CN110539708A - Wheel and parameter measuring method for wheel - Google Patents
Wheel and parameter measuring method for wheel Download PDFInfo
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- CN110539708A CN110539708A CN201910712101.4A CN201910712101A CN110539708A CN 110539708 A CN110539708 A CN 110539708A CN 201910712101 A CN201910712101 A CN 201910712101A CN 110539708 A CN110539708 A CN 110539708A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000005096 rolling process Methods 0.000 claims abstract description 44
- 238000005259 measurement Methods 0.000 claims description 6
- 238000000691 measurement method Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 5
- 238000005070 sampling Methods 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B21/00—Rims
- B60B21/12—Appurtenances, e.g. lining bands
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/013—Wheels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/02—Tyres
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Tires In General (AREA)
Abstract
The invention discloses a wheel, which comprises a rim and a tire mounted on the rim, wherein a distance meter is mounted on the outer surface of the rim, and the radial distance between the outer surface of the rim and the inner surface of the tire is measured in real time through the distance meter. In the process of vehicle movement, the distance measuring instrument rolls along with the rim, measures the distance between the outer surface of the rim and the inner surface of the tire in real time at a certain frequency, and transmits the distance value to a controller of the vehicle in real time to provide a tire rolling radius parameter for vehicle dynamics control. On the basis, a parameter measuring method for the wheel and an automobile are further provided.
Description
Technical Field
the invention relates to a wheel and a parameter measuring method for the wheel.
background
the prior art can only measure the rotating speed of a wheel and cannot measure the rolling radius of a tire, so that the linear speed of the tire at a grounding position cannot be accurately calculated.
the reasons for these disadvantages and problems are as follows:
When the vehicle is in motion, the tire deforms under the load of the vehicle, resulting in the rolling radius of the tire not being equal to the inflation radius of the tire in its free state. Therefore, the displacement of the rolling radius by the inflation radius in a free state has a large error.
At the present stage, the ground contact condition and the stress condition of the tire can not be timely mastered in the driving process of the automobile, so that the controllability and the control precision of the automobile are not high, and a plurality of dangerous working conditions can not be early warned in advance. Especially, under the dangerous working condition that the wheel sideslips, the automobile can not be early warned in advance and can only be passively disposed.
Disclosure of Invention
The present invention is directed to a wheel to solve the above problems of the prior art.
the invention provides a wheel, which comprises a rim and a tire mounted on the rim, wherein a distance meter is mounted on the outer surface of the rim, and the radial distance between the outer surface of the rim and the inner surface of the tire is measured in real time through the distance meter.
further, the rim, the tire, and the rangefinder rotate coaxially.
Further, the range finder is a range sensor.
Further, the distance measuring instrument is mounted on the outer surface of the rim in an adhesive manner.
Further, the distance measuring instrument is installed on the outer surface of the wheel rim in a mechanical connection mode.
further, the distance measuring instrument is mounted on the outer surface of the rim using a connector.
Further, the connecting piece is a bolt or a pin.
Further, the distance measuring instrument is installed at the central position of the outer surface of the rim.
The wheel provided by the invention has the following advantages:
In the process of vehicle movement, the distance measuring instrument rolls along with the rim, measures the distance between the outer surface of the rim and the inner surface of the tire in real time at a certain frequency, and transmits the distance value to a controller of the vehicle in real time to provide a tire rolling radius parameter for vehicle dynamics control.
And the tire can be periodically deformed in the rolling process, so that the measured value of the distance between the outer surface of the rim and the inner surface of the tire can be periodically changed in the process of one-circle rotation of the distance measuring instrument, the period is the rotation period of the tire, and the rotation speed of the wheel can be calculated according to the period.
in addition, the application also provides a parameter measuring method for the wheel, which comprises the following steps:
measuring the radial distance between the outer surface of the rim and the inner surface of the tyre during one rotation cycle of the wheel to obtain a plurality of distance parameters and corresponding tyre rotation angles;
Obtaining a function of the radial distance of the outer rim surface and the inner tire surface with respect to time from the function of the tire rotation angle with respect to time and the plurality of distance parameters and the corresponding tire rotation angle;
From the fixed radius of the rim and the function, a function of the rolling radius of the tire with respect to time can be obtained, thus obtaining the real-time rolling radius of the tire.
further, according to the difference value between the free radius of the tire and the rolling radius of the tire, the sinking amount of the tire under the current load is obtained;
The free radius of the tire is the profile radius of the tire under a condition of zero load at a standard inflation pressure.
Further, the tire footprint length is calculated based on the free radius of the tire and the rolling radius of the tire.
Further, within one rotation of the tire, the frequency of measuring the radial distance between the outer surface of the rim and the inner surface of the tire is f0, and the time interval between two continuous measurements is calculated according to the frequency f 0;
And calculating the rolling speed of the tire according to the length of the footprint and the time interval. The parameter measuring method for the wheel provided by the invention has the following advantages that:
Through a simple sensor integration system, the calculation of the tire rolling radius, the tire sinking amount, the tire grounding impression, the tire rolling speed and the vertical load of the tire in the automobile control can be realized, particularly, the real-time accurate measurement of the tire rolling radius is realized, and the automobile dynamics control precision is greatly improved.
in addition, the application also provides an automobile comprising the wheel.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a wheel according to an embodiment of the present invention.
Fig. 2 is a parameter geometric relationship diagram of a parameter measurement method for a wheel according to an embodiment of the present invention.
Fig. 3 is a diagram of a theoretical range finder output signal of a parameter measurement method for a wheel according to an embodiment of the present invention.
reference numerals: 1-ground; 2-a tire; 3-a rim; 4-a range finder; 5-connecting piece.
Detailed Description
the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The first embodiment is as follows:
Fig. 1 is a schematic structural view of a wheel according to an embodiment of the present invention; as shown in fig. 1, a wheel according to a first embodiment of the present invention includes a rim 3 and a tire 2 mounted on the rim 3, a distance meter 4 is mounted on an outer surface of the rim 3, and a radial distance between the outer surface of the rim 3 and an inner surface of the tire 2 is measured in real time by the distance meter 4.
specifically, the rim 3, the tire 2, and the distance meter 4 rotate coaxially.
in particular, the distance meter 4 is a distance measuring sensor.
specifically, the distance measuring device 4 is mounted on the outer surface of the rim 3 by means of an adhesive or mechanical connection.
Preferably, the distance meter 4 is mounted on the outer surface of the rim 3 using a connection piece 5.
In particular, the connecting piece 5 is a bolt or a pin.
it should be noted that the connecting member 5 is a bolt or a pin, which is only used for illustration, and other connecting members can be used, which is not limited to this example.
specifically, the distance meter 4 is mounted at a central position of the outer surface of the rim 3.
the wheel provided by the embodiment has the following advantages:
During the movement of the vehicle, the distance measuring instrument 4 rolls along with the rim 3, measures the distance between the outer surface of the rim 3 and the inner surface of the tire 2 in real time at a certain frequency, and transmits the distance value to a controller of the vehicle in real time, so as to provide a tire rolling radius parameter for vehicle dynamics control, and further provide the real-time rolling radius of the wheel.
And the radius of the tire 2 can be periodically deformed during the rolling process, so that the value of the distance between the outer surface of the rim 3 and the inner surface of the tire 2 measured by the distance measuring instrument 4 can be periodically changed during one revolution, namely the rotation period of the tire 2, and the rotation speed of the wheel can be calculated according to the period.
In addition, according to the rotating speed and the real-time rolling radius of the wheel, the real-time linear speed of the wheel can be obtained. The inflation pressure state of the tire may also be obtained by calculation from the change in the radius of the tire.
Example two:
FIG. 2 is a schematic parameter geometry diagram of a method for measuring parameters of a wheel according to an embodiment of the present invention; FIG. 3 is a graph of the range finder output signal for a method of measuring a parameter of a wheel according to an embodiment of the present invention; as shown in fig. 2 to fig. 3, the second embodiment of the present invention provides a method for measuring parameters of a wheel, including the following steps:
Measuring the radial distance between the outer surface of the rim and the inner surface of the tyre during one rotation cycle of the wheel to obtain a plurality of distance parameters and corresponding tyre rotation angles;
Obtaining a function of the radial distance of the outer rim surface and the inner tire surface with respect to time from the function of the tire rotation angle with respect to time and the plurality of distance parameters and the corresponding tire rotation angle;
from the fixed radius of the rim and the function, a function of the rolling radius of the tire with respect to time can be obtained, thus obtaining the real-time rolling radius of the tire.
the sinking amount of the tire under the current load can be obtained according to the difference value between the free radius of the tire and the rolling radius of the tire;
The free radius of the tire is the profile radius of the tire under a condition of zero load at a standard inflation pressure.
The tire footprint length may also be calculated based on the free radius of the tire and the rolling radius of the tire.
the frequency of measuring the radial distance between the outer surface of the rim and the inner surface of the tire within one rotation of the tire is f0, and the time interval between two continuous measurements is calculated according to the frequency f 0;
and calculating the rolling speed of the tire according to the length of the footprint and the time interval.
specifically, the distance measuring instrument 4 measures f0 as the measuring frequency, f0 and T as the distance parameter is a set of discrete sampling data d (T) due to the periodic rolling of the tire 2 on the ground 1;
The time interval delta t between two continuous sampling can be obtained as 1/f0 through the sampling frequency;
the real-time radial distance between the tire 2 and the rim 3 is defined as the intersection point P between the connecting line of the mounting point center D of the range finder 4 on the rim 3 and the center point O of the rim 3 and the tire 2, the distance of the line segment PD is defined as the distance D (t) between the rim 3 and the tire 2 at the moment, the value is continuously changed along with the rolling deformation of the tire 2, namely the function of the rotation angle of the tire 2, and the D (t) is a function of the measurement time;
The known design parameters of the tire 2 and the rim 3 necessary for the calculation process are defined as follows:
A vertical stiffness parameter Cz of tire 2, the vertical stiffness of tire 2 being defined as: at standard inflation pressure, tire 2 is subjected to a ratio of vertical load Fz to tire 2 deflection ds, Cz ═ Fz/ds.
The free radius R of the tire 2, the contour radius of the tire 2 under the standard inflation pressure and the load of 0, wherein the tire 2 is an approximate ideal circumference, and the free radius R is equal everywhere;
The radius r of the rim 3 and the outer radius of the rim 3 matched with the tire 2 are equal everywhere;
the target calculation parameters are defined as follows:
The rolling radius Rd of the tire 2 is equal to the vertical distance from the center point of the rim 3 to the ground 1 in the rolling process of the tire 2 under the standard air pressure Pr and under the working condition of a certain load Fz;
the rolling speed V of the tire 2, the advancing speed V of the center of the tire 2, is defined by the following equation: v ═ Rd × ω;
The tire 2 sinks by an amount ds, and under the working condition of the tire 2 under standard air pressure and a certain load Fz, the difference value of the free radius R of the tire 2 and the rolling radius Rd thereof, namely the distance ds of the central point of the tire 2 descending after bearing the load, satisfies the equation: ds is R-Rd;
Footprint length L, the maximum value of the footprint formed by the tyre 2 in contact with the ground in the rolling direction of the tyre 2;
The vertical load Fz of the tire 2, the vertical load borne by the tire 2, the unit N, the load under the condition of safe running of the tire 2 should be designed within a certain range, if the load is too large, the tire 2 is overloaded and has potential safety hazards such as tire burst, if the load is too small or close to 0, the tire 2 is separated from the ground 1 at the moment, and potential safety hazards such as rollover or loss of control force exist;
provided is a target parameter calculation method.
The distance measuring signal value d (t) of the distance measuring instrument 4 is deduced by a theoretical curve;
assuming that the initial moment rangefinder 4 is located directly below the rim 3:
the angles of the intersection point P of the extension line of the central connecting line of the distance meter 4 and the rim 3 and the tire 2 when the tire 2 leaves the ground 1 and enters the ground 1 are respectively t0 and t1, and the theoretical equation of the distance d (t) measured by the distance meter 4 in the process that the tire 2 rotates for one circle is as follows:
d(t)＝R-r；t∈[t,t]
Description of the calculation method:
fig. 3 shows a theoretical diagram of the output signal of the distance measuring device 4, and in the actual testing process, the signal output by the distance measuring device 4 contains a large amount of noise components, so that before the subsequent parameter calculation, the output distance signal d (t) must be filtered, and an ideal signal curve similar to that shown in fig. 3 is identified, and then the subsequent parameter calculation is performed based on the ideal signal curve;
Rolling radius Rd calculation method:
According to the rotation rule of the tire 2, when the air pressure and the load of the tire 2 are not changed, the data d (t) measured by the distance meter 4 are periodically changed, when the distance meter 4 is positioned right below the rim 3, the measured distance d is the minimum value dmin of the distance measuring signal d (t), the rolling radius of the tire 2 is the sum of the radius of the rim 3 and the distance between the rim 3 and the tire 2, and the rolling radius Rd can be calculated by the following formula;
R＝r+min(d(t)),t∈[0,T]
Sinkage calculation method
after the rolling radius Rd of the tire 2 is obtained through calculation, the sinking amount ds of the tire 2 can be calculated through the definition of the sinking amount of the tire 2, and the sinking amount parameter ds can be obtained through calculation according to the following formula:
d＝R-Rd
Wherein R is the free radius of the tire 2, and Rd is the rolling radius of the tire 2;
footprint calculation method for tyre 2:
Method for calculating rolling speed V of tire 2:
the time interval between the entry of the fixed point P on the tyre 2 into the ground 1 and the exit from the ground 1 is:
Δt＝t0+T-t1
the distance traveled by a point P on tyre 2 during this time is equal to the footprint length, so that the advancing speed of tyre 2 can be calculated as:
V＝L/Δt
Vertical load Fz calculation method of tire 2:
F＝Cds。
the parameter measuring method for the wheel provided by the invention has the following advantages that:
The method and the device realize the calculation of the rolling radius of the tire 2, the sinking amount of the tire 2, the footprint of the tire 2, the rolling speed of the tire 2 and the vertical load of the tire 2 in the automobile control, particularly realize the real-time accurate measurement of the rolling radius of the tire 2, and greatly improve the automobile dynamics control precision.
Example three:
the application also provides an automobile comprising the wheel.
finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (12)
1. a wheel is characterized by comprising a rim and a tire mounted on the rim, wherein a distance meter is mounted on the outer surface of the rim, and the radial distance between the outer surface of the rim and the inner surface of the tire is measured in real time through the distance meter.
2. a wheel according to claim 1, wherein said rim, said tyre and said distance meter rotate coaxially.
3. a wheel according to claim 1, wherein said distance meter is a distance measuring sensor.
4. A wheel according to claim 1, wherein the distance meter is adhesively mounted on the outer surface of the rim.
5. A wheel according to claim 1, wherein the distance meter is mounted on the outer surface of the rim by means of a mechanical connection.
6. a wheel according to claim 5, wherein the distance meter is mounted on the outer surface of the rim using a connector.
7. a wheel according to claim 6, wherein said connection is a bolt or a pin.
8. The wheel of claim 1, wherein the rangefinder is mounted centrally on the outer surface of the rim.
9. a parameter measuring method for a vehicle wheel according to any one of claims 1-8, comprising the steps of:
Measuring the radial distance between the outer surface of the rim and the inner surface of the tyre during one rotation cycle of the wheel to obtain a plurality of distance parameters and corresponding tyre rotation angles;
Obtaining a function of the radial distance of the outer rim surface and the inner tire surface with respect to time from the function of the tire rotation angle with respect to time and the plurality of distance parameters and the corresponding tire rotation angle;
from the fixed radius of the rim and the function, a function of the rolling radius of the tire with respect to time can be obtained, thus obtaining the real-time rolling radius of the tire.
10. The parameter measuring method for a wheel according to claim 9, wherein the amount of sinking of the tire under the current load is obtained from the difference between the free radius of the tire and the rolling radius of the tire;
the free radius of the tire is the profile radius of the tire under a condition of zero load at a standard inflation pressure.
11. The parameter measurement method for a wheel according to claim 9, wherein the tire footprint length is calculated from a free radius of the tire and a rolling radius of the tire.
12. a parameter measuring method for a wheel according to claim 11, wherein the radial distance between the outer surface of the rim and the inner surface of the tyre is measured during one revolution of the tyre at a frequency f0, and the time interval between two consecutive measurements is calculated from the frequency f 0;
and calculating the rolling speed of the tire according to the length of the footprint and the time interval.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910712101.4A CN110539708A (en) | 2019-08-02 | 2019-08-02 | Wheel and parameter measuring method for wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910712101.4A CN110539708A (en) | 2019-08-02 | 2019-08-02 | Wheel and parameter measuring method for wheel |
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| CN110539708A true CN110539708A (en) | 2019-12-06 |
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| CN201910712101.4A Pending CN110539708A (en) | 2019-08-02 | 2019-08-02 | Wheel and parameter measuring method for wheel |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111366934A (en) * | 2020-03-13 | 2020-07-03 | 山东航向电子科技有限公司 | System and method for eliminating tire distance influence based on ultrasonic waves |
| CN111907269A (en) * | 2020-09-07 | 2020-11-10 | 山东理工大学 | Vehicle state detection system based on intelligent tire technology |
| CN112013938A (en) * | 2020-09-04 | 2020-12-01 | 北京因泰智行科技有限公司 | Vehicle load detection method and vehicle |
| CN112319150A (en) * | 2020-11-06 | 2021-02-05 | 无锡安睿驰科技有限公司 | Self-checking early warning device and method for self-repairing safety tire |
| CN113858896A (en) * | 2021-09-28 | 2021-12-31 | 安徽佳通乘用子午线轮胎有限公司 | Method for calculating sinking amount and load of rolling tire based on image method |
| CN114889370A (en) * | 2022-04-20 | 2022-08-12 | 贵州交通职业技术学院 | Sensor for measuring real-time height of tire and measuring method thereof |
| WO2024045918A1 (en) * | 2022-08-29 | 2024-03-07 | 浙江联控技术有限公司 | Tire pressure alarm method and apparatus, and computer device and storage medium |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111366934A (en) * | 2020-03-13 | 2020-07-03 | 山东航向电子科技有限公司 | System and method for eliminating tire distance influence based on ultrasonic waves |
| CN112013938A (en) * | 2020-09-04 | 2020-12-01 | 北京因泰智行科技有限公司 | Vehicle load detection method and vehicle |
| CN111907269A (en) * | 2020-09-07 | 2020-11-10 | 山东理工大学 | Vehicle state detection system based on intelligent tire technology |
| CN112319150A (en) * | 2020-11-06 | 2021-02-05 | 无锡安睿驰科技有限公司 | Self-checking early warning device and method for self-repairing safety tire |
| CN112319150B (en) * | 2020-11-06 | 2021-06-18 | 无锡安睿驰科技有限公司 | Self-checking early warning device and method for self-repairing safety tire |
| CN113858896A (en) * | 2021-09-28 | 2021-12-31 | 安徽佳通乘用子午线轮胎有限公司 | Method for calculating sinking amount and load of rolling tire based on image method |
| CN114889370A (en) * | 2022-04-20 | 2022-08-12 | 贵州交通职业技术学院 | Sensor for measuring real-time height of tire and measuring method thereof |
| WO2024045918A1 (en) * | 2022-08-29 | 2024-03-07 | 浙江联控技术有限公司 | Tire pressure alarm method and apparatus, and computer device and storage medium |
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