CN113212615A

CN113212615A - Wheel rotation detection device, vehicle and wheel rotation detection method

Info

Publication number: CN113212615A
Application number: CN202110547971.8A
Authority: CN
Inventors: 田湛; 叶力力; 王德丕
Original assignee: Mobai Beijing Information Technology Co Ltd
Current assignee: Mobai Beijing Information Technology Co Ltd
Priority date: 2021-05-19
Filing date: 2021-05-19
Publication date: 2021-08-06

Abstract

The wheel rotation detection device comprises a first unipolar Hall sensor used for sensing a magnetic field with a first polarity, a second unipolar Hall sensor used for sensing a magnetic field with a second polarity, a first magnet used for generating the first magnetic field with the first polarity, a second magnet used for generating the second magnetic field with the second polarity, a processor and a brake disc rotating along with the wheel, wherein the magnets are all fixed on the brake disc; the first unipolar Hall sensor and the second unipolar Hall sensor are arranged at positions, so that in the process that the brake disc drives the first magnet and the second magnet to rotate, the state of the first unipolar Hall sensor relative to the first magnetic field changes, and the state of the second unipolar Hall sensor relative to the second magnetic field changes; the processor is configured to determine whether the wheel is rotating according to the first sensing signal and the second sensing signal output by the two unipolar hall sensors.

Description

Wheel rotation detection device, vehicle and wheel rotation detection method

Technical Field

The present disclosure relates to the field of vehicle technologies, and more particularly, to a wheel rotation detection apparatus, a vehicle, and a wheel rotation detection method for a vehicle.

Background

At present, the trip through the shared vehicle has become emerging trip mode in the city, can effectively solve city crowd's trip demand to green. In order to regulate the parking of the user, a parking area is generally set in a map to guide the user to park the used vehicle in the parking area.

When the sharing vehicle is in use, a user can send a locking instruction to the sharing vehicle through a mobile terminal using the sharing vehicle. And the sharing vehicle executes locking action under the condition of receiving the locking command.

If the sharing vehicle performs the locking action while in a non-stationary state, personal safety of a user using the sharing vehicle may be compromised. Therefore, in order to ensure the personal safety of the user, the sharing vehicle needs to detect whether the wheels rotate or not when receiving the locking command, so as to determine whether the sharing vehicle is in a static state or not, and perform the locking action when the sharing vehicle is in the static state.

Therefore, it is necessary to provide a technical solution capable of accurately detecting whether the wheels of the vehicle rotate.

Disclosure of Invention

An object of the present disclosure is to provide a new technical solution for wheel rotation detection for accurately detecting whether a wheel of a vehicle is rotated.

According to a first aspect of the present disclosure, there is provided a wheel rotation detecting apparatus, including a first unipolar hall sensor for sensing a magnetic field of a first polarity, a second unipolar hall sensor for sensing a magnetic field of a second polarity, a first magnet for generating the first magnetic field of the first polarity, a second magnet for generating the second magnetic field of the second polarity, a processor, and a brake disc rotating with a wheel, the first magnet and the second magnet being fixed to the brake disc;

the first unipolar hall sensor and the second unipolar hall sensor are arranged at positions such that, in the process that the brake disc drives the first magnet and the second magnet to rotate, the state of the first unipolar hall sensor relative to the first magnetic field changes, and the state of the second unipolar hall sensor relative to the second magnetic field changes;

the first unipolar hall sensor is configured to output a first sensing signal reflecting a state of itself with respect to the first magnetic field;

the second unipolar hall sensor is configured to output a second sensing signal reflecting a state of itself with respect to the second magnetic field;

the processor is configured to determine whether the wheel is rotating based on the first sensing signal and the second sensing signal.

Optionally, the number of the first magnets is multiple, and the first magnets are uniformly distributed around the center of the brake disc; and/or the number of the second magnets is multiple, and the second magnets are uniformly distributed around the center of the brake disc.

Optionally, the number of the first magnets and the number of the second magnets are the same, and the first magnets and the second magnets are distributed around the center of the brake disc in a staggered manner.

Optionally, the first distance is equal to the second distance, where the first distance is a distance between the first magnet and the center of the brake disc, and the second distance is a distance between the second magnet and the center of the brake disc.

Optionally, the distance between any one of the first magnets and two adjacent second magnets is equal.

Optionally, the first unipolar hall sensor and the second unipolar hall sensor are arranged at positions such that the distance between the second magnet and the second unipolar hall sensor is greater than a fourth distance when the first magnet rotates to a position where the distance between the first magnet and the first unipolar hall sensor is equal to the third distance; when the second magnet is rotated to a distance between the second magnet and the second unipolar hall sensor, which is equal to the fourth distance, the distance between the first magnet and the first unipolar hall sensor is greater than the third distance;

the third distance is the minimum distance between the first magnet and the first unipolar hall sensor in the process that the brake disc drives the first magnet to rotate; the fourth distance is the minimum distance between the second magnet and the second unipolar hall sensor in the process that the brake disc drives the second magnet to rotate.

Optionally, the first unipolar hall sensor is disposed at a position such that the first unipolar hall sensor is located at most within a magnetic field range of the first polarity of one of the first magnets; the second unipolar hall sensor is disposed such that the second unipolar hall sensor is located at most within a magnetic field range of a second polarity of the second magnet.

According to a second aspect of the present disclosure, there is provided a vehicle including the wheel rotation detecting device according to the first aspect of the present disclosure.

According to a third aspect of the present disclosure, there is provided a wheel rotation detecting method for a vehicle including a first unipolar hall sensor for sensing a magnetic field of a first polarity, a second unipolar hall sensor for sensing a magnetic field of a second polarity, a first magnet for generating the first magnetic field of the first polarity, a second magnet for generating the second magnetic field of the second polarity, and a brake disc rotating with a wheel of the vehicle, the first magnet and the second magnet being fixed on the brake disc;

the method comprises the following steps:

acquiring a first sensing signal output by the first unipolar hall sensor, wherein the first sensing signal reflects a state of the first unipolar hall sensor with respect to the first magnetic field;

acquiring a second sensing signal output by the second unipolar hall sensor, wherein the second sensing signal reflects a state of the second unipolar hall sensor with respect to the second magnetic field;

and determining whether the wheel rotates or not according to the first sensing signal and the second sensing signal.

Optionally, the determining whether the wheel rotates according to the first sensing signal and the second sensing signal includes:

determining whether a first event of a state change of the first unipolar hall sensor with respect to the first magnetic field occurs according to the first sensing signal;

determining whether a second event of the second unipolar hall sensor with respect to a state change of the second magnetic field occurs according to the second sensing signal;

determining that the wheel is rotating if both the first event and the second event occur;

determining that the wheel is not rotating if the first event and/or the second event does not occur.

Through the wheel rotation detection device of the embodiment of the disclosure, wheel rotation detection is comprehensively performed according to the first sensing signal and the second sensing signal output by the two unipolar Hall sensors, so that the detection result is more accurate.

Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a block diagram showing an example of a hardware configuration of a vehicle system that can be used to implement an embodiment of the present disclosure.

Fig. 2 shows a schematic view of one example of a wheel rotation detecting device of the embodiment of the present disclosure.

Fig. 3 shows a flow chart of a wheel rotation detection method of an embodiment of the present disclosure.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

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, further discussion thereof is not required in subsequent figures.

< hardware configuration >

As shown in fig. 1, the vehicle system 100 includes a server 1000, a client 2000, a vehicle 3000, and a network 4000.

The server 1000 provides a service point for processes, databases, and communications facilities. The server 1000 may be a unitary server or a distributed server across multiple computers or computer data centers. The server may be of various types, such as, but not limited to, a web server, a news server, a mail server, a message server, an advertisement server, a file server, an application server, an interaction server, a database server, or a proxy server. In some embodiments, each server may include hardware, software, or embedded logic components or a combination of two or more such components for performing the appropriate functions supported or implemented by the server. For example, a server, such as a blade server, a cloud server, etc., or may be a server group consisting of a plurality of servers, which may include one or more of the above types of servers, etc.

In one example, the server 1000 may be as shown in fig. 1, including a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, a display device 1500, an input device 1600. Although the server may also include speakers, microphones, and the like, these components are reasonably irrelevant to the present disclosure and are omitted here.

The processor 1100 may be, for example, a central processing unit CPU, a microprocessor MCU, or the like. The memory 1200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 1300 includes, for example, a USB interface, a serial interface, an infrared interface, and the like. Communication device 1400 is capable of wired or wireless communication, for example. The display device 1150 is, for example, a liquid crystal display panel, an LED display panel touch display panel, or the like. Input devices 1160 may include, for example, a touch screen, a keyboard, and the like.

In the present embodiment, the client 2000 is an electronic device having a communication function and a service processing function. The client 2000 may be a mobile terminal, such as a mobile phone, a laptop, a tablet, a palmtop, etc. In one example, the client 2000 is a device that performs management operations on the vehicle 3000, such as a mobile phone installed with an Application (APP) that supports operation and management of the vehicle.

As shown in fig. 1, the client 2000 may include a processor 2100, a memory 2200, an interface device 2300, a communication device 2400, a display device 2500, an input device 2600, a speaker 2700, a microphone 2800, and so on. The processor 2100 may be a central processing unit CPU, a microprocessor MCU, or the like. The memory 2200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 2300 includes, for example, a USB interface, a headphone interface, and the like. Communication device 2400 is capable of wired or wireless communication, for example. The display device 2500 is, for example, a liquid crystal display panel, a touch panel, or the like. The input device 2600 may include, for example, a touch screen, a keyboard, and the like. A user can input/output voice information through the speaker 2700 and the microphone 2800.

The vehicle 3000 is any vehicle that can give the right to share the use by different users in time or separately, for example, a shared bicycle, a shared moped, a shared electric vehicle, a shared vehicle, and the like. The vehicle 3000 may be a bicycle, a tricycle, an electric scooter, a motorcycle, a four-wheeled passenger vehicle, or the like.

As shown in fig. 1, vehicle 3000 may include a processor 3100, a memory 3200, an interface device 3300, a communication device 3400, a display device 3500, an input device 3600, a positioning device 3700, a bluetooth broadcast device 3800, and so forth. The processor 3100 may be a central processing unit CPU, a microprocessor MCU, or the like. The memory 3200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface 3300 includes, for example, a USB interface, a headphone interface, and the like. The communication device 3400 can perform wired or wireless communication, for example. The output device 3500 may be, for example, a device that outputs a signal, may be a display device such as a liquid crystal display screen or a touch panel, or may be a speaker or the like that outputs voice information or the like. The input device 3600 may include, for example, a touch panel, a keyboard, or the like, and may input voice information through a microphone. The positioning device 3700 is used to provide positioning function, and may be, for example, a GPS positioning module, a beidou positioning module, etc. The bluetooth broadcasting device 3800 is for broadcasting a packet containing own vehicle information by bluetooth.

The network 4000 may be a wireless communication network or a wired communication network, and may be a local area network or a wide area network. In the vehicle system shown in fig. 1, a vehicle 3000 and a server 1000, and a client 2000 and the server 1000 can communicate with each other through a network 4000. The vehicle 3000 may be the same as the server 1000, and the network 4000 through which the client 2000 communicates with the server 1000 may be different from each other.

It should be understood that although fig. 1 shows only one server 1000, client 2000, vehicle 3000, it is not meant to limit the corresponding number, and multiple servers 1000, clients 2000, vehicles 3000 may be included in the vehicle system 100.

Taking the vehicle 3000 as an example of a shared bicycle, the vehicle system 100 is a shared bicycle system. The server 1000 is used to provide all the functionality necessary to support shared bicycle use. The client 2000 may be a mobile phone on which a shared bicycle application is installed, which may help a user to obtain a corresponding function using the vehicle 3000, and the like.

The vehicle system 100 shown in fig. 1 is merely illustrative and is in no way intended to limit the present disclosure, its application, or uses.

Although fig. 1 shows only one server 1000, one client 2000, and one vehicle 3000, it should be understood that, in a specific application, the vehicle system 100 may include a plurality of servers 1000, a plurality of clients 2000, and a plurality of vehicles 3000 according to actual requirements.

In an embodiment of the present disclosure, the memory 1200 of the server 1000 is used for storing instructions for controlling the processor 1100 to operate to execute the processing method of the parking area provided by the embodiment of the present disclosure.

Although a number of devices are shown for server 1000 in fig. 1, the present disclosure may refer to only some of the devices, for example, server 1000 refers to only memory 1200 and processor 1100.

In an embodiment of the present disclosure, the memory 2200 of the client 2000 is configured to store instructions for controlling the processor 2100 to execute the processing method of the client 2000 to execute the parking area provided by the embodiment of the present disclosure.

Although multiple devices are shown in fig. 1 for client 2000, the disclosure may refer to only some of the devices, e.g., client 2000 refers only to memory 2200 and processor 2100.

In the above description, the skilled person can design the instructions according to the disclosed solution of the present disclosure. How the instructions control the operation of the processor is well known in the art and will not be described in detail herein.

< apparatus embodiment >

Fig. 2 is a schematic structural view of a wheel rotation detecting device according to an embodiment of the present disclosure.

As shown in fig. 2, the wheel rotation detecting apparatus 2000 of the present embodiment may include a first unipolar hall sensor 2100, a second unipolar hall sensor 2200, a first magnet 2300 for generating a first magnetic field of a first polarity, a second magnet 2400 for generating a second magnetic field of a second polarity, a processor 2500, and a brake disc 2600 rotating with the wheel. Among them, the first unipolar hall sensor 2100 may be a unipolar hall sensor for sensing a magnetic field of a first polarity, and the second unipolar hall sensor 2200 may be a unipolar hall sensor for sensing a magnetic field of a second polarity.

In this embodiment, the number of the first unipolar hall sensors 2100 may be one or more; the number of the second unipolar hall sensors 2200 may be one or more. The present disclosure is not limited thereto.

In one example, the first magnet 2300 and the second magnet 2400 may both be bipolar magnets. Then, the magnetic pole of the first magnet 2300 having the second polarity may be directed to the center of the gate 2600, and the magnetic pole of the second magnet 2400 having the first polarity may be directed to the center of the gate 2600, as shown in fig. 1.

In another example, the first magnet 2300 may be a unipolar magnet having only a first polarity, and the second magnet 2400 may be a unipolar magnet having only a second polarity.

The first magnet 2300 and the second magnet 2400 may be fixed to the shutter disk 2600. Then, the first magnet 2300 and the second magnet 2400 are rotated about the center of the brake disc 2600 as the brake disc 2600 rotates along with the wheel. In this embodiment, the gate 2600 is rotated around a central axis that is a straight line passing through the center and perpendicular to the gate 2600.

In one example, the gate 2600 can be a disk, such as a smooth-edged disk, or a gear-structured disk, which is not limited herein.

Further, the first magnet 2300 and the second magnet 2400 may be fixed at positions near the edge of the shutter disk 2600.

With respect to the arrangement positions of the first unipolar hall sensor 2100 and the second unipolar hall sensor 2200, when the gate 2600 drives the first magnet 2300 and the second magnet 2400 to rotate, the state of the first unipolar hall sensor 2100 with respect to the first magnetic field changes, and the state of the second unipolar hall sensor 2200 with respect to the second magnetic field changes.

Since the magnetic field that the first unipolar hall sensor 2100 can sense is a magnetic field of the first polarity, the first unipolar hall sensor 2100 may sense the first magnetic field of the first polarity generated by the first magnet 2300 as the gate 2600 rotates. Since the magnetic field that the second unipolar hall sensor 2200 can sense is a magnetic field of the second polarity, the second unipolar hall sensor 2200 can sense the second magnetic field of the second polarity generated by the second magnet 2400.

That is, during one rotation of the gate 2600, the state of the first unipolar hall sensor 2100 with respect to the first magnetic field is changed from the first magnetic field of the first polarity generated by the first magnet 2300 being out of the first magnetic field of the first polarity generated by the first magnet 2300 to the first magnetic field of the first polarity generated by the first magnet 2300; the first magnetic field of the first polarity generated by the first magnet 2300 may be out of the first magnetic field of the first polarity generated by the first magnet 2300, and may be out of the first magnetic field of the first polarity generated by the first magnet 2300. The second unipolar hall sensor 2200 changes the state of the second magnetic field of the second polarity generated by the second magnet 2400 from the state of the second magnetic field of the second polarity generated by the second magnet 2400 being outside the second magnetic field of the second polarity generated by the second magnet 2400 to the state of the second magnetic field of the second polarity generated by the second magnet 2400 being inside the second magnetic field of the second polarity generated by the second magnet 2400; the outside of the second magnetic field of the second polarity generated by the second magnet 2400 may be positioned within the second magnetic field of the second polarity generated by the second magnet 2400, and may be positioned outside the second magnetic field of the second polarity generated by the second magnet 2400.

Further, in a case where the first magnet 2300 is rotated to a position closest to the first unipolar hall sensor 2100, the first unipolar hall sensor 2100 may be positioned within the first magnetic field of the first polarity generated by the first magnet 2300; when the first magnet 2300 is rotated to the farthest position from the first unipolar hall sensor 2100, the first unipolar hall sensor 2100 is positioned outside the first magnetic field of the first polarity generated by the first magnet 2300.

Still further, in a case where the second magnet 2400 is rotated to a position closest to the second unipolar hall sensor 2200, the second unipolar hall sensor 2200 may be located within a second magnetic field of a second polarity generated by the second magnet 2400; in the case where the second magnet 2400 is rotated to the farthest position from the second unipolar hall sensor 2200, the second unipolar hall sensor 2200 is located outside the second magnetic field of the second polarity generated by the second magnet 2400.

In one embodiment of the present disclosure, the first unipolar hall sensor 2100 and the second unipolar hall sensor 2200 are positioned such that the first unipolar hall sensor 2100 enters the first magnetic field of the first polarity generated by the first magnet 2300 at a different time than the second unipolar hall sensor 2200 enters the second magnetic field of the second polarity generated by the second magnet 2400 during the rotation of the magnet 2300 driven by the gate 2600.

That is, during the process that the gate 2600 drives the first magnet 2300 and the second magnet 2400 to rotate, the first unipolar hall sensor 2100 and the second unipolar hall sensor 2200 sequentially enter the magnetic fields of the corresponding polarities.

In this embodiment, the first unipolar hall sensor 2100 may be configured to output a first sensing signal that may reflect a state of a first magnetic field of a first polarity generated by the first unipolar hall sensor 2100 with respect to the first magnet 2300. For example, the first unipolar hall sensor 2100 may output a positive high-level first sensing signal when it is located in the first magnetic field of the first polarity generated by the first magnet 2300; the first unipolar hall sensor 2100 may output a first sensing signal of a low level when it is positioned outside the first magnetic field of the first polarity generated by the first magnet 2300.

The second unipolar hall sensor 2200 may be configured to output a second sensing signal that may reflect a state of the second unipolar hall sensor 2200 with respect to the second magnetic field of the second polarity generated by the second magnet 2400. For example, the second unipolar hall sensor 2200 may output a negative high-level second sensing signal when it is located in the second magnetic field of the second polarity generated by the second magnet 2400; the second unipolar hall sensor 2200 may also output a second sensing signal of a low level when it is positioned outside the second magnetic field of the second polarity generated by the second magnet 2400.

The processor 2500 may determine whether the wheel is rotating according to the first sensing signal and the second sensing signal.

Specifically, the processor 2500 may determine that the wheel rotates when it is detected that the number of level transitions of the first sensing signal and the second sensing signal within the set time exceeds a preset threshold number. The setting time may be set in advance according to an application scenario or a specific requirement, and for example, the setting time may be 2 s. The threshold number of times may be set in advance according to an application scenario or a specific requirement, and for example, the threshold number of times may be 5.

Further, the first sensing signal generates a level jump, that is, the first sensing signal changes from a positive high level to a low level, or the first sensing signal changes from a low level to a positive high level. The second sensing signal generates a level jump, that is, the second sensing signal changes from a negative high level to a low level, or changes from a low level to a negative high level.

In this embodiment, if one of the unipolar hall sensors happens to be located at the magnetic field boundary of the corresponding polarity under the condition that the wheel stops rotating, a small disturbance may cause the first sensing signal output by the unipolar hall sensor to make multiple transitions. Therefore, if the wheel rotation detection is performed based on only the unipolar hall sensor, erroneous determination may be caused.

In this embodiment, by providing the first unipolar hall sensor 2100 and the second unipolar hall sensor 2200, when one of the unipolar hall sensors is located right at the boundary of the magnetic field with the corresponding polarity, the other unipolar hall sensor may be stably located in the magnetic field with the corresponding polarity or outside the magnetic field with the corresponding polarity, and the output sensing signal does not jump due to external interference.

The processor 2500 comprehensively detects the rotation of the wheel according to the first sensing signal output by the first unipolar hall sensor 2100 and the second sensing signal output by the second unipolar hall sensor 2200, that is, determines that the wheel rotates when the number of times of level transitions occurring in the set time of the first sensing signal and the second sensing signal exceeds a preset number threshold, so that the detection result is more accurate.

In one embodiment of the present disclosure, the number of the first magnets 2300 may be plural, and the first magnets 2300 may be uniformly distributed around the center of the gate 2600; and/or, the number of the second magnets 2400 may be plural, and the second magnets 2400 may be uniformly distributed around the center of the gate 2600.

In the case that the plurality of first magnets 2300 are uniformly distributed around the center of the gate disk 2600, the included angle between the straight lines of every two adjacent first magnets 2300 passing through the center of the gate disk 2500 is equal.

Specifically, when the number of the first magnets 2300 is M (M is a positive integer greater than 1), the adjacent first magnets 2300 may be first and second magnets, and a straight line passing through the first magnet and the center of the brake disc 2500 may be a first straight line, and a straight line passing through the second magnet and the center of the brake disc 2500 may be a second straight lineHowever, the angle between the first line and the second line may be

In the case where the plurality of second magnets 2400 are uniformly distributed around the center of the gate disk 2600, an angle between straight lines of every two adjacent second magnets 2400 passing through the center of the gate disk 2500 is equal.

Specifically, in the case where the number of the second magnets 2400 is K (K is a positive integer greater than 1), the adjacent second magnets 2400 may be a third magnet and a fourth magnet, a straight line passing through the third magnet and the center of the brake disc 2500 may be a third straight line, a straight line passing through the fourth magnet and the center of the brake disc 2500 may be a fourth straight line, and then, an included angle between the third straight line and the fourth straight line may be

In one embodiment of the present disclosure, the number of the first magnets 2300 and the second magnets 2400 is the same, and the first magnets 2300 and the second magnets 2400 are staggered around the center of the shutter disk 2600.

In the case where the first magnets 2300 and the second magnets 2400 are alternately arranged around the center of the shutter disk 2600, the magnet adjacent to each of the first magnets 2300 is the second magnet 2400, and the magnet adjacent to each of the second magnets 2400 is the first magnet 2300.

In one embodiment of the present disclosure, the first distance is equal to a second distance, wherein the first distance is a distance between the first magnet 2300 and a center of the gate 2600, and the second distance is a distance between the second magnet 2400 and the center of the gate 2600.

In one embodiment of the present disclosure, the distance between any one of the first magnets 2300 and the adjacent two second magnets 2400 is equal.

In this embodiment, the first distance and the second distance are equal, and the distances between any one of the first magnets 2300 and two adjacent second magnets 2400 are equal, which means that, for a fifth straight line passing through the centers of any one of the first magnets 2300 and the gate disc 2600, a sixth straight line passing through the centers of one of the second magnets 2400 and the gate disc 2600 adjacent to the one of the first magnets, and a seventh straight line passing through the centers of the other one of the second magnets 2400 and the gate disc 2600 adjacent to the one of the first magnets, a first included angle is equal to a second included angle, where the first included angle is an included angle between the sixth straight line and the fifth straight line, and the second included angle is an included angle between the seventh straight line and the fifth straight line.

Then, in the case where the numbers of the first and

second magnets

2300 and 2400 are both N, the first and second angles may be

In one embodiment of the present disclosure, the first and second

unipolar hall sensors

2100 and 2200 are disposed at positions such that the distance between the second magnet 2400 and the second unipolar hall sensor 2200 is greater than the fourth distance in a case where the first magnet 2300 is rotated to a distance equal to the third distance from the first unipolar hall sensor 2100. The third distance is the minimum distance between the first magnet 2300 and the first unipolar hall sensor 2100 in the process that the gate disc 2600 drives the first magnet 2300 to rotate; the fourth distance is a minimum distance between the second magnet 2400 and the second unipolar hall sensor 2200 in a process in which the gate 2600 drives the second magnet 2400 to rotate.

In this embodiment, the first and second

unipolar hall sensors

2100 and 2200 are disposed at positions such that the distance between the first magnet 2300 and the first unipolar hall sensor 2100 is greater than the third distance when the second magnet 2400 is rotated to be equal to the fourth distance from the second unipolar hall sensor 2200.

In one example, the first unipolar hall sensor 2100 and the second unipolar hall sensor 2200 may be disposed as shown in fig. 2. In this way, the first unipolar hall sensor 2100 may enter the magnetic field range of the first magnet 2300 at a different time from the second unipolar hall sensor 2200.

In one embodiment of the present disclosure, the third distance and the fourth distance may be equal.

In one embodiment of the present disclosure, the first unipolar hall sensor 2100 is disposed such that the first unipolar hall sensor 2100 is located at most within a range of a magnetic field of a first polarity generated by the one first magnet 2300; the second unipolar hall sensor 2200 is disposed such that the second unipolar hall sensor 2200 is located at most within the magnetic field of the second polarity generated by the one second magnet 2400.

With this embodiment, during the rotation of the gate 2600, the first unipolar hall sensor 2100 can accurately sense whether it is within the magnetic field of each first magnet 2300; the second unipolar hall sensor 2200 may accurately sense whether it is within the magnetic field range of each of the second magnets 2400, and may also improve the wheel rotation detection accuracy.

< vehicle embodiment >

The present embodiment also provides a vehicle that may include the wheel rotation detecting device in any of the foregoing embodiments.

< method examples >

The present embodiment also provides a wheel rotation detecting method for a vehicle including a first unipolar hall sensor for sensing a magnetic field of a first polarity, a second unipolar hall sensor for sensing a magnetic field of a second polarity, a first magnet for generating the first magnetic field of the first polarity, a second magnet for generating the second magnetic field of the second polarity, and a brake disc rotating with a wheel of the vehicle. The first magnet and the second magnet are fixed on the brake disc.

The first unipolar Hall sensor and the second unipolar Hall sensor are arranged at positions, so that in the process that the brake disc drives the first magnet and the second magnet to rotate, the state of the first unipolar Hall sensor relative to the first magnetic field changes, and the state of the second unipolar Hall sensor relative to the second magnetic field changes.

As shown in fig. 3, the method may include steps S3100 to S3300 as follows:

step S3100, acquiring a first sensing signal output by a first unipolar Hall sensor; the first sensing signal reflects the state of a first magnetic field of a first polarity generated by the first unipolar hall sensor relative to the first magnet.

Specifically, the first unipolar hall sensor may output a positive high-level first sensing signal when being located in a first magnetic field of a first polarity generated by the first magnet; the first unipolar hall sensor may output a first sensing signal of a low level when the first unipolar hall sensor is located outside the first magnetic field of the first polarity generated by the first magnet.

Step S3200, acquiring a second sensing signal output by a second unipolar Hall sensor; the second sensing signal reflects the state of a second magnetic field of a second polarity generated by the second unipolar hall sensor relative to the second magnet.

The second unipolar hall sensor may output a negative high-level second sensing signal while being located within a second magnetic field of a second polarity generated by the second magnet; the second unipolar hall sensor may output a second sensing signal of a low level when the second unipolar hall sensor is located outside the second magnetic field of the second polarity generated by the second magnet.

And step S3300, determining whether the wheel rotates according to the first sensing signal and the second sensing signal.

In one embodiment of the present disclosure, determining whether the wheel is rotated according to the first sensing signal and the second sensing signal may include steps S3310 to S3330 as follows:

step S3310 determines whether a first event of a state change of the first single-polarity sensor with respect to a first magnetic field of a first polarity generated by the first magnet occurs according to the first sensing signal.

In this embodiment, it may be detected whether the number of times of level transitions of the first sensing signal within the set time exceeds a preset number threshold, and if so, it is determined that a first event occurs; if not, it is determined that the first event has not occurred. The setting time may be set in advance according to an application scenario or a specific requirement, and for example, the setting time may be 2 s. The threshold number of times may be set in advance according to an application scenario or a specific requirement, and for example, the threshold number of times may be 5.

The first sensing signal generates a level transition, which may be a high level where the first sensing signal is positive and changes to a low level, or a high level where the first sensing signal changes from a low level to a positive level.

Step S3320, determining whether a second event of a state change of the second unipolar sensor with respect to a second magnetic field of a second polarity generated by the second magnet occurs according to the second sensing signal.

In this embodiment, it may be detected whether the number of times of level jump of the second sensing signal within the set time exceeds a preset number threshold, and if so, it is determined that the second event occurs; if not, it is determined that the second event has not occurred.

The second sensing signal generates a level transition, which may be a change from a negative high level to a low level of the second sensing signal, or a change from a low level to a negative high level of the second sensing signal.

And step S3330, determining that the wheel rotates under the condition that the first event and the second event both occur.

Step S3340, in case the first event and/or the second event does not occur, determines that the wheel is not rotated.

In this embodiment, if the first event is detected to occur and the second event is not detected to occur, it may be considered that the first unipolar hall sensor is located at a boundary of a magnetic field range corresponding to the first magnet, and the number of level transitions occurring in the first sensing signal within the set time due to external interference exceeds a preset number threshold, that is, the first event occurs. If the first event is not detected to occur and the second event is detected to occur, the second unipolar hall sensor is located at the boundary of the magnetic field range corresponding to the second magnet, and the frequency of level jump of the second sensing signal within the set time exceeds the preset frequency threshold value due to external interference, that is, the second event occurs. Therefore, in order to improve the accuracy of the wheel rotation detection result, in the case where the first event or the second event occurs, it can be considered that the wheel is not rotated.

In one embodiment of the present disclosure, the method may further include: in response to the lock-off command, the aforementioned steps S3100 to S3300 are executed, and when it is determined that the wheel is not rotating, the lock-off operation is executed.

In one example, the mobile terminal may generate a lock-off command in response to a user clicking a target button, and send the lock-off command directly to the vehicle. Specifically, the mobile terminal may send the locking instruction to the vehicle through the network, or may send the locking instruction to the vehicle through short-distance communication.

In another example, the mobile terminal may also generate a lock-off request in response to an operation of clicking a target button by a user, and send the lock-off request to the server through the network; the server responds to the locking request, generates a locking instruction and transmits the locking instruction to the vehicle through the network.

In this embodiment, before the vehicle performs the locking action, whether the wheel rotates is comprehensively detected according to the sensing signals output by the two unipolar hall sensors, so that the finally obtained detection result is more accurate, and the problem that the detection result is inaccurate due to the fact that one unipolar hall sensor is easily interfered at the boundary of the magnetic field range of the magnet with the corresponding polarity is avoided. Then, the locking operation is executed according to the detection result, and the problem that the user cannot normally lock the vehicle due to external interference can be avoided under the condition that the safety of the user is ensured.

The present disclosure may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present disclosure.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry that can execute the computer-readable program instructions implements aspects of the present disclosure by utilizing the state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).

Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). 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 systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, by software, and by a combination of software and hardware are equivalent.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A wheel rotation detection device is characterized by comprising a first unipolar Hall sensor used for sensing a magnetic field with a first polarity, a second unipolar Hall sensor used for sensing a magnetic field with a second polarity, a first magnet used for generating the first magnetic field with the first polarity, a second magnet used for generating the second magnetic field with the second polarity, a processor and a brake disc rotating along with a wheel, wherein the first magnet and the second magnet are fixed on the brake disc;

2. The wheel rotation detecting device according to claim 1, wherein the number of the first magnets is plural, and the first magnets are evenly distributed around the center of the brake disc; and/or the number of the second magnets is multiple, and the second magnets are uniformly distributed around the center of the brake disc.

3. The wheel rotation detecting device according to claim 2, wherein the first magnets and the second magnets are equal in number, and are alternately distributed around the center of the brake disc.

4. The wheel rotation detecting device according to claim 2, wherein a first distance and a second distance are equal, wherein the first distance is a distance between the first magnet and a center of the brake disc, and the second distance is a distance between the second magnet and the center of the brake disc.

5. The wheel rotation detecting device according to claim 2, wherein a distance between any one of the first magnets and two adjacent second magnets is equal.

6. The wheel rotation detection device of claim 1, wherein the first unipolar hall sensor and the second unipolar hall sensor are positioned such that the distance between the second magnet and the second unipolar hall sensor is greater than a fourth distance when the first magnet is rotated to a distance equal to a third distance from the first unipolar hall sensor; when the second magnet is rotated to a distance between the second magnet and the second unipolar hall sensor, which is equal to the fourth distance, the distance between the first magnet and the first unipolar hall sensor is greater than the third distance;

7. The wheel rotation detection device of claim 1, said first unipolar hall sensor being positioned such that said first unipolar hall sensor is located at most within a magnetic field of a first polarity of one of said first magnets; the second unipolar hall sensor is disposed such that the second unipolar hall sensor is located at most within a magnetic field range of a second polarity of the second magnet.

8. A vehicle comprising the wheel rotation detecting device according to any one of claims 1 to 7.

9. A wheel rotation detecting method for a vehicle including a first unipolar hall sensor for sensing a magnetic field of a first polarity, a second unipolar hall sensor for sensing a magnetic field of a second polarity, a first magnet for generating a first magnetic field of the first polarity, a second magnet for generating a second magnetic field of the second polarity, and a brake disc rotating with a wheel of the vehicle, the first magnet and the second magnet being fixed to the brake disc;

the method comprises the following steps:

10. The method of claim 9, wherein determining whether the wheel is rotating based on the first sensing signal and the second sensing signal comprises: