阅读说明：本技术 轮速精确测量方法、装置、交通工具及存储介质 (Method and device for accurately measuring wheel speed, vehicle and storage medium ) 是由 魏凌涛 王翔宇 李亮 于 2019-10-10 设计创作，主要内容包括：本申请提供一种轮速精确测量方法、装置、交通工具及存储介质,所述方法包括：获取安装在待测车辆的车轮上的齿圈的第i个凸齿在转动的第j圈中所产生的实际脉冲间隔；齿圈与待测测量的车轮同步转动；i和j为大于等于1的整数；获取实际脉冲间隔和与实际脉冲间隔相邻的前后各N个实际脉冲间隔的均值,所述均值为第i个凸齿在的第j圈的拟合脉冲间隔；N为大于等于1的整数；基于实际脉冲间隔、拟合脉冲间隔和第i个凸齿对应的理论角度,确定出第i个凸齿对应的真实角度；获取第i个凸齿对应的真实角度和实际脉冲间隔的商的第一值,通过对齿圈的误差进行实时修正,提高齿圈的角速度的测量精度,继而提高车辆的速度测量精度。(The application provides a wheel speed accurate measurement method, a device, a vehicle and a storage medium, wherein the method comprises the following steps: acquiring an actual pulse interval generated in a j-th rotating circle by an ith convex tooth of a gear ring arranged on a wheel of a vehicle to be tested; the gear ring and the wheel to be measured rotate synchronously; i and j are integers of 1 or more; acquiring an actual pulse interval and a mean value of each N actual pulse intervals before and after the actual pulse interval is adjacent to the actual pulse interval, wherein the mean value is a fitting pulse interval of the ith convex tooth in the jth circle; n is an integer greater than or equal to 1; determining a real angle corresponding to the ith convex tooth based on the actual pulse interval, the fitting pulse interval and the theoretical angle corresponding to the ith convex tooth; and acquiring a first value of a quotient of a real angle corresponding to the ith convex tooth and an actual pulse interval, and improving the measurement precision of the angular speed of the gear ring and further improving the speed measurement precision of the vehicle by correcting the error of the gear ring in real time.)

1. A method for accurately measuring wheel speed, the method comprising:

acquiring an actual pulse interval generated in a j-th rotating circle by an ith convex tooth of a gear ring arranged on a wheel of a vehicle to be tested; the gear ring and the wheel to be measured rotate synchronously; i and j are integers of 1 or more;

acquiring the actual pulse interval and the mean value of the N actual pulse intervals before and after the actual pulse interval is adjacent to the actual pulse interval, wherein the mean value is the fitting pulse interval of the ith convex tooth in the jth circle; wherein N is an integer greater than or equal to 1;

determining a real angle corresponding to the ith convex tooth based on the actual pulse interval, the fitting pulse interval and a theoretical angle corresponding to the ith convex tooth;

and acquiring a first value of a quotient of the actual angle corresponding to the ith convex tooth and the actual pulse interval, wherein the first value is the angular speed of the gear ring.

2. The method of claim 1, wherein the tooth width of a tooth present in the ring gear is different from the tooth widths of the remaining teeth in the ring gear, and the remaining teeth have the same size and shape, and obtaining the actual pulse interval and the average of the actual pulse interval and each of the N previous and next actual pulse intervals adjacent to the actual pulse interval comprises:

when a tooth with a tooth width different from that of the ith tooth exists in two front and rear teeth adjacent to the ith tooth, obtaining an average value of the actual pulse interval and each of the front and rear N actual pulse intervals adjacent to the actual pulse interval; wherein N is an integer of 2 or more.

3. The method of claim 1, wherein obtaining the actual pulse interval generated in the j-th revolution by the i-th tooth of the ring gear mounted on the wheel of the vehicle under test comprises:

acquiring a first time corresponding to a rising edge of a convex pulse generated by the ith convex tooth in the jth circle of rotation and a second time corresponding to a rising edge of a next convex pulse adjacent to the convex pulse;

and acquiring a time difference value between the first moment and the second moment, wherein the time difference value is the actual pulse interval.

4. The method of claim 1, wherein determining the true angle for the ith tooth comprises:

acquiring a second value of a quotient of the theoretical angle corresponding to the ith convex tooth and the fitting pulse interval, wherein the second value is an angular velocity estimation value;

acquiring a product value of the angular velocity estimation value and the actual pulse interval, wherein the product value is an angle estimation value corresponding to the ith tooth;

obtaining an angle difference value between the angle estimation value and a theoretical angle of the ith convex tooth, wherein the angle difference value is an angle error of the ith convex tooth;

and correcting the theoretical angle corresponding to the ith convex tooth by using the angle error of the ith convex tooth to obtain the real angle corresponding to the ith convex tooth.

5. The method of claim 1, wherein determining a true angle for the ith tooth based on the actual pulse interval, the fitted pulse interval, and a theoretical angle for the ith tooth comprises:

acquiring an angle error of the ith convex tooth in the jth circle based on the actual pulse interval, the fitting pulse interval and a theoretical angle corresponding to the ith convex tooth;

obtaining an error mean value of the angle error of the ith convex tooth in j circles;

and correcting the theoretical angle corresponding to the ith convex tooth by using the error average value to obtain the real angle corresponding to the ith convex tooth.

6. The method of claim 5, wherein obtaining the angular error of the ith tooth in the jth revolution comprises:

and when the number of convex pulses generated by the gear ring in the j-th rotation is determined to be equal to the number of convex teeth of the gear ring, acquiring the angle error of the ith convex tooth in the j-th rotation.

7. The method of claim 1, wherein when the tooth width of the ith tooth is significantly different from the tooth widths of the remaining teeth in the ring gear, the tooth widths of the remaining teeth are all the same, and the widths of two concave teeth adjacent to the ith tooth are different, the method further comprises:

acquiring the width of a previous concave pulse adjacent to a convex pulse generated by the ith convex tooth in the jth circle of the rotation of the gear ring and the width of a next concave pulse adjacent to the convex pulse;

and determining the rotation direction of the gear ring based on the width of the previous concave pulse and the width of the next concave pulse.

8. An apparatus for accurately measuring wheel speed, the apparatus comprising: the device comprises a gear ring, a sensor and a processor, wherein the gear ring is arranged on a wheel of a vehicle to be detected, the gear ring and the wheel synchronously rotate, the sensor is arranged on the vehicle to be detected, the sensor does not rotate along with the wheel, the sensor is connected with the processor, and the gear ring comprises a plurality of convex teeth;

when the ith convex tooth of the gear ring passes through the sensor, the sensor outputs a voltage signal to the processor;

the processor is used for receiving the voltage signal; and converting the voltage signal into a pulse; recording the time of receiving the voltage signal; acquiring the actual pulse interval generated by the ith convex tooth in the jth circle based on the pulse and the time; wherein i and j are integers greater than or equal to 1; acquiring the actual pulse interval and the mean value of the N pulse intervals before and after the actual pulse interval is adjacent to the actual pulse interval, wherein the mean value is the fitting pulse interval of the ith convex tooth in the jth circle; wherein N is an integer greater than or equal to 1; determining a real angle corresponding to the ith convex tooth based on the actual pulse interval, the fitting pulse interval and a theoretical angle corresponding to the ith convex tooth; and acquiring a first value of a quotient of the actual angle corresponding to the ith convex tooth and the actual pulse interval, wherein the first value is the angular speed of the gear ring.

9. The apparatus of claim 8, wherein the width of one lobe present in the ring gear is different from the widths of the remaining lobes in the ring gear, the remaining lobes being the same size and shape,

the processor is further configured to obtain an average value of the actual pulse interval and N actual pulse intervals before and after the actual pulse interval when a tooth having a tooth width different from that of the ith tooth exists in two adjacent front and back teeth to the ith tooth; wherein N is an integer of 2 or more.

10. A vehicle, characterized in that it comprises: a vehicle body and a wheel speed precision measuring device as claimed in any one of claims 8 to 9, wherein a gear ring of the wheel speed precision measuring device is mounted on a wheel on the vehicle body, a sensor and a processor of the wheel speed precision measuring device are mounted on the vehicle body, and the sensor of the wheel speed precision measuring device does not rotate with the wheel.

11. A storage medium having stored thereon computer program instructions which, when read and executed by a computer, perform the method of any one of claims 1-7.

Technical Field

The application relates to the technical field of vehicles, in particular to a method and a device for accurately measuring wheel speed, a vehicle and a storage medium.

Background

In the existing technology for measuring the vehicle speed, generally, an electric signal pulse generated when a concave-convex part of a gear ring on a vehicle to be measured passes through a sensor is obtained, then the vehicle speed is calculated by directly utilizing a time interval between any two pulses in the obtained electric signal pulse and a theoretical angle corresponding to the two pulse intervals on the gear ring, and the fact that in the using process of the gear ring, the deviation exists between the theoretical angle corresponding to each convex tooth in the gear ring and an actual angle, and the deviation can be changed due to gear ring abrasion and sand splashing is not considered, so that a large error is inevitably existed when the prior art is utilized to measure the vehicle speed.

Content of application

In view of the above, an object of the embodiments of the present application is to provide a method and an apparatus for accurately measuring a wheel speed, a vehicle, and a storage medium, so as to improve the speed measurement accuracy of the vehicle by improving the measurement accuracy of the angular speed of the ring gear.

In a first aspect, an embodiment of the present application provides a method for accurately measuring wheel speed, where the method includes: acquiring an actual pulse interval generated in a j-th rotating circle by an ith convex tooth of a gear ring arranged on a wheel of a vehicle to be tested; the gear ring and the wheel to be measured rotate synchronously; i and j are integers of 1 or more; acquiring the actual pulse interval and the mean value of the N actual pulse intervals before and after the actual pulse interval is adjacent to the actual pulse interval, wherein the mean value is the fitting pulse interval of the ith convex tooth in the jth circle; wherein N is an integer greater than or equal to 1; determining a real angle corresponding to the ith convex tooth based on the actual pulse interval, the fitting pulse interval and a theoretical angle corresponding to the ith convex tooth; and acquiring a first value of a quotient of the actual angle corresponding to the ith convex tooth and the actual pulse interval, wherein the first value is the angular speed of the gear ring.

In the implementation process, in the running process of a vehicle to be measured, an actual pulse interval, a fitting pulse interval and a theoretical angle corresponding to the ith convex tooth of a gear ring installed on the vehicle to be measured are used for determining a real angle corresponding to the ith convex tooth in real time, the condition that the error of the gear ring is continuously changed in the using process of the gear ring is fully considered, i and j are integers which are more than or equal to 1, then the rotating speed of a wheel of the vehicle to be measured is determined by using the quotient of the real angle corresponding to the ith convex tooth and the actual pulse interval, compared with the prior art that the quotient of the theoretical angle of the ith convex tooth and the actual pulse interval is determined as the angular speed of the gear ring, the measuring precision of the angular speed of the gear ring is improved, wherein when the radius of the wheel is known, the linear velocity of the wheel can be determined through the angular velocity of the gear ring, so that when the measurement accuracy of the angular velocity of the gear ring is improved, the speed measurement accuracy of a vehicle is improved, and the requirement on the machining accuracy of the gear ring is lowered.

Based on the first aspect, in a possible design, obtaining a mean value of the actual pulse interval and N previous and subsequent actual pulse intervals adjacent to the actual pulse interval includes: when a tooth with a tooth width different from that of the ith tooth exists in two front and rear teeth adjacent to the ith tooth, obtaining an average value of the actual pulse interval and each of the front and rear N actual pulse intervals adjacent to the actual pulse interval; wherein N is an integer of 2 or more.

In the implementation process, because the size and the shape of each convex tooth of the gear ring in the prior art are the same, the size and the shape of each concave tooth are the same, and the electric signal interference is caused, in the pulse acquisition process, the electric signal pulse generated when the concave-convex teeth of the gear ring pass through the sensor may have the phenomena of multiple identification and missed identification, and then the pulse acquired by accurately judging the gear ring rotation number is difficult to generate in a pulse number accumulation mode However, since the tooth width of one tooth existing in the ring gear is different from the tooth widths of the other teeth, when calculating the fitting pulse interval generated by the ith tooth in the jth turn of the rotation, if one tooth different from the tooth widths of the other teeth exists in two adjacent teeth of the ith tooth, the fitting pulse interval needs to be determined by using the actual pulse interval and the mean value of at least two actual pulse intervals before and after the actual pulse interval, so as to eliminate the influence caused by the particularity of the ring gear, and ensure the calculation accuracy of the fitting pulse interval.

In one possible design based on the first aspect, obtaining an actual pulse interval generated in a j-th rotation of an i-th tooth of a ring gear mounted on a wheel of a vehicle to be tested includes: acquiring a first time corresponding to a rising edge of a convex pulse generated by the ith convex tooth in the jth circle of rotation and a second time corresponding to a rising edge of a next convex pulse adjacent to the convex pulse; and acquiring a time difference value between the first moment and the second moment, wherein the time difference value is the actual pulse interval.

In the implementation process, the width of the convex teeth is narrow, if the actual pulse interval of the convex teeth is determined by directly utilizing the width of the convex teeth, the measurement accuracy is not high by calculating the vehicle speed, and meanwhile, under the condition that the tooth width of one convex tooth is different from the widths of other convex teeth in the gear ring, the fitting pulse interval corresponding to each convex tooth cannot be accurately calculated, so that the actual pulse interval of the corresponding convex teeth is determined by utilizing the time difference value between the rising edges of two adjacent pulses, the time width of the actual pulse interval is ensured, meanwhile, the influence caused by the fact that the tooth width of each convex tooth is not completely different is also overcome, and the wheel speed measurement accuracy is ensured.

Based on the first aspect, in a possible design, determining a true angle corresponding to the ith tooth includes: acquiring a second value of a quotient of the theoretical angle corresponding to the ith convex tooth and the fitting pulse interval, wherein the second value is an angular velocity estimation value; acquiring a product value of the angular velocity estimation value and the actual pulse interval, wherein the product value is an angle estimation value corresponding to the ith tooth; obtaining an angle difference value between the angle estimation value and a theoretical angle of the ith convex tooth, wherein the angle difference value is an angle error of the ith convex tooth; and correcting the theoretical angle corresponding to the ith convex tooth by using the angle error of the ith convex tooth to obtain the real angle corresponding to the ith convex tooth.

In the implementation process, the real angle corresponding to the ith convex tooth is obtained by acquiring the angle error of the ith convex tooth in real time when the ith convex tooth rotates the jth circle and correcting the theoretical angle corresponding to the ith convex tooth by using the angle error of the ith convex tooth, so that the error generated in the rotation process of the ith convex tooth is fully considered, and the accuracy of the speed measurement of the wheel is improved.

Based on the first aspect, in a possible design, determining a true angle corresponding to the ith tooth includes: acquiring an angle error of the ith convex tooth in the jth circle based on the actual pulse interval, the fitting pulse interval and a theoretical angle corresponding to the ith convex tooth; obtaining an error mean value of the angle error of the ith convex tooth in j circles, wherein the error mean value is the angle error of the ith convex tooth; and correcting the theoretical angle corresponding to the ith convex tooth by using the angle error of the ith convex tooth to obtain the real angle corresponding to the ith convex tooth.

In the implementation process, as the more sample data, the higher the angle estimation precision is, the error mean value of the angle error of the ith tooth in the j circle is taken as the angle error of the ith tooth, and then the theoretical angle corresponding to the ith tooth is corrected by using the angle error of the ith tooth, so that the estimation precision of the angle corresponding to the ith tooth is improved, and the rotation speed of the ith tooth in the j circle rotation process can be determined more accurately.

In a possible design based on the first aspect, obtaining the angular error of the ith tooth in the jth turn includes: and when the number of convex pulses generated by the gear ring in the j-th rotation is determined to be equal to the number of convex teeth of the gear ring, acquiring the angle error of the ith convex tooth in the j-th rotation.

In the implementation process, because the electric signal pulse generated after the gear ring rotates the jth circle may have multiple identifications and missing identifications, and it is impossible to accurately determine which teeth in the gear ring the pulse corresponding to the jth circle is generated, so as to avoid inaccurate measurement of the vehicle speed due to pulse determination errors, when determining an error mean value of the angle error of the ith tooth in the jth circle, the angle error of the ith tooth in the jth circle is obtained only under the condition that the number of the convex pulses generated by the gear ring in the jth circle is determined to be equal to the number of the convex teeth of the gear ring (i.e., under the condition that the electric signal pulse generated after the gear ring rotates the jth circle has no multiple identifications and missing identifications), so as to avoid the above situation.

Based on the first aspect, in one possible design, when the tooth width of the i-th convex tooth is significantly different from the tooth widths of the remaining convex teeth in the ring gear, the tooth widths of the remaining convex teeth are all the same, and the widths of two concave teeth adjacent to the i-th convex tooth are different, the method further includes: acquiring the width of a previous concave pulse adjacent to a convex pulse generated by the ith convex tooth in the jth circle of the rotation of the gear ring and the width of a next concave pulse adjacent to the convex pulse; and determining the rotation direction of the gear ring based on the width of the previous concave pulse and the width of the next concave pulse.

In the implementation process, because the tooth width of the ith convex tooth is obviously different from that of the rest convex teeth in the gear ring, the pulse corresponding to the ith convex tooth can be determined from the obtained multiple pulses, and meanwhile, because the widths of two concave teeth adjacent to the ith convex tooth are different, the widths of the concave pulses corresponding to the two adjacent concave teeth are different, so that the rotation direction of the gear ring can be accurately determined according to the width of the previous concave pulse and the width of the next concave pulse, and whether the vehicle is in a reversing state or not can be determined conveniently.

In a second aspect, an embodiment of the present application provides a device for accurately measuring wheel speed, the device including: the device comprises: the device comprises a gear ring, a sensor and a processor, wherein the gear ring is arranged on a wheel of a vehicle to be detected, the gear ring and the wheel synchronously rotate, the sensor is arranged on the vehicle to be detected, the sensor does not rotate along with the wheel, the sensor is connected with the processor, and the gear ring comprises a plurality of convex teeth; when the ith convex tooth of the gear ring passes through the sensor, the sensor outputs a voltage signal to the processor; the processor is used for receiving the voltage signal; and converting the voltage signal into a pulse; recording the time of receiving the voltage signal; acquiring the actual pulse interval generated by the ith convex tooth in the jth circle based on the pulse and the time; wherein i and j are integers greater than or equal to 1; acquiring the actual pulse interval and the mean value of the N pulse intervals before and after the actual pulse interval is adjacent to the actual pulse interval, wherein the mean value is the fitting pulse interval of the ith convex tooth in the jth circle; wherein N is an integer greater than or equal to 1; determining a real angle corresponding to the ith convex tooth based on the actual pulse interval, the fitting pulse interval and a theoretical angle corresponding to the ith convex tooth; and acquiring a first value of a quotient of the actual angle corresponding to the ith convex tooth and the actual pulse interval, wherein the first value is the angular speed of the gear ring.

In the implementation process, the actual pulse interval and the fitting pulse interval of the ith convex tooth of the gear ring in the wheel speed accurate measurement device installed on the vehicle to be measured in the rotating jth circle are utilized to determine the real angle corresponding to the ith convex tooth in real time, the condition that the error of the gear ring in the wheel speed accurate measurement device is continuously changed in the using process is fully considered, i and j are integers which are more than or equal to 1, then the quotient of the actual angle corresponding to the ith convex tooth and the actual pulse interval is utilized to determine the rotating speed of the wheel of the vehicle to be measured, and compared with the prior art which utilizes the quotient of the theoretical angle of the ith convex tooth and the actual pulse interval, the wheel speed accurate measurement device provided by the application can improve the measuring precision of the angular speed of the gear ring, the measurement accuracy of the vehicle speed can be improved, and meanwhile, the requirement on the machining accuracy of the gear ring in the accurate wheel speed measurement device is reduced.

Based on the second aspect, in a possible design, a tooth width of one tooth existing in the ring gear is different from tooth widths of the rest teeth in the ring gear, and the rest teeth are the same in size and shape, and the processor is further configured to obtain a mean value of the actual pulse interval and each of the N previous and next actual pulse intervals adjacent to the actual pulse interval when a tooth different from the tooth width of the ith tooth exists in two previous and next teeth adjacent to the ith tooth; wherein N is an integer of 2 or more.

In a possible design based on the second aspect, the processor is further configured to obtain a first time corresponding to a rising edge of a convex pulse generated by the ith tooth in the jth rotation, and a second time corresponding to a rising edge of a subsequent convex pulse adjacent to the convex pulse; and acquiring a time difference value between the first time and the second time, wherein the time difference value is the actual pulse interval.

In a possible design based on the second aspect, the processor is further configured to obtain a second value of a quotient of a theoretical angle corresponding to the ith tooth and the fitted pulse interval, where the second value is an angular velocity estimation value; and obtaining a value of a product of the angular velocity estimation value and the actual pulse interval, wherein the value of the product is an angle estimation value corresponding to the ith tooth; obtaining an angle difference value between the angle estimation value and a theoretical angle of the ith convex tooth, wherein the angle difference value is an angle error of the ith convex tooth; and correcting the theoretical angle corresponding to the ith convex tooth by using the angle error of the ith convex tooth to obtain the real angle corresponding to the ith convex tooth.

Based on the second aspect, in one possible design, the processor is further configured to obtain an angle error of the ith tooth in the jth turn based on the actual pulse interval, the fitted pulse interval, and a theoretical angle corresponding to the ith tooth; obtaining an error mean value of the angle error of the ith convex tooth in j circles, wherein the error mean value is the angle error of the ith convex tooth; and correcting the theoretical angle corresponding to the ith convex tooth by using the angle error of the ith convex tooth to obtain the real angle corresponding to the ith convex tooth.

In a possible design based on the second aspect, the processor is further configured to obtain an angular error of the ith tooth in the jth revolution when it is determined that the number of convex pulses generated by the ring gear in the jth revolution of the rotation is equal to the number of convex teeth of the ring gear.

Based on the second aspect, in a possible design, the processor is further configured to, when the tooth width of the ith tooth is significantly different from the tooth widths of the remaining teeth in the ring gear, and the tooth widths of the remaining teeth are the same, obtain the width of a previous concave pulse adjacent to a convex pulse generated by the ith tooth in the jth ring of the ring gear rotation, and the width of a subsequent concave pulse adjacent to the convex pulse; and determining the rotation direction of the gear ring based on the width of the previous concave pulse and the width of the next concave pulse.

In a third aspect, embodiments of the present application provide a vehicle, including: a vehicle body and the wheel speed precision measuring device of the second aspect, wherein a gear ring of the wheel speed precision measuring device is mounted on a wheel on the vehicle body, a sensor and a processor of the wheel speed precision measuring device are mounted on the vehicle body, and the sensor of the wheel speed precision measuring device does not rotate with the wheel.

In the implementation process, the vehicle body is provided with the wheel speed accurate measuring device of the second aspect, so that the vehicle can accurately measure the wheel rotating speed of the vehicle body.

In a fourth aspect, an embodiment of the present application provides a storage medium, in which a computer program is stored, and when the computer program runs on a computer, the computer is caused to execute the method of the first aspect.

Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic structural diagram of a wheel speed precision measurement device provided in an embodiment of the present application.

FIG. 2 is a diagram of pulses generated by the apparatus of FIG. 1 according to an embodiment of the present disclosure.

FIG. 3 is a schematic structural diagram of another wheel speed precision measurement device according to an embodiment of the present disclosure.

Fig. 4 is a pulse diagram generated by the apparatus of fig. 3 according to an embodiment of the present application.

FIG. 5 is a flowchart of a method for accurately measuring wheel speed according to an embodiment of the present disclosure.

Fig. 6 is a schematic diagram of a relationship between a vehicle speed and time obtained by using the prior art according to an embodiment of the present application.

Fig. 7 is a schematic diagram of a relationship between a vehicle speed and time obtained by a method provided in an embodiment of the present application.

Detailed Description

The technical solution in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a wheel speed precision measurement device provided in an embodiment of the present application, where the device includes: ring gear, sensor and treater, wherein, the ring gear is installed on the wheel of the vehicle that awaits measuring, the ring gear with the wheel synchronous rotation, the sensor is installed on the vehicle that awaits measuring, the sensor does not follow the wheel rotates, the sensor with the treater is connected, including a plurality of dogteeth in the ring gear, wherein, including a plurality of concave teeth and a plurality of dogteeth on the ring gear, wherein, a concave tooth and a dogtooth alternate distribution are in on the ring gear. For convenience of description, the present application defines that the ring gear of fig. 1 includes 12 convex teeth and 12 concave teeth. In fig. 1, the widths of the convex teeth and the concave teeth in the ring gear are the same, and the widths of the convex teeth and the concave teeth may be the same or different. When any tooth on the ring gear passes the sensor, the sensor outputs an electrical signal to the processor, which converts the electrical signal to a pulse and records the time at which each electrical signal is received.

Referring to fig. 2, fig. 2 is a pulse diagram generated by the rotation of the ring gear shown in fig. 1, where the pulse may be a convex pulse or a concave pulse, and the convex and concave pulses are used to indicate the shape of the pulse. Where a and C in fig. 2 are concave pulses generated by concave teeth and B is convex pulses generated by convex teeth, under normal conditions, when a tooth passes a sensor completely, the processor will only acquire one complete pulse.

As an embodiment, the processor may record only the time when the electrical signal corresponding to the rising edge of the pulse (i.e., the low signal suddenly changes to the high signal, for example, the left edge line of the convex pulse B in fig. 2 is a rising edge) or the time when the electrical signal corresponding to the falling edge (i.e., the high signal suddenly changes to the low signal, for example, the right edge line of the convex pulse B in fig. 2 is a falling edge) is received, so as to reduce the workload of the processor.

The tooth width of the convex tooth is in direct proportion to an included angle formed by the left edge line and the right edge line of the convex tooth, and the tooth width of the concave tooth is in direct proportion to an included angle formed by the left edge line and the right edge line of the concave tooth. When the tooth widths of the two convex teeth are the same, the included angles corresponding to the convex teeth are the same, and the pulse widths corresponding to the convex teeth are also the same; when the tooth widths of the two concave teeth are the same, the included angles corresponding to the concave teeth are the same, and the pulse widths corresponding to the concave teeth are also the same. Otherwise, they are not equal. In the embodiment of the application, determining the left edge line of the ith convex tooth and the left edge line of the (i +1) th tooth as the corresponding angles of the ith convex tooth; it can also be determined that the right edge line of the ith tooth and the right edge line of the (i-1) th tooth are the angles corresponding to the ith tooth.

In order to facilitate subsequent differentiation that an acquired pulse belongs to a pulse generated by the rotation of the gear ring for several times, therefore, referring to fig. 3, fig. 3 is a schematic structural diagram of another wheel speed precision measurement device provided in this embodiment of the present application, which is different from fig. 1 in that the structure of the gear ring is different, the tooth width of the mth tooth existing in the gear ring provided in fig. 3 is obviously different from the tooth widths of the other teeth in the gear ring, and each of the other teeth has the same tooth width, the tooth widths of the left and right concave teeth adjacent to the mth tooth are different from the tooth widths of the other concave teeth, the tooth widths of the other concave teeth are the same, and the tooth widths of the left and right concave teeth adjacent to the mth tooth are different from each other And half of the sum of the included angles corresponding to the left convex tooth and the left concave tooth adjacent to the mth convex tooth is equal to the sum of the angle corresponding to any one convex tooth and the angle corresponding to any one concave tooth in the rest convex teeth in the gear ring. Wherein m is a positive integer of 1 or more. In this embodiment, m is 1. In the embodiment of the application, when the gear ring is determined to rotate anticlockwise, determining that a left edge line of an ith convex tooth and a left edge line of a right convex tooth adjacent to the ith convex tooth are angles corresponding to the ith convex tooth; when it is determined that the gear ring rotates clockwise, it may also be determined that a right edge line of an ith tooth and a right edge line of a left tooth adjacent to the ith tooth are angles corresponding to the ith tooth. Wherein i may be equal to m, i being an integer greater than or equal to 1.

In other embodiments, when the width of the right-side concave tooth adjacent to the mth tooth is greater than the width of the left-side concave tooth, it is required to ensure that one half of the sum of the included angle corresponding to the mth convex tooth, the included angle corresponding to the mth concave tooth, and the included angle corresponding to the right-side convex tooth and the right-side concave tooth adjacent to the mth convex tooth is equal to the sum of the angle corresponding to any one of the other convex teeth and the angle corresponding to any one of the other concave teeth in the ring gear.

In other embodiments, the number of teeth and the number of concave teeth included in the ring gear may be other values, or the tooth width of the kth tooth may be larger than the tooth widths of the remaining teeth, and the tooth width of each of the remaining teeth is the same, where k may be any one of 1 to 13 when 13 teeth and 13 concave teeth are included in the ring gear.

Referring to fig. 4, fig. 4 is a pulse diagram generated when the ring gear shown in fig. 3 rotates. Since the width of the left-side concave tooth adjacent to the 1 st convex tooth is smaller than that of the right-side concave tooth, pulse 2 in fig. 4 is a pulse generated when the illustrated ring gear rotates clockwise, and pulse 3 is a pulse generated when the illustrated ring gear rotates counterclockwise.

Referring to fig. 5, fig. 5 is a flowchart of a method for accurately measuring wheel speed according to an embodiment of the present application, the method being applied to the wheel speed accurate measurement apparatus shown in fig. 1 and 3, and the method including the steps of: s100, S200, S300, and S400.

S100: acquiring an actual pulse interval generated in a j-th rotating circle by an ith convex tooth of a gear ring arranged on a wheel of a vehicle to be tested; the gear ring and the wheel to be measured rotate synchronously; i and j are integers of 1 or more.

S200: acquiring the actual pulse interval and the mean value of the N actual pulse intervals before and after the actual pulse interval is adjacent to the actual pulse interval, wherein the mean value is the fitting pulse interval of the ith convex tooth in the jth circle; wherein N is an integer of 1 or more.

S300: and determining a real angle corresponding to the ith convex tooth based on the actual pulse interval, the fitting pulse interval and the theoretical angle corresponding to the ith convex tooth.

S400: and acquiring a first value of a quotient of the actual angle corresponding to the ith convex tooth and the actual pulse interval, wherein the first value is the angular speed of the gear ring.

The above method is described in detail below:

since the speed of the ith tooth during the j-th rotation is the quotient of the real angle corresponding to the ith tooth and the actual pulse interval generated by the ith tooth during the j-th rotation, S100 includes, as an embodiment, the steps of: a1 and B1.

A1: and acquiring a first time corresponding to the rising edge of a convex pulse generated by the ith convex tooth in the jth turn of the rotation and a second time corresponding to the rising edge of a next convex pulse adjacent to the convex pulse. Wherein i and j are integers of 1 or more.

When any tooth (which may be a convex tooth or a concave tooth) on the gear ring passes through the sensor, the sensor outputs an electric signal to the processor, the processor receives the electric signal, converts the electric signal into a pulse according to the value of the electric signal, records the time of receiving the electric signal, and then obtains the corresponding relationship between each pulse and the time of receiving the electric signal corresponding to the pulse.

Wherein, when the processor determines that the currently obtained pulse is the case where which tooth is generated in the rotation of the number of turns, the process determines that the currently obtained pulse belongs to the pulse generated in the rotation of the number of turns of the number of teeth based on the number of pulses that have been obtained and the number of teeth of the ring gear.

When the gear ring is the gear ring in fig. 1, for convenience of processing, the default received 1 st pulse is generated when the 1 st tooth (1 st convex tooth or 1 st concave tooth) passes through the sensor, and when the 1 st pulse is a convex pulse, the 1 st pulse is determined to be generated after the 1 st convex tooth passes through the sensor; when the 1 st pulse is a concave pulse, determining the 1 st pulse as generated after the 1 st concave tooth passes through the sensor; meanwhile, as the gear ring comprises 12 convex teeth and 12 concave teeth, under the condition that pulse missing identification or multiple identification does not exist, determining that a convex pulse generated by the ith convex tooth in the jth circle of rotation is an obtained ith (j-12) convex pulse, determining that a next convex pulse adjacent to the ith (j-12) convex pulse is i +1+ (j-12) convex pulses, and obtaining the first time and the second time according to the corresponding relation between the predetermined pulse and time; the first time is the time corresponding to the rising edge of the (i + (j-12) th convex pulse, and the second time is the time corresponding to the rising edge of the (i +1+ (j-12) th convex pulse. It is noted that it is also possible to default that the 1 st pulse received is generated by passing any one of the remaining teeth (the tooth being a convex tooth or a concave tooth determined according to the shape of the acquired pulse) in the ring gear through the sensor, and that no influence is exerted on the accuracy of the measurement of the speed of the vehicle, regardless of whether the 1 st pulse is generated by passing the sensor by the number of teeth (the tooth being a convex tooth or a concave tooth determined according to the shape of the acquired pulse).

The following description will first discuss the pulse interval of the convex pulse and the pulse interval of the concave pulse, where the pulse interval of the convex pulse is the time difference between the time corresponding to the rising edge and the time corresponding to the falling edge of the convex pulse, and the pulse interval of the concave pulse is the time difference between the time corresponding to the rising edge and the time corresponding to the falling edge of the concave pulse.

When the gear ring is the gear ring in fig. 3, based on the predetermined correspondence between pulses and time, a pulse interval of each convex pulse in all the convex pulses that have been acquired is determined, and since the width of the 1 st tooth is significantly greater than that of the rest of the teeth of the gear ring, the pulse interval of the convex pulse generated when the 1 st tooth passes through the sensor is significantly greater than that of the convex pulse generated when the rest of the teeth pass through the sensor, according to the chronological order, it is determined that the convex pulse in which the pulse interval of the convex pulse appearing the jth time is significantly greater than that of the rest of the convex pulses is generated when the 1 st tooth passes through the sensor the jth time, and meanwhile, since the width of the right-side concave tooth of the tooth 1 is less than that of the left-side concave tooth, please refer to fig. 4, based on the predetermined correspondence between pulses and time, the pulse interval of the previous concave pulse of the convex pulse generated after the 1 st tooth passes through the sensor is greater than that of the next concave pulse When the pulse interval of one concave pulse is determined, the gear ring rotates clockwise, when the number of convex pulses generated by the gear ring in the jth circle of rotation is equal to the number of convex teeth of the gear ring, the ith-1 convex pulse of the 1 st convex tooth after the jth convex pulse generated by the sensor is determined as the convex pulse generated by the ith convex tooth in the jth circle of rotation, the time corresponding to the rising edge of the ith-1 st convex pulse of the 1 st convex tooth after the jth convex pulse generated by the sensor is determined as a first time based on the corresponding relation of the pulse and the time, and then the time corresponding to the rising edge of the ith convex pulse of the 1 st convex tooth after the jth convex pulse generated by the sensor is determined as a second time;

referring to fig. 4, when the pulse interval of the previous concave pulse of the convex pulse generated after the jth tooth passes through the sensor for the jth time is smaller than the pulse interval of the next concave pulse based on the predetermined pulse-time correspondence relationship, it is determined that the ring gear rotates counterclockwise, and when the ring gear in fig. 3 includes 12 convex teeth and 12 concave teeth, it is determined that the 13 th-i convex pulse of the 1 st convex tooth after the jth convex pulse generated by the sensor for the jth time is the convex pulse generated by the ith convex tooth in the jth circle of rotation, and based on the pulse-time correspondence relationship, it is determined that the time corresponding to the rising edge of the 13 th-i convex pulse after the jth convex pulse generated by the sensor for the jth time is the first time, and it is determined that the time corresponding to the rising edge of the 14 th-i convex pulse after the jth convex pulse generated by the sensor for the 1 st convex tooth is the first time And a second time.

B1: and acquiring a time difference value between the first moment and the second moment, wherein the time difference value is the actual pulse interval.

After the first time and the second time are obtained, a time difference value between the second time and the first time is determined, wherein the time difference value is an actual pulse interval generated by the ith tooth in the jth circle of rotation.

For example, the actual pulse interval is determined to be 1 second at 8 am, 10 min 15 sec at 2019.9.10 at the first time and 10 min 16 sec at 8 am, 2019.9.10 at the second time.

As an embodiment, in S100, the actual pulse interval generated by the ith tooth in the jth rotation may be obtained by obtaining a first time corresponding to a falling edge of a convex pulse generated by the ith tooth in the jth rotation, and a second time corresponding to a falling edge of a previous convex pulse adjacent to the convex pulse generated by the ith tooth in the jth rotation. And after the first time and the second time are obtained, obtaining a time difference value between the first time and the second time, wherein the time difference value is the actual pulse interval.

S200: acquiring the actual pulse interval and the mean value of the N actual pulse intervals before and after the actual pulse interval is adjacent to the actual pulse interval, wherein the mean value is the fitting pulse interval of the ith convex tooth in the jth circle; wherein N is an integer of 1 or more.

In the use process of the gear ring, the theoretical angle corresponding to each convex tooth in the gear ring can have deviation with the actual angle, and the deviation will be changed due to the abrasion of the gear ring and the sand splashing, and the angle deviation generated by each convex tooth may be different, furthermore, the angular deviation of each tooth may be different each time it passes the sensor, so that the theoretical angle of each tooth at each pass of the sensor needs to be corrected, and then after the actual pulse interval generated during the j-th revolution of the ith tooth is determined, based on the predetermined actual pulse interval and the corresponding relationship between the tooth and the number of revolutions, and determining N actual pulse intervals before and after the actual pulse interval generated by the ith convex tooth in the jth circle of rotation, and then obtaining the average value of the actual pulse interval and the N actual pulse intervals before and after the actual pulse interval is adjacent to the actual pulse interval.

For example, when the ring gear includes 12 teeth and 12 teeth, the actual pulse interval generated by the 1 st tooth during the 1 st rotation is 1.1 seconds, the actual pulse interval generated by the 2 nd tooth during the 1 st rotation is 0.8 seconds, the actual pulse interval generated by the 3 rd tooth during the 1 st rotation is 0.8 seconds, the actual pulse interval generated by the 4 th tooth during the 1 st rotation is 0.9 seconds, the actual pulse interval generated by the 5 th tooth during the 1 st rotation is 1 second, the actual pulse interval generated by the 6 th tooth during the 1 st rotation is 0.85 seconds, and the actual pulse interval generated by the 7 th tooth during the 1 st rotation is 0.8 seconds.

Then, when i is 4, j is 1, and N is 1, the previous actual pulse interval adjacent to the actual pulse interval generated by the 4 th tooth in the 1 st rotation is the actual pulse interval generated by the 3 rd tooth in the 1 st rotation, and the next actual pulse interval adjacent to the actual pulse interval generated by the 4 th tooth in the 1 st rotation is the actual pulse interval generated by the 5 th tooth in the 1 st rotation, so that the fitted pulse interval has a value of 1/3(0.8+ 0.9+ 1).

Then, when i is 4, j is 1, and N is 2, the first two actual pulse intervals adjacent to the actual pulse interval generated by the 4 th tooth in the 1 st rotation are the actual pulse intervals generated by the 2 nd tooth and the 3 rd tooth in the 1 st rotation, respectively, and the next actual pulse interval adjacent to the actual pulse interval generated by the 4 th tooth in the 1 st rotation is the actual pulse interval generated by the 5 th tooth and the 6 th tooth in the 1 st rotation, so that the fitted pulse interval has a value of 1/5 (0.8+0.8+0.9+1+ 0.85).

The specific embodiment of predetermining the N actual pulse intervals before and after the actual pulse interval is the same as the manner of obtaining the generated pulse interval of the ith tooth in the jth turn.

As an embodiment, a tooth width of one tooth existing in the gear ring is different from tooth widths of the rest teeth in the gear ring, and the rest teeth have the same size and shape, and S200 includes:

when a tooth with a tooth width different from that of the ith tooth exists in two front and rear teeth adjacent to the ith tooth, obtaining an average value of the actual pulse interval and each of the front and rear N actual pulse intervals adjacent to the actual pulse interval; wherein N is an integer of 2 or more.

Wherein the step of determining whether there is a tooth having a tooth width different from that of the ith tooth in two front and rear teeth adjacent to the ith tooth includes:

searching a first tooth width corresponding to the ith tooth and a second tooth width of each of two front and rear teeth adjacent to the ith tooth based on the prestored width of each tooth in the gear ring, and determining that a tooth with a tooth width different from that of the ith tooth exists in the two front and rear teeth adjacent to the ith tooth when a difference result that the difference value of the tooth widths is not 0 is obtained by comparing the first tooth width and the second tooth width; and when the obtained tooth width difference values are both 0, determining that no convex tooth different from the tooth width of the ith convex tooth exists in the front and rear convex teeth adjacent to the ith convex tooth.

When the gear ring is the gear ring shown in fig. 3, when the tooth width of tooth 1 is significantly wider than the tooth widths of the other teeth in the gear ring, the sizes and shapes of the other teeth are the same, the tooth width of the left concave tooth of the 1 st tooth is smaller than the tooth width of the right concave tooth, the tooth widths of the other concave teeth in the gear ring are the same, and the tooth width of the left concave tooth and the tooth width of the right concave tooth of the 1 st tooth are both different from the tooth widths of the other concave teeth, so that an error is introduced to the calculation of the fitting pulse interval in order to eliminate the particularity of tooth 1, and therefore, it is necessary to determine whether the 1 st tooth different from the tooth width of the i-th tooth exists in the two front and rear teeth adjacent to the i-th tooth, and therefore, when it is determined that the tooth width of the i-th tooth exists in the two front and rear teeth adjacent to the i-th tooth, and acquiring the actual pulse interval and the mean value of the N actual pulse intervals before and after the actual pulse interval is adjacent to the actual pulse interval, wherein the mean value is the generated fitting pulse interval of the ith convex tooth in the jth circle. Wherein N is an integer of 2 or more.

For example, assuming that the ring gear rotates clockwise, the actual pulse interval generated by the 1 st tooth during the 1 st rotation is 1.3 seconds, the actual pulse interval generated by the 2 nd tooth during the 1 st rotation is 0.8 seconds, the actual pulse interval generated by the 3 rd tooth during the 1 st rotation is 1 second, the actual pulse interval generated by the 4 th tooth during the 1 st rotation is 1.1 seconds, the actual pulse interval generated by the 5 th tooth during the 1 st rotation is 1 second, the actual pulse interval generated by the 6 th tooth during the 1 st rotation is 0.9 seconds, and the actual pulse interval generated by the 7 th tooth during the 1 st rotation is 0.8 seconds.

When i is 3, j is 1, and N is 2, the first 2 actual pulse intervals adjacent to the actual pulse interval generated by the 2 nd tooth in the 1 st turn are the actual pulse interval generated by the 1 st tooth in the 1 st turn, and the actual pulse interval generated by the 2 nd tooth in the 1 st turn, and the last 2 actual pulse intervals adjacent to the actual pulse interval generated by the 3 rd tooth in the 1 st turn are the actual pulse interval generated by the 4 th tooth in the 1 st turn, and the actual pulse interval generated by the 5 th tooth in the 1 st turn, respectively, so that the fitted pulse interval generated by the 3 rd tooth in the 1 st turn is 1/5 (1.3+0.8+1+1.1+ 1).

It is to be noted that, when the ring gear is the ring gear shown in fig. 3, and the value of i in S100 is the serial numbers of the other teeth except the 1 st tooth and the left and right 2 teeth adjacent to the 1 st tooth, the determined fitting pulse interval is relatively accurate. And when the actual pulse interval generated by any one of the 1 st convex tooth and the left and right 2 convex teeth adjacent to the 1 st convex tooth is not included in the front and back N actual pulse intervals adjacent to the actual pulse interval generated by the ith convex tooth in the jth circle, the determined fitting pulse interval is more accurate.

Specifically, when the ring gear is the ring gear shown in fig. 3 and i in S100 is any value from 4 to 10, the determined fitting pulse interval is relatively accurate. And when i is any value from 4 to 10, determining the fitting pulse interval to be more accurate when the actual pulse interval generated by any one of the 1 st to 3 rd convex teeth and the 11 th to 12 th convex teeth is not included in the front and back N actual pulse intervals adjacent to the actual pulse interval generated by the ith convex tooth in the jth circle.

S300: and determining a real angle corresponding to the ith convex tooth based on the actual pulse interval, the fitting pulse interval and the theoretical angle corresponding to the ith convex tooth.

As an embodiment, S300 includes steps C1, D1, E1, and F1.

C1: and acquiring a second value of the quotient of the theoretical angle corresponding to the ith convex tooth and the fitting pulse interval, wherein the second value is an angular velocity estimated value.

And the theoretical angle of the ith convex tooth is an angle measured by the gear ring before rotation. And after the theoretical angle corresponding to the ith convex tooth and the fitting pulse interval are obtained, determining a second value of the quotient of the theoretical angle corresponding to the ith convex tooth and the fitting pulse interval. And the second value is an angular velocity estimated value of the ith convex tooth in the process of rotating j turns.

D1: and acquiring a product value of the angular velocity estimation value and the actual pulse interval, wherein the product value is an angle estimation value corresponding to the ith convex tooth.

After an angular velocity estimation value of the ith tooth in the j-th rotation process and an actual pulse interval generated by the ith tooth in the j-th rotation process are obtained, a product value of the angular velocity estimation value and the actual pulse interval is determined, wherein the product value is an angle estimation value corresponding to the ith tooth.

E1: and acquiring an angle difference value between the angle estimation value and a theoretical angle of the ith convex tooth, wherein the angle difference value is an angle error of the ith convex tooth.

After an angular velocity estimated value of the ith convex tooth in the j-th rotation process and a theoretical angle of the ith convex tooth are obtained, an angle difference value between the angle estimated value and the theoretical angle of the ith convex tooth is determined, and the angle difference value is an angle error of the ith convex tooth.

F1: and correcting the theoretical angle corresponding to the ith convex tooth by using the angle error of the ith convex tooth to obtain the real angle corresponding to the ith convex tooth.

And determining the value of the sum of the angle of the ith convex tooth and the theoretical angle corresponding to the ith convex tooth, wherein the value of the sum is the real angle corresponding to the ith convex tooth.

As an embodiment, S300 includes the steps of: c2, D2 and E2.

C2: and acquiring the angle error of the ith convex tooth in the jth circle based on the actual pulse interval, the fitting pulse interval and the theoretical angle corresponding to the ith convex tooth.

Since there may be cases where there are more or less pulse identifications during the rotation of the ring gear, to ensure the accuracy of the angle error estimation of each tooth, C2 includes as an embodiment: and when the number of convex pulses generated by the gear ring in the j-th rotation is determined to be equal to the number of convex teeth of the gear ring, acquiring the angle error of the ith convex tooth in the j-th rotation.

Wherein, when the ring gear is the ring gear shown in fig. 3, the step of determining whether the number of convex pulses generated by the ring gear in the j-th rotation is equal to the number of convex teeth of the ring gear comprises:

determining a first convex pulse with a pulse interval obviously larger than other convex pulses at the jth occurrence time and a second convex pulse with a pulse interval obviously larger than other convex pulses at the jth +1 th occurrence time from the obtained convex pulses according to the time sequence, determining a first quantity of the convex pulses between the first convex pulse and the second convex pulse based on the obtained convex pulses, comparing the sum of the first quantity and 1 with the number of convex teeth of the gear ring, determining whether the number of the convex pulses generated by the gear ring in the jth rotating circle is equal to the number of the convex teeth of the gear ring or not when the difference result is equal to 0, and determining that the number of the convex pulses generated by the gear ring in the jth rotating circle is not equal to the number of the convex teeth of the gear ring when the difference result is not equal to 0.

When the ring gear is the ring gear in fig. 1, it is defined that: phi, the gear ring error existing in the j circle for the ith convex tooth

Definition ofA ring gear error present in the j-th revolution for the k-th tooth after the i-th tooth;

it is assumed that there are no more identification pulses and fewer identification pulses in the j-1 th circle, and it can be accurately determined which tooth the acquired convex pulse of the j-1 th circle is generated.

Define deviation-

Smaller deviations indicate more similarity between the two sets of data.

1. Calculating D₍₀₎～D_(n-1)Value of (A)

2. Obtaining D₍₀₎～D_(n-1)Minimum value of D_(m)

3. And (5) judging m. If m is 0, the error of the single-circle gear ring respectively calculated by using the two circles of data is similar, the phenomenon of more identification teeth or less identification teeth does not exist, and whether the number of convex pulses generated by the gear ring in the j-th rotating circle is equal to the number of convex teeth of the gear ring is determined; if m is not 0, it is determined that the error of the single-circle gear ring calculated by using the two circles of data is not similar, and a phenomenon of more identification teeth or less identification teeth exists, and it is determined that the number of convex pulses generated by the gear ring in the jth circle of rotation is not equal to the number of convex teeth of the gear ring, and then two steps are performed: discarding all actual pulse interval data of the jth circle; and secondly, taking the (1+ m) th actual pulse interval in the (j +1) th circle as the actual pulse interval generated by the 1 st convex tooth in the (j) th circle of rotation, and discarding the data from the 1 st actual pulse interval to the m th actual pulse interval in the (j +1) th circle.

For example, D acquired at the 2 nd turn (j ═ 2)₍₀₎～D_(n-1)Minimum value of D_(m)Is D₍₁₎And m is 1. At the moment, all the 2 nd circle of actual pulse interval data are removed; and secondly, in the 3 rd circle of data, the 2 nd actual pulse interval is taken as the actual pulse interval generated by the 1 st convex tooth, and the 1 st pulse interval data in the 3 rd circle of actual pulse interval data is discarded.

D2: and acquiring an error mean value of the angle error of the ith convex tooth in j circles, wherein the error mean value is the angle error of the ith convex tooth.

It should be noted that the number of the obtained angle errors of the ith tooth in the j circle is L, where L may be equal to j or smaller than j.

And after L angle errors of the ith convex tooth in j circles are obtained, obtaining an error mean value of the L angle errors, wherein the error mean value is the angle error of the ith convex tooth.

For example, when j is 3 and the obtained angle error of the i-th tooth in j turns is 0.8 and 0.6, i.e., L is 2, the average value of the errors is 1/2(0.8+ 0.6).

For example, when j is 3, the obtained angle error of the i-th tooth in the j-turn is 0.8, 0.7, and 0.6, that is, L is 3, the average value of the errors is 1/3(0.8+0.7+ 0.6).

E2: and correcting the theoretical angle corresponding to the ith convex tooth by using the angle error of the ith convex tooth to obtain the real angle corresponding to the ith convex tooth.

After determining the angle error of the ith tooth and the theoretical angle corresponding to the ith tooth, determining a first value of the sum of the angle error of the ith tooth and the theoretical angle corresponding to the ith tooth, wherein the first value of the sum is the real angle corresponding to the ith tooth.

S400: and acquiring a first value of a quotient of the actual angle corresponding to the ith convex tooth and the actual pulse interval, wherein the first value is the angular speed of the gear ring.

After the real angle corresponding to the ith convex tooth and the actual pulse interval generated by the ith convex tooth in the jth circle are obtained, determining a first value of a quotient of the real angle corresponding to the ith convex tooth and the actual pulse interval generated by the ith convex tooth in the jth circle according to a speed formula, wherein the first value is an angular speed of the ith convex tooth of the gear ring on the vehicle to be measured in the process of rotating the jth circle.

As an embodiment, when the tooth width of the i-th tooth is significantly different from the tooth widths of the remaining teeth in the ring gear, the tooth widths of the remaining teeth are all the same, and the widths of two concave teeth adjacent to the i-th tooth are different, the method further includes the steps of: g1 and H1.

G1: and acquiring the width of a previous concave pulse adjacent to a convex pulse generated by the ith convex tooth in the jth circle of the rotation of the gear ring and the width of a next concave pulse adjacent to the convex pulse.

H1: and determining the rotation direction of the gear ring based on the width of the previous concave pulse and the width of the next concave pulse.

Since detailed embodiments of G1 and H1 have already been described in detail in S100, they are not described herein again.

Referring to fig. 6, fig. 6 is a graph of the speed of the vehicle to be measured versus time obtained without correcting the error of each tooth in the ring gear in the prior art.

Referring to fig. 7, which is a graph of a relationship between a speed of a vehicle to be tested and time obtained by using the method provided by the present application, it can be seen from fig. 6 and 7 that a speed value of the vehicle to be tested obtained by using the prior art has a significant jitter, while a speed value of the vehicle to be tested obtained by using the method provided by the present application has no jitter basically, and the performance of the method provided by the present application is significantly better than that of the prior art.

Referring to fig. 1 and 3, the functions of the processor and the sensor in the wheel speed precision measuring device in fig. 1 and 3 will be briefly described as follows:

in one embodiment, the sensor outputs a voltage signal to the processor when the ith tooth of the ring gear passes the sensor; the processor is used for receiving the voltage signal; and converting the voltage signal into a pulse; recording the time of receiving the voltage signal; acquiring the actual pulse interval generated by the ith convex tooth in the jth circle based on the pulse and the time; wherein i and j are integers greater than or equal to 1; acquiring the actual pulse interval and the mean value of the N pulse intervals before and after the actual pulse interval is adjacent to the actual pulse interval, wherein the mean value is the fitting pulse interval of the ith convex tooth in the jth circle; wherein N is an integer greater than or equal to 1; determining a real angle corresponding to the ith convex tooth based on the actual pulse interval, the fitting pulse interval and a theoretical angle corresponding to the ith convex tooth; and acquiring a first value of a quotient of the actual angle corresponding to the ith convex tooth and the actual pulse interval, wherein the first value is the angular speed of the gear ring.

As an embodiment, the tooth width of one tooth present in the gear ring is different from the tooth width of the other teeth present in the gear ring, and the tooth widths of the other teeth are the same, and the processor is further configured to obtain a mean value of the actual pulse interval and each of the N previous and next actual pulse intervals adjacent to the actual pulse interval when a tooth different from the tooth width of the ith tooth is present in two previous and next teeth adjacent to the ith tooth; wherein N is an integer of 2 or more.

As an embodiment, the processor is further configured to obtain a first time corresponding to a rising edge of a convex pulse generated by the ith tooth in the jth rotation, and a second time corresponding to a rising edge of a next convex pulse adjacent to the convex pulse; and acquiring a time difference value between the first time and the second time, wherein the time difference value is the actual pulse interval.

In an embodiment, the processor is further configured to obtain a second value of a quotient of a theoretical angle corresponding to the ith tooth and the fitting pulse interval, where the second value is an angular velocity estimation value; and obtaining a value of a product of the angular velocity estimation value and the actual pulse interval, wherein the value of the product is an angle estimation value corresponding to the ith tooth; obtaining an angle difference value between the angle estimation value and a theoretical angle of the ith convex tooth, wherein the angle difference value is an angle error of the ith convex tooth; and correcting the theoretical angle corresponding to the ith convex tooth by using the angle error of the ith convex tooth to obtain the real angle corresponding to the ith convex tooth.

As an embodiment, the processor is further configured to obtain an angle error of the ith tooth in the jth circle based on the actual pulse interval, the fitted pulse interval, and a theoretical angle corresponding to the ith tooth; obtaining an error mean value of the angle error of the ith convex tooth in j circles, wherein the error mean value is the angle error of the ith convex tooth; and correcting the theoretical angle corresponding to the ith convex tooth by using the angle error of the ith convex tooth to obtain the real angle corresponding to the ith convex tooth.

As an embodiment, the processor is further configured to obtain an angle error of the ith tooth in the jth revolution when it is determined that the number of convex pulses generated by the ring gear in the jth revolution of the rotation is equal to the number of convex teeth of the ring gear.

As an embodiment, the processor is further configured to obtain a width of a previous concave pulse adjacent to a convex pulse generated by the ith tooth in the jth rotation of the ring gear and a width of a next concave pulse adjacent to the convex pulse when the tooth width of the ith tooth is significantly different from the tooth widths of the rest of the teeth in the ring gear and the tooth widths of the rest of the teeth are the same; and determining the rotation direction of the gear ring based on the width of the previous concave pulse and the width of the next concave pulse.

An embodiment of the present application provides a vehicle, the vehicle includes: a vehicle body and the wheel speed precision measuring device of the second aspect, wherein a gear ring of the wheel speed precision measuring device is mounted on a wheel on the vehicle body, a sensor and a processor of the wheel speed precision measuring device are mounted on the vehicle body, and the sensor of the wheel speed precision measuring device does not rotate with the wheel.

For the process of implementing each function by each functional unit in this embodiment, please refer to the content described in the embodiments shown in fig. 1 to fig. 5, which is not described herein again.

In addition, a storage medium is provided in an embodiment of the present application, and a computer program is stored in the storage medium, and when the computer program runs on a computer, the computer is caused to execute the method provided in any embodiment of the present application.

In summary, according to the method, the apparatus, the vehicle, and the storage medium for accurately measuring the wheel speed provided in the embodiments of the present application, during the driving process of the vehicle to be measured, the actual pulse interval, the fitting pulse interval, and the theoretical angle corresponding to the i-th tooth of the ring gear installed on the vehicle to be measured are used to determine the actual angle corresponding to the i-th tooth in real time, the situation that the error of the ring gear is continuously changed during the use of the ring gear is fully considered, i and j are integers greater than or equal to 1, and then the quotient of the actual angle corresponding to the i-th tooth and the actual pulse interval is used to determine the rotation speed of the wheel of the vehicle to be measured, compared with the prior art in which the quotient of the theoretical angle of the i-th tooth and the actual pulse interval is determined as the angular speed of the ring gear, the angular speed measuring precision of the gear ring is improved, the speed measuring precision of a vehicle is further improved, and the requirement on the gear ring machining precision is reduced.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based devices that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.