed in claim 25.

28. A computer-readable storage medium, characterized in that: Instructions are stored thereon, and when the instructions are executed by a processor, the processor implements the method according to any one of claims 14 to 24.

29. A computer program product, characterized in that The computer program product comprises: a computer program code, and when the computer program code is run on a computer, the computer is enabled to perform the method according to any one of claims 14 to 24.

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