Position detection method applied to EMB system and EMB system

Abstract

The invention discloses a position detection method applied to an EMB system, the EMB system comprises a motor output shaft gear, and the motor output shaft gear is provided with a first angle detection sensor; the output shaft gear is provided with a second angle detection sensor; the calipers comprise friction plates; the driving module sleeves the output shaft; the position detection method comprises the following steps: acquiring a first angle A1 and a second angle B1; according to the first angle A1 and the second angle B1, determining a first number of turns N1 of actual rotation of the output shaft gear of the motor and a second number of turns N2 of actual rotation of the output shaft gear; a third angle A2 of actual rotation of the output shaft gear of the motor is determined according to a first formula, a fourth angle B2 of actual rotation of the output shaft gear is determined according to a second formula, the first formula is A2 = N1 * 360 + A1, and the second formula is B2 = N2 * 360 + B1; and according to the third angle A2 and the fourth angle B2, the position of the driving module relative to the output shaft in the axial direction is determined. The position of the driving module can be determined in real time. The invention further provides an EMB system.

Description

Technical Field

[0001] The present invention relates to the technical field of brake systems, and in particular to a position detection method applied to an EMB system and the EMB system. Background Art

[0002] An EMB system, also known as an Electro-Mechanical Brake System (EMB), typically includes a motor module, transmission module, drive module, and parking module. The EMB system uses the motor module to directly drive the drive module, and the accuracy of the drive module's position detection directly affects the precision and response speed of braking force control.

[0003] Existing EMB systems employ an angle detection sensor in the motor module, combined with a force detection sensor, to determine the position of the drive module. The angle detection sensor can only detect the angle of rotation of the motor module, but cannot identify the number of revolutions. Therefore, a force detection sensor is required to monitor the brake clamping force in real time to ensure precise and controllable braking force. However, in the event of an abnormal power outage (i.e., when the force detection sensor fails to function), the angle detection sensor alone cannot accurately determine the number of revolutions of the motor module. In this case, the motor module must re-identify the contact point. This can result in the motor module remaining in a low-speed learning state after the user presses the brake pedal, failing to respond to user needs in a timely manner, which can easily lead to hazards. Summary of the Invention

[0004] The present invention aims to solve the problem of difficulty in timely confirming the position of a drive module. The present invention provides a position detection method and an EMB system applied to an EMB system, which can timely identify the position of the EMB system.

[0005] In order to solve the above technical problems, an embodiment of the present invention discloses a position detection method applied to an EMB system, wherein the EMB system includes: a motor output shaft gear, wherein the motor output shaft gear is provided with a first angle detection sensor; an output shaft gear, wherein the output shaft gear is provided with a second angle detection sensor; an output shaft, wherein one end of the output shaft is provided with the output shaft gear; a caliper including a friction plate; a drive module, which is sleeved on the output shaft, and the output shaft is used to drive the drive module to move back and forth in the axial direction to contact or separate with the friction plate; the position detection method includes: obtaining a first angle A1 and a second angle B1, wherein the first angle A1 is the current rotation angle of the motor output shaft gear , the second angle B1 is the current rotation angle of the output shaft gear; according to the first angle A1 and the second angle B1, the first number N1 of the actual rotation of the motor output shaft gear and the second number N2 of the actual rotation of the output shaft gear are determined; the third angle A2 of the actual rotation of the motor output shaft gear is determined according to the first formula, and the fourth angle B2 of the actual rotation of the output shaft gear is determined according to the second formula, the first formula is A2=N1×360°+A1, and the second formula is B2=N2×360°+B1; according to the third angle A2 and the fourth angle B2, the axial position of the drive module relative to the output shaft is determined.

[0006] By adopting the above technical solution, the present invention addresses the difficulty in timely identifying the position of the EMB system in existing EMB systems. By adding a second angle detection sensor to the output shaft gear, along with the first angle detection sensor originally provided on the motor output shaft gear, the current rotation angle of the motor output shaft gear and the current rotation angle of the output shaft gear are simultaneously obtained. Based on mechanical structure principles, the actual number of revolutions of the motor output shaft gear and the actual number of revolutions of the output shaft gear can be calculated. By converting the circumferential motion of the output shaft into the linear motion of the drive module, the exact position of the drive module can be calculated. The addition of the second angle detection sensor (safety level ASIL B) reduces dependence on the first angle detection sensor (safety level ASIL B). The first and second angle detection sensors work together in a mutually verified manner to achieve a safety level of ASIL B + ASIL B = ASIL D. Heterogeneous selection is also achieved. That is, in terms of sensor selection, a combination of sensors of different types, brands, or technical principles can be used according to system requirements. In addition, the second angle detection sensor can replace the force detection sensor, saving costs while improving system reliability.

[0007] According to another specific embodiment of the present invention, determining the first number N1 of actual rotations of the motor output shaft gear and the second number N2 of actual rotations of the output shaft gear based on the first angle A1 and the second angle B1 includes: obtaining a fifth angle A0 and a sixth angle B0, wherein the fifth angle A0 is the angle at which the motor output shaft gear rotates when the drive module is against the output shaft, and the sixth angle B0 is the angle at which the output shaft gear rotates when the drive module is against the output shaft; determining the first number N1 of actual rotations of the motor output shaft gear and the second number N2 of actual rotations of the output shaft gear based on the first angle A1-the fifth angle A0, the second angle B1-the sixth angle B0, and a table of correspondence between angles and numbers of rotations, wherein the angle range of rotation of the motor output shaft gear and the corresponding range of angle rotation of the output shaft gear in the table of correspondence between angles and numbers of rotations are determined by a transmission ratio N, and the transmission ratio N is the ratio of the number of rotations of the motor output shaft gear to the number of rotations of the output shaft gear.

[0008] Using the above technical solution, the first angle detection sensor and the second angle detection sensor can only detect the angle of the motor output shaft gear and the output shaft gear from 0° to the measured position. Therefore, when the angle of the motor output shaft gear and the output shaft gear is not 0° at the first absolute position O1, the first angle A1 and the second angle B1 obtained in real time by the first detection chip and the second detection chip need to be subtracted from the fifth angle A0 of the motor output shaft gear and the sixth angle B0 of the output shaft gear at the first absolute position O1, so as to ensure the accuracy of the final angle of the motor output shaft gear and the output shaft gear.

[0009] According to another specific embodiment of the present invention, the current thickness of the friction plate is determined according to the axial position of the drive module relative to the output shaft, and if it is determined that the current thickness of the friction plate is less than a set value, the EMB system alarms.

[0010] By adopting the above technical solution, during the mechanical design setting, the safe distance range in which the drive module can move when the friction plate does not need to be replaced will be pre-set, that is, the farthest safe distance that the drive module can reach in the axial direction relative to the output shaft will be pre-set, and the safe value of the angle of rotation of the motor output shaft gear and the safe value of the actual rotation angle of the output shaft gear will be determined through the principle of mechanical structure. When the system detects that the actual rotation angle of the motor output shaft gear and the actual rotation angle of the output shaft gear are greater than the safety value, the EMB system alarm can be used to promptly remind the user to replace the friction plate, thereby avoiding the harm caused by weak braking force due to the friction plate being too thin.

[0011] An embodiment of the present invention also discloses an EMB system, which includes a motor output shaft gear, the motor output shaft gear is provided with a first angle detection sensor; an output shaft gear, the output shaft gear is provided with a second angle detection sensor; an output shaft, one end of which is provided with the output shaft gear; a caliper, including a friction plate; a drive module, which is sleeved on the output shaft, and the output shaft is used to drive the drive module to move back and forth in the axial direction to contact or separate with the friction plate; and a controller, which is used to execute any of the position detection methods described above.

[0012] With the above technical solution, since the angle detection sensor can only output the rotation angle of the detected object between 0° and 360° and cannot determine the actual number of rotations of the detected object, a second angle detection sensor is added to the output shaft gear, as well as the first angle detection sensor originally set on the motor output shaft gear. By simultaneously obtaining the current rotation angle of the motor output shaft gear and the current rotation angle of the output shaft gear, the actual number of rotations of the motor output shaft gear and the actual number of rotations of the output shaft gear can be calculated according to the mechanical structure principle, thereby obtaining the real-time position of the drive module. In addition, by adding the second angle detection sensor (safety level ASIL B), the dependence on the first angle detection sensor (safety level ASIL B) is reduced. The first angle detection sensor and the second angle detection sensor work together in a mutually verified manner to achieve a safety level of ASIL B + ASIL B = ASIL D, and heterogeneity is achieved in selection, thereby replacing the force detection sensor, saving costs while improving the reliability of the EMB system.

[0013] According to another embodiment of the present invention, an EMB system is disclosed, wherein the motor output shaft gear is meshed with the output shaft gear.

[0014] By adopting the above technical solution, the motor output shaft gear directly drives the output shaft gear, which can effectively reduce the number of parts and make the response speed of the braking force control faster.

[0015] According to another specific embodiment of the present invention, an embodiment of the present invention discloses an EMB system, which also includes a transmission driving wheel and a transmission driven wheel, wherein the transmission driving wheel and the transmission driven wheel are coaxially arranged, the transmission driving wheel is engaged with the output shaft gear, and the transmission driven wheel is engaged with the motor output shaft gear.

[0016] By adopting the above technical solution, the demand for motor torque can be reduced by adding a transmission driving wheel and a transmission driven wheel compared to directly driving the output shaft gear by the motor. While increasing the life of the motor, it can also effectively improve the accuracy of the drive module movement.

[0017] According to another specific embodiment of the present invention, an embodiment of the present invention discloses an EMB system, wherein the first angle detection sensor includes a first magnet and a first detection chip, and the second angle detection sensor includes a second magnet and a second detection chip.

[0018] According to another specific embodiment of the present invention, an embodiment of the present invention discloses an EMB system, wherein the first magnet is fixed at the motor shaft output gear, and the first magnet is spaced apart from the first detection chip, and the second magnet is fixed at the output shaft gear, and the second magnet is spaced apart from the second detection chip.

[0019] An embodiment of the present invention further discloses a computer storage medium, comprising a memory and a processor, wherein the memory is adapted to store computer instructions, and the processor is adapted to execute any one of the above-mentioned methods for determining the position of the EMB system when running the computer instructions.

[0020] An embodiment of the present invention further discloses a computer program product, including a computer program / instruction, which implements any of the above methods for determining the position of the EMB system when executed by a processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram showing an EMB system described in this application Figure 1 , wherein the driving module is located at a first absolute position;

[0022] Figure 2 A schematic diagram showing an EMB system described in this application Figure 2 , wherein the driving module is located at a second absolute position;

[0023] Figure 3 Shows a side view of an EMB system described in this application Figure 1 ;

[0024] Figure 4 Shows the distance line of sensor output angle-piston displacement in an EMB system described in this application Figure 1 ;

[0025] Figure 5 Schematic diagram of the EMB system according to an embodiment of the present invention Figure 3 , wherein the driving module is located at a first absolute position;

[0026] Figure 6 A side view of an EMB system according to an embodiment of the present invention is shown. Figure 2 ;

[0027] Figure 7A schematic diagram showing another embodiment of the EMB system of the present invention Figure 4 , wherein the driving module is located at a first absolute position;

[0028] Figure 8 A side view showing another embodiment of the EMB system of the present invention Figure 3 ;

[0029] Figure 9 The sensor output angle-piston movement distance line of the EMB system according to the embodiment of the present invention is shown. Figure 2 ;

[0030] Figure 10 Schematic diagram of the EMB system according to an embodiment of the present invention Figure 5 , wherein the driving module is located at a second absolute position;

[0031] Figure 11 A flow chart showing a method for determining the position of an EMB system according to an embodiment of the present invention is shown;

[0032] Figure 12 The electronic device provided by the embodiment of the present invention is shown in FIG. Figure 1 ;

[0033] Figure 13 The block diagram of a system on chip (SoC) provided by an embodiment of the present invention is shown. Figure 2 . DETAILED DESCRIPTION

[0034] The following is an explanation of the embodiments of the present invention by specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this invention are limited to this embodiment. On the contrary, the purpose of introducing the invention in conjunction with the embodiment is to cover other options or modifications that may be extended based on the claims of the present invention. In order to provide a deep understanding of the present invention, the following description will contain many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present invention, some specific details will be omitted in the description. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0035] It should be noted that in this specification, similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0036] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention 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. Therefore, they cannot be understood as limitations on the present invention.

[0037] The terms “first”, “second”, etc. are only used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0038] In the description of this embodiment, it should be noted that, unless otherwise specified or limited, the terms "disposed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this embodiment based on specific circumstances.

[0039] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0040] refer to Figure 1 In some existing embodiments, the EMB system 10 includes: a motor module 20, a transmission module 30, a drive module 40, a caliper 50, and a controller (not shown in the figure). The motor module 20 includes a motor output shaft 21 and a motor output shaft gear 22, and the transmission module 30 includes an output shaft gear 31, an output shaft 32, a transmission driven wheel 33, and a transmission driving wheel 34. The motor output shaft 21 is provided with a motor output shaft gear 22 at one end, the transmission driven wheel 33 is meshed with the motor output shaft gear 22, the transmission driving wheel 34 is coaxially arranged with the transmission driven wheel 33, the output shaft gear 31 is meshed with the transmission driving wheel 34, and the output shaft gear 31 is coaxially arranged with the output shaft 32. The output shaft 32 is used to drive the drive module 40 to reciprocate along the axial direction. The drive module 40 includes a screw 41, a screw nut 42, and a piston 43. The screw 41 is sleeved on the output shaft 32. The caliper 50 further includes a caliper body 51 , a friction plate 52 and a brake disc 53 . The caliper body 51 is sleeved on the outside of the friction plate 52 to support the friction plate 52 .

[0041] Specifically, the motor module 20 drives the motor output shaft gear 22 to rotate through the motor output shaft 21, and the motor output shaft gear 22 drives the transmission driven wheel 33 to rotate. The transmission driven wheel 33 and the transmission driving wheel 34 are coaxially arranged, and the transmission driving wheel 34 is engaged with the output shaft gear 31. Therefore, the transmission driving wheel 34 drives the output shaft gear 31 to rotate, so that the output shaft gear 31 drives the output shaft 32 to rotate. The screw rod 41 is sleeved on the output shaft 32. Therefore, the output shaft 32 drives the screw rod 41 to rotate, and the screw nut 42 is sleeved on the screw rod 41. The screw rod 41 rotates to push the screw nut 42 to move back and forth along the axial direction. 42 abuts against the piston 43, thereby pushing the piston 43 to move back and forth axially to switch between the first absolute position O1 and the second absolute position O2. When the piston 43 is at the second absolute position O2, the piston 43 pushes the friction plate 52 to press the brake disc 53 for braking. By determining the position of the piston 43, it can be determined whether the piston 43 is between the first absolute position O1 and the second absolute position O2. That is to say, the circumferential motion of the output shaft 32 is converted into the linear motion of the piston 43, so as to determine whether the piston 43 is in a reasonable position, thereby determining whether the piston 43 is detached or whether the friction plate 52 is worn.

[0042] refer to Figure 1 , Figure 1 The middle piston 43 is located at the leftmost side of the screw rod 41 as shown in the figure, which is the farthest distance the piston 43 can move to the left, that is, the first absolute position O1. At this time, the friction plate 52 is separated from the brake disc 53 and no braking is performed.

[0043] Further, refer to Figure 2 , Figure 2 The middle piston 43 is located at the rightmost side of the screw rod 41 as shown in the figure, which is the farthest distance the piston 43 can move to the right, that is, the second absolute position O2. At this time, the friction plate 52 fits tightly with the brake disc 53, and braking is achieved by pressing the brake disc 53 with the friction plate 52.

[0044] Therefore, in some existing embodiments, reference Figures 1 to 3 A first angle detection sensor 60 is set on the motor output shaft gear 22. The first angle detection sensor 60 includes a first magnet 61 and a first detection chip 62. The first angle detection sensor 60 can detect the rotation angle of the motor output shaft gear 22 and cooperate with the force detection sensor (not shown in the figure). The force detection sensor can detect the brake clamping force in real time.

[0045] Specifically, in the first stage, when the piston 43 has not yet contacted the friction plate 52, the controller controls the motor module 20 to rotate the motor output shaft gear 22 to a predetermined angle, that is, the touch disk point, according to the real-time rotation angle of the motor output shaft gear 22 detected by the first angle detection sensor 60. The touch disk point is the initial contact position when the piston 43 pushes the friction plate 52 to press the brake disc 53. In the second stage, when the force detection sensor detects that the brake clamping force increases, that is, the piston 43 pushes the friction plate 52 for braking, the real-time brake clamping force is detected by the force detection sensor, and the first angle detection sensor 60 feedback is used to adjust the rotation angle of the motor module 20 in real time to ensure the brake clamping force. However, in the above embodiment, in the event of abnormal power failure, that is, when the force detection sensor loses its function, the number of revolutions of the motor output shaft gear 22 cannot be determined by the first angle detection sensor 60, and thus it is impossible to accurately judge whether the piston 43 moves to the touch disk point to push the friction plate 52 for braking.

[0046] Specifically, refer to Figure 4 , the first angle detection sensor 60 can only obtain any angle value from 0° to 360°, that is, the first angle detection sensor 60 can only detect the rotation angle of the motor output shaft gear 22, but cannot identify the actual number of rotations of the motor output shaft gear 22. For example, when the first angle detection sensor 60 detects that the rotation angle of the motor output shaft gear 22 is 180°, there are five intersections between the reference line X1 and the output of the first detection chip 62. Therefore, it is impossible to determine at which time the motor output shaft gear 22 has rotated 180°, and it is also impossible to determine the real-time position of the piston 43. At this time, the motor module 20 needs to act to re-identify the touch plate point, which will cause the motor module 20 to remain in a low-speed learning state after the user steps on the brake pedal and fails to respond to the user's needs in time, which can easily cause harm.

[0047] To solve the above problems, refer to Figure 5 and Figure 6 , an embodiment of the present application provides a position detection method applied to the EMB system 10, by respectively setting a first angle detection sensor 60 and a second angle detection sensor 70 on the motor output shaft gear 22 and the output shaft gear 31, the motor output shaft gear 22 is provided with a first angle detection sensor 60, and the output shaft gear 31 is provided with a second angle detection sensor 70, wherein the first angle detection sensor 60 includes a first magnet 61 and a first detection chip 62, and the second angle detection sensor 70 includes a second magnet 71 and a second detection chip 72, the first magnet 61 is fixed at the motor output shaft gear 22, and the first magnet 61 and the first detection chip 62 are spaced apart, the second magnet 71 is fixed at the output shaft gear 31, and the second magnet 71 and the second detection chip 72 are spaced apart.

[0048] Specifically, the first detection chip 62 is provided with a magnetic field source, and the first magnet 61 is provided with an N-level and an S-level. The first detection chip 62 detects four output values, sin_P, sin_N, cos_P, and cos_N, according to the magnetic field changes generated by the rotation of the first magnet. By differential output, sinα=sin_P-sin_N and cosβ=cos_P-cos_N are obtained, thereby calculating the angle rotated by the motor output shaft gear 22. The second detection chip 72 and the second magnet 71 detect the output angle in the same manner.

[0049] However, those skilled in the art will appreciate that, in other embodiments, the angle detection sensor may also be of other types, such as an ultrasonic angle sensor, an optical encoder, etc., and this application does not impose any limitation on this.

[0050] In some possible embodiments, reference Figure 7 and Figure 8 The motor output shaft gear 22 is meshed with the output shaft gear 31, and the motor output shaft gear 22 directly drives the output shaft gear 31 to rotate. However, those skilled in the art will appreciate that in other embodiments, the EMB system 10 may also include a three-stage transmission driving wheel and a three-stage transmission driven wheel, etc., and this application is not limited thereto.

[0051] In this embodiment, the drive module 40 rotates the screw 41 to push the screw nut 42 to move axially, but those skilled in the art will understand that in other embodiments, the drive module 40 can be other drive modes, such as a worm gear.

[0052] It should be noted that the reference Figure 10 Since the friction plate 52 will wear out as the user uses it, the second absolute position O2 will gradually move to the right as the thickness of the friction plate 52 decreases, that is, the positioning of the second absolute position O2 will gradually move to the right. In the mechanical design setting, a safe distance range in which the piston 43 can move axially when the friction plate 52 reaches a thickness that requires replacement will be pre-set. Therefore, the maximum safe angle that the motor output shaft gear 22 and the output shaft gear 31 can rotate will be pre-stored in the controller. When the controller detects that the angle rotated by the motor output shaft gear 22 and the output shaft gear 31 exceeds the maximum safe angle, the EMB system 10 will alarm and prompt the user to replace the friction plate 52.

[0053] The following is based on Figure 5 The schematic diagram of the EMB system 10 shown in FIG. Figure 11 , the method for determining the position of the EMB system 10 of the present application is described in detail.

[0054] Specifically, in the embodiment of the present application Figure 5The method for determining the position of the EMB system 10 may be implemented by the controller of the EMB system 10 executing a related program.

[0055] refer to Figure 5 and Figure 11 According to a specific embodiment of the present application, a method for determining the position of the EMB system 10 includes the following steps:

[0056] S100 : Acquire a first angle A1 and a second angle B1 , where the first angle A1 is the current rotation angle of the motor output shaft gear 22 , and the second angle B1 is the current rotation angle of the output shaft gear 31 .

[0057] Here, the controller of the embodiment of the present application is electrically connected to the first detection chip 62 and the second detection chip 72, respectively, so that the controller can obtain the current rotation angle of the motor output shaft gear 22 and the current rotation angle of the output shaft gear 31 in real time. Specifically, the first angle detection sensor 60 and the second angle detection sensor 70 respectively detect the rotation angles of the motor output shaft gear 22 and the output shaft gear 31 in real time, and then transmit the detection results to the controller through a signal, so that the controller can obtain the first angle A1 and the second angle B1 in real time.

[0058] Exemplarily, the first angle A1 is 90°, and the second angle B1 is 77.1°, that is, the current rotation angle of the motor output shaft gear 22 is 90°, and the current rotation angle of the output shaft gear 31 is 77.1°.

[0059] It should be noted that, in the embodiment of the present application, the first detection chip 62 and the second detection chip 72 can only obtain any angle value from 0° to 360°.

[0060] For example, the first detection chip 62 and the second detection chip 72 are respectively fixed to the gear box wall positions (not shown) corresponding to the center positions of the motor output shaft gear 22 and the output shaft gear 31 by means of crimping. However, those skilled in the art will appreciate that the first detection chip 62 and the second detection chip 72 can be fixed using other methods, such as gluing, and this application does not limit this.

[0061] S200 : Determine a first number N1 of actual rotations of the motor output shaft gear 22 and a second number N2 of actual rotations of the output shaft gear 31 according to the first angle A1 and the second angle B1 .

[0062] It should be noted that when setting the mechanical design, the ratio of the number of rotations of the motor output shaft gear 22 to the number of rotations of the output shaft gear 31 is defined as the transmission ratio N. That is to say, after determining the number of rotations of the motor output shaft gear 22, the number of rotations of the output shaft gear 31 can be determined by the transmission ratio N.

[0063] Furthermore, the controller of the embodiment of the present application pre-stores a table of correspondence between angles and numbers of turns (as shown in Table 1). The table of correspondence between angles and numbers of turns is determined according to the transmission ratio N. For example, taking the first row in Table 1 as an example, the transmission ratio N = 3.5. When the range value of the first angle A1 is 0° to 180°, the range value corresponding to the second angle B1 is 0° to (180° / N), that is, the range value corresponding to the second angle B1 is 0° to 51.43°, and so on.

[0064] Table 1

[0065]

[0066] It should be noted that, during the mechanical design setting, the angles of the motor output shaft gear 22 and the output shaft gear 31 are not necessarily 0° at the first absolute position O1. However, the first angle detection sensor 60 and the second angle detection sensor 70 can only output the rotation angles of the motor output shaft gear 22 and the output shaft gear 31 from 0° to the measured position. Therefore, when the angles of the motor output shaft gear 22 and the output shaft gear 31 are not 0° at the first absolute position O1, the first angle A1 and the second angle B1 obtained in real time by the first detection chip 62 and the second detection chip 72 need to be subtracted from the fifth angle A0 of the motor output shaft gear 22 and the sixth angle B0 of the output shaft gear 31 at the first absolute position O1, so as to ensure the accuracy of the actual angles of the motor output shaft gear 22 and the output shaft gear 31.

[0067] Therefore, first of all, the fifth angle A0 and the sixth angle B0 need to be pre-stored in the controller, wherein the fifth angle A0 is the angle at which the motor output shaft gear 22 rotates when the piston 43 is against the output shaft 32, and the sixth angle B0 is the angle at which the output shaft gear 31 rotates when the piston 43 is against the output shaft 32, that is, when the friction plate 52 is separated from the brake disc 53 and no braking is performed, and the angle at which the motor output shaft gear 22 and the output shaft gear 31 rotate.

[0068] Illustratively, in the embodiment of the present application, the fifth angle A0 is 180°, and the sixth angle B0 is 51.4°.

[0069] Secondly, determine the corresponding relationship table between angle and number of turns according to the transmission ratio N.

[0070] For example, in this embodiment of the present application, the transmission ratio N is set to 3.5. Therefore, in this embodiment, the corresponding angle and number of turns are shown in Table 2:

[0071] Table 2

[0072] Number of lines A1-A0(°) N1 (circle) B1-B0(°) N2 (circle) 1 0-180 0 0-51.43 0 2 180-360 0 51.4-102.86 0 3 0-180 1 102.86-154.29 0 4 180-360 1 154.29-205.714 0 5 0-180 2 205.714-257.14 0 6 180-360 2 257.17-308.57 0 7 0-180 3 308.57-360 0 8 180-360 3 0-51.43 1 9 0-180 4 51.4-102.86 1 10 180-360 4 102.86-154.29 1 11 0-180 5 154.29-205.714 1 12 180-360 5 205.714-257.14 1

[0073] Finally, the first number of revolutions N1 actually rotated by the motor output shaft gear 22 and the second number of revolutions N2 actually rotated by the output shaft gear 31 are determined according to the first angle A1-fifth angle A0, the second angle B1-sixth angle B0 and the angle and revolution correspondence table.

[0074] For example, in this embodiment, the first angle A1 is 90°, the second angle B1 is 77.1°, the fifth angle A0 is 180°, and the sixth angle B0 is 51.4°. At this time, the first angle A1 is smaller than the fifth angle A0, indicating that the motor output shaft 21 has rotated a full circle of 360°. Therefore, when calculating the value of the first angle A1-the fifth angle A0, the calculation formula is: A1+360°-A0=90°+360°-180°=270° At the same time, B2-B0=77.1°-51.4°=25.7°. According to Table 2, when the value of the first angle A1-fifth angle A0 is 270°, and the value of the second angle B1-sixth angle B0 is 25.7°, only row number 8 meets both conditions. Therefore, it can be concluded that at this time, the first number of turns N1 is 3 turns, and the second number of turns N2 is 1 turn. That is to say, at this time, the motor output shaft gear 22 has rotated 3 complete turns, and the output shaft gear 31 has rotated 1 complete turn.

[0075] It should be noted that the reference Figure 9 , when the corresponding values ​​of the first angle A1-fifth angle A0 and the second angle B1-sixth angle B0 are obtained by looking up the table, since there is only one possible position of the piston 43, according to Figure 9 It can be seen that when the value of A1-A0 is 270°, it is located at the reference line X2, and when the value of B2-B0 is 25.7°, it is located at the reference line X3. At this time, the value of A1-A0 and the value of B2-B0 are satisfied at the same time, and it is only located at the reference line X4. There are two intersection points Q1 and Q2. Figure 9 It can also be seen that at this time, the motor output shaft gear 22 has completely rotated 3 circles, and the output shaft gear 31 has completely rotated 1 circle.

[0076] S300: Determine the third angle A2 of actual rotation of the motor output shaft gear 22 according to the first formula, and determine the fourth angle B2 of actual rotation of the output shaft gear 31 according to the second formula. The first formula is A2=N1×360°+A1, and the second formula is B2=N2×360°+B1.

[0077] Specifically, through step S200, only the number of complete rotations of the motor output shaft gear 22 and the number of complete rotations of the output shaft gear 31 are obtained. At this time, the first angle A1 and the second angle B1 obtained by the first detection chip 62 and the second detection chip 72 need to be added to obtain the third angle A2 of the real-time rotation of the motor output shaft gear 22 and the fourth angle B2 of the real-time rotation of the output shaft gear 31.

[0078] For example, the first number of turns N1 is 3 turns, the second number of turns N2 is 1 turn, the first angle A1 is 90°, and the second angle B1 is 77.1°. At this time, the third angle A2 = N1×360°+A1 = 3×360°+90° = 1170°, and the fourth angle B2 = N2×360°+B1 = 1×360°+77.1° = 437.1°. It can be concluded that the actual rotation angle of the motor output shaft gear 22 is 1170°, and the actual rotation angle of the output shaft gear 31 is 437.1°. According to the principle of mechanical structure, it can be concluded that at this time, the distance moved axially by the piston 43 relative to the output shaft 32 is 6 mm. However, those skilled in the art will understand that depending on the different mechanical structure designs of the piston 43, the distance moved by the piston 43 corresponding to the actual rotation angle of the output shaft gear 31 is different, and this application does not impose any restrictions on this.

[0079] It should be noted that, given that the first angle detection sensor 60 and the second angle detection sensor 70 can only obtain any angle value from 0° to 360°, it is necessary to further determine the number of rotations of the motor output shaft gear 22 and the output shaft gear 31 by looking up the table, so as to obtain the actual rotation angle of the motor output shaft gear 22 and the output shaft gear 31 by calculation. For example, the angle of rotation of the motor output shaft gear 22 detected by the first angle detection sensor 60 is 90°. By looking up the table, it is determined that the number of rotations of the motor output shaft gear 22 is 3. The obtained angle of 90° is 90° of the fourth circle. Therefore, the first formula calculates that the actual rotation angle of the motor output shaft gear is 1170°, and the calculation method of the actual rotation angle of the output shaft gear 31 is the same.

[0080] S400 : Determine the axial position of the driving module 40 relative to the output shaft 32 according to the third angle A2 and the fourth angle B2 .

[0081] It should be noted that during the mechanical design process, the angle of rotation of the motor output shaft gear 22 and the position of the piston 43 corresponding to the corresponding angle of rotation of the output shaft gear 31 have been determined. That is to say, after the third angle A2 and the fourth angle B2 are calculated according to steps S1 to S3, through mechanical design settings, the angle of rotation of the output shaft gear 31 in the circumferential motion is converted into the distance moved by the linear motion of the piston 43, thereby calculating the real-time position of the piston 43.

[0082] In summary, combined Figures 5 to 9 According to the above steps S100 to S400 of the method for determining the position of the piston 43 of the present application, the angle and number of turns correspondence table, the transmission ratio N, the fifth angle A0, the sixth angle B0, and the first angle A1 and the second angle B1 obtained in real time by the angle detection sensor are pre-stored in the controller, and the third angle A2 and the fourth angle B2 are obtained through processing by the controller. Therefore, according to the mechanical design settings, the circumferential motion of the output shaft 32 is converted into linear motion to obtain the distance of the piston 43 displaced axially relative to the output shaft 32, so as to determine the position of the piston 43.

[0083] Further, refer to Figure 9 The current thickness of the friction plate 52 is determined based on the axial position of the drive module 40 relative to the output shaft 32. If it is determined that the current thickness of the friction plate 52 is less than the set value, the EMB system 10 issues an alarm.

[0084] Specifically, during the mechanical design process, a safe distance range within which the drive module 40 can move axially has been set. That is, when the piston 43 moves to the right as shown in the figure to the maximum set value of the movable safe distance range, it means that the friction plate 52 has been completely worn out and needs to be replaced. Therefore, when the controller detects that the rotation angle of the corresponding motor output shaft gear 22 and the output shaft gear 31 exceeds the set maximum angle, the EMB system 10 will alarm and prompt the user to replace the friction plate 52.

[0085] Exemplarily, the safe distance range for the movement of the piston 43 is 0 mm to 8 mm. For example, the piston 43 moves 7 mm toward the friction plate 52 but has not yet touched the friction plate 52. At this time, the controller detects that the actual rotation angle of the motor output shaft gear 22 and the actual rotation angle of the output shaft gear 31 are greater than the safety value. Exemplarily, at this time, the rotation angle of the motor output shaft gear 22 is greater than 1920°, and at the same time, the rotation angle of the output shaft gear 31 is greater than 565.7°. The EMB system 10 will alarm and prompt the user to replace the friction plate 52. However, those skilled in the art will appreciate that, in other embodiments, the safe distance range for movement of the piston 43 may be 0 mm to 10 mm, 0 mm to 12 mm, etc., which needs to be determined based on the principle of mechanical structure, and the present application does not impose any restrictions thereto. At the same time, the node at which the EMB system 10 alarms may alarm when the difference from the maximum safety distance is 0 mm-4 mm, for example, when the difference from the maximum safety distance is 2 mm, 3 mm, 3.5 mm, etc., and the present application does not impose any restrictions thereto. Furthermore, the maximum angle at which the motor output shaft gear 22 and the output shaft gear 31 can rotate, that is, the safety value, needs to be determined based on the principle of mechanical structure, and the present application does not impose any restrictions thereto.

[0086] In addition, the present invention also provides a computer storage medium including a memory and a processor, wherein the memory is adapted to store computer instructions, and the processor is adapted to execute the method for determining the position of the EMB system of any of the above embodiments when executing the computer instructions.

[0087] Now refer to Figure 12 , which shows a block diagram of an electronic device 80 according to an embodiment of the present application Figure 1 . The electronic device 80 is, for example, a smart mobile terminal. The electronic device 80 may include one or more processors 81 coupled to a controller hub 83. For at least one embodiment, the controller hub 83 communicates with the processor 81 via a multi-drop bus such as a front-side bus (FSB), a point-to-point interface such as a QuickPath Interconnect (QPI), or a similar connection. The processor 81 executes instructions that control general types of data processing operations. In one embodiment, the controller hub 83 includes, but is not limited to, a graphics memory controller hub (GMCH) (not shown) and an input / output hub (IOH) (which may be on a separate chip) (not shown), wherein the GMCH includes a memory and a graphics controller and is coupled to the IOH.

[0088] The electronic device 80 may further include a coprocessor 82 and a memory 84 coupled to a controller hub 83. Alternatively, one or both of the memory and the GMCH may be integrated within the processor, with the memory 84 and the coprocessor 82 directly coupled to the processor 81 and the controller hub 83, with the controller hub 83 being in a single chip with the IOH.

[0089] The memory 84 may be, for example, a dynamic random access memory (DRAM), a phase change memory (PCM), or a combination thereof. The memory 84 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. The computer-readable storage medium stores instructions, specifically, temporary and permanent copies of the instructions. The instructions may include: when executed by at least one of the processors, causing the electronic device 80 to implement the following: Figure 5 The instructions of the method for determining the position of the EMB system 10 are shown. When the instructions are executed on a computer, the computer is caused to execute the method disclosed in any one of the above embodiments or combined embodiments to detect the position of the piston 43.

[0090] In one embodiment, the coprocessor 82 is a special-purpose processor, such as, for example, a high-throughput MIC (Many Integrated Core) processor, a network or communication processor, a compression engine, a graphics processor, a GPGPU (General-purpose computing on graphics processing units), or an embedded processor. The optional nature of the coprocessor 82 is indicated by a dashed line in FIG. Figure 12 middle.

[0091] In one embodiment, the electronic device 80 may further include a network interface controller (NIC) 86. The network interface 86 may include a transceiver for providing a radio interface for the electronic device 80, thereby communicating with any other suitable device (such as a front-end module, an antenna, etc.). In various embodiments, the network interface 86 may be integrated with other components of the electronic device 80. The network interface 86 may implement the functions of the communication unit in the above-mentioned embodiments.

[0092] The electronic device 80 may further include input / output (I / O) devices 85. The I / O 605 may include: a user interface designed to enable a user to interact with the electronic device 80; a peripheral component interface designed to enable peripheral components to interact with the electronic device 80; and / or sensors designed to determine environmental conditions and / or location information related to the electronic device 80.

[0093] It is worth noting that Figure 12 This is for illustrative purposes only. Figure 12 The figure shows that the electronic device 80 includes multiple devices such as a processor 81, a controller hub 83, a memory 84, etc. However, in actual applications, the devices using the methods of the present application may only include a part of the devices in the electronic device 80, for example, it may only include the processor 81 and the network interface 86. Figure 12 The properties of the optional devices are shown with dotted lines.

[0094] Now refer to Figure 13 , which is a block diagram of a SoC (System on Chip) 90 according to an embodiment of the present application. Figure 13 In FIG, similar components have the same reference numerals. In addition, the dashed boxes are optional features of more advanced SoCs. Figure 13 In the embodiment, the SoC includes: an interconnect unit 95 coupled to a processor 91; a system agent unit 97; a bus controller unit 98; an integrated memory controller unit 94; a set of one or more coprocessors 92, which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a static random access memory (SRAM) unit 93; and a direct memory access (DMA) unit 96. In one embodiment, the coprocessors 92 include specialized processors, such as network or communication processors, compression engines, GPGPUs (General-purpose computing on graphics processing units), high-throughput MIC processors, or embedded processors.

[0095] The static random access memory (SRAM) unit 93 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. The computer-readable storage medium stores instructions, and more specifically, temporary and permanent copies of the instructions. The instructions may include instructions that, when executed by at least one of the processors, cause the SoC to implement the following: Figure 5The instructions of the method for determining the position of the piston 43 are shown. When the instructions are executed on a computer, the computer is caused to execute the method disclosed in the above embodiment.

[0096] The embodiment of the present application further provides a computer program product for implementing the method for determining the position of the EMB system 10 provided in the above embodiments.

[0097] The various embodiments of the mechanisms disclosed in this application can be implemented in hardware, software, firmware, or a combination of these implementation methods. The embodiments of the present application can be implemented as computer program modules or module codes executed on a programmable system, which includes at least one processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device.

[0098] A computer program module or module code can be applied to input instructions to perform the functions described herein and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of this application, a processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application specific integrated circuit (ASIC), or a microprocessor.

[0099] Module code can be implemented with high-level modular language or object-oriented programming language to communicate with the processing system. When necessary, module code can also be implemented with assembly language or machine language. In fact, the mechanism described in this application is not limited to the scope of any specific programming language. In either case, the language can be a compiled language or an interpreted language.

[0100] In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried or stored on one or more temporary or non-temporary machine-readable (e.g., computer-readable) storage media, which may be read and executed by one or more processors. For example, instructions may be distributed over a network or through other computer-readable media. Therefore, a machine-readable medium may include any mechanism for storing or transmitting information in a machine (e.g., computer) readable form, including but not limited to a floppy disk, an optical disk, an optical disk, a magneto-optical disk, a read-only memory (ROM), a random access memory (RAM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic card or an optical card, a flash memory, or a tangible machine-readable memory for transmitting information (e.g., a carrier wave, an infrared signal, a digital signal, etc.) using the Internet in an electrical, optical, acoustic, or other form of propagation signal. Accordingly, machine-readable media includes any type of machine-readable media suitable for storing or transmitting electronic instructions or information in a form readable by a machine (eg, a computer).

[0101] Although the present invention has been illustrated and described with reference to certain preferred embodiments thereof, it should be understood by those skilled in the art that the above description is provided as a further detailed description of the present invention in conjunction with specific embodiments thereof, and that the specific implementation of the present invention is not limited to these descriptions. Those skilled in the art may make various changes in form and details, including simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A position detection method applied to an EMB system, characterized in that: The EMB system includes: A motor output shaft gear, wherein the motor output shaft gear is provided with a first angle detection sensor; an output shaft gear, wherein the output shaft gear is provided with a second angle detection sensor; an output shaft, one end of which is provided with the output shaft gear; calipers, including friction pads; a driving module, sleeved on the output shaft, wherein the output shaft is used to drive the driving module to reciprocate along the axial direction so as to contact or separate from the friction plate; The position detection method comprises: Obtain a first angle A1 and a second angle B1, wherein the first angle A1 is the current rotation angle of the motor output shaft gear, and the second angle B1 is the current rotation angle of the output shaft gear; Determine a first number N1 of revolutions actually rotated by the motor output shaft gear and a second number N2 of revolutions actually rotated by the output shaft gear according to the first angle A1 and the second angle B1; Determine the third angle A2 of the actual rotation of the motor output shaft gear according to the first formula, and determine the fourth angle B2 of the actual rotation of the output shaft gear according to the second formula, the first formula is A2=N1×360°+A1, and the second formula is B2=N2×360°+B1; The axial position of the driving module relative to the output shaft is determined according to the third angle A2 and the fourth angle B2.

2. The position detection method according to claim 1, wherein: The determining, based on the first angle A1 and the second angle B1, of a first number N1 of revolutions actually rotated by the motor output shaft gear and a second number N2 of revolutions actually rotated by the output shaft gear comprises: Obtain a fifth angle A0 and a sixth angle B0, wherein the fifth angle A0 is the angle at which the motor output shaft gear rotates when the drive module abuts the output shaft, and the sixth angle B0 is the angle at which the output shaft gear rotates when the drive module abuts the output shaft; According to the first angle A1-the fifth angle A0, the second angle B1-the sixth angle B0 and the angle-to-turn correspondence table, the first number N1 of actual rotation of the motor output shaft gear and the second number N2 of actual rotation of the output shaft gear are determined. The angle range of rotation of the motor output shaft gear in the angle-to-turn correspondence table and the corresponding angle range of rotation of the output shaft gear are determined by the transmission ratio N, and the transmission ratio N is the ratio of the number of rotations of the motor output shaft gear to the number of rotations of the output shaft gear.

3. The position detection method according to claim 1, wherein: The current thickness of the friction plate is determined according to the axial position of the drive module relative to the output shaft. When the current thickness of the friction plate is less than a set value, the EMB system alarms.

4. An EMB system, characterized in that: include: A motor output shaft gear, wherein the motor output shaft gear is provided with a first angle detection sensor; an output shaft gear, wherein the output shaft gear is provided with a second angle detection sensor; an output shaft, one end of which is provided with the output shaft gear; calipers, including friction pads; a driving module, sleeved on the output shaft, wherein the output shaft is used to drive the driving module to reciprocate along the axial direction so as to contact or separate from the friction plate; A controller, configured to execute the position detection method according to any one of claims 1 to 3.

5. The EMB system according to claim 4, characterized in that: The motor output shaft gear is meshed with the output shaft gear.

6. The EMB system according to claim 4, characterized in that: It also includes a transmission driving wheel and a transmission driven wheel. The transmission driving wheel and the transmission driven wheel are coaxially arranged. The transmission driving wheel is meshed with the output shaft gear, and the transmission driven wheel is meshed with the motor output shaft gear.

7. The EMB system according to any one of claims 5 or 6, characterized in that: The first angle detection sensor includes a first magnet and a first detection chip, and the second angle detection sensor includes a second magnet and a second detection chip.

8. The EMB system according to claim 7, characterized in that: The first magnet is fixed to the motor output shaft gear, and the first magnet is spaced apart from the first detection chip. The second magnet is fixed to the output shaft gear, and the second magnet is spaced apart from the second detection chip.

9. A computer storage medium, characterized in that The method comprises a memory and a processor, wherein the memory is adapted to store computer instructions, and the processor is adapted to execute the method for determining the position of the EMB system according to any one of claims 1 to 3 when executing the computer instructions.

10. A computer program product, characterized in that The method comprises a computer program / instruction, which implements the method for determining the position of the EMB system according to any one of claims 1 to 3 when executed by a processor.

Images