Measurement apparatus and measurement method

Abstract

Embodiments of the present application provide a measurement apparatus and a measurement method. The measurement apparatus is used for measuring the height of a suspension system. The suspension system comprises a swing arm arranged between a bearing structure and a wheel of a vehicle, and a bushing arranged at a connection position between the swing arm and the bearing structure or the wheel. The bushing comprises a bushing inner ring and a bushing outer ring. The measurement apparatus comprises a sensing unit and a processing unit, wherein the sensing unit is used for acquiring relative rotation information between the bushing inner ring and the bushing outer ring, and the processing unit can be used for determining, on the basis of the relative rotation information, first indication information for indicating the height of the suspension system. The embodiments of the present application can be applied to new energy vehicles such as electric vehicles and hybrid electric vehicles. During suspension height measurement by the measurement apparatus, there is no need to design specific supports for vehicle models and suspension arrangement modes, reducing the adaptation work for vehicle models and suspensions, achieving good universality for suspension height measurement.

Description

Measuring device and measuring method

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on July 18, 2023, with application number 202310882479.5 and invention name “Measuring Device and Measuring Method”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The embodiments of the present application relate to the field of mechanical and electronic technology, and more specifically, to a measuring device and a measuring method. Background Art

[0003] With the rapid advancement of vehicle technology, air suspension and active suspension systems capable of dynamically adjusting stiffness and damping characteristics are increasingly being used in vehicles. Compared to traditional suspension systems, air suspension and active suspension systems can adjust suspension height, improve body vibration, and enhance vehicle ride comfort. Accurate suspension height measurement directly impacts the performance of these systems, and, in turn, the overall performance of the vehicle. Currently, commonly used suspension height measurement devices lack versatility, requiring complex adaptation for different vehicle models. Therefore, improving the versatility of suspension height measurement devices has become a pressing issue.

[0004] Summary of the Invention

[0005] The embodiments of the present application provide a measuring device and a measuring method, which can be applied to a variety of different vehicle models and scenarios for measuring suspension height, and have good versatility for measuring suspension height.

[0006] In a first aspect, a measuring device is provided for measuring the height of a suspension system disposed between a vehicle's load-bearing structure and a wheel. The suspension system includes a shock absorber, a swing arm, and a bushing. The swing arm is disposed between the load-bearing structure and the wheel, the shock absorber is disposed between the swing arm and the load-bearing structure, and the bushing is disposed at the connection between the swing arm and the load-bearing structure and / or the wheel. The bushing includes an inner bushing ring and an outer bushing ring. The measuring device includes a sensing unit and a processing unit. The sensing unit is configured to obtain relative rotation information between the inner bushing ring and the outer bushing ring. The processing unit is configured to determine first indication information based on the relative rotation information, wherein the first indication information is configured to indicate the height of the suspension system.

[0007] When the vehicle adopts a load-bearing body, the load-bearing structure of the vehicle is the load-bearing body. When the vehicle adopts a non-load-bearing body, the load-bearing structure of the vehicle is the vehicle frame.

[0008] When the height of the suspension system changes, relative motion occurs between the swing arm and the wheel and / or vehicle body, causing the inner ring (referred to as the inner ring) and outer ring (referred to as the outer ring) of the swing arm bushing to rotate relative to each other. Because the measuring device in this application determines the height of the suspension system based on the relative rotation information between the inner ring and the outer ring, when it is applied to a vehicle to measure suspension height, it is not necessary to design a specific bracket for each vehicle model and suspension layout, which can reduce the related adaptation work. This reflects that the measuring device has good versatility for measuring suspension height, which is conducive to modularization and platformization.

[0009] In combination with the first aspect, in certain implementations of the first aspect, the sensing unit may include: a magnetic field direction sensing unit arranged at a first position of the first part of the bushing, the magnetic field direction sensing unit can be used to obtain change information of the magnetic field direction at the first position, the relative rotation information includes change information of the magnetic field direction at the first position, and the first part of the bushing can be one of the inner ring of the bushing or the outer ring of the bushing.

[0010] In this application, the relative rotation information between the inner ring and the outer ring of the bushing is obtained by obtaining information on changes in the direction of the magnetic field, which can obtain more accurate suspension height measurement results at a lower cost and reduce the difficulty of manufacturing and assembling the suspension height measurement device.

[0011] In combination with the first aspect, in some implementations of the first aspect, the second portion of the bushing is provided with a magnetic element, which can be used to generate a magnetic field at the first position, and the second portion of the bushing is the other of the inner ring of the bushing or the outer ring of the bushing.

[0012] In one embodiment, the suspension height measuring device may include a magnetic element, and the magnetic element and the magnetic field direction sensing unit rotate along with the rotation of the inner ring and the outer ring of the swing arm bushing respectively.

[0013] In another embodiment, the suspension height measuring device may not include magnetic elements. For example, the specifications and arrangement of the corresponding magnetic elements may be indicated in the instruction manual of the measuring device, so that the relative movement between the inner ring and the outer ring of the swing arm bushing can be determined according to the change in the direction of the magnetic field.

[0014] In combination with the first aspect, in certain implementations of the first aspect, the magnetic field direction sensing unit and the magnetic element may be arranged relative to each other along the axial direction of the bushing, and the magnetization direction of the magnetic element may be perpendicular to the axial direction of the bushing.

[0015] In the present application, through the above arrangement, the change information of the magnetic field direction can more accurately reflect the rotation between the inner ring and the outer ring of the swing arm bushing, which can improve the accuracy of the measurement results of the suspension height.

[0016] In combination with the first aspect, in certain implementations of the first aspect, in the axial direction of the bushing, the projected area of ​​the magnetic element is larger than the projected area of ​​the magnetic field direction sensing unit, and the ratio of the projected area of ​​the magnetic element to the projected area of ​​the magnetic field direction sensing unit is greater than or equal to a first threshold.

[0017] In one embodiment, in the axial direction of the bushing, the projected area of ​​the magnetic element is more than five times that of the magnetic field direction sensing unit. In some possible implementations, the first threshold value may also be other values ​​such as 8 or 10.

[0018] In another embodiment, the first threshold value can be determined based on the magnetic field distribution in a plane perpendicular to the axis of the bushing and in which the magnetic field direction sensing unit is arranged. For example, the better the uniformity of the magnetic field intensity at the installation location of the magnetic field direction sensing unit and its surrounding area in the plane, the smaller the first threshold value (e.g., 5); whereas, the lower the uniformity of the magnetic field intensity, the larger the first threshold value (e.g., 8 or 9) can be (e.g., 8 or 9).

[0019] In the present application, since the projected area of ​​the magnetic element in the axial direction of the bushing is much larger than the projected area of ​​the magnetic field direction sensing unit, the measurement error caused by factors such as installation deviation and vibration can be reduced.

[0020] In combination with the first aspect, in certain implementations of the first aspect, the measuring device may further include a shell connected to the outer ring of the bushing, and the magnetic field direction sensing unit is fixed to the shell.

[0021] Because the magnetic field direction sensing unit is fixed to a housing connected to the outer ring of the bushing, it can follow the movement of the outer ring of the swing arm bushing. Correspondingly, because the magnetic element is disposed on the inner ring of the bushing, it can follow the movement of the inner ring of the bushing. In this application, by using a housing that can adapt to a commonly used bushing and arranging the magnetic field direction sensing unit in this manner, it is beneficial to achieve platformization and modularization of the suspension height measurement device.

[0022] In combination with the first aspect, in certain implementations of the first aspect, the sensing unit may include: at least one pair of magnetic field direction sensing units disposed on the first end surface of the first portion of the bushing and uniformly distributed circumferentially.

[0023] In the present application, at least one pair of magnetic field direction sensing units are evenly arranged circumferentially on any side end face of the outer ring or the inner ring of the bushing. By sensing the change in the magnetic field direction through the two magnetic field direction sensing units that constitute a pair of magnetic field direction sensing units, the measurement error caused by installation deviation, vibration and other factors can be reduced.

[0024] In combination with the first aspect, in certain implementations of the first aspect, the measuring device may further include: at least one pair of magnetic elements arranged on the first end surface of the second part of the bushing and uniformly distributed circumferentially, the at least one pair of magnetic elements corresponding one-to-one to at least one pair of magnetic field direction sensing units, and the second part of the bushing being the other of the inner ring of the bushing or the outer ring of the bushing.

[0025] Exemplarily, the first end face of the first portion of the bushing and the first end face of the second portion of the bushing are located on the same side of the bushing. For example, the first end face of the bushing inner ring faces the rear of the vehicle, and correspondingly, the first end face of the bushing outer ring also faces the rear of the vehicle.

[0026] In the present application, by providing a pair of magnetic elements corresponding to a pair of magnetic field direction sensing units, the measurement error caused by uneven magnetic field distribution can be reduced.

[0027] In combination with the first aspect, in certain implementations of the first aspect, at least one pair of magnetic field direction sensing units includes a first magnetic field direction sensing unit pair, and the induction directions of the two magnetic field direction sensing units in the first magnetic field direction sensing unit pair are the same; at least one pair of magnetic elements includes a first magnetic element pair, and the first magnetic poles of the magnetic elements in the first magnetic element pair point to the axis of the bushing, and the angle between the magnetization direction of the magnetic elements in the first magnetic element pair and the induction direction of the magnetic field direction sensing units in the first magnetic field direction sensing unit pair can be greater than or equal to the second threshold.

[0028] Exemplarily, the first magnetic field direction sensing unit pair is any pair of magnetic field direction sensing units. The two magnetic field direction sensing units in the first magnetic field direction sensing unit pair are distributed on both sides of the bushing axis and are arranged opposite to each other, for example, the south poles (or north poles) of the two units point to the axis direction of the bushing.

[0029] For example, the second threshold can be 85°, 88°, or other values. For example, the magnetization direction of the magnetic element in the first magnetic element pair is perpendicular to the sensing direction of the magnetic field direction sensing unit in the first magnetic field direction sensing unit pair.

[0030] In one embodiment, the at least one pair of magnetic field direction sensing units may include a magnetic field direction sensing unit pair #1 and a magnetic field direction sensing unit pair #2. Correspondingly, the at least one pair of magnetic elements includes a magnetic element pair #1 and a second magnetic element pair #2. The magnetic field direction sensing units #1 and #2 in the magnetic field direction sensing unit pair #1 have the same sensing direction and are evenly arranged along the circumference. The magnetic field direction sensing units #3 and #4 in the magnetic field direction sensing unit pair #2 have the same sensing direction and are evenly arranged along the circumference. The magnetic field direction sensing units and the second magnetic field direction sensing units may be unevenly arranged along the circumference. For example, the magnetic field direction sensing units #1, #2, #3, and #4 are arranged on the same circumference with the bushing axis as a reference, and the arc length between the magnetic field direction sensing units #1 and #3 may be smaller than the arc length between the magnetic field direction sensing units #2 and #3. The sensing directions of the magnetic field direction sensing units #1 and #3 may be both clockwise or counterclockwise, or their sensing directions may be opposite.

[0031] In actual scenarios, factors such as installation and vibration will inevitably lead to eccentricity between the first magnetic field direction sensing unit and the first magnetic element pair. In this application, when the above arrangement is adopted, the error caused by eccentricity caused by installation and vibration can be reduced.

[0032] In combination with the first aspect, in certain implementations of the first aspect, the difference between the first distance and the second distance is less than a third threshold value, and the first distance and the second distance are respectively the distances between the two magnetic field direction sensing units in the first magnetic field direction sensing unit pair and the axis of the bushing; and / or, the difference between the third distance and the fourth distance is less than a fourth threshold value, and the third distance and the fourth distance are respectively the distances between the two magnetic elements in the first magnetic element pair and the axis of the bushing.

[0033] In one embodiment, a magnetic field direction sensing unit and its corresponding magnetic field direction sensing unit are both disposed on the same end face of the bushing outer ring and are distributed on the same circumference relative to the bushing axis. Alternatively, the two units are not distributed on the same circumference, but the difference in radius between the two circumferences is less than or equal to a third threshold (e.g., 3 mm or 5 mm).

[0034] In another embodiment, the two magnetic elements in a first magnetic element pair are both disposed on the same end face of the inner ring of the bushing and are distributed on the same circumference relative to the bushing axis. Alternatively, the two magnetic elements are not distributed on the same circumference, but the radii of the two circles on which they are located are less than or equal to a fourth threshold value (e.g., 3 mm or 4 mm). The third and fourth threshold values ​​may also be other values, such as 6 mm, and this application does not limit this.

[0035] In the present application, by setting the two magnetic elements in the same magnetic element pair on two circles of similar size, and / or setting the two magnetic field direction sensing units in the same magnetic field direction sensing unit pair on two circles of similar size, the interference of the uneven distribution of magnetic field strength on the measurement results during the relative rotation of the inner ring and outer ring of the bushing can be reduced.

[0036] In combination with the first aspect, in some implementations of the first aspect, the magnetic field direction sensing unit includes a magnetoresistive sensor or a plurality of magnetic induction coils.

[0037] In the present application, by adopting a magnetoresistive sensor or a magnetic induction coil, the measuring device can be realized in a relatively simple manner, which can reduce the cost and difficulty of designing and manufacturing the measuring device.

[0038] In combination with the first aspect, in some implementations of the first aspect, the magnetic field intensity at the first position is greater than or equal to a fifth threshold.

[0039] For example, the magnetic field strength at the installation location of the magnetic field direction sensing unit may be greater than or equal to 28 or 30 millitesla. The fifth threshold value may also be other values, such as 25 millitesla.

[0040] In the present application, by ensuring the magnetic field strength at the installation location of the magnetic field direction sensing unit, the interference of insufficient magnetic field strength on the measurement result can be reduced.

[0041] In combination with the first aspect, in certain implementations of the first aspect, the sensing unit includes at least one strain sensing unit, and the at least one strain sensing unit is arranged on the end face of the vibration-damping rubber of the bushing, for measuring the shape change information of the vibration-damping rubber. The vibration-damping rubber is arranged between the inner ring of the bushing and the outer ring of the bushing, and the relative rotation information between the inner ring of the bushing and the outer ring of the bushing includes the deformation information of the vibration-damping rubber.

[0042] Since the vibration-damping rubber between the inner and outer rings of the suspension arm bushing will deform when they rotate relative to each other, in this application, the height of the suspension is determined based on the deformation of the vibration-damping rubber, which can obtain more accurate suspension height information at a lower cost and reduce the difficulty of manufacturing and assembling the suspension height measuring device.

[0043] In a second aspect, a measurement method is provided, which is used to measure the height of a suspension system arranged between a load-bearing structure and a wheel of a vehicle, the suspension system including a shock absorber, a swing arm and a bushing, the swing arm being arranged between the load-bearing structure and the wheel, the shock absorber being arranged between the swing arm and the load-bearing structure, the bushing being arranged at a connection portion between the swing arm and the load-bearing structure and / or the wheel, the bushing including a bushing inner ring and a bushing outer ring, the measurement method including: obtaining relative rotation information between the bushing inner ring and the bushing outer ring; determining first indication information based on the relative rotation information, the first indication information being used to indicate the height of the suspension system.

[0044] In combination with the second aspect, in certain implementations of the second aspect, obtaining the relative rotation information between the inner ring and the outer ring of the bushing may include: obtaining the change information of the magnetic field direction at the first position through a magnetic field direction sensing unit, the magnetic field direction sensing unit is arranged in the first part of the bushing, the magnetic field at the first position is generated by a magnetic element arranged in the second part of the bushing, the first part of the bushing is one of the inner ring or the outer ring of the bushing, and the second part of the bushing is the other of the inner ring or the outer ring of the bushing, and the relative rotation information includes the change information of the magnetic field direction.

[0045] In combination with the second aspect, in certain implementations of the second aspect, the magnetic field direction sensing unit and the magnetic element are arranged relative to each other along the axial direction of the bushing, and the magnetization direction of the magnetic element is perpendicular to the axial direction of the bushing.

[0046] In combination with the second aspect, in certain implementations of the second aspect, in the axial direction of the bushing, the projected area of ​​the magnetic element is larger than the projected area of ​​the magnetic field direction sensing unit, and the ratio of the projected area of ​​the magnetic element to the projected area of ​​the magnetic field direction sensing unit is greater than or equal to a first threshold.

[0047] In combination with the second aspect, in certain implementations of the second aspect, the magnetic field direction sensing unit is disposed in the first portion of the bushing, including: the magnetic field direction sensing unit is fixed to a shell connected to the outer ring of the bushing.

[0048] In combination with the second aspect, in certain implementations of the second aspect, the first position includes multiple positions, and obtaining the change information of the magnetic field direction at the first position through the magnetic field direction sensing unit includes: obtaining the change information of the magnetic field direction at the multiple positions through at least one pair of magnetic field direction sensing units; wherein, the at least one pair of magnetic field direction sensing units are arranged on the first end surface of the first part of the bushing and are uniformly distributed along the circumference, and the magnetic fields at the multiple positions are generated by at least one pair of magnetic elements arranged on the first end surface of the second part of the bushing and uniformly distributed along the circumference, and the at least one pair of magnetic field direction sensing units corresponds one-to-one to the at least one pair of magnetic elements.

[0049] In combination with the second aspect, in certain implementations of the second aspect, the at least one pair of magnetic field direction sensing units includes a first magnetic field direction sensing unit pair, the two magnetic field direction sensing units in the first magnetic field direction sensing unit pair have the same induction direction, the at least one pair of magnetic elements includes a first magnetic element pair, the first magnetic poles of the magnetic elements in the first magnetic element pair point to the axis of the bushing, and the angle between the magnetization direction of the magnetic elements in the first magnetic element pair and the induction direction of the magnetic field direction sensing units in the first magnetic field direction sensing unit pair is greater than or equal to a second threshold.

[0050] In combination with the second aspect, in certain implementations of the second aspect, the difference between the first distance and the second distance is less than a third threshold value, and the first distance and the second distance are respectively the distances between the two magnetic field direction sensing units in the first magnetic field direction sensing unit pair and the axis of the bushing; and / or, the difference between the third distance and the fourth distance is less than a fourth threshold value, and the third distance and the fourth distance are respectively the distances between the two magnetic elements in the first magnetic element pair and the axis of the bushing.

[0051] In combination with the second aspect, in certain implementations of the second aspect, the magnetic field intensity at the first position is greater than or equal to a fifth threshold.

[0052] In combination with the second aspect, in certain implementations of the second aspect, obtaining the relative rotation information between the inner ring of the bushing and the outer ring of the bushing includes: obtaining shape transformation information of a vibration-damping rubber through at least one strain sensing unit, the vibration-damping rubber is arranged between the outer ring of the bushing and the inner ring of the bushing, and the at least one strain sensing unit is arranged on the end face of the vibration-damping rubber; determining the relative rotation information between the inner ring of the bushing and the outer ring of the bushing based on the shape change information of the vibration-damping rubber.

[0053] In a third aspect, a measuring device is provided, which includes a memory and a processor, wherein the memory is used to store computer programs and the processor is used to execute the computer programs stored in the memory, so that the measuring device can execute the method in any possible implementation of the above-mentioned second aspect.

[0054] In a fourth aspect, a system is provided, comprising a suspension system and a measuring device according to any possible implementation of the first aspect or the third aspect.

[0055] In a fifth aspect, a vehicle is provided, comprising wheels, a load-bearing structure and a suspension system, and a measuring device according to any possible implementation of the first aspect or the third aspect.

[0056] In a sixth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores instructions. When the instructions are executed by a processor, the processor implements the method in any possible implementation of the second aspect.

[0057] In a seventh aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in any possible implementation of the second aspect.

[0058] In an eighth aspect, a chip is provided, which includes a circuit for executing the method in any possible implementation of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] FIG1 is a schematic diagram of an application scenario of a suspension system provided in an embodiment of the present application;

[0060] FIG2 is a schematic structural diagram of a conventional suspension height measuring device;

[0061] FIG3 is a schematic diagram of an application scenario of a measurement device provided in an embodiment of the present application;

[0062] FIG4 is a schematic structural diagram of a measuring device provided in an embodiment of the present application;

[0063] FIG5 is a schematic diagram of a working scenario of a magnetic field direction sensing unit provided in an embodiment of the present application;

[0064] FIG6 is a schematic structural diagram of another measuring device provided in an embodiment of the present application;

[0065] FIG7 is a schematic diagram of another working scenario of a magnetic field direction sensing unit provided in an embodiment of the present application;

[0066] FIG8 is a schematic diagram of a working scenario of a measurement device provided in an embodiment of the present application;

[0067] FIG9 is a schematic structural diagram of another measuring device provided in an embodiment of the present application;

[0068] FIG10 is a flow chart of a measurement method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0069] In the description of this application, it should be noted that, unless otherwise specified, "multiple" means more than two; the terms "upper", "lower", "left", "right", "inside", "outside", etc., indicating directions or positional relationships, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on this application. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. "Vertical" is not strictly perpendicular, but is within the allowable error range. "Parallel" is not strictly parallel, but is within the allowable error range.

[0070] It should also be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0071] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0072] The suspension system may include multiple connecting devices arranged between the vehicle's load-bearing structure and the wheels, which can transmit forces and moments between the wheels and the vehicle body, cushion the impact force transmitted to the vehicle body by the road surface through the wheels, and reduce vibrations caused by road excitation.

[0073] Figure 1 is a schematic diagram of an application scenario for a suspension system provided by an embodiment of the present application. As shown in Figure 1, the suspension system 100 may primarily include an upper swing arm 103, a lower swing arm 104, a shock absorber 105, a spring 106, and swing arm bushings (107, 108, 109, 110). The shock absorber 105 provides damping force to attenuate vibrations, while the spring 106 supports the weight of the vehicle body and provides a cushioning function. The upper swing arm 103, the lower swing arm 104, and the swing arm bushings (107, 108, 109, 110) constitute a guide mechanism that, by connecting the wheel 101 to the vehicle's load-bearing structure 102, guides the movement of the suspension. For a non-load-bearing vehicle body, this load-bearing structure is the vehicle frame; for a load-bearing vehicle body, the vehicle's load-bearing structure is the vehicle body. The following description uses the vehicle frame as an example for the load-bearing structure 102. For scenarios involving a load-bearing vehicle body, the frame can be adaptively replaced with the vehicle body.

[0074] Compared to traditional suspension, air suspension improves ride comfort by utilizing variable-stiffness air springs. Air suspension can also adjust vehicle height by adjusting the length of the air springs. Active suspension dynamically and adaptively adjusts its stiffness and / or damping characteristics based on driving conditions, thereby enhancing vehicle handling stability and ride smoothness.

[0075] To achieve the above effects, compared with traditional suspension systems, air suspension and active suspension can also include a suspension height measuring device 120 (as shown in Figure 1) and an electronic control unit, as well as an executive component (not shown in Figure 1). The suspension height measuring device 120 can measure the suspension height and obtain suspension height information. The electronic control unit can control the actuation of the executive component based on the obtained suspension height information, thereby realizing the functions of active vibration reduction and height adjustment. For example, for air suspension, the executive component may include pneumatic components such as air pumps and air valves, which can be used to adjust the length of the air spring to achieve vehicle body height adjustment. For another example, for active suspension, the executive component may include main force generating components such as motors and hydraulic cylinders, which can be used to realize the function of active vibration reduction. The following is a brief introduction to the suspension height measuring device in conjunction with Figure 2.

[0076] For example, Figure 2 is a schematic diagram of the structure of the suspension height measurement device 120. As shown in Figure 2, the suspension height measurement device 120 may include a tie rod 121, a rocker arm 122, an angle sensor 123, and a bracket 124, as well as connectors between the components (not shown in Figure 2). The rocker arm 122 and the tie rod 121 can rotate relative to each other along an axis 127, and the rocker arm 122 and the angle sensor 123 can rotate relative to each other along an axis 128. The bracket 124 can be secured to the vehicle frame 102, and the tie rod 121 can be secured to the upper or lower swing arm using fasteners (such as bolts), or by welding or riveting.

[0077] In one embodiment, using the scenario shown in Figure 1 as an example, when the suspension height changes, the relative position of the upper swing arm 103 and the vehicle frame 102 changes. With the suspension height measurement device 120, since the tie rod 121 is fixed to the upper swing arm 103 and the bracket 124 is fixed to the vehicle frame 102, the swing arm 122 in the suspension height measurement device rotates about the axis 128 relative to the angle sensor 123. The suspension height can be calculated based on the angle of rotation of the swing arm 122 relative to the angle sensor 123, combined with the kinematic relationships between the various components.

[0078] However, due to installation location and space constraints, deploying the aforementioned suspension height measurement device on different vehicle models requires adaptable design of the bracket 124, the tie rod 121, and other components, resulting in limited versatility. Furthermore, the rocker arm requires additional space for movement relative to the angle sensor, limiting the device's installation location and increasing the difficulty of deploying it.

[0079] In view of this, the embodiments of the present application provide a measuring device and a measuring method that can be applied to a variety of different vehicle models and suspension height measurement scenarios. It has good versatility for measuring suspension height and is easy to arrange and install.

[0080] For example, Figure 3 is a schematic diagram of an application scenario of a measurement device provided by an embodiment of the present application. As shown in Figure 3 (a), the swing arm bushing (107, 108, 109, 110) can include a bushing outer ring, a bushing inner ring, and a vibration-damping rubber disposed therebetween.

[0081] In combination with the scenario shown in Figure 1, since the swing arm bushing is arranged at the connection between the swing arm (103, 104) and the wheel 101 and / or the frame 102, when the suspension height changes, as shown in (a) in Figure 3, the relative movement between the swing arm (103, 104) and the wheel 101 and / or the frame 102 will drive the inner ring and the outer ring of the bushing to rotate relative to each other, and accordingly, the vibration damping rubber will undergo torsional deformation.

[0082] As shown in FIG3( b ), a measuring device 150 can be used to measure suspension height. The measuring device 150 may include a sensing unit 151 and a processing unit 152. The sensing unit 151 may be used to obtain relative rotation information between the inner and outer rings of the bushing; the processing unit 152 may be used to determine first indication information based on the relative rotation information, where the first indication information is used to indicate the height of the suspension system. For example, using the scenario shown in FIG1 as an example, based on the kinematic relationship between components such as the wheel 101, the swing arm (103, 104), the frame 102, the shock absorber 105, and the spring 106, the change in the suspension system height can be calculated based on the relative rotation information between the inner and outer rings of the bushing. The changed suspension height can be obtained based on the initial suspension height and the change in the suspension height.

[0083] For example, the relative rotational information between the inner and outer rings of the bushing can be measured in a variety of ways. For example, a magnetic element and a magnetic field direction sensing unit can be installed on the outer and inner rings, respectively, so that they move with the movement of the outer and inner rings, respectively. Another example is that the relative motion information between the outer and inner rings of the bushing can be determined based on the torsional deformation of the damping rubber.

[0084] In one embodiment, the measuring device 150 can be positioned around the swingarm bushing and communicate with processing devices such as the vehicle domain controller and the autonomous driving domain controller via the vehicle's communication circuit. For example, the processing unit 152 can calculate the height of the suspension system based on the relative rotation information between the inner and outer rings of the bushing. Accordingly, the indication information sent by the measuring device 150 to the domain controller includes the height of the suspension system. For another example, the indication information sent by the measuring device 150 to the domain controller can include the relative rotation angle between the inner and outer rings of the bushing. Accordingly, the domain controller can calculate the height of the suspension system based on this indication information.

[0085] The measuring device involved in the embodiment of the present application is further described below with reference to FIG. 4 to FIG. 9 .

[0086] For example, Figure 4 is a schematic diagram of the structure of a measurement device provided in an embodiment of the present application. Components in Figure 4 that have the same or similar functions as those in Figure 1 are numbered the same as in Figure 1. Measurement device 200 can be considered an implementation of measurement device 150.

[0087] Assuming that the measuring device 200 is installed on the swing arm bushing 107, the height of the suspension can be determined based on the relative rotation information between the bushing inner ring 1073 and the bushing outer ring 1071. Figure 4 can be understood as a cross-sectional view of the swing arm bushing 107 (the cross section is along the x direction).

[0088] In one embodiment, using the scenario shown in Figure 1 as an example, the outer ring 1071 of the bushing can be fixed to the upper swing arm 103; the inner ring 1073 of the bushing can be fixed to the vehicle frame 102 via fasteners (such as bolts 111), as shown in Figure 4. In this scenario, when the suspension height changes, the relative positions of the swing arm 103, the frame 102, and the wheel 101 change. For the swing arm bushing 107, since the outer ring 1071 of the bushing is relatively stationary with respect to the swing arm 103 and the inner ring 1073 of the bushing is relatively stationary with respect to the vehicle frame 102, the relative position between the outer ring 1071 and the inner ring 1073 of the bushing changes, and the vibration damping rubber 1072 twists.

[0089] For example, the measuring device 200 may include a magnetic field direction sensing unit 202 and a processing unit 203. The magnetic field at the installation location of the magnetic field direction sensing unit 202 may be generated by the magnetic element 201. The magnetic field direction sensing unit 202 may sense changes in the magnetic field at its location.

[0090] In one embodiment, the magnetic element 201 and magnetic field direction sensing unit 202 can be respectively disposed on the outer ring 1071 and inner ring 1073 of the bushing. In other words, the magnetic element 201 and magnetic field direction sensing unit 202 can respectively remain stationary relative to the outer ring 1071 and inner ring 1073 of the bushing. By sensing changes in the magnetic field direction, the magnetic field direction sensing unit 202 can determine the relative rotation information between the outer ring 1071 and inner ring 1073 of the bushing.

[0091] In another embodiment, as shown in FIG. 4 , the magnetic element 201 and the magnetic field direction sensing unit 202 may be coaxially arranged, for example, relatively arranged along the bushing axis 207 , and the magnetization direction of the magnetic element 201 may be perpendicular to the bushing axis 207 .

[0092] Illustratively, the magnetic element 201 may belong to the measuring device 200 , or may not belong to the measuring device 200 .

[0093] In one embodiment, the measuring device 200 may not include the magnetic element 201. For example, the measuring device 200 may only include the processing unit 203 and the magnetic field direction sensing unit 202, which is stationary relative to the bushing outer ring 1071. In this scenario, the specifications, installation location, and other information of the magnetic element 201 compatible with the magnetic field direction sensing unit 202 may be indicated in the product specification, user manual, or other guidance documents of the measuring device 200. By adapting the corresponding magnetic element, the changes in the magnetic field direction sensed by the magnetic field direction sensing unit 202 can reflect the relative rotation between the bushing outer ring 1071 and the bushing inner ring 1073.

[0094] For example, as shown in FIG4 , the magnetic field direction sensing unit 202 and the processing unit 203 can be fixed to the housing 204, and the housing 204 and the bushing outer ring 1071 can be connected by means of snaps, bolts, etc.; the magnetic element 201 can be mechanically connected to the fastener 111 and the bushing inner ring 1073 by means of welding, riveting, snaps, etc., and then fixed to the frame 102. In this scenario, when the suspension height changes, causing the relative position of the upper swing arm 103 and the frame 102 to change, the relative position between the magnetic element 201, which remains relatively stationary with the frame 102, and the magnetic field direction sensing unit 202, which remains relatively stationary with the upper swing arm 103, changes. The processing unit 203 can determine the change in suspension height based on the resulting level signal.

[0095] In one embodiment, the magnetic element 202 can be fixed to the housing 204, and the magnetic field direction sensing unit 202 and the processing unit 203 can be connected to the fastener 111 by gluing, snapping, etc., and thus remain relatively stationary with the bushing inner ring 1073 and the frame 102.

[0096] In another embodiment, the measuring device 200 is also disposed on the swing arm bushing 108 , 109 or 110 .

[0097] For example, FIG5 is a schematic diagram of a working scenario of a magnetic field direction sensing unit provided in an embodiment of the present application. As shown in FIG5(a), a magnetic element 201, a magnetic field direction sensing unit 202, and a processing unit 203 can constitute an angle measurement unit 206.

[0098] In one embodiment, the magnetic element 201 may be in a shape of a cuboid, a cube, or the like.

[0099] In another embodiment, in order to reduce the interference of the fluctuation of the magnetic field intensity sensed by the magnetic field direction sensing unit 202 on the measurement result, as shown in (a) in Figure 5, the magnetic element 201 can be disc-shaped and the magnetization direction can be along the circumferential radial direction.

[0100] In another embodiment, to further reduce the interference of magnetic field intensity fluctuations on the measurement results, the dividing line between the south pole portion 2011 and the north pole portion 2012 of the magnetic element 201 can be parallel to the axis 207. In other words, the magnetization direction of the magnetic element 201 can be perpendicular to the axis 207, as shown in FIG5(a). The rotation plane of the magnetic element 201 can also be perpendicular to the axis 207. Furthermore, the magnetic element 201 and the magnetic field direction sensing unit 202 can be coaxially arranged relative to each other along the axis 207.

[0101] For example, using the scenario shown in (a) of Figure 5 as an example, assuming that the magnetic field direction sensing unit 202 and the processing unit 203 are stationary, when the magnetic element 201 rotates along the axis 207, the magnetic field direction sensing unit 202 can generate a corresponding electrical signal based on the change in the magnetic field direction. Based on this electrical signal, the processing unit 203 can determine the rotation angle of the magnetic element 201 relative to the axis 207. By combining the kinematic characteristics of the swing arm, spring, and shock absorber in the suspension system (such as size and initial angle), the suspension height can be calculated.

[0102] In actual scenarios, even if the magnetic element 201 and the magnetic field direction sensing unit 202 are coaxially arranged relative to each other along the axis 207 in the design state, due to factors such as installation and vibration, the magnetic element 201 and the magnetic field direction sensing unit 202 may be eccentric, thereby affecting the accuracy of the measurement results.

[0103] In one embodiment, to reduce the impact of eccentricity on measurement results, the ratio of the projected area of ​​the magnetic element 201 to the projected area of ​​the magnetic field direction sensing unit 202 along the axis 207 is greater than or equal to a first threshold. For example, the first threshold is 5, 8, or other values.

[0104] In the embodiment of the present application, along the above-mentioned axial direction, when the projected area of ​​the magnetic element 207 is much larger than the projected area of ​​the magnetic field direction sensing unit 202, the measurement error caused by the eccentricity of the two can be reduced.

[0105] In another embodiment, the magnetic field direction sensing unit 202 may be a magnetoresistive sensor or other component with low sensitivity to magnetic field strength. In this way, errors caused by eccentricity of the magnetic element 201 and the magnetic field direction sensing unit 202 and irregular shapes of the two can be reduced.

[0106] In another embodiment, the distance (denoted as a) between the magnetic element 201 and the magnetic field direction sensing unit 202 along the axis 207 should meet a preset condition. For example, a can be within a preset range. The lower limit of the preset range can be 30 millimeters (mm), 28 mm, 35 mm, or other values. The upper limit of the preset range can be 48 mm, 50 mm, or 55 mm. The lower limit or upper limit can also be other values.

[0107] For example, the angle measurement unit 226 shown in FIG5( b ) can be understood as a deformation or expansion of the angle measurement unit 206 . The angle measurement unit 226 may include a magnetic element 221 , a magnetic field direction sensing unit 222 , and a processing unit 223 .

[0108] In one embodiment, as shown in (b) in Figure 5, the magnetic element 221 may include a plurality of circumferentially distributed permanent magnets, and the magnetic field direction sensing unit 222 may include a plurality of circumferentially distributed coils. When the magnetic element 221 rotates along the axis 207, the coils in the magnetic field direction sensing unit 222 may generate corresponding signals under the changing magnetic field, thereby realizing the measurement of the rotation angle of the magnetic element 221.

[0109] In some possible implementations, the magnetic element 221 may include more or fewer permanent magnets, such as 3, 6, or other numbers. Correspondingly, the magnetic field sensing unit 222 may include more or fewer induction coils.

[0110] Another measuring device 300 provided by the present application is briefly described below with reference to Figures 6 to 8. The measuring device 300 can be regarded as another implementation of the measuring device 150.

[0111] For example, Figure 6 is a schematic diagram of the structure of another measuring device provided in an embodiment of the present application. Figure 6 (a) can be understood as a schematic diagram of the cross section of the pendulum shaft bushing 107, and Figure 6 (b) can be understood as a schematic diagram of the longitudinal section of the pendulum shaft bushing.

[0112] As shown in FIG. 6( a ), the measuring device 300 may include a magnetic field direction sensing unit 302 and a magnetic field direction sensing unit 305 , which may be used to measure the directions of the magnetic fields generated by the magnetic elements 301 and 304 , respectively.

[0113] In one embodiment, the magnetic elements 301 and 304 can be fixed to one end face of the bushing inner ring 1073 using fasteners (such as bolts 111) or other processes such as gluing or clamping, as shown in FIG6(a). Accordingly, the magnetic field direction sensing units 302 and 305 can be fixed to the same end face of the bushing outer ring 1071.

[0114] In another embodiment, the magnetization directions of magnetic elements 301 and 304 can be radially circumferential, and the magnetization directions of the two can be opposite. For example, the upper half of 301 is its magnetic north pole, and the upper half of 304 is its magnetic south pole. The magnetic field direction sensing units 302 and 305 have the same magnetic field sensing direction. For example, when magnetic field direction sensing units 302 and 305 sense a leftward magnetic field, both can output a positive level signal, and when sensing a rightward magnetic field, both can output a negative level signal.

[0115] The magnetic field direction sensing units 302 and 305 can be understood as a pair of magnetic field direction sensing units (also called a magnetic field direction sensing unit pair), and correspondingly, the magnetic elements 301 and 304 can be understood as a pair of magnetic elements (also called a magnetic element pair).

[0116] Magnetic field direction sensing unit 302 can be arranged relative to magnetic element 301. Thus, magnetic element 301 and magnetic field direction sensing unit 302 can form angle measurement unit #1. Similarly, magnetic field direction sensing unit 305 can be arranged relative to magnetic element 304 to form angle measurement unit #2. The following, combined with Figure 7, uses angle measurement unit #1 as an example to briefly describe the operation of the magnetic field direction sensing units involved in measurement device 300.

[0117] For example, Figure 7 shows a schematic diagram of another operating scenario for a magnetic field direction sensing unit. As shown in Figure 7(a), the upper half of the magnetic element 301 represents its magnetic north pole, while the lower half represents its magnetic south pole. Magnetic flux lines originate from the magnetic north pole and point toward the magnetic south pole. The magnetic field direction sensing unit 302 senses the direction to the left.

[0118] (a) in FIG. 7 can be understood as the initial state of the magnetic element 301 and the magnetic field direction sensing unit 302 , that is, it can be understood as the state when the positions of the bushing outer ring 1071 and the bushing inner ring 1073 do not change relative to each other.

[0119] Assuming that the magnetic field direction sensing unit 302 is stationary, when the magnetic element 301 moves in the direction of the arrow, as shown in (b) of Figure 7, the direction of the magnetic field sensed by the magnetic field direction sensing unit 302 changes, and accordingly, the signal output by the magnetic field direction sensing unit 302 will change accordingly.

[0120] In one embodiment, the distance between the magnetic element 301 and the magnetic direction sensing unit 302 should meet a preset condition. For example, in the scenario shown in FIG7 (a), the distance between the magnetic element 301 and the magnetic direction sensing unit 302 can be within a preset range. For example, the minimum value of the preset range can be 25 mm, 28 mm, 30 mm, etc., and the maximum value of the preset range can be 40 mm or 45 mm. The maximum and / or minimum value of the preset range can also be other values.

[0121] Exemplarily, the measuring device 300 may further include a processing unit 303 and / or a processing unit 306. The processing unit 303 and the processing unit 306 may be the same processing unit or different processing units. For example, the magnetic field direction sensing units 302 and 305 may be disposed on the same circuit board, which is fixed to the bushing outer ring 1071; the circuit board includes the processing unit 303, and the magnetic field direction sensing units 302 and 305 may send electrical signals to the processing unit.

[0122] In one embodiment, the magnetic field direction sensing units 302 and 305 may be components with low sensitivity to magnetic field intensity, such as magnetoresistive sensors.

[0123] In another embodiment, the magnetic elements 301 and 304 may be disposed on the outer ring of the bushing, and the magnetic field direction sensing units 302 and 305 may be disposed on the inner ring of the bushing.

[0124] In another embodiment, the measuring device 300 may further include more or more pairs of magnetic field direction sensing units and corresponding magnetic elements. For example, the measuring device 300 may include three magnetic field direction sensing units, which may be evenly arranged along the circumference on one end face of the outer ring of the bushing. Accordingly, three magnetic elements may be evenly arranged along the circumference on the same end face of the inner ring of the bushing. For another example, the measuring device 300 may include two pairs of magnetic field direction sensing units, which may be evenly arranged along the circumference on one end face of the outer ring of the bushing. Two pairs of magnetic elements may be evenly arranged along the circumference on the same end face of the inner ring of the bushing.

[0125] For example, using the scenario shown in Figure 6 as an example, the magnetic element 301 and magnetic field direction sensing unit 302 are arranged opposite each other, and are respectively positioned above the inner ring 1073 and the outer ring 1071 of the bushing. The magnetic element 304 and magnetic field direction sensing unit 305 are arranged opposite each other, and are respectively positioned below the inner ring 1073 and the outer ring 1071 of the bushing. The magnetization directions of the magnetic elements 301 and 304 are opposite, while the magnetic field sensing units 302 and 305 sense the magnetic fields of the magnetic elements 301 and 304 in the same direction. The magnetic field sensing units 302 and 305 sense the magnetic fields of the magnetic elements 301 and 304, respectively, and convert them into electrical signals. In other words, the measurement directions of angle measurement units #1 and #2 are opposite. The following briefly describes the operation of the measurement device 300 in this state, in conjunction with Figure 8. Figures (a) through (d) of Figure 8 respectively illustrate the output of the measurement device 300 in different states. The magnetic field direction sensing unit 302 can generate signal 1, the magnetic field direction sensing unit 305 can generate signal 2, and signal 3 can be understood as the difference between signal 1 and signal 2. According to the mapping relationship between the suspension height and the level, and signal 3, the suspension height can be obtained.

[0126] When the suspension height is in the initial state, the sensing direction of magnetic field direction sensing unit 302 is perpendicular to the magnetic field direction of 301, and the sensing direction of magnetic field direction sensing unit 305 is perpendicular to the magnetic field direction of magnetic element 304. Magnetic field direction sensing units 302 and 305 output a zero level. For example, the signals output by magnetic field direction sensing units 302 and 305 may be shown as signal 1 and signal 2, respectively, as shown in (a) of FIG8 . At this time, signal 3 is a zero level, indicating that the suspension height is at the initial state.

[0127] When the suspension height changes, the outer ring 1071 of the bushing rotates relative to the inner ring 1073, causing the magnetic field direction sensing units 302 and 305 to rotate relative to the magnetic elements 301 and 304, respectively, and the generated level signals change. However, because the magnetization directions of the magnetic elements 301 and 304 are opposite, and the magnetic field sensing directions of the magnetic field sensing units 302 and 305 are the same, one of the magnetic field direction sensing units 302 and 305 will generate a positive level signal, while the other will generate a negative level signal. For example, when the inner ring 1073 of the bushing rotates relative to the outer ring 1071 in the direction indicated by the arrow in Figure 8 (b), Signal 1 can be a positive level signal, and Signal 2 can be a negative level signal.

[0128] When bushing outer ring 1071 and bushing inner ring 1073 are longitudinally eccentric (eccentric in the z-direction), magnetic field sensing units 302 and 305 still output a zero level because the magnetic field direction of the magnetic element is perpendicular to the sensing direction of the magnetic field sensing unit. For example, when bushing inner ring 1073 translates relative to bushing outer ring 1071 in the direction indicated by the arrow in Figure 8(c), signals 1 and 2 may be as shown in Figure 8(c).

[0129] When the outer ring 1071 and the inner ring 1073 of the bushing are laterally eccentric (eccentric in the y-direction), since the magnetization directions of the magnetic elements 301 and 304 are opposite, the sensing directions of the magnetic field direction sensing units 302 and 305 are the same, and Signal 1 and Signal 2 are both positive or negative. For example, when the inner ring 1073 moves relative to the outer ring 1071 in the direction indicated by the arrow (d) in Figure 8, Signal 1 and Signal 2 can both be negative. For another example, assuming that the magnetic elements 301 and 304 are permanent magnets of the same model and are located at the same radial distance from the axis of the swing arm bushing, and the magnetic field direction sensing units 302 and 305 are magnetoresistive sensors of the same model and are located at the same radial distance from the axis of the swing arm bushing, in this scenario, Signal 1 and Signal 2 can be equal, and Signal 3 can be zero.

[0130] In one embodiment, the measurement directions of the angle measurement units #1 and #2 may be the same. In this case, the suspension height may be determined based on the sum of the signals output by the magnetic field direction sensing units 302 and 305 and the mapping relationship between the suspension height and the level.

[0131] For example, Figure 9 is a schematic diagram of another measurement device provided in an embodiment of the present application. As shown in Figure 9, the measurement device 400 may include multiple strain units, such as strain units 401 and 402, and a processing unit 403 (not shown in the figure).

[0132] Multiple strain gauges 401 are mounted on the end surfaces of the damping rubber of the swing arm bushing to sense deformation of the damping rubber. Processing unit 403 is configured to determine the height of the suspension based on the deformation at multiple locations on the damping bushing. For example, taking swing arm bushing 107 as an example, when the suspension height changes, causing a shift in the relative position of the upper swing arm 103 and the vehicle frame 102, the damping rubber 1072 will twist. Thus, by determining the deformation at multiple locations on the damping bushing, the suspension height can be determined.

[0133] In some possible implementations, the measuring device 400 may include more or fewer strain units, for example, 3, 5, etc.

[0134] For example, FIG10 is a flow chart of a measurement method provided in an embodiment of the present application. The method 600 may be performed by the measurement device 150, or by the processing unit 152, or by one or more processors included in the processing unit 152. The method 600 may include:

[0135] S610: Obtain relative rotation information between the inner ring of the bushing and the outer ring of the bushing.

[0136] S620: Determine first indication information according to the relative rotation information, where the first indication information is used to indicate the height of the suspension system.

[0137] Optionally, obtaining the relative rotation information between the inner ring and the outer ring of the bushing may include: obtaining the change information of the magnetic field direction at the first position of the first part of the bushing; and determining the first indication information based on the relative rotation information may include: determining the first indication information based on the change information of the magnetic field direction at the first position.

[0138] For example, the first portion of the bushing can be either the inner ring or the outer ring, and the second portion can be the other of the inner ring or the outer ring. A magnetic field direction sensing unit (such as the aforementioned magnetic field direction sensing units 202, 222, and 302) can be located on the first portion of the swing arm bushing; units (such as 201, 221, and 301) can be located on the second portion of the swing arm bushing. In other words, the magnetic field direction sensing unit is stationary relative to the first portion of the swing arm bushing and relative to the second portion of the swing arm bushing.

[0139] In some possible implementations, the magnetic field direction sensing unit is disposed relative to the axial direction of the bushing, and the magnetization direction of the magnetic element is perpendicular to the axial direction of the bushing. For example, the magnetic field direction sensing unit and the magnetic element are disposed as shown in (a) or (b) of FIG5 .

[0140] In some possible implementations, the ratio of the projected area of ​​the magnetic element to the projected area of ​​the magnetic field direction sensing unit in the axial direction of the bushing is greater than or equal to a first threshold. For example, assuming the first threshold is 5, the projected area of ​​the magnetic element 201 in the direction of the axis 207 is at least 5 times the projected area of ​​the magnetic field direction sensing unit.

[0141] In some possible implementations, the magnetic field direction sensing unit is fixed to a housing connected to the outer ring of the bushing.

[0142] In some possible implementations, obtaining relative rotation information between the inner and outer rings of the bushing may include: obtaining magnetic field direction change information obtained by at least one pair of magnetic field direction sensing units; and determining first indication information based on the relative motion information may include: determining the first indication information based on the magnetic field direction change information obtained by the at least one pair of magnetic field direction sensing units. The at least one pair of magnetic field direction sensing units are disposed on the first end surface of the first portion of the swing arm bushing and are evenly distributed along the circumference. The at least one pair of magnetic field direction sensing units corresponds one-to-one to at least one pair of magnetic elements, and the at least one pair of magnetic elements are disposed on the first end surface of the second portion of the swing arm bushing and are evenly distributed along the circumference. For example, as shown in FIG6 , magnetic field direction sensing units 302 and 305 are respectively disposed on the end surfaces of the bushing outer ring 1071 , and corresponding magnetic elements 301 and 304 are respectively disposed on the same side end surface of the bushing outer ring 1073 .

[0143] In one embodiment, the two magnetic field direction sensing units in a magnetic field direction sensing unit pair have the same sensing direction, and the first magnetic poles of the two magnetic elements in the magnetic element pair are arranged opposite each other. For example, as shown in FIG6 , the magnetic field direction sensing units 302 and 305 have the same sensing direction, and the south poles (or north poles) of the magnetic elements 301 and 304 are arranged opposite each other.

[0144] In another embodiment, the angle between the sensing direction of the magnetic field direction sensing unit in the magnetic field direction sensing unit pair and the magnetization direction of the magnetic element in the corresponding magnetic element pair is greater than or equal to the second threshold. For example, as shown in FIG7(a), the magnetization direction of the magnetic element 301 is perpendicular to the sensing direction of the magnetic field direction sensing unit 302.

[0145] In another embodiment, as shown in Figure 6, it is assumed that the magnetic field direction sensing unit 302 is arranged on a first circumference based on the axis of the bushing, and the magnetic field direction sensing unit 305 is arranged on a second circumference based on the axis of the bushing, and the difference between the radius of the first circumference and the second circumference is less than or equal to a third threshold value (for example, 3 mm, 5 mm).

[0146] In another embodiment, as shown in Figure 6, it is assumed that the magnetic element 301 is arranged on the third circumference based on the axis of the bushing, and the magnetic element 304 is arranged on the fourth circumference based on the axis of the bushing, and the difference between the radii of the third circle and the fourth circle is less than or equal to a fourth threshold value (for example, 3 mm, 4 mm).

[0147] In another embodiment, the absolute value of the difference between the radius of the first circle and the radius of the third circle may be within a preset range, for example, between 25 and 40 mm.

[0148] On the one hand, when the inner and outer rings of the bushing are eccentric as shown in (c) or (d) of Figure 8 , because the eccentricity is much smaller than the minimum value of the preset range (e.g., 25 mm), the change in the distribution of magnetic flux lines caused by the eccentricity is much smaller than the change in the magnetic field direction caused by the rotation between the inner and outer rings, thereby reducing the impact of the eccentricity on the measurement results. On the other hand, because the absolute value of the difference between the radius of the first and third circles is less than the maximum value of the preset range (e.g., 40 mm), the magnetic field direction sensing unit can sense a magnetic field of sufficient strength during the relative rotation of the inner and outer rings.

[0149] In some other implementations, the maximum value and / or the minimum value of the preset range may be other values.

[0150] In another embodiment, the magnetic field strength at the location where the magnetic field direction sensing unit is located is greater than or equal to a fifth threshold. For example, as shown in FIG4 , the magnetic field strength at the location where the magnetic field direction sensing unit 202 is located can be greater than or equal to 30 millitesla. For another example, as shown in FIG6 , the magnetic field strength at the location where the magnetic field direction sensing units 302 and / or 305 are located can be greater than or equal to 28 millitesla.

[0151] Optionally, obtaining relative rotation information between the inner and outer rings of the bushing may include: obtaining deformation information of a damping rubber; and determining the relative rotation information between the inner and outer rings of the bushing based on the deformation information of the damping rubber. For example, as shown in Figure 9, due to the relative rotation of the inner and outer rings of the bushing 1073 and 1071, the damping rubber 1072 deforms. The deformation information of the damping rubber 1072 can be obtained by the strain sensing unit 401 and / or 402. Based on this deformation information, the relative motion information between the inner and outer rings of the bushing 1073 and 1071 can be calculated.

[0152] An embodiment of the present application further provides a bushing with a measuring function, which may include a bushing inner ring, a bushing outer ring and a vibration-damping rubber, and a measuring device as shown in any one of Figures 3 to 9.

[0153] An embodiment of the present application further provides a system comprising a swing arm, a shock absorber, a bushing, and a measuring device as shown in any one of FIG. 3 to FIG. 9 .

[0154] An embodiment of the present application further provides an intelligent driving device, which includes a suspension system and a measuring device as shown in any one of Figures 3 to 9.

[0155] The intelligent driving devices mentioned in this application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, the intelligent driving device may be a vehicle, which is a vehicle in a broad sense, and may be a vehicle (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), agricultural equipment (such as a lawn mower, a harvester, etc.), amusement equipment, a toy vehicle, etc. The embodiments of this application do not specifically limit the type of vehicle. For example, the vehicles in this application may include pure electric vehicles (pure electric vehicle / battery electric vehicle, pure EV / battery EV), hybrid electric vehicles (hybrid electric vehicle, HEV), range extended electric vehicles (range extended electric vehicle, REEV), plug-in hybrid electric vehicles (plug-in hybrid electric vehicle, PHEV) or new energy vehicles (new energy vehicle, NEV), etc.

[0156] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification of the present application and the appended claims, the singular expressions "one", "a kind of", "said", "above", "the" and "this" are intended to also include expressions such as "one or more", unless there is a clear contrary indication in the context. It should also be understood that in the following embodiments of the present application, "at least one", "one or more" refer to one, two or more. The term "and / or" is used to describe the association relationship of associated objects, indicating that three relationships can exist; for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0157] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0158] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0159] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0160] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0161] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0162] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0163] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A measuring device, characterized in that: The invention is used to measure the height of a suspension system arranged between a load-bearing structure and a wheel of a vehicle, wherein the suspension system comprises a shock absorber, a swing arm and a bushing, wherein the swing arm is arranged between the load-bearing structure and the wheel, the shock absorber is arranged between the swing arm and the load-bearing structure, the bushing is arranged at a connection position between the swing arm and the load-bearing structure and / or the wheel, and the bushing comprises a bushing inner ring and a bushing outer ring. The measuring device comprises: A sensing unit, used for obtaining relative rotation information between the inner ring of the bushing and the outer ring of the bushing; The processing unit is used to determine first indication information according to the relative rotation information, where the first indication information is used to indicate the height of the suspension system.

2. The measuring device according to claim 1, characterized in that The sensing unit comprises: A magnetic field direction sensing unit is arranged at a first position of a first part of the bushing, and the magnetic field direction sensing unit is used to obtain change information of the magnetic field direction at the first position, the relative rotation information includes the change information of the magnetic field direction at the first position, and the first part of the bushing is one of the inner ring of the bushing or the outer ring of the bushing.

3. The measuring device according to claim 2, characterized in that A second portion of the bushing is provided with a magnetic element for generating a magnetic field at the first position, and the second portion of the bushing is the other of the bushing inner ring or the bushing outer ring.

4. The measuring device according to claim 3, characterized in that The magnetic field direction sensing unit and the magnetic element are arranged opposite to each other along the axial direction of the bushing, and the magnetization direction of the magnetic element is perpendicular to the axial direction of the bushing.

5. The measuring device according to claim 3 or 4, characterized in that In the axial direction of the bushing, the projection area of ​​the magnetic element is larger than the projection area of ​​the magnetic field direction sensing unit, and the ratio of the projection area of ​​the magnetic element to the projection area of ​​the magnetic field direction sensing unit is greater than or equal to a first threshold.

6. The measuring device according to any one of claims 2 to 5, characterized in that The measuring device further comprises a shell connected to the outer ring of the bushing, and the magnetic field direction sensing unit is fixed to the shell.

7. The measuring device according to claim 2, characterized in that The sensing unit comprises: At least one pair of magnetic field direction sensing units is arranged on the first end surface of the first part of the bushing and is evenly distributed in the circumferential direction.

8. The measuring device according to claim 7, characterized in that The measuring device also includes: At least one pair of magnetic elements is arranged on the first end surface of the second part of the bushing and is evenly distributed circumferentially. The at least one pair of magnetic elements corresponds one-to-one to the at least one pair of magnetic field direction sensing units. The second part of the bushing is the other one of the inner ring of the bushing or the outer ring of the bushing.

9. The measuring device according to claim 8, characterized in that The at least one pair of magnetic field direction sensing units comprises a first magnetic field direction sensing unit pair, wherein the sensing directions of the two magnetic field direction sensing units in the first magnetic field direction sensing unit pair are the same; The at least one pair of magnetic elements includes a first magnetic element pair, wherein the first magnetic poles of the magnetic elements in the first magnetic element pair point to the axis of the bushing, and the angle between the magnetization direction of the magnetic elements in the first magnetic element pair and the induction direction of the magnetic field direction induction unit in the first magnetic field direction induction unit pair is greater than or equal to a second threshold.

10. The measuring device according to claim 9, characterized in that The difference between the first distance and the second distance is less than a third threshold value, and the first distance and the second distance are respectively the distances between two magnetic field direction sensing units in the first magnetic field direction sensing unit pair and the axis of the bushing; and / or, The difference between the third distance and the fourth distance is smaller than a fourth threshold value, and the third distance and the fourth distance are respectively the distances between the two magnetic elements in the first magnetic element pair and the axis of the bushing.

11. The measuring device according to any one of claims 2 to 9, characterized in that The magnetic field direction sensing unit includes a magnetoresistive sensor or a plurality of magnetic induction coils.

12. The measuring device according to any one of claims 2 to 10, characterized in that The magnetic field intensity at the first position is greater than or equal to a fifth threshold.

13. The measuring device according to claim 1, characterized in that The sensing unit includes at least one strain sensing unit, and the at least one strain sensing unit is arranged on the end face of the vibration-damping rubber of the bushing, and is used to measure the shape change information of the vibration-damping rubber. The vibration-damping rubber is arranged between the inner ring and the outer ring of the bushing, and the relative rotation information is determined based on the shape change information of the vibration-damping rubber.

14. A measurement method, characterized in that: The invention is used to measure the height of a suspension system arranged between a load-bearing structure and a wheel of a vehicle, wherein the suspension system comprises a shock absorber, a swing arm and a bushing, wherein the swing arm is arranged between the load-bearing structure and the wheel, the shock absorber is arranged between the swing arm and the load-bearing structure, the bushing is arranged at a connection position between the swing arm and the load-bearing structure and / or the wheel, and the bushing comprises a bushing inner ring and a bushing outer ring, and the measuring method comprises: Obtaining relative rotation information between the inner ring of the bushing and the outer ring of the bushing; First indication information is determined according to the relative rotation information, where the first indication information is used to indicate the height of the suspension system.

15. The measuring method according to claim 14, characterized in that: The obtaining of relative rotation information between the inner ring of the bushing and the outer ring of the bushing includes: The change information of the magnetic field direction at the first position is obtained by a magnetic field direction sensing unit, the magnetic field direction sensing unit is arranged in the first part of the bushing, the magnetic field at the first position is generated by a magnetic element arranged in the second part of the bushing, the first part of the bushing is one of the inner ring of the bushing or the outer ring of the bushing, the second part of the bushing is the other of the inner ring of the bushing or the outer ring of the bushing, and the relative rotation information includes the change information of the magnetic field direction.

16. The measuring method according to claim 15, characterized in that: The magnetic field direction sensing unit and the magnetic element are arranged opposite to each other along the axial direction of the bushing, and the magnetization direction of the magnetic element is perpendicular to the axial direction of the bushing.

17. The measuring method according to claim 15 or 16, characterized in that: In the axial direction of the bushing, the projection area of ​​the magnetic element is larger than the projection area of ​​the magnetic field direction sensing unit, and the ratio of the projection area of ​​the magnetic element to the projection area of ​​the magnetic field direction sensing unit is greater than or equal to a first threshold.

18. The measuring method according to any one of claims 15 to 17, characterized in that: The magnetic field direction sensing unit is arranged at the first part of the bushing, and comprises: the magnetic field direction sensing unit is fixed to a shell connected to the outer ring of the bushing.

19. The measuring method according to claim 15, characterized in that: The first position includes a plurality of positions, and obtaining the change information of the magnetic field direction at the first position by the magnetic field direction sensing unit includes: Acquiring the change information of the magnetic field directions at the plurality of positions by at least one pair of magnetic field direction sensing units; Among them, the at least one pair of magnetic field direction sensing units are arranged on the first end surface of the first part of the bushing and are evenly distributed along the circumference, the magnetic fields at the multiple positions are generated by at least one pair of magnetic elements arranged on the first end surface of the second part of the bushing and evenly distributed along the circumference, and the at least one pair of magnetic field direction sensing units corresponds one-to-one to the at least one pair of magnetic elements.

20. The measuring method according to claim 19, characterized in that: The at least one pair of magnetic field direction sensing units includes a first magnetic field direction sensing unit pair, the two magnetic field direction sensing units in the first magnetic field direction sensing unit pair have the same induction direction, the at least one pair of magnetic elements includes a first magnetic element pair, the first magnetic poles of the magnetic elements in the first magnetic element pair point to the axis of the bushing, and the angle between the magnetization direction of the magnetic elements in the first magnetic element pair and the induction direction of the magnetic field direction sensing units in the first magnetic field direction sensing unit pair is greater than or equal to a second threshold.

21. The measuring method according to claim 20, characterized in that: The difference between the first distance and the second distance is less than a third threshold value, and the first distance and the second distance are respectively the distances between two magnetic field direction sensing units in the first magnetic field direction sensing unit pair and the axis of the bushing; and / or, The difference between the third distance and the fourth distance is smaller than a fourth threshold value, and the third distance and the fourth distance are respectively the distances between the two magnetic elements in the first magnetic element pair and the axis of the bushing.

22. The measuring method according to any one of claims 15 to 21, characterized in that: The magnetic field direction sensing unit includes a magnetoresistive sensor or a plurality of magnetic induction coils.

23. The measuring method according to any one of claims 15 to 22, characterized in that The magnetic field intensity at the first position is greater than or equal to a fifth threshold.

24. The measuring method according to claim 14, characterized in that: The obtaining of relative rotation information between the inner ring of the bushing and the outer ring of the bushing includes: Acquiring shape transformation information of the vibration-damping rubber through at least one strain sensing unit, wherein the vibration-damping rubber is arranged between the outer ring of the bushing and the inner ring of the bushing, and the at least one strain sensing unit is arranged on the end surface of the vibration-damping rubber; The relative rotation information between the bushing inner ring and the bushing outer ring is determined based on the shape change information of the vibration damping rubber.

25. A measuring device, characterized in that: include: Memory for storing computer programs; A processor, configured to execute the computer program stored in the memory so that the device performs any one of claims 14 to 24. A measurement method as described.

26. A system, characterized in that: Comprising a suspension system and a measuring device as claimed in any one of claims 1 to 13, or a measuring device as claimed in claim 25.

27. A vehicle, characterized in that: The invention comprises a wheel, a load-bearing structure and a suspension system, and a measuring device as claimed in any one of claims 1 to 13 or a measuring device as claimed in claim 25.

28. A computer-readable storage medium, characterized in that: Instructions are stored thereon, and when the instructions are executed by a processor, the processor implements the method according to any one of claims 14 to 24.

29. A computer program product, characterized in that The computer program product comprises: a computer program code, and when the computer program code is run on a computer, the computer is enabled to perform the method according to any one of claims 14 to 24.

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