Air spring height measuring method, device, equipment, system and storage medium

Abstract

The invention relates to the technical field of high-precision sensors, in particular to an air spring height measuring method, device, equipment and system and a storage medium. The air spring height measuring method is applied to the air spring height measuring system. The air spring height measuring system comprises a signal transmitting piece and a signal receiving piece which are arranged at the first end of an air spring, and a signal reflecting surface arranged at the second end of the air spring. The method comprises the following steps: controlling a signal transmitting piece to transmit a laser signal towards a signal reflecting surface, and recording transmitting information of the laser signal; controlling a signal receiving piece to receive the reflected laser signal reflected by the signal reflecting surface, and recording receiving information of the reflected laser signal; and calculating the real-time distance between the first end and the second end according to the transmitting information and the receiving information, and taking the real-time distance as the real-time length of the air spring.

Description

Technical Field

[0001] The present application relates to the technical field of high-precision sensors, and in particular to an air spring height measurement method, an air spring height measurement device, an electronic device, an air spring height measurement system, and a computer-readable storage medium. Background Art

[0002] As a core component of modern automobile suspension systems, air springs have significant advantages in improving vehicle comfort and dynamic stability due to their adjustable stiffness and excellent vibration isolation performance. The control accuracy of air spring height directly determines the response speed of the suspension system and the vehicle posture adjustment ability. Therefore, high standards are set for the measurement accuracy, reliability and integration of spring height sensors.

[0003] Among the current mainstream technologies, height sensors mostly use the magnetoresistive sensing principle, which converts the vertical displacement of the spring into a resistance change of the magnetoresistive element through a mechanical transmission mechanism, and then outputs an electrical signal to judge the shape of the air spring. However, during the rotation of the motion mechanism, the shape change of the air spring has a certain nonlinearity, which will lead to errors in the height measurement of the air spring, thereby affecting the control accuracy of the vehicle suspension. Summary of the Invention

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes an air spring height measurement method that can improve the accuracy of the air spring height sensor while saving the layout space of the air spring.

[0005] In the first aspect, an embodiment of the present application provides an air spring height measurement method, which is applied to an air spring height measurement system. The air spring height measurement system includes a signal transmitter and a signal receiver arranged at the first end of the air spring, and a signal reflecting surface arranged at the second end of the air spring; the method includes: controlling the signal transmitter to transmit a laser signal toward the signal reflecting surface, and recording the transmission information of the laser signal; controlling the signal receiver to receive the reflected laser signal after being reflected by the signal reflecting surface, and recording the reception information of the reflected laser signal; calculating the real-time distance between the first end and the second end based on the transmission information and the reception information, and using the real-time distance as the real-time length of the air spring.

[0006] In some embodiments, the transmitted information includes a transmission timestamp of the laser signal, and the received information includes a reception timestamp of the reflected laser signal; and calculating the real-time distance between the first end and the second end based on the transmitted information and the received information includes: calculating the real-time distance between the first end and the second end based on the transmission timestamp, the reception timestamp, and the transmission speed of the laser signal, using the formula:

[0007]

[0008] Where D represents the real-time distance, T2 represents the receiving timestamp, T1 represents the transmitting timestamp, and c represents the transmitting speed of the laser signal.

[0009] In some embodiments, the laser signal includes a laser signal that is amplitude modulated according to a preset period.

[0010] In some embodiments, the transmission information includes a transmission phase at the time of transmission of the laser signal, and the reception information includes a reception phase at the time of reception of the reflected laser signal; calculating the real-time distance between the first end and the second end based on the transmission information and the reception information includes: calculating the real-time distance between the first end and the second end based on the transmission phase, the reception phase, a preset period, and the transmission speed of the laser signal, using the formula:

[0011]

[0012] Where D represents the real-time distance; ω represents the measured phase difference; T represents the preset period of the laser; and c represents the emission speed of the laser.

[0013] In some embodiments, the transmitted information includes a transmitting frequency at the time of transmitting the laser signal, and the received information includes a receiving frequency at the time of receiving the reflected laser signal; calculating the real-time distance between the first end and the second end based on the transmitted information and the received information includes: calculating the real-time distance between the first end and the second end based on the transmitting frequency, the receiving frequency, the sweep time and the sweep range of the air spring height measurement system, using the formula:

[0014]

[0015] Where D represents the real-time distance, T m represents the sweep time of the air spring height measurement system, f d It represents the frequency difference between the transmitting frequency and the receiving frequency, c represents the emission speed of the laser, and Δf represents the frequency sweep range.

[0016] In some embodiments, a convex mirror is provided at a preset distance corresponding to the center of the signal receiving element, and the convex mirror is used to refract the reflected laser signal to image the reflected laser signal; wherein the image of the reflected laser signal is in the same plane as the center of the signal receiving element; the method further includes: calculating the real-time distance between the first end and the second end based on the distance between the signal transmitting element and the convex mirror, the focal length of the convex mirror, and the distance between the center point of the signal receiving element and the imaging point of the reflected laser signal, the formula is:

[0017]

[0018] Wherein, D represents real-time distance; b represents the distance between the signal emitter and the convex mirror; a represents the distance between the center point of the signal receiver and the imaging point of the reflected laser signal; and f represents the focal length of the convex mirror.

[0019] The air spring height measurement method provided by the present application can effectively improve the accuracy of air spring height measurement and flexibly adapt to different development requirements.

[0020] In a second aspect, the present application provides an air spring height measurement device, comprising: a first control module configured to control the signal emitter to emit a laser signal towards the signal reflecting surface and record the emission information of the laser signal; a second control module configured to control the signal receiver to receive the reflected laser signal reflected by the signal reflecting surface and record the reception information of the reflected laser signal; and a calculation module configured to calculate the real-time distance between the first end and the second end according to the emission information and the reception information, and take the real-time distance as the real-time length of the air spring.

[0021] The air spring height measurement device provided by the present application can effectively improve the accuracy of air spring height measurement and flexibly adapt to different development requirements.

[0022] In a third aspect, the present application provides an electronic device, comprising: a processor and a memory, the memory storing programs or instructions executable on the processor, and the programs or instructions being executed by the processor to implement the steps of the air spring height measurement method of the first aspect.

[0023] In a fourth aspect, an embodiment of the present application provides an air spring height measurement system, comprising: a signal transmitting element and a signal receiving element arranged at the first end of the air spring, a signal reflecting surface arranged at the second end of the air spring, and an electronic device of the above embodiment, wherein the memory of the electronic device stores a program or instruction that can be run on a processor, and when the program or instruction is executed by the processor, the steps of the air spring height measurement method of the first aspect are implemented.

[0024] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the air spring height measurement method of the first aspect are implemented.

[0025] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0027] Figure 1 Flowchart of the air spring height measurement method provided in an embodiment of the present application;

[0028] Figure 2 A method for calculating the real-time distance between a first end and a second end provided in an embodiment of the present application;

[0029] Figure 3 Another method for calculating the real-time distance between a first end and a second end provided in an embodiment of the present application;

[0030] Figure 4 Another method for calculating the real-time distance between a first end and a second end provided in an embodiment of the present application;

[0031] Figure 5 A method for calculating the real-time distance between a first end and a second end using a triangulation method provided in an embodiment of the present application;

[0032] Figure 6 Another method for calculating the real-time distance between a first end and a second end using a triangulation method provided in an embodiment of the present application;

[0033] Figure 7 A schematic diagram of an air spring height measuring device provided in an embodiment of the present application;

[0034] Figure 8 A more specific schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application.

[0035] Reference signs: 710 - first control module; 720 - second control module; 730 - calculation module; 810 - processor; 820 - memory; 830 - input / output interface; 840 - communication interface; 850 - bus. DETAILED DESCRIPTION

[0036] Embodiments of the present application will be described in more detail by referring to the drawings. Although certain embodiments of the present application are shown in the drawings, it is understood that the present application can be implemented in various forms and should not be interpreted as being limited to the embodiments set forth herein, but rather the embodiments are provided to more thoroughly and completely understand the present application. It is understood that the drawings and embodiments of the present application are for exemplary purposes only and are not intended to limit the scope of protection of the present application.

[0037] It is understood that each step described in the method embodiments of the present application can be performed in different order and / or in parallel. In addition, the method embodiments can include additional steps and / or omit the steps shown. The scope of the present application is not limited in this respect.

[0038] As described in the background section, the air spring currently installed in the automobile suspension system generally uses a magnetoresistive height sensor as a detection device. However, the magnetoresistive height sensor relies on mechanical transmission structures such as small connecting rods, shafts, and hinged components, which convert the vertical movement of the air spring into the rotational movement of the permanent magnet. The mechanical transmission structure may cause measurement errors due to factors such as friction loss and limited sensitivity of the magnetoresistive material, making the accuracy of the height sensor unable to meet the control requirements of high-precision automobile suspensions. In addition, to realize the movement conversion function, the system needs to integrate multiple levels of connecting rods, rotating guide components, and magnet fixing structures, etc., which further leads to a large overall volume of the sensor, not only occupying the compact layout space of the chassis, but also reducing the reliability due to the long-term wear and tear of the complex mechanical structure. Therefore, to improve the high-precision control of the automobile suspension, the present application proposes a solution to solve the problems of sensor accuracy and layout space.

[0039] In the following, the technical solutions of the present application will be further described in detail through specific embodiments.

[0040] Reference Figure 1 The air spring height measurement method flowchart provided for the embodiments of the present application.

[0041] Step S101, the control signal emitting member emits a laser signal towards the signal reflecting surface, and records the emission information of the laser signal.

[0042] Step S102, the control signal receiving member receives the reflected laser signal reflected by the signal reflecting surface, and records the reception information of the reflected laser signal.

[0043] Specifically, the air spring provided in the embodiment of the present application can be an integrated air spring or an independent air spring. The air spring height measurement system includes a signal transmitter and a signal receiver arranged at the first end of the air spring, wherein the signal transmitter can be a laser for providing a laser signal. The wavelength of the laser signal provided in the embodiment of the present application is preferably 635nm~650nm, 850nm and 905nm; the second end of the air spring is provided with a reflecting surface, which can be formed by coating a bright reflective material on the second end of the air spring, and can reflect the laser emitted by the signal transmitter to the signal receiver; the signal receiver can be a photoelectric detector, which can convert the laser signal into an electrical signal based on the photoelectric effect, and obtain the relative setting positions of the first end and the second end of the air spring through further calculation.

[0044] In this embodiment of the present application, the air spring height measurement system controls a signal generator to transmit a laser signal onto a reflective surface. After the signal is reflected by the reflective surface, it is input to a signal receiver. The air spring height measurement system further records the transmission information of the laser signal and the reception information of the reflected laser signal. The transmission and reception of the laser by the signal transmitter and receiver can effectively improve the sensor's response speed, that is, increase the sensor's sensitivity.

[0045] Step S103 , calculating the real-time distance between the first end and the second end according to the transmitted information and the received information, and using the real-time distance as the real-time length of the air spring.

[0046] Specifically, when the air spring is deformed, the distance between the first end and the second end of the air spring changes, and the transmitted information and the received information will change accordingly. Therefore, the real-time distance between the first end and the second end of the air spring can be converted according to the transmitted information and the received information, and the current real-time length of the air spring can be obtained according to the real-time distance.

[0047] refer to Figure 2 , which is a method for calculating the real-time distance between a first end and a second end provided in an embodiment of the present application.

[0048] As an optional embodiment, the transmitted information includes a transmission timestamp of the laser signal, and the received information includes a reception timestamp of the reflected laser signal; and calculating the real-time distance between the first end and the second end based on the transmitted information and the received information includes: calculating the real-time distance between the first end and the second end based on the transmission timestamp, the reception timestamp, and the transmission speed of the laser signal, using the formula:

[0049]

[0050] Where D represents the real-time distance, T2 represents the receiving timestamp, T1 represents the transmitting timestamp, and c represents the transmitting speed of the laser signal.

[0051] Specifically, the real-time distance between the first end and the second end can be calculated by a pulse laser ranging method. After the signal generator emits a laser signal, the air spring height measurement system records the emission timestamp T1 of the laser signal, wherein the laser signal can be a rectangular laser pulse. Furthermore, the laser signal is reflected by the reflecting surface and then emitted to the signal receiving element. During the propagation process, the laser signal may undergo light interference or diffraction, and then change its form to form a reflected laser signal different from the emission signal. The signal receiving element receives the reflected laser signal and records the reception timestamp T2 of the reflected laser signal. The real-time distance between the first end and the second end of the air spring is calculated based on the emission timestamp T1, the reception timestamp T2 and the emission speed of the laser signal. The calculation formula is:

[0052]

[0053] Where D represents the real-time distance, T2 represents the receiving timestamp, T1 represents the transmitting timestamp, and c represents the transmitting speed of the laser signal 3×10 8 m / s.

[0054] refer to Figure 3 , which is another method for calculating the real-time distance between the first end and the second end provided in an embodiment of the present application.

[0055] As an optional embodiment, the transmission information includes a transmission phase at the time of transmitting the laser signal, and the reception information includes a reception phase at the time of receiving the reflected laser signal; calculating the real-time distance between the first end and the second end based on the transmission information and the reception information includes: calculating the real-time distance between the first end and the second end based on the transmission phase, the reception phase, a preset period, and the transmission speed of the laser signal, and the formula is:

[0056]

[0057] Where D represents the real-time distance; ω represents the measured phase difference; T represents the preset period of the laser; and c represents the emission speed of the laser.

[0058] Specifically, the calculation of the real-time distance between the first end and the second end can be achieved through a phase ranging method. By measuring the phase difference between the emission phase of the laser signal emitted by the signal transmitter and the reception phase of the reflected laser signal received by the signal receiver, the round-trip time of the laser signal between the first end and the second end of the air spring can be indirectly calculated, thereby obtaining the real-time distance between the first end and the second end.

[0059] As an optional embodiment, the laser signal includes a laser signal that is amplitude modulated according to a preset period.

[0060] Specifically, in phase ranging, the role of amplitude modulation is to modulate the intensity of the laser signal so that the intensity of the laser can change periodically according to the time of a preset cycle (such as sinusoidal wave modulation). After the signal transmitter transmits the modulated laser signal, the air spring height measurement system records the emission phase of the laser signal. After receiving the reflected laser signal, the signal receiver performs reverse modulation (such as mixing and phase detection) on it. The receiving phase of the reflected laser signal is further derived through the air spring height measurement. The real-time distance between the first end and the second end is calculated based on the emission phase, the receiving phase, the preset cycle and the emission speed of the laser signal. The phase difference between the emission phase and the receiving phase is the same as the laser signal in:

[0061]

[0062] Wherein, ω represents the phase difference between the transmitting phase and the receiving phase; t represents the round trip time of the laser signal between the first end and the second end of the air spring; and T represents the preset period of laser modulation.

[0063] Furthermore, since the emission phase and the reception phase are known, that is, the phase difference is known, the round-trip time of the laser signal between the first end and the second end of the air spring can be derived as follows:

[0064]

[0065] According to the round-trip time and the emission speed of the laser signal, the real-time distance between the first and second ends of the air spring is further calculated as:

[0066]

[0067] refer to Figure 4 , which is another method for calculating the real-time distance between the first end and the second end provided in an embodiment of the present application.

[0068] As an optional embodiment, the transmission information includes the transmission frequency at the time of laser signal transmission, and the reception information includes the reception frequency at the time of reflected laser signal reception; calculating the real-time distance between the first end and the second end based on the transmission information and the reception information includes: calculating the real-time distance between the first end and the second end based on the transmission frequency, the reception frequency, the sweep time and the sweep range of the air spring height measurement system, and the formula is:

[0069]

[0070] Where D represents the real-time distance, T mrepresents the sweep time of the air spring height measurement system, f d It represents the frequency difference between the transmitting frequency and the receiving frequency, c represents the emission speed of the laser, and Δf represents the frequency sweep range.

[0071] Specifically, the calculation of the real-time distance between the first end and the second end can be achieved through a sweep frequency ranging method, which linearly modulates the laser frequency and measures the frequency difference between the emitted laser signal and the emitted laser signal to deduce the real-time distance between the first end and the second end of the air spring. After the signal transmitter transmits the modulated laser signal, the air spring height measurement system records the emission frequency of the laser signal. After the signal receiver receives the reflected laser signal, the air spring height measurement system records the reflection frequency of the laser signal. The real-time distance between the first end and the second end is further calculated based on the emission frequency, the receiving frequency, the sweep frequency time of the air spring height measurement system, and the sweep frequency range. The sweep frequency range is the total bandwidth of the output frequency of the laser signal from the starting frequency to the ending frequency within the sweep frequency time, and the sweep frequency time is the time it takes for the laser signal to change from the starting frequency to the ending frequency. The round-trip time delay of the laser signal is:

[0072]

[0073] Where τ represents the round-trip time delay of the laser signal, D represents the real-time distance, and c represents the laser emission speed.

[0074] Furthermore, the frequency change rate can be calculated based on the sweep time and sweep range of the air spring height measurement system:

[0075]

[0076] Where γ represents the rate of change of frequency, Δf represents the frequency sweep range, and T m Indicates the sweep time of the air spring height measurement system.

[0077] Furthermore, the relationship between the frequency difference between the transmitting frequency and the receiving frequency, the frequency change rate, and the round-trip time delay of the laser signal can be expressed as:

[0078] f d =γ·τ

[0079] Among them, f d Indicates the frequency difference between the transmit frequency and the receive frequency.

[0080] Furthermore, the relationship between the real-time distance between the first end and the second end of the air spring, the frequency difference between the transmitting frequency and the receiving frequency, the sweep time and the sweep range of the air spring height measurement system can be obtained as follows:

[0081]

[0082] It should be noted that in the embodiment of the present application, the signal transmitter for the swept frequency ranging method is preferably an 850nm continuous laser. The emitted laser signal is polarized by a half-wave plate and then power-distributed by a polarization beam splitter (PBS). The modulator is further driven by ultrasonic waves (25kHz to 50MHz) to achieve linear sweeping of the laser signal frequency.

[0083] Since the frequency sweep of the laser may have nonlinearity or jitter, the laser signal can be injected into a beam splitter for splitting to eliminate the influence of system noise or frequency instability. The laser signal is divided into a reference laser signal directly reflected from the beam splitter and a reflected laser signal obtained by passing through the beam splitter through the reflective surface. The reference laser signal can be used as a benchmark for comparison with the reflected laser signal.

[0084] refer to Figure 5 , which is a method for calculating the real-time distance between a first end and a second end using a triangulation method provided in an embodiment of the present application.

[0085] refer to Figure 6 , which is another method for calculating the real-time distance between the first end and the second end using a triangulation method provided in an embodiment of the present application.

[0086] As an optional embodiment, a convex mirror is provided at a preset distance corresponding to the center of the signal receiving element, and the convex mirror is used to refract the reflected laser signal to form an image of the reflected laser signal; wherein the image of the reflected laser signal is in the same plane as the center of the signal receiving element; the method further includes: calculating the real-time distance between the first end and the second end based on the distance between the signal transmitting element and the convex mirror, the focal length of the convex mirror, and the distance between the center point of the signal receiving element and the imaging point of the reflected laser signal, the formula is:

[0087]

[0088] Wherein, D represents the real-time distance; b represents the distance between the signal transmitter and the convex mirror; a represents the distance between the center point of the signal receiver and the imaging point of the reflected laser signal; and f represents the focal length of the convex mirror.

[0089] Specifically, the real-time distance between the first end and the second end can be calculated by triangulation, which can be straight triangulation, and the receiving signal part of the triangulation is preferably a CCD (Charge-Coupled Device), which is composed of an array of millions of light-sensitive pixels (light-sensitive units), each pixel corresponds to a tiny area, when the laser irradiates the pixel, the amount of charge generated by the photon is proportional to the intensity of the laser, and the position data of the light spot (imaging point) can be finally formed by scanning the charge line by line and outputting the electrical signal. Using CCD as a receiving signal part can accurately capture the position offset of the reflected laser signal, ensuring the accuracy of the air spring height measurement.

[0090] When applying triangulation, a convex mirror needs to be set at a first distance from the center of the CCD in the same plane as the signal emitting part, for focusing the reflected laser signal on the light-sensitive surface of the CCD, as shown in Figure 5 The straight triangulation method is shown in the figure, the position of the signal emitting part is point A in the figure, the reflection point of the laser signal on the reflecting surface is point C1 in the figure, the position of the convex mirror is point B in the figure, the center point of the CCD is point G in the figure, the light spot position of the reflected laser signal on the CCD is point E1 in the figure, the length of the first distance is the focal length f of the convex mirror, the distance between the signal emitting part and the convex mirror is b, the distance between the imaging point of the reflected laser signal on the CCD and the center point of the CCD is a, and the real-time distance between the signal emitting part and the reflecting surface (the real-time distance between the first end and the second end of the air spring) is D. According to the principle of similar triangles, since ABC1 is similar to GB E1, the following can be obtained:

[0091]

[0092] a, b, f are all known quantities, and the real-time distance between the first end and the second end of the air spring can be calculated.

[0093] As an optional embodiment, the triangulation can also be oblique triangulation, as shown in Figure 6 The position of the signal emitting part is point A in the figure, the reflection point of the laser signal on the reflecting surface is point C2 in the figure, the position of the convex mirror is point B in the figure, the center position of the CCD is point G in the figure, the light spot position of the reflected laser signal on the CCD is point E2 in the figure, the intersection of the normal of the reflection angle and the plane where the signal emitting part is located is point H in the figure, the length of the first distance is the focal length f of the convex mirror, the distance between the intersection of the normal of the reflection angle and the plane where the signal emitting part is located and the convex mirror is b2, the distance between the light spot position of the reflected laser signal on the CCD and the center of the CCD is a, and the real-time distance between the signal emitting part and the reflecting surface (the real-time distance between the first end and the second end of the air spring) is D. According to the principle of similar triangles, since HBC2 is similar to GB E2, the following can be obtained:

[0094]

[0095] a, b2, and f are all known quantities, and the real-time distance between the first end and the second end of the air spring can be calculated.

[0096] It should be noted that the above-mentioned air spring height measurement method provides a method for obtaining the real-time distance between the first end and the second end of the air spring. It can be selected for use in the air spring height measurement system based on factors such as the air spring height measurement system chip integration, accuracy requirements, and cost. It can be flexibly adapted to various application scenarios, and also has the advantage of being able to control costs based on demand.

[0097] According to the air spring height measurement method of the embodiment of the present application, by providing a signal transmitter, a signal receiver, and a reflective surface in the air spring high-speed measurement system, the reflective characteristics of laser light are utilized to provide multiple methods for measuring the air spring height. This effectively improves the accuracy of air spring height measurement and allows for flexible adaptation to different development needs. Furthermore, the signal transmitter and signal receiver provided in this application are relatively small, and the distance measurement solution by laser reflection only requires coating one end of the air spring with reflective material. This effectively reduces the volume of the air spring height measurement system and improves the system's integration.

[0098] refer to Figure 7 , is a schematic diagram of an air spring height measuring device provided in an embodiment of the present application.

[0099] Based on the same concept, corresponding to the air spring height measurement method provided in the above embodiment, the present application also provides an air spring height measurement device.

[0100] The air spring height measuring device includes: a first control module, a second control module and a calculation module.

[0101] Specifically, the first control module is configured to control the signal transmitting element to transmit a laser signal toward the signal reflecting surface and record the transmitting information of the laser signal; the second control module is configured to control the signal receiving element to receive the reflected laser signal after being reflected by the signal reflecting surface and record the receiving information of the reflected laser signal; the calculation module is configured to calculate the real-time distance between the first end and the second end based on the transmitting information and the receiving information, and use the real-time distance as the real-time length of the air spring.

[0102] Optionally, the transmission information includes a transmission timestamp of the laser signal, and the reception information includes a reception timestamp of the reflected laser signal. The calculation module is further configured to calculate the real-time distance between the first end and the second end based on the transmission timestamp, the reception timestamp, and the transmission speed of the laser signal, using the formula:

[0103]

[0104] Where D represents the real-time distance, T2 represents the receiving timestamp, T1 represents the transmitting timestamp, and c represents the transmitting speed of the laser signal.

[0105] Optionally, the first control module is further configured as follows: the laser signal includes a laser signal that is amplitude-modulated according to a preset period.

[0106] Optionally, the transmission information includes a transmission phase at the time of transmitting the laser signal, and the reception information includes a reception phase at the time of receiving the reflected laser signal. The calculation module is further configured to calculate the real-time distance between the first end and the second end based on the transmission phase, the reception phase, the preset period, and the transmission speed of the laser signal, using the formula:

[0107]

[0108] Where D represents the real-time distance; ω represents the measured phase difference; T represents the preset period of the laser; and c represents the emission speed of the laser.

[0109] Optionally, the transmission information includes a transmission frequency at the time of laser signal transmission, and the reception information includes a reception frequency at the time of reflected laser signal reception. The calculation module is further configured to calculate the real-time distance between the first end and the second end according to the transmission frequency, the reception frequency, the sweep time, and the sweep range of the air spring height measurement system, using the formula:

[0110]

[0111] Where D represents the real-time distance, T m represents the sweep time of the air spring height measurement system, f d It represents the frequency difference between the transmitting frequency and the receiving frequency, c represents the emission speed of the laser, and Δf represents the frequency sweep range.

[0112] Optionally, a convex mirror is provided at a preset distance corresponding to the center of the signal receiving element, and the convex mirror is used to refract the reflected laser signal to image the reflected laser signal; wherein the image of the reflected laser signal is in the same plane as the center of the signal receiving element, and the calculation module is further configured to: calculate the real-time distance between the first end and the second end based on the distance between the signal transmitting element and the convex mirror, the focal length of the convex mirror, and the distance between the center point of the signal receiving element and the imaging point of the reflected laser signal, and the formula is:

[0113]

[0114] Wherein, D represents the real-time distance; b represents the distance between the signal transmitter and the convex mirror; a represents the distance between the center point of the signal receiver and the imaging point of the reflected laser signal; and f represents the focal length of the convex mirror.

[0115] According to the air spring height measuring device provided in the present application, by arranging the signal emitter, the signal receiver and the reflecting surface in the air spring height measuring system, a plurality of methods for measuring the height of the air spring are provided by using the reflecting characteristics of the laser, the accuracy of the air spring height measurement can be effectively improved, and different development requirements can be flexibly adapted. In addition, the signal emitter and the signal receiver provided in the present application have a small volume, and only need to be coated with a reflective material at one end of the air spring to realize the distance measurement by laser reflection, which can effectively reduce the volume of the air spring height measuring system and improve the integration of the system.

[0116] Based on the same concept, the present application also provides an electronic device corresponding to the air spring height measuring method provided in any of the above embodiments, which comprises a processor and a memory, the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to realize the steps of the air spring height measuring method of the first aspect.

[0117] Figure 8 A more specific electronic device hardware structure schematic diagram provided in the present embodiment is shown, which can include: a processor 810, a memory 820, an input / output interface 830, a communication interface 840 and a bus 850. The processor 810, the memory 820, the input / output interface 830 and the communication interface 840 are connected to each other through the bus 850 for internal communication.

[0118] The processor 810 can be implemented in the form of a general CPU (Central Processing Unit, central processor), a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits, etc., for executing related programs to realize the technical solutions provided in the present embodiment.

[0119] The memory 820 can be implemented in the form of a ROM (Read Only Memory, read-only memory), a RAM (Random Access Memory, random access memory), a static storage device, a dynamic storage device, etc. The memory 820 can store an operating system and other application programs, and when the technical solutions provided in the present embodiment are implemented by software or firmware, the related program codes are saved in the memory 820 and executed by the processor 810.

[0120] The input / output interface 830 is used to connect an input / output module to implement information input and output. The input / output module can be configured as a component in the device (not shown in the figure) or can be externally connected to the device to provide corresponding functions. Input devices may include a keyboard, mouse, touch screen, microphone, various sensors, etc., and output devices may include a display, speaker, vibrator, indicator light, etc.

[0121] The communication interface 840 is used to connect to a communication module (not shown) to enable communication between the device and other devices. The communication module can communicate via a wired method (such as USB, network cable, etc.) or a wireless method (such as mobile network, WiFi, Bluetooth, etc.).

[0122] The bus 850 comprises a pathway for transmitting information between the various components of the device (eg, the processor 810 , the memory 820 , the input / output interface 830 , and the communication interface 840 ).

[0123] It should be noted that although the above device only shows the processor 810, the memory 820, the input / output interface 830, the communication interface 840, and the bus 850, in a specific implementation, the device may also include other components necessary for normal operation. In addition, it will be understood by those skilled in the art that the above device may only include the components necessary to implement the embodiments of this specification, and does not necessarily include all the components shown in the figure.

[0124] The electronic device of the above embodiment is used to implement the corresponding air spring height measurement method in any of the above embodiments, and has the beneficial effects of the corresponding air spring height measurement method embodiment, which will not be repeated here.

[0125] Based on the same concept, corresponding to the air spring height measurement method provided in any of the above embodiments, the present application also provides an air spring height measurement system, including a signal transmitter and a signal receiver arranged at the first end of the air spring, a signal reflecting surface arranged at the second end of the air spring, and the electronic device of the third aspect mentioned above, wherein the memory of the electronic device stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the air spring height measurement method of the first aspect are implemented.

[0126] It should be noted that the air spring of the air spring height measurement system provided in the present application can be an integrated air spring or a split air spring, wherein the integrated air spring uses the small plane of the top cover surface of the shock absorber coated with reflective material as the reflective surface, and the split air spring can directly use the bottom surface coated with reflective material as the reflective surface.

[0127] It should be noted that the signal transmitting element provided in the embodiment of the present application can also be realized by emitting ultrasonic signals. The reflection characteristics of ultrasonic signals also have reflection characteristics similar to those of laser signals, and can complete the various ranging methods provided in the above embodiments, which will not be repeated here.

[0128] The air spring height measurement system of the above embodiment is used to implement the corresponding air spring height measurement method in any of the above embodiments, and has the beneficial effects of the corresponding air spring height measurement method embodiment, which will not be repeated here.

[0129] Based on the same concept, corresponding to the air spring height measurement method provided in any of the above embodiments, the present application also provides a computer-readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by the processor, the steps of the air spring height measurement method as in the first aspect are implemented.

[0130] The above-mentioned computer-readable storage medium can be any available medium or data storage device that can be accessed by a computer, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO)), optical storage (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (such as ROMs, EPROMs, EEPROMs, non-volatile memories (NANDFLASH), solid-state drives (SSDs)), etc.

[0131] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the corresponding air spring height measurement method in any of the above embodiments, and have the beneficial effects of the corresponding air spring height measurement method embodiment, which will not be repeated here.

[0132] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0133] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of a computer software product plus a necessary general-purpose hardware platform, or of course, by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, magnetic disk, optical disk, etc.) and includes a number of instructions for enabling a terminal or network-side device to execute the methods described in each embodiment of the present application.

[0134] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms of implementation methods without departing from the purpose of this application and the scope of protection of the claims. These implementation methods are all within the protection of this application.

Claims

1. A method for measuring the height of an air spring, characterized in that: Applicable to an air spring height measurement system, the air spring height measurement system includes a signal transmitting element and a signal receiving element arranged at a first end of the air spring, and a signal reflecting surface arranged at a second end of the air spring; The method comprises: controlling the signal emitting element to emit a laser signal toward the signal reflecting surface, and recording emission information of the laser signal; controlling the signal receiving element to receive the reflected laser signal after being reflected by the signal reflecting surface, and recording the reception information of the reflected laser signal; A real-time distance between the first end and the second end is calculated according to the transmitted information and the received information, and the real-time distance is used as the real-time length of the air spring.

2. The air spring height measurement method according to claim 1, characterized in that: The transmission information includes a transmission timestamp of the laser signal, and the reception information includes a reception timestamp of the reflected laser signal; The calculating the real-time distance between the first end and the second end according to the transmitted information and the received information includes: The real-time distance between the first end and the second end is calculated according to the transmission timestamp, the reception timestamp, and the transmission speed of the laser signal, using the formula: Where D represents the real-time distance, T2 represents the receiving timestamp, T1 represents the transmitting timestamp, and c represents the transmitting speed of the laser signal.

3. The air spring height measurement method according to claim 1, characterized in that: The laser signal includes a laser signal that is amplitude modulated according to a preset period.

4. The air spring height measurement method according to claim 3, characterized in that: The transmission information includes the transmission phase of the laser signal at the time of transmission, and the reception information includes the reception phase of the reflected laser signal at the time of reception; The calculating the real-time distance between the first end and the second end according to the transmitted information and the received information includes: The real-time distance between the first end and the second end is calculated according to the transmitting phase, the receiving phase, the preset period, and the transmitting speed of the laser signal, using the formula: Where D represents the real-time distance; ω represents the measured phase difference; T represents the preset period of the laser; and c represents the emission speed of the laser.

5. The air spring height measurement method according to claim 1, characterized in that: The transmitting information includes the transmitting frequency of the laser signal at the time of transmitting, and the receiving information includes the receiving frequency of the reflected laser signal at the time of receiving; The calculating the real-time distance between the first end and the second end according to the transmitted information and the received information includes: The real-time distance between the first end and the second end is calculated according to the transmitting frequency, the receiving frequency, the sweep time and the sweep range of the air spring height measurement system, using the formula: Where D represents the real-time distance, T m represents the sweep time of the air spring height measurement system, f d It represents the frequency difference between the transmitting frequency and the receiving frequency, c represents the emission speed of the laser, and Δf represents the frequency sweep range.

6. The air spring height measurement method according to claim 1, characterized in that: A convex mirror is provided at a preset distance corresponding to the center of the signal receiving element, and the convex mirror is used to refract the reflected laser signal to form an image of the reflected laser signal; wherein the image of the reflected laser signal is in the same plane as the center of the signal receiving element; The method further comprises: The real-time distance between the first end and the second end is calculated based on the distance between the signal transmitter and the convex mirror, the focal length of the convex mirror, and the distance between the center point of the signal receiver and the imaging point of the reflected laser signal. The formula is: Wherein, D represents the real-time distance; b represents the distance between the signal transmitter and the convex mirror; a represents the distance between the center point of the signal receiver and the imaging point of the reflected laser signal; and f represents the focal length of the convex mirror.

7. An air spring height measuring device, characterized in that: Applied to an air spring height measurement system, the air spring height measurement system includes a signal transmitter and a signal receiver provided at a first end of the air spring, and a signal reflecting surface provided at a second end of the air spring. The measurement includes: a first control module configured to control the signal emitting element to emit a laser signal toward the signal reflecting surface and record emission information of the laser signal; a second control module configured to control the signal receiving element to receive the reflected laser signal reflected by the signal reflecting surface, and record reception information of the reflected laser signal; The calculation module is configured to calculate the real-time distance between the first end and the second end according to the transmitted information and the received information, and use the real-time distance as the real-time length of the air spring.

8. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the air spring height measurement method according to any one of claims 1 to 6 are implemented.

9. An air spring height measurement system, characterized in that: It includes a signal transmitting element and a signal receiving element arranged at the first end of the air spring, a signal reflecting surface arranged at the second end of the air spring, and the electronic device according to claim 8, wherein the memory of the electronic device stores a program or instruction that can be run on a processor, and when the program or instruction is executed by the processor, the steps of the air spring height measurement method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium, characterized in that The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the air spring height measurement method according to any one of claims 1 to 6 are implemented.

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