Displacement detection device, control method thereof, motor, and vehicle

Abstract

The application discloses a displacement detection device and a control method thereof, a motor and a vehicle, relates to the technical field of vehicles, and aims to solve the problem that the displacement detection of the motor is easily affected. The displacement detection device comprises a first sensor and a second sensor. The first sensor comprises a plurality of first units and a second unit, the plurality of first units are arranged along a first direction, and the sum of the lengths of the two adjacent first units in the first direction is one pole pitch. The second unit can move along the first direction relative to the plurality of first units to determine the position of the second unit in the two adjacent first units. The second sensor is used for determining the number of pole pitches contained in the moving distance of the second unit.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to displacement detection devices and control methods thereof, motors and vehicles. Background Technology

[0002] The vehicle's suspension system connects the vehicle body and wheels to transmit force and torque, thus cushioning the vehicle body. The suspension can be an active suspension, which is equipped with a motor that can adjust the distance between the vehicle body and the wheels.

[0003] In related technologies, a grating-coded position sensor is usually installed at the motor. The relative displacement of the first and second components of the motor is determined by detecting the scale on the grating through a photosensitive element. However, the above detection method is easily affected by dirt and other factors, which can lead to inaccurate detection results and affect the normal use of the active suspension. Summary of the Invention

[0004] The purpose of this invention is to provide a displacement detection device and its control method, a motor and a vehicle, in order to solve the problem that the displacement detection of a motor is easily affected.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A first aspect of the present invention provides a displacement detection device, including a first sensor and a second sensor. The first sensor includes a plurality of first units and a second unit, the plurality of first units being arranged along a first direction, and the sum of the lengths of two adjacent first units along the first direction being a pole pitch. The second unit is movable relative to the plurality of first units along the first direction to determine the position of the second unit among two adjacent first units. The second sensor is used to determine the number of pole pitches included in the moving distance of the second unit.

[0007] With the above settings, since the second unit can determine its position within the polar distance between the two adjacent first units, and the second sensor can detect the number of polar distances included in the movement distance of the second unit along the first direction, the displacement distance S of the second unit relative to multiple first units can be determined by the first sensor and the second unit. That is, the number N of polar distances included in the movement distance of the second unit multiplied by the length L of the polar distance, and the distance D between the end that the second unit has passed and the second unit at the opposite ends in the first direction of the two adjacent first units. The sum of the two is the displacement distance S, that is, S = N * L + D.

[0008] In this way, by working together with the first and second sensors, it is possible to accurately detect the displacement distance of the second unit relative to multiple first units.

[0009] In some embodiments, the zero point of the first sensor coincides with the zero point of the second sensor.

[0010] In some embodiments, each first unit has an energy field, and the second unit is used to read parameters of the energy field. The first sensor also includes an analysis device connected to the second unit, which is used to determine, based on the parameter values ​​read by the second unit, the distance between the second unit and the end that the second unit has already passed at the opposite ends of the two adjacent first units in a first direction when the second unit passes through two adjacent first units.

[0011] In some embodiments, the parameters read by the second unit during its movement along the first direction change periodically, and the number of parameter change periods is consistent with the number of pole moments included in the movement distance of the second unit.

[0012] In some embodiments, the values ​​of the parameters read by the second unit are different within one cycle of the parameters.

[0013] In some embodiments, the first unit is a magnet having a magnetic field.

[0014] In some embodiments, the magnet includes a permanent magnet or an electromagnet.

[0015] In some embodiments, along a first direction, the magnetic poles of every two adjacent first units are opposite.

[0016] In some embodiments, the second unit is a magnetic sensor.

[0017] In some embodiments, the magnetic sensor includes a Hall sensor or a magnetometer.

[0018] In some embodiments, the number of second units is multiple, and the multiple second units are arranged at intervals along a first direction.

[0019] Multiple second units move synchronously relative to multiple first units along a first direction to determine the displacement distance of a second unit within the polar distance when it passes two adjacent first units.

[0020] In some embodiments, along the first direction, the distance between two adjacent second units is an integer multiple of the height of the first unit.

[0021] In some embodiments, along the first direction, there are two second units, one of which is a second main unit and the other is a second sub-unit. The second main unit is used to determine the distance between the second main unit and the end that has already been passed by one of the two adjacent first units when the second main unit passes through them in the first direction. The second sub-unit is used to determine the distance between the second sub-unit and the end that has already been passed by one of the two adjacent first units when the second sub-unit passes through them in the first direction.

[0022] In some embodiments, along a first direction, the distance between two adjacent second units is equal to the height of the first unit.

[0023] In a second aspect of the present invention, a control method for the above-described displacement detection device is provided, characterized in that it includes:

[0024] Obtain the first value D, where D is the position of the second unit in the two adjacent first units.

[0025] Obtain the second value N, where N is the number of pole distances included in the movement distance of the second unit.

[0026] Calculate the displacement distance S, S = N * L + D, where L is the length of the polar distance.

[0027] In a third aspect of the invention, a motor is provided, characterized in that it includes a first component, a second component, and the aforementioned displacement detection device, wherein the first component and the second component are movable relative to each other along a first direction. A plurality of first units of the displacement detection device are disposed in the first component, and a second unit of the displacement detection device is disposed in the second component.

[0028] In a fourth aspect of the invention, a vehicle is provided, including the motor described above.

[0029] In some embodiments, the vehicle further includes a vehicle body and wheels. A motor is connected between the vehicle body and the wheels, and a first sensor is connected to the motor. A second sensor is connected to the vehicle body.

[0030] In some embodiments, the vehicle further includes:

[0031] A connecting arm is rotatably connected to the vehicle body and also to the wheels. One end of the motor is rotatably connected to the vehicle body, and the other end is rotatably connected to the connecting arm. A second sensor is used to detect the relative rotation angle between the connecting arm and the vehicle body.

[0032] In some embodiments, the first sensor includes a Hall sensor. And / or, the second sensor includes a Hall sensor.

[0033] With the above configuration, during the relative movement of the first and second components driven by the motor, the connecting arm can drive the second link to rotate relative to the first link, and in turn, drive the first link to rotate relative to the vehicle body. Thus, the second sensor can determine the number N of pole pitches included in the movement distance of the second unit by detecting the rotation angle of the first link relative to the vehicle body. Therefore, by multiplying the number N of pole pitches included in the movement distance of the second unit by the length L of the pole pitches, and then adding this to the position D of the second unit relative to two adjacent first units determined by the first sensor, the displacement distance S relative to multiple first units can be calculated. That is, the displacement distance S = (Number N of pole pitches included in the movement distance of the second unit) * (Length L of the pole pitches) + (Position D of the second unit relative to two adjacent first units), or S = N * L + D. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the vehicle's external structure.

[0036] Figure 2 for Figure 1 Schematic diagram of the external structure of the center suspension system;

[0037] Figure 3 for Figure 2 A schematic diagram of the external structure of the first sensor in the middle;

[0038] Figure 4 This is one of the schematic diagrams illustrating the calculation process of displacement distance;

[0039] Figure 5 This is the second schematic diagram illustrating the calculation process of displacement distance;

[0040] Figure 6 for Figure 3 A schematic diagram of the internal structure of the first sensor in the middle;

[0041] Figure 7 for Figure 3 A schematic diagram showing the positional relationship between the first and second units;

[0042] Figure 8 This is a schematic diagram showing the magnetic field strength detected between two adjacent second units;

[0043] Figure 9 This is a schematic diagram of the difference calculation process between two adjacent second units;

[0044] Figure 10 This is a schematic diagram of the difference calculation results between two adjacent second units;

[0045] Figure 11 for Figure 2 A schematic diagram of the external structure of the motion component.

[0046] Reference numerals: 1000, vehicle; 100, suspension system; 10, motor; 1, displacement detection device;

[0047] 11. First sensor; 111. First unit; 112. Second unit;

[0048] 2. Second sensor;

[0049] 200, Vehicle body; 300, Wheel; 400, Connecting arm; 600, Motion component; 601, First link; 602, Second link; 603, First bracket; 604, Second bracket. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or relative positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Unless otherwise specified, the above-described orientation can be flexibly set in practical applications, provided that the relative positional relationship shown in the accompanying drawings is satisfied.

[0052] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0053] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "communication" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a direct connection or an indirect connection through an intermediate medium, or a communication between the internal components of two elements. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0054] In embodiments of the invention, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, article, or apparatus that includes that element.

[0055] In embodiments of the present invention, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in embodiments of the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0056] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0057] The vehicle's suspension system connects the vehicle body and wheels to transmit force and torque, thus cushioning the vehicle body and improving the comfort of passengers.

[0058] Based on this, this application provides a vehicle, such as Figure 1 As shown, Figure 1 This is a schematic diagram of the external structure of vehicle 1000, which includes a body 200 and wheels 300.

[0059] For example, vehicle 1000 can be a pure electric vehicle, a hybrid electric vehicle, a plug-in hybrid electric vehicle, a range-extended electric vehicle, or a gasoline vehicle. Vehicle 1000 can also be a sedan, a truck, a bus, a lorry, a trailer, etc.

[0060] The vehicle body 200 is used for passengers and to carry goods. The wheels 300 are installed under the vehicle body 200 to support the vehicle body 200 and to roll on the road so that the vehicle 1000 can move.

[0061] like Figure 2 As shown, Figure 2 for Figure 1 The diagram shows the external structure of the suspension system 100. The vehicle 1000 also includes the suspension system 100, which is located between the vehicle body 200 and the wheels 300. It is used to transmit force and torque between the vehicle body 200 and the wheels 300, and to buffer the impact force on the vehicle body 200 during the driving of the vehicle 1000, so as to improve the comfort of riding or driving.

[0062] The suspension system 100 can be a non-independent suspension system 100, an independent suspension system 100, or an active suspension system 100.

[0063] In some embodiments of this application, the suspension system 100 is an active suspension system 100. The stiffness and damping performance of the active suspension system are dynamically and adaptively adjusted according to the driving conditions of the vehicle 1000, such as the motion state of the vehicle 1000 and the road conditions, so that the suspension system 100 is always in the optimal damping state.

[0064] Specifically, such as Figure 2 As shown, the suspension system 100 may include a motor 10. The motor 10 includes a first component and a second component. The first component is connected to the vehicle body 200, and the second component is connected to the suspension system 100.

[0065] The first and second components can move away from or towards each other to adjust the distance between the vehicle body 200 and the wheels 300. When the vehicle 1000 travels on a bumpy road, the motor 10 can drive the first and second components to move relative to each other to keep the vehicle body 200 balanced, thereby improving the driving experience for the occupants.

[0066] In related technologies, a grating-coded position sensor is usually set at the motor 10. The relative displacement of the first and second components of the motor 10 is determined by detecting the scale on the grating through the photosensitive element, so that the vehicle 1000 can adjust the motor 10 and keep the vehicle body 200 balanced.

[0067] In some embodiments, such as Figure 2 , Figure 3 As shown, Figure 3 for Figure 2 A schematic diagram of the external structure of the first sensor 11 is shown. The motor 10 also includes a displacement detection device 1. The displacement monitoring device includes a first sensor 11 and a second sensor 2. The first sensor 11 includes multiple first units 111 and second units 112, with the multiple first units 111 along a first direction ( Figure 3The first units 111 are arranged in the X direction as shown in the diagram, and the sum of the lengths of two adjacent first units 111 in the first direction is a pole pitch. The second unit 112 can move relative to the plurality of first units 111 along the first direction to determine the position of the second unit 112 among two adjacent first units 111.

[0068] The second sensor 2 is used to determine the number of pole distances included in the movement distance of the second unit 112.

[0069] The height of the first unit 111 refers to the height of the first unit 111 in the first direction.

[0070] It is understandable that the relative displacement of the first unit 111 and the second unit 112 includes a variety of cases: for example, the first unit 111 is stationary and the second unit 112 moves; the second unit 113 is stationary and the first unit 111 moves; or, both the first unit 111 and the second unit 112 move, but the second unit 112 and the first unit 111 still move relative to each other.

[0071] With the above settings, since the second unit 112 can determine its position within the polar distance of the two adjacent first units 111, and the second sensor 2 can detect the number of polar distances included in the movement distance of the second unit 112 along the first direction, the displacement distance S of the second unit 112 relative to the multiple first units 111 can be determined by the first sensor 11 and the second unit 112. That is, the number N of polar distances included in the movement distance of the second unit 112 multiplied by the length L of the polar distance, and the distance D between the end that the second unit 112 has passed and the second unit 112 at the two opposite ends in the first direction, the sum of the two is the displacement distance S, that is, S = N * L + D.

[0072] In this way, by cooperating with the first sensor 11 and the second sensor 2, it is possible to accurately detect the displacement distance of the second unit 112 relative to the multiple first units 111.

[0073] It should be noted that N is the number of pole distances obtained by dividing the relative displacement of the first component 111 and the second component 112 determined by the size of the pole distance by the second sensor 2, and D is the displacement distance of the second unit 112 relative to the first unit 111 within one pole distance detected by the first sensor 11.

[0074] For example, if the size of L is 1cm, and the distance between the relative displacement of the first unit 111 and the second unit 112 determined by the second sensor 2 is 3.4cm, then the number of pole distances determined by the second sensor 2 is 3. If the value determined by the first sensor 11 at this time is 0.45cm, then the relative displacement distance S between the first unit 111 and the second unit 112 is S = 3 * 1 + 0.45 (cm) = 3.45cm.

[0075] Alternatively, if L is 20mm, and the relative displacement distance between the first unit 111 and the second unit 112 determined by the second sensor 2 is 57.7, then the number of pole distances determined by the second sensor 2 is 2. If the value determined by the first sensor 11 at this time is 17.68cm, then the relative displacement distance S between the first unit 111 and the second unit 112 is S = 2 * 20 + 17.68 (cm) = 57.68cm. Specifically, in some embodiments, such as... Figure 4 As shown, Figure 4 As one of the schematic diagrams illustrating the displacement distance calculation process, this application also provides a control method for the displacement detection device 1, the control method including:

[0076] S01: Obtain the first value D, where D is the position of the second unit 112 in the two adjacent first units 111;

[0077] S02: Obtain the second value N, where N is the number of pole distances included in the movement distance of the second unit 112;

[0078] S03: Calculate the displacement distance S, S=N*L+D, where L is the polar distance.

[0079] This allows for accurate detection of the displacement distance of the second unit 112 relative to multiple first units 111 through calculation.

[0080] In some embodiments, such as Figure 5 As shown, Figure 5 The second schematic diagram of the displacement distance calculation process shows that the vehicle 1000 also includes a control module. The control module is electrically connected to both the first sensor 11 and the second sensor 2. After the height of the vehicle changes, the control module obtains a first value D through the first sensor 11 and a second value N through the second sensor 2, and calculates the displacement distance S according to S = N*L + D.

[0081] For example, the controller can be the electronic control module of vehicle 1000.

[0082] In some embodiments, the zero point of the first sensor 11 coincides with the zero point of the second sensor 2. This ensures the consistency of the detection structures of the first sensor 11 and the second sensor 2, guaranteeing that the displacement detection device 1 obtains accurate detection results.

[0083] In some embodiments, the first unit 111 has an energy field, and the second unit 112 is used to read energy field parameters. The first sensor 11 further includes an analysis device connected to the second unit 112. The analysis device is used to determine, based on the parameter values ​​read by the second unit 112, the distance between the end that the second unit 112 has already passed and the second unit 112 itself, when the second unit 112 passes through two adjacent first units 111 in a first direction, at the opposite ends of the two adjacent first units 111.

[0084] In this way, by setting up the analysis device, the position data detected by the second unit can be converted into displacement data, thereby enabling the first sensor 1 and the second sensor 2 to detect the movement distance of the second unit 112 relative to the first unit 111.

[0085] In some embodiments, as the second unit 112 moves relative to the plurality of first units 111 along a first direction, the energy field parameters read change periodically, and the number of parameter change periods is consistent with the number of pole moments included in the moving distance of the second unit 112.

[0086] With the above settings, as the second unit 112 moves relative to the multiple first units 111, the second unit 112 can detect periodically changing energy field parameters. For the energy field parameters within a cycle, different parameters correspond to different positions within the height range of the first unit 111.

[0087] In this way, the second unit 112 can determine different positions of the second unit 112 within the height range of the first unit 111 according to different energy field parameters, and then, in cooperation with the first sensor 11, realize the detection of the displacement distance of the second unit 112 relative to multiple first units 111.

[0088] In some embodiments, the values ​​of the parameters read by the second unit 112 are different within one cycle of the parameters.

[0089] In this way, each different parameter can correspond to the different displacement distances of the second unit 112 within the polar distance when it passes through two adjacent first units 111, thereby avoiding the error in the detection result of the second unit 112 due to parameter repetition, ensuring the accuracy of the detection result of the second unit 112, so as to ensure the accuracy of the detection structure of the displacement detection device 1 and ensure the normal use of the displacement detection device 1.

[0090] In some embodiments, the first unit 111 is a magnet with a magnetic field.

[0091] With the above configuration, compared to the first unit 111 including a light-emitting element and the second unit 112 including a photosensitive element, or the first unit 111 including a detection block and the second unit 112 including an infrared sensor, when the first unit 111 is a magnet, the second unit 112 can determine the position of the magnet by detecting the strength of the magnetic field generated by the magnet, thereby determining the position of the second unit 112 within the height range of the first unit 111. This can avoid the second unit 112 being affected by stains or other factors, which could lead to inaccurate detection results.

[0092] In this way, the second sensor 2 can adapt to various working environments, thereby ensuring the accuracy of the detection results of the displacement detection device 1 and improving the working performance of the displacement detection device 1.

[0093] In some embodiments, the magnet includes a permanent magnet or an electromagnet.

[0094] In this way, compared with soft magnets, permanent magnets and electromagnets after being energized can maintain their magnetism for a long time, thereby enabling the first unit 111 to generate a constant energy field, ensuring the accuracy of the energy field parameters of the first unit 111, and thus ensuring the accuracy of the displacement distance of the second unit 112 detected by the second unit 112 within the pole distance when passing through two adjacent first units 111, so as to ensure the accuracy of the detection results of the displacement detection device 1.

[0095] Based on this, in some embodiments, along the first direction, the magnetic poles of every two adjacent first units 111 are opposite.

[0096] With the above settings, compared to the situation where the magnetic poles of multiple first units 111 are the same, when the magnetic poles of two adjacent first units 111 are opposite, multiple first units 111 can form a more regular magnetic field, which makes it easier for the second unit 112 to detect the magnetic field strength at different positions of the magnetic field generated by multiple first units 111, so as to facilitate the setting of the second sensor 2.

[0097] In some embodiments, the second unit 112 is a magnetic sensor.

[0098] In this way, the magnetic field strength generated by the first unit 111 can be detected by the magnetic sensor, thereby determining the displacement distance of the second unit 112 within the pole distance when passing through two adjacent first units 111, and thus determining the displacement distance of the second unit 112 relative to the multiple first units 111.

[0099] For example, a magnetic sensor includes a Hall sensor.

[0100] In this way, since the Hall sensor has high measurement accuracy and interference detection capability, it can further ensure the accuracy of the displacement distance detected by the second unit 112 within the pole distance when the second unit passes through two adjacent first units 111, so as to further ensure the accuracy of the detection results of the displacement detection device 1.

[0101] For example, a magnetic sensor includes a magnetometer.

[0102] In this way, the magnetometer is less expensive than the Hall sensor, which reduces the manufacturing cost of the second unit 112 and thus reduces the manufacturing cost of the displacement detection device 1.

[0103] For example, the number of second units 112 can be one.

[0104] For example, such as Figure 6 , Figure 7 As shown, Figure 6 for Figure 3 A schematic diagram of the internal structure of the first sensor 11. Figure 7 for Figure 3 A schematic diagram showing the positional relationship between the first unit 111 and the second unit 112. There can be multiple second units 112, which are arranged at intervals along the first direction.

[0105] The plurality of second units 112 move synchronously relative to the plurality of first units 111 along the first direction to determine the displacement distance of the second unit 112 within the polar distance when passing two adjacent first units 111.

[0106] In this way, multiple second units 112 can detect their displacement distance within the polar distance when passing through two adjacent first units 111, thereby enabling the displacement detection device 1 to obtain more accurate measurement results. For example, the data detected by multiple second units 112 can be cross-checked to determine the accuracy of the data detected by the second units 112, or the average value of the data detected by multiple second units 112 can be taken as the result of the second part of the detection data, thus further improving the accuracy of the detection results of the displacement detection device 1.

[0107] In some embodiments, the number of the plurality of second units 112 is two, one of the two second units 112 is a second main unit, and the other of the two second units 112 is a second sub-unit.

[0108] The second main unit is used to determine the distance between the end that the second main unit has passed and the second main unit when the second main unit passes through two adjacent first units 111, at the two opposite ends of the two adjacent first units 111 in the first direction.

[0109] The second sub-unit is used to determine the distance between the end that the second sub-unit has passed and the second sub-unit when the second sub-unit passes through two adjacent first units 111, at the two opposite ends of the two adjacent first units 111 in the first direction.

[0110] With the above settings, the relative displacement between the second sub-unit and multiple first units 111 determined by the second sub-unit can be used to verify the relative displacement between the second main unit and multiple first units 111 determined by the second main unit, and to determine whether the displacement distance determined by the second main unit is correct, so as to further improve the accuracy of the detection results of the displacement detection device 1.

[0111] In some embodiments, along the first direction, the distance between two adjacent second units 112 is an integer multiple of the height of the first unit 111.

[0112] With the above settings, the data detected by multiple second units 112 are the same, so the accuracy of the data detected by the second units 112 can be determined by cross-referencing the data detected by multiple second units 112.

[0113] For example, along the first direction, the distance between two adjacent second units 112 is an even multiple of the height of the first unit 111.

[0114] For example, along the first direction, the distance between two adjacent second units 112 is an odd multiple of the height of the first unit 111.

[0115] With the above settings, the magnetic field strength detected by two adjacent second units 112 is equal in magnitude and opposite in direction, thus forming a differential signal. In this way, when the magnetic field generated by multiple first units 111 is affected, for example, when other magnetic fields are present, the position of the corresponding first unit 111 within the height range of the two adjacent second units 112 can be determined by calculating the difference in the magnitude of the magnetic field strength detected by two adjacent second units 112, so as to avoid the detection results of the position detection device being affected by external interference.

[0116] Specifically, such as Figure 8 As shown, Figure 8 This is a schematic diagram of the magnetic field strength detected by two adjacent second units 112. It can be viewed along... Figure 8 The X and Z directions shown decompose the magnetic field strength detected by the two second units 112. For example, if the magnetic field strength detected by one second unit 112 is B1, it is decomposed into BX1 and BZ1 along the X and Z directions. If the magnetic field strength detected by the other second unit 112 is B2, it is decomposed into BX2 and BZ2 along the X and Z directions.

[0117] Then as Figure 9 As shown, Figure 9 This diagram illustrates the differential calculation process for two adjacent second units 112. Differential calculations are performed on the magnetic field strength detected by the two second units 112 to obtain the curves BX1-BX2 and BZ1-BZ2, thus yielding... Figure 10 The difference calculation results shown are as follows: Figure 10 This is a schematic diagram of the differential calculation results of two adjacent second units 112, so as to determine the displacement distance of the second unit 112 relative to multiple first units 111 using the differential calculation results.

[0118] In this way, regardless of whether the first sensor is affected by external magnetic field interference, the first sensor can determine the displacement distance of the second unit 112 relative to the multiple first units 111 through two adjacent second units 112.

[0119] In some embodiments, along a first direction, the distance between two adjacent second units 112 is equal to the height of the first unit 111.

[0120] In this way, the distance between two adjacent second units 112 is smaller, which can save the space occupied by multiple second units 112, thereby reducing the volume of the first sensor 11 and making the space setting of the first sensor 11 easier.

[0121] In some embodiments, a plurality of first units 111 are disposed on a first component, and a second unit 112 is disposed on a second component.

[0122] The second sensor 2 is used to detect the relative displacement between the first component and the second component.

[0123] With the above settings, after the second sensor 2 detects the relative displacement between the first component and the second component, the result of the relative displacement can be divided by the value of the pole distance, and the integer part of the result can be taken as the number of pole distances included in the movement distance of the second unit 112, thereby determining the displacement distance of the second unit 112 relative to the first unit 111.

[0124] In some embodiments, such as Figure 2 As shown, the first sensor 11 is connected to the motor 10, and the second sensor 2 is connected to the vehicle body 200.

[0125] The second sensor 2 detects the relative displacement between the vehicle body 200 and the wheel 300, thereby determining the relative displacement between the first component and the second component, and thus determining the number of pole distances included in the movement distance of the second unit 112, thereby realizing the detection of the relative displacement between the first component and the second component.

[0126] In some embodiments, the vehicle 1000 further includes a connecting arm 400, which is rotatably connected to the vehicle body 200 and to the wheel 300. One end of the motor 10 is rotatably connected to the vehicle body 200, and the other end of the motor 10 is rotatably connected to the connecting arm 400.

[0127] The second sensor 2 is used to detect the angle of relative rotation between the connecting arm 400 and the vehicle body 200.

[0128] It is understandable that as the first and second components of the motor 10 move away from or closer to each other to adjust the distance between the vehicle body 200 and the wheel 300, the connecting arm 400 will rotate relative to the vehicle body 200 as the distance between the vehicle body 200 and the wheel 300 changes.

[0129] In this way, by detecting the relative rotation angle between the connecting arm 400 and the vehicle body 200 by the second sensor 2, the relative displacement between the first component and the second component of the motor 10 can be calculated, that is, the displacement distance of the second unit 112 relative to the multiple first units 111 can be calculated, thereby determining the number of pole pitches included in the movement distance of the second unit 112, and realizing the accurate detection of the displacement distance of the second unit 112 relative to the multiple first units 111.

[0130] In some examples, such as Figure 2 , Figure 11 As shown, the vehicle 1000 also includes a motion component 600, which is connected to the first component or the second component. When the first component or the second component moves relative to each other in the first direction, it can drive the motion component 600 to move. The second sensor 2 is disposed on the motion component 600.

[0131] In this way, the second sensor 2 can detect the movement of the moving component 600, thereby determining the distance between the relative displacements of the first component and the second component, realizing the detection function of the displacement detection device 1.

[0132] This allows the movement distance of the motor 10 to be determined, making it easier for the vehicle 1000 to control the motor 10, so as to keep the vehicle body 200 in balance and improve the driving experience for passengers.

[0133] In some embodiments, such as Figure 2 , Figure 11 As shown, the motion component 600 includes a first link 601 and a second link 602.

[0134] One end of the first connecting rod 601 is rotatably connected to the vehicle body 200.

[0135] One end of the second link 602 is rotatably connected to the other end of the first link 601, and the other end of the second link 602 is rotatably connected to the connecting arm 400. The second sensor 2 is disposed between the first link 601 and the vehicle body 200 to detect the rotation angle of the first link 601 relative to the vehicle body 200, so as to determine the number of pole pitches included in the moving distance of the second unit 112.

[0136] With the above configuration, the vehicle body 200 and the connecting arm 400 will also rotate relative to each other. Since one end of the first link 601 is rotatably connected to the vehicle body 200, one end of the second link 602 is rotatably connected to the other end of the first link 601, and the other end of the second link 602 is rotatably connected to the connecting arm 400, the vehicle body 200, the connecting arm 400, the first link 601, and the second link 602 can form a hinged four-bar linkage.

[0137] In this way, as the motor 10 drives the first and second components to move relative to each other, the connecting arm 400 can drive the second link 602 to rotate relative to the first link 601, and in turn, drive the first link 601 to rotate relative to the vehicle body 200. Thus, the second sensor 2 can determine the number of pole pitches included in the moving distance of the second unit 112 by detecting the rotation angle of the first link 601 relative to the vehicle body 200.

[0138] In this way, by multiplying the number N of the pole distances included in the movement distance of the second unit 112 by the length L of the pole distances, and then adding it to the position D of the second unit 112 in two adjacent first units 111 determined by the first sensor 11, the displacement distance of the second unit 112 relative to the multiple first units 111 can be calculated. That is, the displacement distance S = the number N of the pole distances included in the movement distance of the second unit 112 * the length L of the pole distances + the position D of the second unit 112 in two adjacent first units 111, or S = N * L + D.

[0139] For example, the second sensor 2 can be a Hall sensor, including a Hall chip and a magnet. During the rotation of the first link 601 relative to the vehicle body 200, the Hall chip can detect the change in the magnetic field emitted by the magnet, thereby determining the angle of rotation of the first link 601 relative to the vehicle body 200.

[0140] In some examples, such as Figure 2 , Figure 11 As shown, the motion component 600 also includes a first bracket 603 and a second bracket 604. The first link 601 is connected to the vehicle body 200 through the first bracket 603, and the second link 602 is connected to the connecting arm 400 through the second bracket 604.

[0141] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A displacement detection device, characterized in that, include: A first sensor (11) includes a plurality of first units (111) and a second unit (112), wherein the plurality of first units (111) are arranged along a first direction, and the sum of the lengths of two adjacent first units in the first direction is a pole pitch; the second unit (112) is movable relative to the plurality of first units (111) along the first direction to determine the position of the second unit (112) among two adjacent first units (111); The second sensor (2) is used to determine the number of pole distances included in the movement distance of the second unit (112).

2. The displacement detection device according to claim 1, characterized in that, The zero point of the first sensor (11) coincides with the zero point of the second sensor (2).

3. The displacement detection device according to claim 1, characterized in that, Each of the first units (111) has an energy field, and the second unit (112) is used to read the parameters of the energy field; The first sensor (11) also includes: An analysis device is connected to the second unit (112). The analysis device is used to determine, based on the parameter values ​​read by the second unit (112), the distance between the end that the second unit (112) has passed and the second unit (112) when the second unit (112) passes through two adjacent first units (111) in the first direction.

4. The displacement detection device according to claim 3, characterized in that, During the movement of the second unit (112) along the first direction, the parameters read change periodically, and the number of parameter change cycles is consistent with the number of pole distances included in the movement distance of the second unit (112).

5. The displacement detection device according to claim 4, characterized in that, Within one cycle of the parameters, the values ​​of each parameter read by the second unit (112) are different.

6. The displacement detection device according to any one of claims 1-5, characterized in that, The first unit (111) is a magnet with a magnetic field.

7. The displacement detection device according to claim 6, characterized in that, The magnet may be a permanent magnet or an electromagnet.

8. The displacement detection device according to claim 6, characterized in that, Along the first direction, in the plurality of first units (111), the magnetic poles of each two adjacent first units (111) are opposite.

9. The displacement detection device according to any one of claims 1-5, characterized in that, The second unit (112) is a magnetic sensor.

10. The displacement detection device according to claim 9, characterized in that, The magnetic sensor includes a Hall sensor or a magnetometer.

11. The displacement detection device according to any one of claims 1-5, characterized in that, There are multiple second units (112), and the multiple second units (112) are arranged at intervals along the first direction; The plurality of second units (112) move synchronously relative to the plurality of first units (111) along the first direction to determine the displacement distance of the second unit (112) within the polar distance when passing two adjacent first units (111).

12. The displacement detection device according to claim 11, characterized in that, Along the first direction, the distance between two adjacent second units (112) is an integer multiple of the height of the first unit (111).

13. The displacement detection device according to claim 11, characterized in that, Along the first direction, the distance between two adjacent second units (112) is an odd multiple of the height of the first unit (111).

14. The displacement detection device according to claim 13, characterized in that, The second unit consists of two units, one of which is the second main unit, and the other of which is the second sub-unit. The second main unit is used to determine the distance between the end that the second main unit has passed and the second main unit when the second main unit passes through two adjacent first units (111) at opposite ends in the first direction; The second sub-unit is used to determine the distance between the end that the second sub-unit has passed and the second sub-unit when the second sub-unit passes through two adjacent first units (111), at the two opposite ends of the two adjacent first units (111) in the first direction.

15. The displacement detection device according to claim 11, characterized in that, Along the first direction, the distance between two adjacent second units (112) is equal to the height of the first unit (111).

16. A control method, characterized in that, The control method, applied to the displacement detection device as described in any one of claims 1-15, comprises: Obtain the first value D, where D is the position of the second unit (112) in the two adjacent first units (111); Obtain the second value N, where N is the number of pole distances included in the movement distance of the second unit (112); Calculate the displacement distance S, S = N*L + D, where L is the length of the polar distance.

17. An electric motor, characterized in that, include: A first component and a second component, wherein the first component and the second component are movable relative to each other along a first direction; The displacement detection device according to any one of claims 1-15, wherein a plurality of first units (111) of the displacement detection device are disposed in the first component, and a second unit (112) of the displacement detection device is disposed in the second component.

18. A vehicle, characterized in that, Includes the motor as described in claim 17.

19. The vehicle according to claim 18, characterized in that, It also includes a vehicle body (200) and wheels (300); the motor is connected between the vehicle body (200) and the wheels (300), the first sensor (11) is connected to the motor; and the second sensor (2) is connected to the vehicle body (200).

20. The vehicle according to claim 19, characterized in that, Also includes: A connecting arm (400) is rotatably connected to the vehicle body (200) and to the wheel (300); one end of the motor is rotatably connected to the vehicle body (200), and the other end of the motor is rotatably connected to the connecting arm (400); the second sensor (2) is used to detect the relative rotation angle between the connecting arm (400) and the vehicle body (200).

21. The vehicle according to claim 20, characterized in that, The first sensor (11) includes a Hall sensor; And / or, the second sensor (2) includes a Hall sensor.

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