Intelligent spherical hinge based on optical tracking

Abstract

This invention relates to the field of automotive ball joints, and provides an intelligent ball joint based on optical tracking, comprising a ball pin, a ball pin seat, and a ball pin sleeve, and further comprising: a light source assembly that projects light onto the underside of the ball head of the ball pin; an optical tracking system built into the end of the ball head; the optical tracking system including an optical tracking sensor, which integrates an image acquisition system and a digital signal processor; the image acquisition system converting the received light signal into a digital image signal; and the digital signal processor comparing and analyzing consecutive frames of digital image signals to determine the type, direction, and position of the ball pin relative to the ball pin sleeve, and generating a corresponding motion state signal for output. The intelligent ball joint based on optical tracking described in this invention can simultaneously measure oscillation, rotation, and micro-displacement, accurately identify and provide real-time feedback on the relative motion relationship between the ball pin and the ball pin sleeve; and has strong anti-interference capabilities during the measurement process.

Description

Technical Field

[0001] This invention relates to the field of automotive ball joints, and more specifically, to an intelligent ball joint based on optical tracking. Background Technology

[0002] Ball joints are key connecting components in automotive chassis suspension and steering systems. Their function is to connect the steering knuckle to the suspension guide elements and provide multi-degree-of-freedom rotational and oscillating motion.

[0003] Currently, traditional mass-produced automotive ball joints are purely mechanical structures, lacking any operational condition feedback functionality. The actual motion state of the ball joint and the load it bears are completely unknown to the vehicle's control system, making them typical "open" components. This situation is severely out of sync with the current development needs of intelligent and steer-by-wire automotive chassis. Advanced systems such as active suspension, brake-by-wire, and steering-by-wire place extremely high real-time control requirements on various chassis components, requiring massive amounts of precise chassis digital information as input. As one of the most important moving and load-bearing components of the chassis, the lack of data on ball joints has become a major bottleneck in the development of intelligent chassis. For example, in the training process of optimizing chassis control algorithms using artificial intelligence, there is a heavy reliance on a large amount of real-world operational condition data, which traditional ball joints cannot provide.

[0004] Furthermore, from the perspective of vehicle use and maintenance, traditional ball joints cannot be detected and located in a timely manner when they show signs of wear, reach their lifespan limit, produce loose or abnormal noises, or deform due to impact caused by misuse. Users often have to passively wait for the fault to worsen or be discovered by maintenance personnel during routine maintenance. This not only poses serious safety hazards but also greatly reduces the user experience.

[0005] The prior art patent CN202311788195.6 discloses an intelligent ball joint, its application method, and a vehicle, including a ball joint seat and a ball joint body. The ball joint seat has an internal cavity that can accommodate the ball joint body, allowing the ball joint body to swing or rotate at multiple angles around its center point. The ball joint seat is connected to a connecting rod, and a connecting post is connected to the ball joint body. A permanent magnet is embedded in the ball joint body, and multiple magnetic sensors are arranged on the connecting post. A magnetic memory sensor is arranged on the connecting post, located at the upper end of the neck of the connecting post and opposite to the permanent magnet. Although this patent uses magnetic sensors in the ball joint to monitor the rotation of the ball joint and thus analyze the movement of the vehicle wheels, it can only measure the rotation angle of the ball joint and cannot accurately identify and provide real-time feedback on the relative motion relationship between the ball pin and the ball pin sleeve. The measurement process is affected by external electromagnetic fields, demagnetization of the permanent magnet, and metal shavings, resulting in poor anti-interference capabilities. Furthermore, ball joints cannot monitor their own load status in real time and do not have self-diagnosis or life prediction functions.

[0006] In view of this, the present invention is hereby proposed. Summary of the Invention

[0007] The purpose of this invention is to propose an intelligent ball joint based on optical tracking to solve the problems of existing ball joints that can only measure the rotation angle of the ball head, and cannot accurately identify and provide real-time feedback on the relative motion relationship between the ball pin and the ball pin sleeve; the measurement process is affected by external electromagnetic fields, demagnetization of permanent magnets, and metal shavings, resulting in poor anti-interference ability.

[0008] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0009] An optically tracked smart ball joint, comprising a ball pin, a ball pin seat, and a ball pin sleeve, further comprising:

[0010] A light source assembly is fixedly mounted on the ball pin sleeve, and the light source assembly projects a light source downwards onto the ball head of the ball pin;

[0011] An optical tracking system, which is built into the end of the ball head, is used to sense image changes in the area illuminated by the light source in real time;

[0012] The optical tracking system includes an optical tracking sensor, which integrates an image acquisition system and a digital signal processor. The image acquisition system is used to convert the received light signal into a digital image signal, and the digital signal processor is used to compare and analyze the digital image signals of consecutive frames to determine the motion type, direction and position of the ball pin relative to the ball pin sleeve, and generate a corresponding motion state signal for output.

[0013] Furthermore, the light source assembly includes:

[0014] A light source housing is disposed below the ball pin seat and connected to the ball pin sleeve. The light source housing is used to enclose the lower part of the ball head.

[0015] A light source head, which is mounted on the light source housing;

[0016] The first lens is installed at the light outlet of the light source head, and the first lens can stably project the light source onto the light source housing below the ball head.

[0017] Furthermore, the light source housing includes a side portion and an arc-shaped bottom portion, the inner surface of the arc-shaped bottom portion is an inner spherical arc surface, the light source head is mounted on the side portion, and the first lens can stably project the light source onto the inner spherical arc surface.

[0018] Furthermore, the optical tracking system also includes a second lens located directly below the optical tracking sensor, for focusing reflected light from the inner spherical surface and collecting it onto the optical tracking sensor.

[0019] Furthermore, a first mounting hole is provided at the bottom center of the ball pin, and the second lens is installed in the first mounting hole. A second mounting hole is provided at the top of the ball pin, and the optical tracking sensor is installed in the second mounting hole. The second mounting hole is located directly above the first mounting hole. A connecting hole is provided between the first mounting hole and the second mounting hole, and the first mounting hole and the second mounting hole are connected through the connecting hole.

[0020] Furthermore, the diameter of the connecting hole is smaller than that of the first mounting hole and the second mounting hole.

[0021] Furthermore, a first bracket is provided in the first mounting hole, and the second lens is mounted in the first mounting hole through the first bracket. A second bracket is provided at the bottom of the second mounting hole, and the optical tracking sensor is mounted at the bottom of the second mounting hole through the second bracket. A third bracket is provided at the top of the second mounting hole, and the third bracket is used to seal the second mounting hole.

[0022] Furthermore, the first, second, and third supports are all made of polymer materials.

[0023] Furthermore, a light-emitting diode or a laser is disposed inside the light source head.

[0024] Furthermore, the optical tracking sensor is connected to the vehicle-mounted computer, and the optical tracking sensor can transmit the generated motion state signal to the vehicle-mounted computer. The vehicle-mounted computer has a pre-set stiffness curve database, durability database, and failure database for the ball joint. Based on the motion state signal and the pre-set stiffness curve database of the ball joint, the vehicle-mounted computer can calculate the magnitude and direction of the load on the ball joint, generating a load data signal. The vehicle-mounted computer can also compare the real-time generated motion state signal and load data signal with the pre-set durability database, evaluate and predict the remaining service life of the intelligent ball joint according to a preset algorithm, and generate a replacement reminder signal when the service life threshold is reached. The vehicle-mounted computer can also compare the real-time generated motion state signal and load data signal with the pre-set failure database, generating a fault alarm and replacement reminder signal under abnormal operating conditions.

[0025] The present invention proposes an optical tracking-based intelligent ball joint, which, compared with the prior art, has the following advantages:

[0026] 1. The present invention discloses an intelligent ball joint based on optical tracking, wherein the light source component is fixedly mounted on the ball pin sleeve, and the optical tracking system is built into the end of the ball pin. For the first time, a "light source-sensor" split optical tracking architecture is constructed inside the ball joint, realizing direct, real-time, and high-precision perception of the three-dimensional motion state of the ball joint itself. It can simultaneously measure the swing, rotation, and micro-displacement of the ball pin, accurately identify the relative motion relationship between the ball pin and the ball pin sleeve and provide real-time feedback. The measurement process is completely unaffected by electromagnetic interference, has no demagnetization problem, and has strong anti-interference ability.

[0027] 2. The intelligent ball joint based on optical tracking described in this invention provides key data support for intelligent chassis; the ball joint position, movement direction and load data that can be output in real time can provide direct input for the optimization of control algorithms of active suspension, steer-by-wire, brake-by-wire and other systems, and can be applied to AI model training to promote the evolution of intelligent chassis.

[0028] 3. The intelligent ball joint based on optical tracking described in this invention has life prediction and fault self-diagnosis functions. By comparing real-time data with the durability database and failure database in the vehicle computer, it can actively and accurately predict the product life and promptly detect abnormal working conditions such as looseness, abnormal noise, and impact deformation, and issue warnings to users, which greatly improves the safety and convenience of vehicle use and optimizes the user experience.

[0029] 4. The intelligent ball joint based on optical tracking described in this invention has a compact structure and high reliability. The optical components are built into the ball pin and ball pin sleeve, and are isolated, sealed and damped by a polymer material support, which effectively resists the harsh working environment of the chassis and ensures the long-term stability and measurement accuracy of the system. Attached Figure Description

[0030] Figure 1 This is one of the cross-sectional structural schematic diagrams of an intelligent ball joint based on optical tracking according to an embodiment of the present invention;

[0031] Figure 2 for Figure 1 Enlarged structural diagram at point A;

[0032] Figure 3 This is a schematic cross-sectional view of the ball pin of an optically tracked intelligent ball joint according to an embodiment of the present invention.

[0033] Figure 4 This is a second schematic cross-sectional view of an intelligent ball joint based on optical tracking, as described in an embodiment of the present invention.

[0034] Explanation of reference numerals in the attached figures:

[0035] 1. Ball pin; 11. Ball head; 111. First mounting hole; 12. Second mounting hole; 13. Communicating hole; 2. Ball pin seat; 3. Ball pin sleeve; 4. Optical tracking system; 41. Optical tracking sensor; 42. Second lens; 5. Light source assembly; 51. Light source head; 511. Light emission diode; 52. Light source housing; 521. Side surface; 522. Curved bottom; 5221. Inner spherical arc surface; 53. First lens; 71. First bracket; 72. Second bracket; 73. Third bracket. Detailed Implementation

[0036] To make the technical means and objectives and effects of the present invention easier to understand, the embodiments of the present invention will be described in detail below with reference to specific illustrations.

[0037] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0038] Example 1

[0039] Existing ball joints can only measure the rotation angle of the ball head, and cannot accurately identify and provide real-time feedback on the relative motion relationship between the ball pin 1 and the ball pin sleeve 3. Furthermore, the measurement process is susceptible to interference from external electromagnetic fields, permanent magnet demagnetization, and metal shavings. In addition, ball joints cannot monitor their own load status in real time and lack self-diagnosis and lifespan prediction functions.

[0040] To address the aforementioned technical problems, this embodiment proposes an intelligent ball joint based on optical tracking, such as... Figures 1-4 As shown, the intelligent ball joint includes a ball pin 1, a ball pin seat 2, and a ball pin sleeve 3. The ball pin 1 and ball pin sleeve 3 are made of metal, and the ball pin seat 2 is made of plastic. The metal ball pin 1 and the plastic ball pin seat 2 form a spherical self-lubricating friction pair. The metal ball pin sleeve 3 wraps around the ball pin seat 2. The ball pin 1 and ball pin sleeve 3 are respectively connected to the steering knuckle and the suspension guide element to realize the motion function of the chassis suspension.

[0041] The intelligent ball joint also includes:

[0042] A light source assembly 5 is fixedly mounted on the ball pin sleeve 3, and the light source assembly 5 projects a light source downwards onto the ball head 11 of the ball pin 1;

[0043] An optical tracking system 4 is built into the end of the ball head 11 and is used to sense image changes in the area illuminated by the light source in real time.

[0044] The optical tracking system 4 includes an optical tracking sensor 41, which integrates an image acquisition system and a digital signal processor. The image acquisition system is used to convert the received light signal into a digital image signal, and the digital signal processor is used to compare and analyze the digital image signals of consecutive frames to determine the motion type, direction and position of the ball pin 1 relative to the ball pin sleeve 3, and generate a corresponding motion state signal to output outward.

[0045] Since the working principle of the optical tracking sensor 41 is existing technology, it will not be described in detail here.

[0046] It should be noted that image calibration is required before the optical tracking system 4 is used for the first time. Since image calibration is existing technology, it will not be described in detail here.

[0047] The core concept of this invention lies in using optical principles to convert the invisible relative motion inside the ball joint into a quantifiable and analyzable image signal, thereby retrieving key operating condition information such as motion, load, and lifespan.

[0048] This invention discloses an intelligent ball joint based on optical tracking, which for the first time constructs a "light source-sensor" split optical tracking architecture inside the ball joint, realizing direct, real-time, and high-precision sensing of the three-dimensional motion state of the ball joint itself. The light source component 5 is fixedly mounted on the ball pin sleeve 3, and the optical tracking system 4 is built into the end of the ball pin 1. On the one hand, a stable measurement reference is established, enabling direct and accurate measurement: the light source is fixed on the ball pin sleeve 3, while the optical tracking sensor 41 is located on the ball head 11 with relative motion, thus establishing an absolute optical reference frame. The light source on the ball pin sleeve 3 provides a constant and known illumination pattern for the optical tracking sensor 41 on the ball head 11. When the ball head 11 moves, the pattern change collected by the optical tracking sensor 41 directly reflects the motion of the ball head 11 relative to the ball pin sleeve 3. On the other hand, it simultaneously measures macroscopic motion and microscopic deformation with extremely high sensitivity: any tiny relative motion will be amplified into a significant change in the pattern within the field of view of the optical tracking sensor 41. This allows the system to simultaneously detect macroscopic motion and microscopic deformation, with measurement sensitivity far exceeding that of indirect measurement methods. Furthermore, the optical tracking sensor 41 integrates an image acquisition system and a digital signal processor, enabling it to directly output these motion state signals in real time, providing a physical basis for subsequent load calculations, life prediction, and fault diagnosis. In addition, this solution is highly resistant to interference and has strong environmental adaptability: the optical measurement principle of this solution is completely unaffected by electromagnetic interference, and since it has no permanent magnets, there is naturally no demagnetization problem. Simultaneously, the optical cavity is isolated from external mud, water, and dust by the light source housing 52, ensuring a clean optical path. This allows the intelligent ball joint to reliably operate in the harshest environment, such as the chassis.

[0049] In summary, the intelligent ball joint based on optical tracking described in this invention has a light source component 5 fixedly mounted on the ball pin sleeve 3, and an optical tracking system 4 built into the end of the ball pin 1. For the first time, a "light source-sensor" split optical tracking architecture is constructed inside the ball joint, realizing direct, real-time, and high-precision sensing of the three-dimensional motion state of the ball joint itself. It can simultaneously measure the swing, rotation, and micro-displacement of the ball pin 1, accurately identify the relative motion relationship between the ball pin 1 and the ball pin sleeve 3, and provide real-time feedback. The measurement process is completely unaffected by electromagnetic interference, has no demagnetization problem, and has strong anti-interference ability.

[0050] In this embodiment, the optical tracking sensor 41 is connected to the vehicle-mounted computer, and the optical tracking sensor 41 can transmit the generated motion state signal to the vehicle-mounted computer. The vehicle-mounted computer has a pre-set stiffness curve database, durability database, and failure database for the ball joint 2. The vehicle-mounted computer can calculate the magnitude and direction of the load on the ball joint 1 based on the motion state signal and the stiffness curve database of the ball joint 2, generating a load data signal. The vehicle-mounted computer can also compare the real-time generated motion state signal and load data signal with the durability database, evaluate and predict the remaining service life of the intelligent ball joint according to a preset algorithm, and generate a replacement reminder signal when the service life threshold is reached. The vehicle-mounted computer can also compare the real-time generated motion state signal and load data signal with the failure database, generating a fault alarm and replacement reminder signal under abnormal operating conditions. Abnormal operating conditions include, but are not limited to, looseness, abnormal noise, and impact deformation. The ball joint operating condition data collected in real time by the optical tracking sensor 41 also provides basic data for the intelligent control of the chassis.

[0051] This setup has the following advantages:

[0052] 1. It provides key data support for intelligent chassis; the ball joint is equipped with an optical tracking system 4, which identifies the changes in the relative position between the ball pin 1 and the ball pin sleeve 3 in the ball joint structure based on image changes, including the swing, rotation, and movement of the ball pin, and converts them into corresponding ball joint motion and load data for use in intelligent chassis control, thus providing basic data for intelligent chassis control.

[0053] 2. It has life prediction and fault self-diagnosis functions; by comparing real-time data with the durability database and failure database in the vehicle computer, it can actively and accurately predict the product life and promptly detect abnormal working conditions such as looseness, abnormal noise, and impact deformation, and issue warnings to users, which greatly improves the safety and convenience of vehicle use and optimizes the user experience.

[0054] Specifically, such as Figure 2 As shown, the light source assembly 5 includes:

[0055] The light source housing 52 is located below the ball pin seat 2 and is connected to the ball pin sleeve 3. The light source housing 52 is used to enclose the lower part of the ball head 11, isolate the optical system from the harsh environment such as mud, water and dust, and ensure the cleanliness and long-term reliability of the optical path.

[0056] A light source head 51 is mounted on the light source housing 52.

[0057] The first lens 53 is installed at the light outlet of the light source head 51. The first lens 53 can stably project the light source onto the light source housing 52 below the ball head 11.

[0058] The light source housing 52 is not only the mounting base for the light source, but also a protective cover for the optical chamber, completely isolating the precision optical components from the harsh environment of the chassis, such as mud, water, dust, and salt spray, ensuring the long-term reliable operation of the system.

[0059] Specifically, such as Figure 4 As shown, the light source housing 52 includes a side portion 521 and an arc-shaped bottom portion 522. The inner surface of the arc-shaped bottom portion 522 is an inner spherical arc surface 5221. The light source head 51 is mounted on the side portion 521. The first lens 53 can stably project the light source onto the inner spherical arc surface 5221.

[0060] The inner surface of the bottom 522 of the arc surface is an inner spherical arc surface 5221, which is a continuous and smooth curved surface. This curved surface perfectly adapts to the spherical motion of the ball head 11. When the ball head 11 moves relative to the surface, the optical tracking sensor 41 can collect the image changes of the illuminated position on the inner spherical arc surface 5221.

[0061] Specifically, such as Figure 2 and Figure 4 As shown, the optical tracking system 4 also includes a second lens 42, which is located directly below the optical tracking sensor 41 and is used to focus the reflected light from the inner spherical surface 5221 and collect it to the optical tracking sensor 41.

[0062] This configuration ensures that reflected light can be efficiently and clearly imaged onto the optical tracking sensor 41, improving the signal-to-noise ratio and measurement accuracy. The second lens 42 and the optical tracking sensor 41 are coaxially arranged within the ball head 11, resulting in a compact structure.

[0063] Specifically, such as Figure 3 As shown, a first mounting hole 111 is provided at the bottom center of the ball pin 1, and the second lens 42 is installed in the first mounting hole 111, as shown. Figure 3 As shown, a second mounting hole 12 is provided on the top of the ball pin 1, and the optical tracking sensor 41 is mounted in the second mounting hole 12 via a second bracket 72, as shown. Figure 3 As shown, the second mounting hole 12 is located directly above the first mounting hole 111, and a connecting hole 13 is provided between the first mounting hole 111 and the second mounting hole 12, through which the first mounting hole 111 and the second mounting hole 12 are connected.

[0064] The first mounting hole 111 and the second mounting hole 12 provide precise positioning and mounting references for the second lens 42 and the optical tracking sensor 41.

[0065] Specifically, such as Figure 3 As shown, the diameter of the connecting hole 13 is smaller than that of the first mounting hole 111 and the second mounting hole 12.

[0066] Specifically, such as Figures 1-3 As shown, a first bracket 71 is provided in the first mounting hole 111, and the second lens 42 is mounted in the first mounting hole 111 through the first bracket 71. A second bracket 72 is provided at the bottom of the second mounting hole 12, and the optical tracking sensor 41 is mounted at the bottom of the second mounting hole 12. A third bracket 73 is provided at the top of the second mounting hole 12, and the third bracket 73 is used to seal the second mounting hole 12.

[0067] Specifically, wiring holes are provided on the third bracket 73 for wiring of the optical tracking sensor 41.

[0068] Specifically, the first support 71, the second support 72, and the third support 73 are all made of polymer materials.

[0069] Polymer materials possess excellent self-lubricating properties, wear resistance, electrical insulation, and shock absorption. As supports, they can securely fix the second lens 42 and the optical tracking sensor 41, while preventing abnormal noises caused by vibration and preventing accidental short circuits between the circuit and the metal ball head 11.

[0070] Specifically, a light-emitting diode 511 or a laser is disposed inside the light source head 51.

[0071] In this embodiment, as Figure 2 As shown, a light-emitting diode 511 is disposed inside the light source head 51.

[0072] The intelligent ball joint based on optical tracking described in this invention has the following advantages:

[0073] 1. This invention, by setting an optical tracking system 4 inside the ball joint, can accurately identify the relative motion relationship between the ball pin 1 and the ball pin sleeve 3. Since the ball pin 1 and the ball pin sleeve 3 are respectively connected to the steering knuckle and the suspension guide element, once the ball pin 1 rotates or swings, the image identified by the optical tracking system 4 will change. Through the analysis and processing of the image, the motion data of the ball joint can be completely recorded. This data is transmitted to the on-board computer for processing and can be provided to the chassis for intelligent control optimization.

[0074] 2. This invention incorporates an optical tracking system 4 within the ball joint. Once the ball pin 1 moves, the image detected by the optical tracking system 4 changes. Because the ball joint contains a plastic ball pin seat 2, which deforms significantly under load (typically with a stiffness value of ≥20kN / mm), a more complete comparison can be made with the stiffness curve database of the ball pin seat 2 pre-set in the vehicle's computer. Deformation of the ball pin seat 2 inevitably leads to movement of the ball pin 1. The change in the position of this movement indirectly reveals the magnitude and direction of the load on the ball pin 1. Therefore, through image analysis and processing, the load data of the ball joint can be completely recorded. The vehicle's computer can also compare the real-time generated motion state signal and load data signal with a pre-set durability database to predict the lifespan of the ball joint. When the predicted lifespan is reached, the user can be notified to replace the ball joint promptly.

[0075] 3. The present invention sets up an optical tracking system 4 inside the ball joint. Once the ball joint malfunctions, such as looseness or abnormal noise, or the ball pin 1 undergoes significant deformation under misuse conditions, the corresponding collected motion load data of the ball joint is compared with the failure database of the vehicle computer. If the failure criteria are met, the user can be notified to replace the ball joint in time.

[0076] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. An intelligent ball joint based on optical tracking, comprising a ball pin (1), a ball pin seat (2) and a ball pin sleeve (3), characterized in that The intelligent ball joint also includes: A light source assembly (5) is fixedly mounted on the ball pin sleeve (3), and the light source assembly (5) projects a light source downwards onto the ball head (11) of the ball pin (1); An optical tracking system (4) is built into the end of the ball head (11) and is used to sense changes in the image of the area illuminated by the light source in real time. The optical tracking system (4) includes an optical tracking sensor (41), which integrates an image acquisition system and a digital signal processor. The image acquisition system is used to convert the received light signal into a digital image signal. The digital signal processor is used to compare and analyze the digital image signals of consecutive frames to determine the motion type, direction and position of the ball pin (1) relative to the ball pin sleeve (3), and generate a corresponding motion state signal to output it outward.

2. The intelligent ball joint based on optical tracking according to claim 1, characterized in that, The light source assembly (5) includes: A light source housing (52) is disposed below the ball pin seat (2). The light source housing (52) is connected to the ball pin sleeve (3). The light source housing (52) is used to close the lower part of the ball head (11). A light source head (51) is mounted on the light source housing (52); The first lens (53) is installed at the light outlet of the light source head (51). The first lens (53) can stably project the light source onto the light source shell (52) below the ball head (11).

3. The intelligent ball joint based on optical tracking according to claim 2, characterized in that, The light source housing (52) includes a side part (521) and an arc-shaped bottom (522). The inner surface of the arc-shaped bottom (522) is an inner spherical arc surface (5221). The light source head (51) is mounted on the side part (521). The first lens (53) can stably project the light source onto the inner spherical arc surface (5221).

4. The intelligent ball joint based on optical tracking according to claim 3, characterized in that, The optical tracking system (4) also includes a second lens (42) located directly below the optical tracking sensor (41) for focusing reflected light from the inner spherical surface (5221) and collecting it to the optical tracking sensor (41).

5. The intelligent ball joint based on optical tracking according to claim 4, characterized in that, A first mounting hole (111) is provided at the bottom center of the ball pin (1), and the second lens (42) is installed in the first mounting hole (111). A second mounting hole (12) is provided at the top of the ball pin (1), and the optical tracking sensor (41) is installed in the second mounting hole (12). The second mounting hole (12) is located directly above the first mounting hole (111). A connecting hole (13) is provided between the first mounting hole (111) and the second mounting hole (12), and the first mounting hole (111) and the second mounting hole (12) are connected through the connecting hole (13).

6. The intelligent ball joint based on optical tracking according to claim 5, characterized in that, The diameter of the connecting hole (13) is smaller than that of the first mounting hole (111) and the second mounting hole (12).

7. A smart ball joint based on optical tracking according to claim 6, characterized in that, A first bracket (71) is provided in the first mounting hole (111), and the second lens (42) is mounted in the first mounting hole (111) through the first bracket (71). A second bracket (72) is provided at the bottom of the second mounting hole (12), and the optical tracking sensor (41) is mounted at the bottom of the second mounting hole (12) through the second bracket (72). A third bracket (73) is provided at the top of the second mounting hole (12), and the third bracket (73) is used to seal the second mounting hole (12).

8. The intelligent ball joint based on optical tracking according to claim 7, characterized in that, The first support (71), the second support (72), and the third support (73) are all made of polymer materials.

9. A smart ball joint based on optical tracking according to claim 2, characterized in that, A light-emitting diode (511) or a laser is disposed inside the light source head (51).

10. A smart ball joint based on optical tracking according to claim 1, characterized in that, The optical tracking sensor (41) is connected to the vehicle computer, and the optical tracking sensor (41) can transmit the generated motion state signal to the vehicle computer. The vehicle computer has a pre-set stiffness curve database, durability database and failure database of the ball joint seat (2). The vehicle computer can calculate the magnitude and direction of the load on the ball joint (1) according to the motion state signal and the pre-set stiffness curve database of the ball joint seat (2) in the vehicle computer, and generate a load data signal. The vehicle computer can also compare the real-time generated motion state signal and load data signal with the pre-set durability database in the vehicle computer, evaluate and predict the remaining service life of the intelligent ball joint according to the preset algorithm, and generate a replacement reminder signal when the service life threshold is reached. The vehicle computer can also compare the real-time generated motion state signal and load data signal with the pre-set failure database in the vehicle computer, and generate a fault alarm and replacement reminder signal in abnormal working conditions.

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