A method, device, equipment and storage medium for calculating wiper output shaft angle

Abstract

The present invention discloses a method, device, equipment, and storage medium for calculating the angle of a wiper output shaft. The method comprises the following steps: placing a standard hollow test cylinder on the wiper transmission assembly output shaft, and determining the distance between the measuring points of each sensor and the wiper transmission assembly output shaft based on sensors arranged in the standard hollow test cylinder; calculating the coordinates of the center of the wiper transmission assembly output shaft based on the measuring point distances to fit the central axis of the wiper transmission assembly output shaft; and calculating the inclination angle of the wiper transmission assembly output shaft based on the obtained central axis of the standard hollow test cylinder and the central axis of the wiper transmission assembly output shaft. This application can effectively improve the wiping effect of the wiper assembly on the entire vehicle, enhance user perception, increase the automation rate of the measurement and consistency judgment of the wiper output shaft inclination angle, reduce misjudgments or missed detections due to manual operation, and reduce overall costs.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a method, device, equipment and storage medium for calculating a wiper output shaft angle. Background Art

[0002] The problem of abnormal noise from automotive wipers has always been a difficult issue in the industry. Factors affecting this noise include the wiper attack angle, the rubber strip coating, the glass surface accuracy and quality, and the accuracy of the wiper mounting surface on the vehicle body. The wiper attack angle is a key factor affecting wiping effectiveness. The main factors affecting the wiper attack angle (the angle between the wiper blade's centerline and the glass normal) include the wiper arm's torsion angle, the output shaft's inclination angle, and the installation angle of the wiper drive assembly. While the wiper arm's torsion angle can be 100% monitored and corrected on the production line, the wiper output shaft's inclination angle is only randomly inspected using a go / no-go gauge. This makes it impossible to accurately determine the consistency of the wiper output shaft's inclination angle, as well as the deviation and dispersion from the theoretical design value. Consequently, problems with wiper performance caused by output shaft inclination deviation cannot be promptly detected and corrected.

[0003] Therefore, how to accurately measure the inclination angle of the wiper output shaft, timely discover and adjust the output shaft inclination angle to improve the wiper wiping effect is a technical problem that needs to be solved urgently. Summary of the Invention

[0004] The main purpose of the present invention is to provide a method, device, equipment and storage medium for calculating the wiper output shaft angle, which can effectively improve the wiping effect of the wiper assembly on the whole vehicle, improve user perception, and improve the automation rate of measuring the wiper output shaft inclination angle and consistency judgment, reduce misjudgment or missed detection due to manual operation, and reduce overall costs.

[0005] In a first aspect, the present application provides a method for calculating a wiper output shaft angle, wherein the method comprises the steps of:

[0006] A standard hollow test cylinder is placed on the wiper transmission assembly output shaft, and based on sensors arranged in the standard hollow test cylinder, the distance between the measuring point of each sensor and the measuring point of the wiper transmission assembly output shaft is determined;

[0007] Calculating the coordinates of the center of the wiper transmission assembly output shaft based on the distances between the measuring points to fit the central axis of the wiper transmission assembly output shaft;

[0008] The inclination angle of the wiper transmission assembly output shaft is calculated based on the obtained central axis of the standard hollow test cylinder and the central axis of the wiper transmission assembly output shaft.

[0009] In combination with the first aspect above, as an optional implementation, infrared ranging sensors are evenly arranged at first and second positions preset along the inner wall of a standard hollow test cylinder, and a reference coordinate system for sensor measurement is established with the center of the upper end surface of the standard test cylinder as a reference;

[0010] Determine the coordinates of the distance measurement points of each sensor within the standard test cylinder using the reference coordinate system;

[0011] The coordinates of the distance measuring points are projected onto the output shaft of the wiper transmission assembly along the distance measuring direction to determine the distance between each measuring point and the output shaft of the wiper transmission assembly.

[0012] In combination with the above first aspect, as an optional implementation manner, four infrared ranging sensors are respectively set at the first position and the second position.

[0013] In combination with the first aspect above, as an optional implementation, the output shaft coordinates corresponding to the sensors at the first and second positions are calculated based on the distances between the measuring points of the sensors at the first and second positions and the measuring points of the output shaft of the wiper transmission assembly;

[0014] Grouping the output axis coordinates corresponding to the sensors at the first position into groups according to the first set combination, and calculating the center coordinates of each group of combinations;

[0015] Grouping the output axis coordinates corresponding to the sensors at the second position into groups according to the second set combination, and calculating the center coordinates of each group of combinations;

[0016] Using each set of combined circle center coordinates, re-fitting the circle to calculate the circle center coordinates of the first position and the second position of the wiper transmission assembly output shaft;

[0017] The axis of the wiper transmission assembly output shaft is fitted based on a straight line equation passing through the two points and in combination with the center coordinates of the first position and the second position of the wiper transmission assembly output shaft.

[0018] In combination with the first aspect above, as an optional implementation method, based on obtaining the center coordinates of the first position and the second position of the standard hollow test cylinder and combining them with the straight line equation, the central axis of the standard hollow test cylinder is fitted;

[0019] Determine the cosine of the angle between the central axis of the standard hollow test cylinder and the central axis of the wiper transmission assembly output shaft by fitting the two axes;

[0020] The angle between the two axes is calculated using the cosine value of the angle, which is used as the inclination angle of the output shaft of the wiper transmission assembly.

[0021] In combination with the first aspect above, as an optional implementation, according to the formula:

[0022] is the vector value in the x, y, and z directions of the central axis of the wiper transmission assembly output shaft;

[0023]

[0024] In combination with the first aspect above, as an optional implementation method, the inclination angle of the wiper transmission assembly output shaft is analyzed to calculate the process capability index of the inclination angle of the wiper transmission assembly output shaft, and determine whether the process capability index of the inclination angle meets the requirements.

[0025] In a second aspect, the present application provides a device for calculating a wiper output shaft angle, the device comprising:

[0026] a processing module configured to place a standard hollow test cylinder on the wiper transmission assembly output shaft and determine, based on sensors arranged in the standard hollow test cylinder, a distance between a measuring point where each sensor is located and a measuring point on the wiper transmission assembly output shaft;

[0027] a fitting module, configured to calculate the coordinates of the center of the wiper transmission assembly output shaft based on the distance between the measuring points, so as to fit the central axis of the wiper transmission assembly output shaft;

[0028] A calculation module is used to calculate the inclination angle of the wiper transmission assembly output shaft according to the obtained central axis of the standard hollow test cylinder and the central axis of the wiper transmission assembly output shaft.

[0029] In a third aspect, the present application further provides an electronic device comprising: a processor; and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the method described in any one of the first aspects is implemented.

[0030] In a fourth aspect, the present application further provides a computer-readable storage medium storing computer program instructions, which, when executed by a computer, enables the computer to execute any one of the methods described in the first aspect.

[0031] The present application provides a method, device, equipment, and storage medium for calculating the wiper output shaft angle, wherein the method includes the following steps: placing a standard hollow test cylinder on the wiper transmission assembly output shaft, and determining the distance between the measuring points of each sensor and the wiper transmission assembly output shaft based on the sensors arranged in the standard hollow test cylinder; calculating the coordinates of the center of the wiper transmission assembly output shaft based on the measuring point distance to fit the central axis of the wiper transmission assembly output shaft; and calculating the inclination angle of the wiper transmission assembly output shaft based on the obtained central axis of the standard hollow test cylinder and the central axis of the wiper transmission assembly output shaft. The present application can effectively improve the wiping effect of the wiper assembly on the entire vehicle, enhance user perception, increase the automation rate of the wiper output shaft inclination angle measurement and consistency judgment, reduce misjudgments or missed detections due to manual operation, and reduce overall costs.

[0032] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0034] Figure 1 This is a flow chart of a method for calculating the wiper output shaft angle provided in an embodiment of the present application;

[0035] Figure 2 A schematic diagram of a wiper output shaft angle calculation device provided in an embodiment of the present application;

[0036] Figure 3 This is a schematic diagram of a standard hollow test cylinder provided in the examples of this application;

[0037] Figure 4 A schematic diagram of a reference coordinate system for establishing sensor measurements provided in an embodiment of the present application;

[0038] Figure 5 A schematic diagram of the coordinates of the sensor measurement point provided in the embodiment of the present application projected onto the wiper output shaft;

[0039] Figure 6 A schematic diagram of the inclination angle of the output shaft of the wiper transmission assembly provided in an embodiment of the present application;

[0040] Figure 7 A schematic diagram of an electronic device provided in an embodiment of the present application;

[0041] Figure 8 A schematic diagram of a computer-readable program medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present invention, as detailed in the appended claims.

[0043] Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. Some of the blocks shown in the drawings are functional entities that do not necessarily correspond to physically or logically separate entities.

[0044] The embodiments of the present application are further described in detail below with reference to the accompanying drawings.

[0045] Reference Figure 1 , Figure 1 The figure shows a flow chart of a method for calculating the wiper output shaft angle provided by the present invention. Figure 1 As shown, the method includes the steps of:

[0046] Step S101: Put a standard hollow test cylinder on the wiper transmission assembly output shaft, and based on the sensors arranged in the standard hollow test cylinder, determine the distance between the measuring point where each sensor is located and the measuring point of the wiper transmission assembly output shaft.

[0047] Specifically, infrared ranging sensors are evenly arranged at the first and second positions preset along the inner wall of the standard hollow test cylinder (it should be noted that the first and second positions are the upper and lower positions embedded in the cylinder, see Figure 3 ), and take the center of the upper end face of the standard test cylinder as the reference to establish the reference coordinate system for sensor measurement (see Figure 4 ); using the reference coordinate system, determining the coordinates of the ranging points of each sensor within the standard test cylinder; projecting the coordinates of the ranging points onto the output shaft of the wiper transmission assembly along the ranging direction to determine the distance between each measuring point and the output shaft of the wiper transmission assembly.

[0048] For ease of understanding, an example is given. Two groups of micro infrared rangefinders are embedded in a standard hollow test cylinder. Each group has four micro infrared rangefinder sensors, which are evenly distributed along the cylinder. To improve the accuracy of the test and calculation, the rangefinder sensors are evenly arranged in a circle in two groups (i.e., the first position and the second position) (see Figure 3 ).

[0049] Taking the center of the upper end face of the standard test cylinder as the reference, establish the reference coordinate system for sensor measurement. Assuming that the radius of the inner circle of the cylinder is r, the z-axis coordinate of the first group of sensors on the upper part (corresponding to the first position) is z1, and the z-axis coordinate of the second group of sensors (corresponding to the second position) is z2, the coordinate values ​​of the upper and lower groups of inner circle distance measurement points A, B, C, D and A', B', C', D' are: A(-r, 0, z1); B(0, -r, z1); C(r, 0, z1); D(0, r, z1). A'(-r, 0, z2); B'(0, -r, z2); C'(r, 0, z2); D'(0, r, z2). The measurement points can be referred to in the figure. Figure 6 ABCD in the figure are the measuring points where the four sensors are located.

[0050] Assuming that the distances measured by the upper and lower sets of distance measurement points are La, Lb, Lc, Ld, and La', Lb', Lc', Ld', respectively, then the coordinates of the measurement points A, B, C, D and A', B', C', D' projected along the distance measurement direction onto the wiper output shaft at points A1, B1, C1, D1 and A1', B1', C1', D1' are: A1(-r+La, 0, z1); B1(0,-r+Lb, z1); C1(r-Lc, 0, z1); D1(0,r-Ld, z1). A1'(-r+La', 0, z2); B1'(0,-r+Lb', z2); C1'(r-Lc', 0, z2); D1'(0,r-Ld', z2).

[0051] According to the sensor measuring point coordinates and the corresponding output shaft coordinates of the projection, the measuring point distance from each measuring point to the output shaft of the wiper transmission assembly is calculated.

[0052] Step S102: Calculating the center coordinates of the wiper transmission assembly output shaft based on the measuring point distances to fit the central axis of the wiper transmission assembly output shaft.

[0053] Specifically, the output shaft coordinates corresponding to the sensors at the first and second positions are calculated based on the distances between the measuring points of the sensors at the first and second positions and the measuring points of the output shaft of the wiper transmission assembly;

[0054] Grouping the output axis coordinates corresponding to the sensors at the first position into groups according to the first set combination, and calculating the center coordinates of each group of combinations;

[0055] Grouping the output axis coordinates corresponding to the sensors at the second position into groups according to the second set combination, and calculating the center coordinates of each group of combinations;

[0056] Using each set of combined circle center coordinates, re-fitting the circle to calculate the circle center coordinates of the first position and the second position of the wiper transmission assembly output shaft;

[0057] The axis of the wiper transmission assembly output shaft is fitted based on a straight line equation passing through the two points and in combination with the center coordinates of the first position and the second position of the wiper transmission assembly output shaft.

[0058] For ease of understanding, an example is given. From step S101, it can be seen that the distances between the measuring points of the sensors arranged at the first and second positions and the output shaft of the wiper transmission assembly have been calculated. Based on the measuring point distances, the coordinates of the points A1, B1, C1, D1 and A1', B1', C1', D1' projected from the sensor measuring points along the distance measurement direction onto the wiper output shaft can be obtained (see Figure 6 ).

[0059] According to the circle equation (xa)²+(yb)²=r², any three points are selected from (A1, B1, C1, D1) to fit the center value (a1, b1) of the upper circle of the wiper output shaft. In order to reduce measurement and calculation errors and eliminate the roundness deviation of the output shaft itself, the four groups of coordinates (A1, B1, C1, D1) can be grouped according to the set combination, for example: (A1, B1, C1), (A1, B1, D1), (B1, C1, D1) grouping, respectively calculate the three groups of center coordinate values ​​(a1, b1), (a2, b2), (a3, b3), according to (xa)²+(yb)²=r², use these three groups of center coordinate values ​​to refit a circle, assuming that the coordinate value of the center is (x1, y1).

[0060] Similarly, the center value (x2, y2) of the circle below the wiper output shaft is fitted.

[0061] According to the center values ​​of the upper and lower circles of the wiper output shaft, the center coordinates of the upper and lower fitted wiper output shaft circles can be obtained as O1 (x1, y1, z1) and O2 (x2, y2, z2) respectively.

[0062] Let the line passing through the two points be: The direction vector of the straight line is (m, n, p). Through the coordinates of the center of the standard test cylinder (wherein, the coordinate system is established with the center of the standard circle, so the upper center is (0, 0, 0); the lower center is (0, 0, Z2)) and the equation of the straight line, the direction vector of the straight line passing through the upper and lower centers of the standard test cylinder can be calculated as s1 = (m1, n1, p1), that is, the vector value of the central axis of the standard cylinder. Similarly, the direction vector of the straight line passing through the upper and lower fitting centers of the output shaft can be calculated as s2 = (m2, n2, p2), that is, the vector value of the central axis of the output shaft of the wiper transmission assembly.

[0063] Step S103: Calculating the inclination angle of the wiper transmission assembly output shaft according to the obtained central axis of the standard hollow test cylinder and the central axis of the wiper transmission assembly output shaft.

[0064] Specifically, based on obtaining the center coordinates of the first position and the second position of the standard hollow test cylinder and combining with the straight line equation, the central axis of the standard hollow test cylinder is fitted;

[0065] Determine the cosine of the angle between the central axis of the standard hollow test cylinder and the central axis of the wiper transmission assembly output shaft by fitting the two axes;

[0066] The angle between the two axes is calculated using the cosine value of the angle, which is used as the inclination angle of the output shaft of the wiper transmission assembly.

[0067] For the convenience of understanding the specific explanation, the cosine value of the angle between the two axes can be calculated through the direction vectors s1 and s2 of the two straight lines obtained in step S102. The angle between the two straight lines can be inversely calculated through the cosine value of the angle, and thus the angle between the axis of the wiper output shaft and the axis of the standard test cylinder, that is, the inclination angle of the wiper output shaft, can be calculated.

[0068]

[0069] The vector value in the z direction, m2, n2, and p2 are the vector values ​​in the x, y, and z directions of the central axis of the wiper transmission assembly output shaft;

[0070]

[0071] In one embodiment, the calculation of the wiper transmission output shaft inclination angle is analyzed to calculate the process capability index of the wiper transmission output shaft inclination angle and determine whether the process capability index of the inclination angle meets the requirements. In other words, the CPK level of the output shaft inclination angle is calculated and determined.

[0072] It is understood that this application utilizes a non-contact distance sensor to measure and calculate the inclination angle of the wiper transmission output shaft and the distance between the measurement points of the standard test system (standard hollow test cylinder). A basic reference coordinate system is established based on the standard test system. The center points of the upper and lower circles of the output shaft are calculated using the distance between the measurement points, and the axis of the output shaft is fitted. The inclination angle of the wiper transmission output shaft is calculated using the axis, and then fed back to the entire control system for data analysis. The advantages of this application include:

[0073] 1) The operation is simple. After installation, the inclination angle value of the wiper output shaft can be 100% measured online, replacing the previous method of random inspection using a checking fixture. This improves the one-time pass rate of the wiper transmission assembly output shaft inclination angle, thereby effectively improving the wiping effect of the wiper assembly on the entire vehicle and enhancing user perception.

[0074] 2) Improve the automation rate of wiper output shaft inclination angle measurement and consistency judgment to reduce product problems caused by manual misjudgment or missed inspections.

[0075] 3) Reduce labor costs, improve product qualification rate, and reduce overall costs.

[0076] Reference Figure 2 , Figure 2 FIG. 1 is a schematic diagram of a wiper output shaft angle calculation device provided by the present invention, as shown in FIG. Figure 2 As shown, the device includes:

[0077] Processing module 201 is used to put a standard hollow test cylinder on the wiper transmission assembly output shaft, and determine the distance between the measuring point of each sensor and the measuring point of the wiper transmission assembly output shaft based on the sensors arranged in the standard hollow test cylinder.

[0078] The fitting module 202 is used to calculate the coordinates of the center of the wiper transmission assembly output shaft according to the distance between the measuring points, so as to fit the central axis of the wiper transmission assembly output shaft.

[0079] The calculation module 203 is used to calculate the inclination angle of the wiper transmission assembly output shaft according to the central axis of the obtained standard hollow test cylinder and the central axis of the wiper transmission assembly output shaft.

[0080] Furthermore, in one possible embodiment, the processing module is further configured to evenly arrange infrared ranging sensors at first and second positions preset along the inner wall of a standard hollow test cylinder, and establish a reference coordinate system for sensor measurement with the center of the upper end surface of the standard test cylinder as a reference;

[0081] Determine the coordinates of the distance measurement points of each sensor within the standard test cylinder using the reference coordinate system;

[0082] The coordinates of the distance measuring points are projected onto the output shaft of the wiper transmission assembly along the distance measuring direction to determine the distance between each measuring point and the output shaft of the wiper transmission assembly.

[0083] Furthermore, in a possible implementation manner, the processing module is further configured to respectively set four infrared ranging sensors at the first position and the second position.

[0084] Furthermore, in a possible embodiment, the fitting module is further configured to calculate the output shaft coordinates corresponding to the sensors at the first position and the second position based on the distances between the measuring points of the sensors arranged at the first position and the second position and the measuring points of the output shaft of the wiper transmission assembly;

[0085] Grouping the output axis coordinates corresponding to the sensors at the first position into groups according to the first set combination, and calculating the center coordinates of each group of combinations;

[0086] Grouping the output axis coordinates corresponding to the sensors at the second position into groups according to the second set combination, and calculating the center coordinates of each group of combinations;

[0087] Using each set of combined circle center coordinates, re-fitting the circle to calculate the circle center coordinates of the first position and the second position of the wiper transmission assembly output shaft;

[0088] The axis of the wiper transmission assembly output shaft is fitted based on a straight line equation passing through the two points and in combination with the center coordinates of the first position and the second position of the wiper transmission assembly output shaft.

[0089] Furthermore, in a possible embodiment, the calculation module is further configured to obtain the center coordinates of the first position and the second position of the standard hollow test cylinder and fit the center axis of the standard hollow test cylinder in combination with a straight line equation;

[0090] Determine the cosine of the angle between the central axis of the standard hollow test cylinder and the central axis of the wiper transmission assembly output shaft by fitting the two axes;

[0091] The angle between the two axes is calculated using the cosine value of the angle, which is used as the inclination angle of the output shaft of the wiper transmission assembly.

[0092] Furthermore, in a possible implementation manner, the calculation module is further configured to:

[0093] m2, n2, and p2 are vector values ​​in the x, y, and z directions of the central axis of the wiper transmission assembly output shaft;

[0094]

[0095] Furthermore, in a possible implementation manner, the processing module is also used to analyze the inclination angle of the wiper transmission assembly output shaft to calculate the process capability index of the inclination angle of the wiper transmission assembly output shaft, and determine whether the process capability index of the inclination angle meets the requirements.

[0096] Reference Figure 3 , Figure 3 The figure shows a schematic diagram of a standard hollow test cylinder provided by the present invention, as shown in FIG. Figure 3 As shown:

[0097] Embedded within the cylinder are two sets of four miniature infrared rangefinders, evenly spaced along the cylinder. To improve test and calculation accuracy, the sensors are arranged in a circular pattern, arranged in two groups, one above the other.

[0098] During measurement, the visual recognition system identifies that the wiper transmission assembly has been placed on the test bench, and then inserts the inclination test cylinder with a distance sensor into the wiper output shaft through a fixed device. Then, it starts to collect data measured by the two sets of sensors, and uses the preset inclination algorithm to calculate the deviation value between the actual inclination angle of the wiper output shaft and the theoretical inclination angle (the inclination angle of the standard test cylinder). The deviation value is stored in the computer for data analysis and adjustment of product consistency.

[0099] Reference Figure 4 , Figure 4 The figure shows a schematic diagram of the reference coordinate system for establishing sensor measurement provided by the present invention, as shown in FIG. Figure 4 As shown:

[0100] Using the center of the upper end of the standard test cylinder as a reference, establish a reference coordinate system for sensor measurement. Assuming the radius of the inner circle of the cylinder is r, the z-coordinate of the first set of sensors in the upper part is z1, and the z-coordinate of the second set of sensors is z2. The coordinates of the upper and lower sets of inner circle distance measurement points A, B, C, D, and A', B', C', D' are: A(-r, 0, z1); B(0, -r, z1); C(r, 0, z1); D(0, r, z1); A'(-r, 0, z2); B'(0, -r, z2); C'(r, 0, z2); D'(0, r, z2).

[0101] Reference Figure 5 , Figure 5 The figure shows the coordinate diagram of the sensor measuring point provided by the present invention projected onto the wiper output shaft. Figure 5 As shown:

[0102] Calculate the coordinates of the corresponding output shaft based on the distance value measured by the ranging sensor. Assuming that the distances measured by the upper and lower sets of ranging points are La, Lb, Lc, Ld and La', Lb', Lc', Ld' respectively, then the coordinates of the measurement points A, B, C, D and A', B', C', D' projected along the ranging direction onto the wiper output shaft at points A1, B1, C1, D1 and A1', B1', C1', D1' are: A1(-r+La, 0, z1); B1(0, -r+Lb, z1);

[0103] C1(r-Lc, 0, z1); D1(0, r-Ld, z1). A1'(-r+La', 0, z2); B1' (0, -r+Lb', z2); C1' (r-Lc', 0, z2); D1' (0, r-Ld', z2).

[0104] The distances measured by the upper and lower groups of distance measuring points are La, Lb, Lc, Ld and La', Lb', Lc', Ld' respectively. Then the coordinates of the measurement points A, B, C, D and A', B', C', D' projected along the distance measuring direction to the points A1, B1, C1, D1 and A1', B1', C1', D1' on the wiper output shaft are: A1 (-r + La, 0, z1); B1 (0, -r + Lb, z1);

[0105] C1(r-Lc, 0, z1); D1(0, r-Ld, z1). A1'(-r+La', 0, z2); B1' (0, -r+Lb', z2); C1' (r-Lc', 0, z2); D1' (0, r-Ld', z2).

[0106] Reference Figure 6 , Figure 6 The figure shows the inclination angle of the output shaft of the wiper transmission assembly provided by the present invention. Figure 6 As shown:

[0107] According to the direction vectors s1 and s2 of the two straight lines (refer to the above calculation method), the cosine of the angle between the two axes can be calculated. The angle between two straight lines can be inversely calculated by the cosine of the angle From this, the angle between the wiper output shaft axis and the standard test cylinder axis, that is, the inclination angle of the wiper output shaft, can be calculated.

[0108] It is understandable that this application designs a standard hollow test cylinder. Two sets of infrared ranging sensors are embedded in the cylinder. The infrared ranging sensors measure the deviation from the wiper output shaft and calculate the coordinates of three points on the upper and lower sides of the output shaft. The upper and lower centers of the circles are fitted based on the two sets of coordinates. The straight line segment passing through the two centers is then calculated. The angle between the straight line segment and the axis of the standard test cylinder is then calculated to determine the actual inclination angle of the wiper output shaft.

[0109] Refer to the following Figure 7 An electronic device 700 according to this embodiment of the present invention will be described. Figure 7 The electronic device 700 shown is merely an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0110] like Figure 7 As shown, electronic device 700 is implemented as a general-purpose computing device. Components of electronic device 700 may include, but are not limited to, the aforementioned at least one processing unit 710, the aforementioned at least one storage unit 720, and a bus 730 connecting various system components (including storage unit 720 and processing unit 710).

[0111] The storage unit stores program codes, which can be executed by the processing unit 710, so that the processing unit 710 performs the steps according to various exemplary embodiments of the present invention described in the above “Example Method” section of this specification.

[0112] The storage unit 720 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 721 and / or a cache memory unit 722 , and may further include a read-only memory unit (ROM) 723 .

[0113] The storage unit 720 may also include a program / utility 724 having a set (at least one) of program modules 725, such program modules 725 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0114] Bus 730 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0115] The electronic device 700 can also communicate with one or more external devices (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 700, and / or any device that enables the electronic device 700 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication can occur via an input / output (I / O) interface 750. Furthermore, the electronic device 700 can also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 760. As shown, the network adapter 760 communicates with other modules of the electronic device 700 via a bus 730. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device 700, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0116] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0117] According to the solution of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the above-mentioned method of this specification is stored. In some possible implementations, various aspects of the present invention may also be implemented in the form of a program product, which includes program code. When the program product is executed on a terminal device, the program code is used to cause the terminal device to perform the steps according to various exemplary embodiments of the present invention described in the "Exemplary Methods" section of this specification.

[0118] refer to Figure 8 , a program product 800 for implementing the above method according to an embodiment of the present invention is described. The program product 800 may be a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0119] The program product may be implemented in any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0120] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0121] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0122] The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and the like, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0123] Furthermore, the above-described figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention and are not intended to be limiting. It is readily understood that the processes illustrated in the above-described figures do not indicate or limit the temporal order of these processes. Furthermore, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0124] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

[0125] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

Claims

1. A method for calculating the wiper output shaft angle, characterized in that: include: A standard hollow test cylinder is placed on the wiper transmission assembly output shaft, and based on sensors arranged in the standard hollow test cylinder, the distance between the measuring point of each sensor and the measuring point of the wiper transmission assembly output shaft is determined; Calculating the coordinates of the center of the wiper transmission assembly output shaft based on the distances between the measuring points to fit the central axis of the wiper transmission assembly output shaft; According to the obtained central axis of the standard hollow test cylinder and the central axis of the wiper transmission assembly output shaft, the angle between the two central axes is calculated as the inclination angle of the wiper transmission assembly output shaft.

2. The method according to claim 1, characterized in that include: The step of determining the distance between the measuring point of each sensor and the output shaft of the wiper transmission assembly based on the sensors arranged in the standard hollow test cylinder includes: Evenly arranging infrared ranging sensors at a first position and a second position preset along the inner wall of a standard hollow test cylinder, and establishing a reference coordinate system for sensor measurement with the center of the upper end surface of the standard hollow test cylinder as a reference; Determine the coordinates of the distance measurement points of each sensor within the standard hollow test cylinder using the reference coordinate system; The coordinates of the distance measuring points are projected onto the output shaft of the wiper transmission assembly along the distance measuring direction to determine the distance between each measuring point and the output shaft of the wiper transmission assembly.

3. The method according to claim 2, characterized in that include: Four infrared ranging sensors are respectively arranged at the first position and the second position.

4. The method according to claim 1, wherein Calculating the center coordinates of the wiper transmission assembly output shaft by using the measuring point distances to fit the central axis of the wiper transmission assembly output shaft includes: Calculate the output shaft coordinates corresponding to the sensors at the first and second positions according to the distances between the measuring points of the sensors at the first and second positions and the measuring points of the output shaft of the wiper transmission assembly; Grouping the output axis coordinates corresponding to the sensors at the first position into groups according to the first set combination, and calculating the center coordinates of each group of combinations; Grouping the output axis coordinates corresponding to the sensors at the second position into groups according to the second set combination, and calculating the center coordinates of each group of combinations; Using each set of combined circle center coordinates, re-fitting the circle to calculate the circle center coordinates of the first position and the second position of the wiper transmission assembly output shaft; The axis of the wiper transmission assembly output shaft is fitted based on a straight line equation passing through the two points and in combination with the center coordinates of the first position and the second position of the wiper transmission assembly output shaft.

5. The method according to claim 1, wherein The step of calculating the angle between the central axis of the standard hollow test cylinder and the central axis of the wiper transmission assembly output shaft as the inclination angle of the wiper transmission assembly output shaft according to the central axis of the two central axes includes: Based on obtaining the coordinates of the center of the first position and the second position of the standard hollow test cylinder and combining them with the equation of a straight line, the central axis of the standard hollow test cylinder is obtained by fitting; Determine the cosine of the angle between the central axis of the standard hollow test cylinder and the central axis of the wiper transmission assembly output shaft by fitting the two axes; The angle between the two axes is calculated using the cosine value of the angle, which is used as the inclination angle of the output shaft of the wiper transmission assembly.

6. The method according to claim 5, characterized in that According to the formula: , calculate the cosine of the angle between the two axes, where , , are the center axes of the standard cylinders , , The vector value of the direction, , , The center axis of the wiper transmission assembly output shaft , , The vector value of the direction; According to the formula: , calculate the inclination angle of the wiper transmission assembly output shaft.

7. The method according to claim 1, characterized in that After calculating the included angle between the two central axes as the inclination angle of the output shaft of the wiper transmission assembly, the method further comprises: The calculation of the inclination angle of the wiper transmission assembly output shaft is analyzed to calculate the process capability index of the inclination angle of the wiper transmission assembly output shaft, and determine whether the process capability index of the inclination angle meets the requirements.

8. A wiper output shaft angle calculation device, characterized in that: include: a processing module configured to place a standard hollow test cylinder on the wiper transmission assembly output shaft and determine, based on sensors arranged in the standard hollow test cylinder, a distance between a measuring point where each sensor is located and a measuring point on the wiper transmission assembly output shaft; a fitting module, configured to calculate the coordinates of the center of the wiper transmission assembly output shaft based on the distance between the measuring points, so as to fit the central axis of the wiper transmission assembly output shaft; The calculation module is used to calculate the angle between the central axis of the standard hollow test cylinder and the central axis of the wiper transmission assembly output shaft according to the obtained central axis of the two central axes as the inclination angle of the wiper transmission assembly output shaft.

9. An electronic device, characterized in that: The electronic device comprises: processor; A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that The computer program instructions are stored therein, and when the computer program instructions are executed by a computer, the computer is caused to execute the method according to any one of claims 1 to 7.

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