JPH0781923B2 - Road surface friction force detection device by spindle, vertical load detection device and road surface friction coefficient detection device - Google Patents
Road surface friction force detection device by spindle, vertical load detection device and road surface friction coefficient detection deviceInfo
- Publication number
- JPH0781923B2 JPH0781923B2 JP2011251A JP1125190A JPH0781923B2 JP H0781923 B2 JPH0781923 B2 JP H0781923B2 JP 2011251 A JP2011251 A JP 2011251A JP 1125190 A JP1125190 A JP 1125190A JP H0781923 B2 JPH0781923 B2 JP H0781923B2
- Authority
- JP
- Japan
- Prior art keywords
- spindle
- strain
- detection device
- road surface
- vertical load
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000001514 detection method Methods 0.000 title claims description 27
- 238000005452 bending Methods 0.000 claims description 25
- 238000010586 diagram Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010008 shearing Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/12—Friction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/20—ASR control systems
- B60T2270/208—ASR control systems adapted to friction condition
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、車両の急制動時に車輪のロック（固着）を防
止するためのアンチロックブレーキ装置（ABS）及び車
両駆動時の車輪のスリップを防止するためのトラクショ
ンコントロール装置を構成する要素となり得るスピンド
ルによる路面摩擦力検出装置、垂直荷重検出装置、及び
路面摩擦係数検出装置に関するものである。The present invention relates to an anti-lock brake device (ABS) for preventing wheel lock (sticking) during sudden braking of a vehicle and slip of the wheel during vehicle driving. The present invention relates to a road surface frictional force detection device, a vertical load detection device, and a road surface frictional coefficient detection device, which are spindles and can be an element that constitutes a traction control device for prevention.
従来の車両、例えば自動車のアンチロックブレーキ装置
（ABS）では、車体速度と車輪速度をもとに、スリップ
比が、ある一定の範囲に入るよう、制動を自動制御する
方式が、一般的である（例えば、特公昭59-30585号公
報、特開昭60-61354号公報）。車体速度は、車輪速度か
らの推定値であるため、スリップ比の制御における、精
度上の問題がある。車体速度を正確に把握するために
は、対地速度センサー（例えば特開昭63-64861号公
報）、車体減速度センサー（例えば、特開昭63-170157
号公報）などの、複雑な装置を必要とする。In a conventional vehicle, for example, an anti-lock brake device (ABS) for an automobile, it is general to automatically control braking so that a slip ratio falls within a certain range based on a vehicle speed and a wheel speed. (For example, JP-B-59-30585 and JP-A-60-61354). Since the vehicle body speed is an estimated value from the wheel speed, there is a problem in accuracy in controlling the slip ratio. In order to accurately grasp the vehicle body speed, a ground speed sensor (for example, JP-A-63-64861) and a vehicle body deceleration sensor (for example, JP-A-63-170157).
Complicated publication) is required.
特開昭63-25169号公報に記載される装置では、車輪に作
用する、路面摩擦力のトルク（タイヤトルク）を、車輪
角加速度と、ブレーキ液圧とから演算により算出して、
ブレーキ液圧上昇中のタイヤトルクの下降の始まりを、
車輪のロック直前状態の判別材料の一つとして採用して
いる。しかしながら、この装置ではタイヤトルクを、車
輪角加速度とブレーキ液圧とから、演算によって間接的
に求めており、車輪の慣性能率、ブレーキの制動効率等
の不確定な定数の存在のため、計算値に精度上の問題が
ある。In the device described in JP-A-63-25169, the torque (tire torque) of the road surface frictional force acting on the wheel is calculated from the wheel angular acceleration and the brake fluid pressure,
At the beginning of the decrease in tire torque while the brake fluid pressure is increasing,
It is used as one of the materials for determining the state immediately before the wheel is locked. However, in this device, the tire torque is indirectly obtained by calculation from the wheel angular acceleration and the brake fluid pressure, and because of the existence of uncertain constants such as the inertia ratio of the wheel and the braking efficiency of the brake, the calculated value is There is a problem with accuracy.
トラクションコントロール装置に於いても、従来の装置
は、ABSと同様に車輪速度を測定することにより、加速
時の車輪のスリップを検出している。この場合も車輪速
度に基づいて制御が行われるABSと同様の問題が存在す
る。Also in the traction control device, the conventional device detects the wheel slip at the time of acceleration by measuring the wheel speed similarly to the ABS. In this case as well, there is a problem similar to ABS in which control is performed based on the wheel speed.
本発明は、従来の装置が有する以上のの欠点を除去し、
アンチロックブレーキ装置若しくは、トラクションコン
トロール装置を構成する要素となり得る路面摩擦力検出
装置、垂直荷重検出装置、及び路面摩擦係数検出装置を
提供することを目的とする。The present invention eliminates the above-mentioned drawbacks of conventional devices,
An object of the present invention is to provide a road surface frictional force detection device, a vertical load detection device, and a road surface friction coefficient detection device that can be an element constituting an antilock brake device or a traction control device.
本発明は、路面摩擦力検出装置、垂直荷重検出装置、及
び路面摩擦係数検出装置であって、特許請求の範囲第１
項乃至第３項に記載の構成を備えたものである。The present invention relates to a road surface frictional force detection device, a vertical load detection device, and a road surface frictional coefficient detection device, and claims 1
The configuration described in the items 1 to 3 is provided.
車両の各車輪の路面との間の摩擦力は、力学的にその車
輪による車体への制動力と等価である。このため、車輪
の路面との接地点から車体までの各構造物の任意の点に
於て、路面摩擦力に比例した応力及び歪が生じる。した
がって、これらの構造物中の適当なある点でその構造物
の歪を測定し、この歪を通して路面摩擦力を検出するこ
とができる。車輪がタイヤを有する車両であれば、上記
構造物のうちタイヤを支持するスピンドルに於いて路面
摩擦力を検出できる。歪ゲージを貼付したセンサー部を
内蔵したスピンドルにより歪を測定してもよい。歪量が
タイヤに比べて小さいけれども、回転部分ではないため
に路面摩擦力検出装置の構成を単純化することができ、
センサー部が内蔵された構造であるため防水性、耐候性
を有する構成とすることが容易となる。The frictional force between each wheel of the vehicle and the road surface is mechanically equivalent to the braking force applied to the vehicle body by the wheel. Therefore, stress and strain proportional to the road surface friction force occur at any point of each structure from the ground contact point of the wheel with the road surface to the vehicle body. Therefore, it is possible to measure the strain of the structure at an appropriate point in these structures and detect the road friction force through this strain. In the case of a vehicle whose wheels have tires, the road surface frictional force can be detected by the spindle supporting the tire among the above-mentioned structures. The strain may be measured by a spindle having a sensor unit with a strain gauge attached. Although the amount of strain is smaller than the tire, it is not a rotating part, so the structure of the road surface friction force detection device can be simplified,
Since the sensor section is built in, it is easy to have a waterproof and weatherproof structure.
路面が各車輪に作用する垂直抗力、或はその反作用であ
る各車輪が路面に作用する垂直荷重も、同様の理由によ
り、スピンドルに於ける歪を測定することにより検出す
ることができる。For the same reason, the vertical force exerted by the road surface on each wheel, or the reaction, that is, the vertical load exerted by each wheel on the road surface, can be detected by measuring the strain on the spindle for the same reason.
車両の中で特に自動車への応用を例にとり実施例を記述
する。自動車以外の車両に於ても同様に適用可能であ
る。なお、ここに示すのは好ましい実施形態の一例であ
って、特許請求の範囲はここに示す実施例に限定される
ものではい。An embodiment will be described taking an application to a vehicle among vehicles as an example. The same applies to vehicles other than automobiles. It should be noted that what is shown here is an example of a preferred embodiment, and the scope of the claims is not limited to the example shown here.
本発明の実施例に係る路面摩擦力検出装置、垂直加重検
出装置、及び路面摩擦係数検出装置を第１図〜第26図を
参照して説明する。A road surface frictional force detection device, a vertical load detection device, and a road surface friction coefficient detection device according to an embodiment of the present invention will be described with reference to FIGS. 1 to 26.
通常スピンドル21は、第１図のテーパ形状を有しており
テーパを有しない第２図の平行形状のものもある。簡単
の為ここでは、第２図の平行形状のものに於いて説明す
る。但し、テーパ形状のものについても同様である。The normal spindle 21 has the tapered shape shown in FIG. 1 and may have the parallel shape shown in FIG. 2 without the taper. For simplicity, the parallel shape shown in FIG. 2 will be described here. However, the same applies to the tapered shape.
第３図〜第23図記載の矢印12、13、14は、それぞれスピ
ンドル21のスピンドル軸方向、進行方向及び上下方向を
示す。Arrows 12, 13, and 14 shown in FIGS. 3 to 23 indicate the spindle axis direction, the traveling direction, and the vertical direction of the spindle 21, respectively.
歪ゲージ１〜4,5〜８を用いてスピンドルの歪を測定す
ることにより、路面摩擦力及び垂直荷重を検出する。歪
ゲージ自体は、抵抗線の電気抵抗が歪に比例して変化す
ることを利用したもので、公知の技術である。抵抗線を
内蔵した長方形フイルムからなり、その長手方向の引っ
張り歪及び圧縮歪を検出するのが代表的である。Road friction and vertical load are detected by measuring the strain of the spindle using strain gauges 1 to 4, 5 and 8. The strain gauge itself utilizes the fact that the electric resistance of the resistance wire changes in proportion to strain, and is a known technique. It is typically composed of a rectangular film containing a resistance wire, and it is typical to detect tensile strain and compressive strain in the longitudinal direction.
２枚の歪ゲージを直交させ、直交する２軸方向に引っ張
りもしくは、圧縮歪を測定し得る歪ゲージ（仮にクロス
ゲージと称す）が市販されている。Strain gauges (tentatively referred to as cross gauges) are commercially available that allow two strain gauges to be orthogonal to each other and to pull in a biaxial direction orthogonal to each other or to measure compressive strain.
第３図のように８枚の歪ゲージ１〜4,5〜８をスピンド
ル21の表面に貼付する。歪ゲージの貼付位置は、スピン
ドル21の付け根若しくは、付け根付近が望ましい。スピ
ンドルに加わる垂直荷重を検出するための４枚１組の歪
ゲージ１、２、３、４、及びこのスピンドルに加わる路
面摩擦力を検出するための、同じく４枚１組の歪ゲージ
５、６、７、８を第４図に示されるように、それぞれブ
リッジ回路に組み、各ブリッジ回路の出力を増幅器９、
10に印加する。As shown in FIG. 3, eight strain gauges 1 to 4, 5 to 8 are attached to the surface of the spindle 21. The position where the strain gauge is attached is preferably at or near the base of the spindle 21. A set of four strain gauges 1, 2, 3, 4 for detecting a vertical load applied to the spindle, and a set of four strain gauges 5, 6 for detecting a road friction force applied to the spindle , 7 and 8 are assembled in a bridge circuit as shown in FIG. 4, and the output of each bridge circuit is connected to an amplifier 9,
Apply to 10.
１組の歪ゲージ１、２、３、４は第３図に示すように、
中心軸を含む水平面とこのスピンドル21の表面との交線
上に於て、この交線と45°の角度をなす方向の圧縮歪及
び引っ張り歪を測定するように貼付する。１と２また３
と４とがそれぞれスピンドル21の中心軸に対して対称の
位置になるように貼付する。他の１組の歪ゲージ５、
６、７、８は、第３図に示すように、スピンドル21の中
心軸を含む垂直面と、このスピンドル21の表面との交線
上に於て、この交線と45°の角度をなす方向の圧縮歪及
び引っ張り歪を測定するように貼付する。５と６また７
と８とがそれぞれ中心軸に対して、対称の位置になるよ
うに貼付する。As shown in FIG. 3, one set of strain gauges 1, 2, 3, 4 is
On a line of intersection between the horizontal plane including the central axis and the surface of the spindle 21, the tape is attached so as to measure the compressive strain and the tensile strain in a direction forming an angle of 45 ° with the line of intersection. 1 and 2 or 3
And 4 are attached so that they are symmetric with respect to the central axis of the spindle 21. Another set of strain gauges 5,
As shown in FIG. 3, 6, 7 and 8 are on the line of intersection between the vertical plane including the central axis of the spindle 21 and the surface of the spindle 21, and the direction forming an angle of 45 ° with this line of intersection. It is attached so that the compression strain and tensile strain of is measured. 5 and 6 or 7
And 8 are attached so that they are symmetric with respect to the central axis.
スピンドル21に加わる垂直荷重により、中心軸を含む垂
直面上に於て、中心軸が曲がる曲げ変形が加わる。同時
に、中心軸に対して、垂直な断面に、垂直荷重に等しい
大きさのせん断力が垂直方向に加わる。このせん断力に
比例して、スピンドル21にせん断歪が生じる。歪ゲージ
１、２、３、４の組からなるブリッジ回路は、このせん
断歪を検出する。仮に上記曲げ変形によって、各歪ゲー
ジが圧縮又は伸張を受けたとしても、前記のように、１
組の歪ゲージ１、２、３、４でブリッジ回路を構成して
いるから、この曲げ変形の影響が相殺される。すなわ
ち、増幅器９の電圧出力は車輪が加わる垂直荷重のみに
比例し、垂直荷重によるモーメントの影響は現われな
い。The vertical load applied to the spindle 21 causes bending deformation in which the central axis bends on a vertical surface including the central axis. At the same time, a shear force having a magnitude equal to the vertical load is applied in the vertical direction to the cross section perpendicular to the central axis. A shear strain is generated in the spindle 21 in proportion to this shearing force. A bridge circuit composed of a set of strain gauges 1, 2, 3, and 4 detects this shear strain. Even if each strain gauge is compressed or stretched by the bending deformation, as described above, 1
Since the bridge circuit is composed of the strain gauges 1, 2, 3, and 4, the influence of this bending deformation is offset. That is, the voltage output of the amplifier 9 is proportional only to the vertical load applied to the wheels, and the influence of the moment due to the vertical load does not appear.
スピンドル21に加わる路面摩擦力により、中心軸を含む
水平面上に中心軸が曲がる曲げ変形が加わる。同時に、
中心軸に垂直な断面に、路面摩擦力に等しい大きさのせ
ん断力が、水平方向に加わる。このせん断力に比例し
て、スピンドル21にせん断歪が生じる。歪ゲージ５、
６、７、８の組からなるブリッジ回路は、このせん断歪
を検出する。但し、前述と同様にブリッジ回路を構成す
ることにより、曲げ変形の影響は相殺される。従つて、
増幅器10の電圧出力は、路面摩擦力のみに比例し、路面
摩擦力によるモーメントの影響は現われない。A road surface frictional force applied to the spindle 21 causes bending deformation in which the central axis bends on a horizontal plane including the central axis. at the same time,
A shear force having a magnitude equal to the road friction force is applied in the horizontal direction to the cross section perpendicular to the central axis. A shear strain is generated in the spindle 21 in proportion to this shearing force. Strain gauge 5,
A bridge circuit composed of a set of 6, 7, and 8 detects this shear strain. However, the influence of bending deformation is canceled by configuring the bridge circuit as described above. Therefore,
The voltage output of the amplifier 10 is proportional to only the road friction force, and the influence of the moment due to the road friction force does not appear.
更に、垂直荷重による曲げ変形及びせん断歪は、１組の
歪ゲージ５〜８からなるブリッジ回路の出力電圧に影響
を与えず、路面摩擦力による曲げ変形及びせん断歪は、
他の組の歪ゲージ１〜４からなるブリッジ回路の出力電
圧に影響を与えない。コーナリング力（横抗力）によ
り、中心軸方向の圧縮歪又は引張り歪が加わるけれど
も、これらの歪は、歪ゲージ１〜４の組からなるブリッ
ジ回路の出力電圧にも、また他の組の歪ゲージ５〜８か
らなるブリッジ回路の出力電圧にも影響を与えない。Further, bending deformation and shear strain due to vertical load do not affect the output voltage of the bridge circuit consisting of a set of strain gauges 5-8, and bending deformation and shear strain due to road friction force are
It does not affect the output voltage of the bridge circuit composed of the strain gauges 1 to 4 of the other sets. Although a compressive strain or a tensile strain in the direction of the central axis is applied by the cornering force (lateral force), these strains are also applied to the output voltage of the bridge circuit composed of the strain gauges 1 to 4 and also to the strain gauges of other pairs. It does not affect the output voltage of the bridge circuit composed of 5 to 8.
また、スピンドル21にはブレーキが作動する際の制動ト
ルクは、伝わらない。In addition, the braking torque when the brake operates is not transmitted to the spindle 21.
更に、スピンドル21が熱伝導率の高い鋼材からなること
を考えれば、歪ゲージの組１〜４の相互間及び歪ゲージ
の組５〜８の相互間の温度差は小さく、気温の変化があ
っても各増幅器の出力電圧への影響は小さい。すなわ
ち、垂直荷重、及び路面摩擦力の各検出値への気温変化
の影響は小さい。Further, considering that the spindle 21 is made of steel having high thermal conductivity, the temperature difference between the strain gauge sets 1 to 4 and between the strain gauge sets 5 to 8 is small, and there is no change in temperature. However, the influence on the output voltage of each amplifier is small. That is, the influence of the temperature change on the vertical load and the detected values of the road friction force is small.
垂直荷重及び路面摩擦力による前述のモーメントは、垂
直荷重又は路面摩擦力が一定であっても、タイヤ表面上
に於ける接地点の車輪方向の移動により変化する。従っ
て、これらのモーメントを検出せずに、垂直荷重又は路
面摩擦力そのものを検出することが望ましい。本実施例
はこの要請に沿うものである。The above-mentioned moments due to the vertical load and the road friction force change due to the movement of the ground contact point on the tire surface in the wheel direction even if the vertical load or the road friction force is constant. Therefore, it is desirable to detect the vertical load or the road surface friction force itself without detecting these moments. The present embodiment meets this requirement.
第４図に示すように、本実施例に係る路面摩擦係数検出
装置では、増幅器９の出力として得られる垂直荷重に比
例した電圧信号と、増幅器10の出力として得られる路面
摩擦力に比例した電圧信号とを、それぞれ演算回路11に
入力している。この演算回路は、路面摩擦力と垂直荷重
との商を演算して、路面摩擦係数μに対応した電圧信号
を出力する。As shown in FIG. 4, in the road surface friction coefficient detecting device according to this embodiment, a voltage signal proportional to the vertical load obtained as the output of the amplifier 9 and a voltage proportional to the road friction force obtained as the output of the amplifier 10. The signals and are input to the arithmetic circuit 11, respectively. This arithmetic circuit calculates the quotient of the road surface frictional force and the vertical load, and outputs a voltage signal corresponding to the road surface friction coefficient μ.
第５図は、空洞構造のスピンドル23の内壁に第３図の特
徴を有した歪ゲージを貼付した装置である。空洞部分に
は、樹脂等の弾性体を充填しておけば防水性及び耐候性
をも容易に実現できる。FIG. 5 shows an apparatus in which a strain gauge having the characteristics of FIG. 3 is attached to the inner wall of a hollow spindle 23. If the hollow portion is filled with an elastic body such as resin, waterproofness and weather resistance can be easily realized.
第６図は、空洞構造のスピンドル23に対して第３図の特
徴を有した歪ゲージを貼付した円柱構造のセンサー部22
を密着挿入させた構造を有した装置である。FIG. 6 shows a cylindrical sensor unit 22 in which a strain gauge having the characteristics shown in FIG. 3 is attached to a spindle 23 having a hollow structure.
Is a device having a structure in which is closely inserted.
第７図は、空洞構造のスピンドル23に対して円柱の中心
軸から垂直及び水平方向に垂線の足をおろし、その中心
軸から垂線の足と交わる弦までの距離が円柱の半径以内
の適当な値をとる４面に第３図の特徴を有した歪ゲージ
を貼付した円柱構造のセンサー部25を密着挿入させた装
置である。FIG. 7 shows that the vertical line of foot is lowered vertically and horizontally from the central axis of the cylinder with respect to the spindle 23 of the hollow structure, and the distance from the central axis to the chord intersecting with the vertical line of the foot is within an appropriate radius of the cylinder. This is a device in which a sensor unit 25 having a cylindrical structure in which a strain gauge having the characteristics of FIG.
第８図は、空洞構造のスピンドル23に対し中心軸から垂
直及び水平方向に梁（ビーム）構造を備え第３図の特徴
を有した歪ゲージを貼付したものである。FIG. 8 shows a structure in which a beam gauge structure is attached to the spindle 23 having a hollow structure in the vertical and horizontal directions from the central axis and the strain gauge having the characteristics of FIG. 3 is attached.
第９図及び第11図は、スピンドル21の曲げ歪を計るため
の歪ゲージの貼付の位置の一例を示している。本実施例
では、スピンドル21の表面にゲージを貼付する。このよ
うに８枚の歪ゲージ１〜４、５〜８を貼付する。スピン
ドル21に加わる路面摩擦力を検出するための４枚１組の
歪ゲージ１、２、３、４、及びこのスピンドル21に加わ
る垂直荷重を検出するための、同じく４枚１組の歪ゲー
ジ５、６、７、８を第10図、第12図に示されるように、
それぞれブリッジ回路に組み、各ブリッジ回路の出力を
増幅器、に印加する。FIG. 9 and FIG. 11 show an example of a position where a strain gauge for measuring the bending strain of the spindle 21 is attached. In this embodiment, a gauge is attached to the surface of the spindle 21. In this way, the eight strain gauges 1 to 4 and 5 to 8 are attached. A set of four strain gauges 1, 2, 3, 4 for detecting the road friction force applied to the spindle 21, and a set of four strain gauges 5 for detecting the vertical load applied to the spindle 21. , 6, 7, 8 as shown in FIGS. 10 and 12,
Each is assembled in a bridge circuit, and the output of each bridge circuit is applied to an amplifier.
１組の歪ゲージ１、２、３、４は第９図に示すように、
中心軸を含む垂直面とこのスピンドル21表面との交線上
に於て、この交線と90°の角度をなす方向の圧縮歪及び
引張り歪を測定するように貼付する。但し、歪ゲージ１
と２とが近接し、かつ３と４とが近接するとともに、１
と４とが、また２と３とがそれぞれスピンドル21の中心
軸に対して対称の位置になるように貼付する。他の１組
の歪ゲージ５、６、７、８は、第11図に示すように、ス
ピンドル21の中心軸を含む水平面と、このスピンドル21
の表面との交線上に於てこの交線と90°の角度をなす方
向の圧縮歪及び引張り歪を測定するように貼付する。但
し、歪ゲージ５と６とが近接し、かつ７と８とが近接す
るとともに、５と６とが、また７と８とがそれぞれ中心
軸に対して、対称の位置になるように貼付する。As shown in FIG. 9, one set of strain gauges 1, 2, 3, 4 is
On a line of intersection between a vertical plane including the central axis and the surface of the spindle 21, the tape is attached so as to measure the compressive strain and the tensile strain in a direction forming an angle of 90 ° with the line of intersection. However, strain gauge 1
And 2 are close to each other, 3 and 4 are close to each other, and 1
And 4 and 2 and 3 are attached so that they are symmetric with respect to the central axis of the spindle 21, respectively. As shown in FIG. 11, the other set of strain gauges 5, 6, 7, and 8 includes a horizontal plane including the central axis of the spindle 21 and the spindle 21.
It is attached so that the compressive strain and the tensile strain in the direction which makes an angle of 90 ° with the line of intersection with the surface of are measured. However, the strain gauges 5 and 6 are close to each other, the strain gauges 7 and 8 are close to each other, and the strain gauges 5 and 6 and the strain gauges 7 and 8 are symmetric with respect to the central axis, respectively. .
スピンドル21に加わる路面摩擦力により、中心軸を含む
水平面上に於て、中心軸が曲がる曲げ変形が加わる。こ
の曲げモーメントに比例して、スピンドル21に曲げ歪が
生じる。歪ゲージ１、２、３、４の組からなるブリッジ
回路は、この曲げ歪を検出する。The road surface frictional force applied to the spindle 21 causes bending deformation in which the central axis bends on a horizontal plane including the central axis. A bending strain is generated in the spindle 21 in proportion to this bending moment. A bridge circuit composed of a set of strain gauges 1, 2, 3, and 4 detects this bending strain.
スピンドル21に加わる垂直荷重により、中心軸を含む垂
直面上に中心軸が曲がる曲げ変形が加わる。この曲げモ
ーメントに比例して、スピンドル21に曲げ歪が生じる。
歪ゲージ５、６、７、８の組からなるブリッジ回路は、
この曲げ歪を検出する。このとき、第10図、第12図のブ
リッジ回路の構成により車輪軸周りのトルクを除去でき
る特徴を有する。The vertical load applied to the spindle 21 causes bending deformation in which the central axis bends on a vertical surface including the central axis. A bending strain is generated in the spindle 21 in proportion to this bending moment.
The bridge circuit consisting of the strain gauges 5, 6, 7, and 8 is
This bending strain is detected. At this time, the structure of the bridge circuit shown in FIGS. 10 and 12 has a feature that torque around the wheel shaft can be removed.
第10図は、第９図に於けるときのブリッジ回路の構成を
示している。FIG. 10 shows the structure of the bridge circuit in FIG.
第12図は、第11図に於けるときのブリッジ回路の構成を
示している。FIG. 12 shows the structure of the bridge circuit in FIG.
第13図は、第５図示の空洞構造スピンドルの空洞内壁に
第９図、第11図の特徴を有した歪ゲージを貼付したもの
である。FIG. 13 shows a strain gauge having the characteristics of FIGS. 9 and 11 attached to the inner wall of the cavity of the cavity structure spindle shown in FIG.
第14図は、第６図示の空洞構造スピンドルの空洞内に密
着挿入された円柱構造のセンサー部22に第９図，第11図
の特徴を有した歪ゲージを貼付したものである。FIG. 14 is a diagram in which a strain gauge having the characteristics of FIGS. 9 and 11 is attached to a sensor portion 22 having a cylindrical structure which is closely inserted into the cavity of the cavity structure spindle shown in FIG.
第15図は、第７図示の空洞構造スピンドルの空洞内に密
着挿入された円柱構造のセンサー部25に第９図，第11図
の特徴を有した歪ゲージを貼付したものである。FIG. 15 shows a sensor part 25 having a cylindrical structure which is closely inserted into the cavity of the cavity structure spindle shown in FIG. 7 and a strain gauge having the features of FIGS. 9 and 11 is attached.
第16図は、円柱構造のスピンドル21の中心軸に垂直に貫
通穴を備え、スピンドル21の中心軸に垂直な面と貫通穴
の内壁の交点の垂直方向で、できるだけ高い位置と、で
きるだけ低い位置に対称に歪ゲージ１〜４を貼付したも
のである。第10図のブリッジ回路を構成することで、曲
げの変形を測定でき、近似的に垂直加重を検出する装置
である。歪ゲージの貼付位置を垂直方向14から水平方向
13に変更することで垂直加重を検出するかわりに路面摩
擦力を検出することが可能になる。FIG. 16 shows a through hole that is perpendicular to the central axis of the spindle 21 having a cylindrical structure, and is as high as possible and as low as possible in the vertical direction of the intersection of the plane perpendicular to the central axis of the spindle 21 and the inner wall of the through hole. Strain gauges 1 to 4 are attached symmetrically to the. By configuring the bridge circuit in FIG. 10, it is a device that can measure bending deformation and approximately detect vertical weighting. Strain gauge attachment position from vertical direction 14 to horizontal direction
By changing to 13, it becomes possible to detect the road friction force instead of detecting the vertical load.
第17図は、円柱構造のスピンドル21の中心軸に垂直に貫
通穴を備え、スピンドル21の中心軸に垂直な面と貫通穴
の内壁の交点と90°の角度をなし、できるだけ高い位置
と、できるだけ低い位置に対称に歪ゲージ１〜４を貼付
したものである。第10図のブリッジ回路を構成すること
で、曲げの変形を測定でき、近似的に路面摩擦力を検出
する装置である。FIG. 17 shows that the through hole is provided perpendicularly to the central axis of the spindle 21 having a cylindrical structure, and the angle between the plane perpendicular to the central axis of the spindle 21 and the inner wall of the through hole is 90 °. The strain gauges 1 to 4 are symmetrically attached to the lowest possible position. By configuring the bridge circuit of FIG. 10, it is a device that can measure the deformation of bending and approximately detect the road surface friction force.
第18図は、円柱構造のスピンドル21の中心軸を通る水平
面上に中心を持つ２つの穴を備え、その内壁に垂直方向
の上下対称に、歪ゲージ１〜４を貼付したものである。
第10図のブリッジ回路を構成することで、曲げの変形を
測定でき、近似的に垂直荷重を検出する装置である。FIG. 18 shows two holes having their centers on the horizontal plane passing through the central axis of the spindle 21 having a cylindrical structure, and the strain gauges 1 to 4 are attached to the inner wall of the two holes vertically symmetrically.
By configuring the bridge circuit in FIG. 10, it is a device that can measure bending deformation and approximately detect vertical load.
第19図は、円柱構造のスピンドル21の中心軸を通る水平
面上に中心を持つ２つの穴を備え、その内壁に水平方向
の左右対称に、歪ゲージ１〜４を貼付したものである。
第10図のブリッジ回路を構成することで、曲げの変形を
測定でき、近似的に路面摩擦力を検出する装置である。FIG. 19 shows two holes having their centers on a horizontal plane passing through the central axis of the spindle 21 having a columnar structure, and the strain gauges 1 to 4 are attached to the inner wall of the two holes symmetrically in the horizontal direction.
By configuring the bridge circuit of FIG. 10, it is a device that can measure the deformation of bending and approximately detect the road surface friction force.
第20図は、空洞構造のスピンドル23の内壁に片方を内壁
に密着挿入させもう片方をスピンドル23の根元に固定さ
せた２段構造の円柱部をえている。２段構造の円柱のス
ピンドル24の根元近くにに第９図の特徴を有した歪ゲー
ジを貼付させた、スピンドル24の周りの曲げ変形を測定
することで路面摩擦力を近似的に検出する装置である。FIG. 20 shows a columnar portion of a two-stage structure in which one is closely inserted into the inner wall of the hollow spindle 23 and the other is fixed to the root of the spindle 23. A device for sticking a strain gauge having the characteristics shown in FIG. 9 near the root of a cylindrical spindle 24 of a two-stage structure to approximately detect road friction force by measuring bending deformation around the spindle 24. Is.
第21図は、第20図と同構造を有した空洞構造のスピンド
ル23の空洞内に密着挿入された２段構造の円柱スピンド
ル24に第11図の特徴を有した歪ゲージを貼付したスピン
ドル24の周りの曲げ変形を測定することで垂直荷重を近
似的に検出する装置である。FIG. 21 is a spindle 24 in which a strain gauge having the characteristics shown in FIG. 11 is attached to a cylindrical spindle 24 having a two-stage structure which is closely inserted into the cavity of a spindle 23 having a hollow structure having the same structure as in FIG. It is a device that approximately detects the vertical load by measuring the bending deformation around.
第22図は、スピンドル21に第９図の特徴を有した歪ゲー
ジ１〜４、15〜18を中心軸と平行に同一直線上かつ、タ
イヤの接地点より常に内側に配置する。タイヤの接地点
は、走行時には時事刻々と変化する。タイヤの接地点と
歪ゲージ１〜４の中心点までの距離をX1、タイヤの接地
点と歪ゲージ15〜18の中心点までの距離をX2、歪ゲージ
１〜４と15〜18の中心点の距離をＤ、タイヤの接地点19
に働く路面摩擦力をＦとすれば、各歪ゲージの中心点に
働くモーメントは各々Ｆ・X1、Ｆ・X2と表現できる。こ
れら歪ゲージ１〜４及び15〜18の組は、第23図に示すよ
うに、それぞれブリッジ回路を構成し、増幅器９、10に
接続される。各増幅器９、10の信号は、演算回路20に入
力される。演算回路では、その信号の差を演算処理して
出力する。その差はＦ・（X1-X2）＝Ｆ・Ｄと表現でき
る。Ｄは、一定の値であるからＦ・Ｄはモーメントに比
例した曲げ歪を測定でき、近似的に路面摩擦力を検出す
る装置である。In FIG. 22, the strain gauges 1 to 4 and 15 to 18 having the characteristics shown in FIG. 9 are arranged on the spindle 21 in parallel with the central axis and always on the inner side of the ground contact point of the tire. The ground contact point of a tire changes from moment to moment when driving. X1 is the distance between the ground contact point of the tire and the center point of the strain gauges 1 to 4, X2 is the distance between the ground contact point of the tire and the center point of the strain gauges 15 to 18, and the center point of the strain gauges 1 to 4 and 15 to 18 Distance is D, tire ground point 19
If F is the road friction force acting on, the moments acting on the center points of the strain gauges can be expressed as F · X1 and F · X2, respectively. As shown in FIG. 23, these strain gauges 1 to 4 and 15 to 18 each form a bridge circuit and are connected to amplifiers 9 and 10. The signals of the amplifiers 9 and 10 are input to the arithmetic circuit 20. The arithmetic circuit arithmetically processes and outputs the difference between the signals. The difference can be expressed as F. (X1-X2) = FD. Since D is a constant value, FD is a device that can measure the bending strain proportional to the moment and approximately detect the road friction force.
第24図は、第22図と同じ構造のスピンドル21で歪ゲージ
の取着位置が垂直方向14を水平方向13に変更する事で近
似的に垂直荷重を検出する装置である。FIG. 24 shows a device that approximately detects a vertical load by changing the mounting position of the strain gauge from the vertical direction 14 to the horizontal direction 13 in the spindle 21 having the same structure as in FIG.
第25図は、空洞構造のスピンドル23の内壁に第９図の特
徴を有した歪ゲージ１〜４、15〜18を中心軸と平行に同
一直線上かつ、タイヤの接地点より常に内側に配置して
なる近似的に路面摩擦力を検出する装置である。FIG. 25 shows that the strain gauges 1 to 4 and 15 to 18 having the characteristics of FIG. 9 are arranged on the inner wall of the hollow spindle 23 on the same straight line parallel to the central axis and always inside the ground contact point of the tire. Is an apparatus for detecting the road friction force approximately.
第26図は、第25図と同じ構造の空洞構造のスピンドル23
で歪ゲージの取着位置が垂直方向14を水平方向13に変更
する事で近似的に垂直荷重を検出する装置である。FIG. 26 shows a hollow spindle 23 having the same structure as FIG. 25.
Is a device for detecting a vertical load approximately by changing the attachment position of the strain gauge from the vertical direction 14 to the horizontal direction 13.
なお上記した各実施例で、歪センサーとして金属抵抗線
歪ゲージを示したが、本発明はこれに限定されることな
く、半導体歪ゲージを用いてもよい。Although the metal resistance wire strain gauge is shown as the strain sensor in each of the above-described embodiments, the present invention is not limited to this, and a semiconductor strain gauge may be used.
本発明によれば、クロストークの影響を受けない路面摩
擦力、垂直荷重及び路面摩擦係数を直接検出でき、この
検出値に基づいてアンチロックブレーキ装置（ABS）又
はトラクションコントロール装置を精度よく効果的に制
御できる路面摩擦力検出装置、垂直荷重検出装置及び路
面摩擦係数検出装置を、従来の車輪速度センサや車体速
度センサなどの複雑な装置を用いることなく、４枚１組
の歪ゲージをスピンドルに装着してブリッジ回路に組む
だけの簡単な構成で実現できる、という顕著な効果を奏
するものである。According to the present invention, it is possible to directly detect a road surface friction force, a vertical load and a road surface friction coefficient that are not affected by crosstalk, and based on these detected values, an antilock brake device (ABS) or a traction control device can be accurately and effectively applied. The road frictional force detection device, vertical load detection device, and road friction coefficient detection device that can be controlled in a simple manner, without using complicated devices such as conventional wheel speed sensors and vehicle body speed sensors It has a remarkable effect that it can be realized by a simple configuration of mounting and assembling in a bridge circuit.
第１図は、テーパ形状スピンドルの正面図。 第２図は、平行形状スピンドルの正面図。 第３図は、本発明の実施例に係わる路面摩擦力検出装
置、垂直荷重検出装置、路面摩擦係数検出装置の１スピ
ンドル分を構成する歪ゲージの取付位置を示す正面の拡
大図。 第４図は、本発明の実施例に係わる路面摩擦係数検出装
置の１スピンドル分のブリッジ回路図。 第５図は、空洞構造スピンドルの内壁への歪ゲージの取
付位置拡大図。 第６図は、空洞構造スピンドルに円柱構造のセンサー部
を取付けた拡大図。 第７図は、空洞構造スピンドルに異なる円柱構造のセン
サー部を取付けた拡大図。 第８図は、垂直及び水平方向に梁を有する空洞スピンド
ルに、第３図示の歪ゲージを取付けた拡大図。 第９図は、円柱構造のスピンドル表面に歪ゲージの異な
る取付位置を示す拡大図。 第10図は、第９図に示した歪げーじのブリッジ回路図。 第11図は、円柱構造のスピンドル表面に歪ゲージの更に
異なる取付位置を示す拡大図。 第12図は、第11図に示した歪ゲージのブリッジ回路図。 第13図は、空洞構造スピンドルの内壁に歪ゲージを第９
図示と同じように取付けた拡大図。 第14図は、空洞構造スピンドル内に、円柱の表面に歪ゲ
ージを第９図及び第10図と同じように粘着した円柱構造
のセンサー部を取付けた状態を示す拡大図。 第15図は、空洞構造スピンドル内に、歪ゲージの取付位
置の異なる円柱構造のセンサー部を取付けた状態を示す
拡大図。 第16図は、円柱構造スピンドルに、垂直な貫通穴を設
け、この穴に歪ゲージを取付けた拡大図。 第17図は、第16図とは歪ゲージの取付位置を異なりしめ
た状態を示す拡大図。 第18図は、円柱構造スピンドルに水平方向に一対の貫通
穴を設け、その穴に歪ゲージを取付けた拡大図。 第19図は、第18図とは歪ゲージの取付位置を異なりしめ
た状態を示す拡大図。 第20図は、空洞構造スピンドル内に、２段構造の円柱ス
ピンドルを収容し、この２段構造円柱スピンドルに歪ゲ
ージを取付けた状態を示す拡大図。 第21図は、第20図とは歪ゲージ取付位置を異ならしめた
拡大図。 第22図は、円柱構造スピンドルの表面に歪ゲージを取付
けた状態を示す拡大図。 第23図は、第22図に示した歪ゲージのブリッジ回路図。 第24図は、円柱構造スピンドルの表面に歪ゲージを第22
図示のものとは異ならしめて取付けた拡大図。 第25図は、空洞構造スピンドルの内壁への歪ゲージの取
付位置を示す拡大図。 第26図は、第25図とは歪ゲージの取付位置を異ならしめ
た拡大図。 〔符号の説明〕 １〜４……歪ゲージ ５〜８……歪ゲージ 15〜18……歪ゲージ 7,10……増幅器 11,20……演算回路 21……スピンドル 22……円柱構造のセンサー部 23,25……空洞構造のスピンドル 24……２段構造のスピンドルFIG. 1 is a front view of a tapered spindle. FIG. 2 is a front view of the parallel spindle. FIG. 3 is an enlarged front view showing a mounting position of a strain gauge that constitutes one spindle of a road surface frictional force detection device, a vertical load detection device, and a road surface friction coefficient detection device according to an embodiment of the present invention. FIG. 4 is a bridge circuit diagram of one spindle of the road surface friction coefficient detecting device according to the embodiment of the present invention. FIG. 5 is an enlarged view of the mounting position of the strain gauge on the inner wall of the hollow structure spindle. FIG. 6 is an enlarged view in which a cylindrical sensor unit is attached to a hollow structure spindle. FIG. 7 is an enlarged view in which a sensor unit having a different columnar structure is attached to the hollow structure spindle. FIG. 8 is an enlarged view in which the strain gauge shown in FIG. 3 is attached to a hollow spindle having beams in vertical and horizontal directions. FIG. 9 is an enlarged view showing mounting positions of different strain gauges on the surface of a spindle having a cylindrical structure. FIG. 10 is a distortion circuit bridge circuit diagram shown in FIG. FIG. 11 is an enlarged view showing a further different mounting position of the strain gauge on the surface of the cylindrical spindle. FIG. 12 is a bridge circuit diagram of the strain gauge shown in FIG. Fig. 13 shows the strain gauge on the inner wall of the hollow structure spindle.
The enlarged view attached like the illustration. FIG. 14 is an enlarged view showing a state in which a sensor unit having a columnar structure in which a strain gauge is adhered to the surface of the columnar cylinder as in FIGS. 9 and 10 is attached in the hollow structure spindle. FIG. 15 is an enlarged view showing a state in which a cylindrical sensor unit having different strain gauge mounting positions is mounted in a hollow structure spindle. FIG. 16 is an enlarged view in which a vertical through hole is provided in a cylindrical spindle and a strain gauge is attached to this hole. FIG. 17 is an enlarged view showing a state in which the mounting position of the strain gauge is different from that in FIG. FIG. 18 is an enlarged view in which a pair of through holes are horizontally provided in the cylindrical spindle and a strain gauge is attached to the holes. FIG. 19 is an enlarged view showing a state in which the mounting position of the strain gauge is different from that in FIG. FIG. 20 is an enlarged view showing a state in which a cylindrical spindle having a two-stage structure is accommodated in a hollow structure spindle and a strain gauge is attached to the two-stage structure cylindrical spindle. FIG. 21 is an enlarged view in which the strain gauge mounting position is different from that in FIG. FIG. 22 is an enlarged view showing a state in which a strain gauge is attached to the surface of a cylindrical structure spindle. FIG. 23 is a bridge circuit diagram of the strain gauge shown in FIG. Figure 24 shows the strain gauge on the surface of the cylindrical spindle.
An enlarged view that is different from the one shown and attached. FIG. 25 is an enlarged view showing the mounting position of the strain gauge on the inner wall of the hollow structure spindle. FIG. 26 is an enlarged view in which the mounting position of the strain gauge is different from that in FIG. 25. [Explanation of symbols] 1-4 strain gauge 5-8 strain gauge 15-18 strain gauge 7,10 amplifier 11,20 arithmetic circuit 21 spindle 22 sensor of cylindrical structure 23,25 …… Spindle with hollow structure 24 …… Spindle with two-stage structure
Claims (3)
ピンドルの表面との交線上において、この交線と略45°
の角度又は略90°の角度をなす方向の圧縮歪及び引張り
歪を測定するよう、４枚１組の歪ゲージを２枚宛直交さ
せてスピンドルに装着し、該４枚１組の歪ゲージをブリ
ッジ回路に組み、スピンドルのせん断歪又は曲げ歪を検
出する手段を備えた路面摩擦力検出装置。1. On a line of intersection between a vertical plane including the central axis of the spindle and the surface of the spindle, the line of intersection is approximately 45 °.
To measure the compressive strain and the tensile strain in the direction that makes an angle of about 90 ° or about 90 °, attach a set of 4 strain gauges to the spindle so that they are orthogonal to each other, and attach the set of 4 strain gauges. A road surface frictional force detection device equipped with means for detecting shear strain or bending strain of a spindle assembled in a bridge circuit.
ピンドルの表面との交線上において、この交線と略45°
の角度又は略90°の角度をなす方向の圧縮歪及び引張り
歪を測定するよう、４枚１組の歪ゲージを２枚宛直交さ
せてスピンドルに装着し、該４枚１組の歪ゲージをブリ
ッジ回路に組み、スピンドルのせん断歪又は曲げ歪を検
出する手段を備えた垂直荷重検出装置。2. On a line of intersection between the horizontal plane including the central axis of the spindle and the surface of the spindle, the line of intersection is approximately 45 °.
To measure the compressive strain and the tensile strain in the direction that makes an angle of about 90 ° or about 90 °, attach a set of 4 strain gauges to the spindle so that they are orthogonal to each other, and attach the set of 4 strain gauges. A vertical load detection device equipped with means for detecting shear strain or bending strain of a spindle assembled in a bridge circuit.
検出装置と垂直荷重検出装置とを備え、これら両装置の
出力信号を演算処理して路面摩擦係数を得るようにした
路面摩擦係数検出装置。3. A road surface friction comprising the road surface frictional force detection device and the vertical load detection device according to claim 1 and 2, wherein output signals of these devices are arithmetically processed to obtain a road surface frictional coefficient. Coefficient detection device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011251A JPH0781923B2 (en) | 1990-01-20 | 1990-01-20 | Road surface friction force detection device by spindle, vertical load detection device and road surface friction coefficient detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011251A JPH0781923B2 (en) | 1990-01-20 | 1990-01-20 | Road surface friction force detection device by spindle, vertical load detection device and road surface friction coefficient detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03215726A JPH03215726A (en) | 1991-09-20 |
| JPH0781923B2 true JPH0781923B2 (en) | 1995-09-06 |
Family
ID=11772724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2011251A Expired - Fee Related JPH0781923B2 (en) | 1990-01-20 | 1990-01-20 | Road surface friction force detection device by spindle, vertical load detection device and road surface friction coefficient detection device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0781923B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6915708B2 (en) | 2001-06-28 | 2005-07-12 | Toyota Jidosha Kabushiki Kaisha | Device for detecting force acting on a vehicle wheel |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3366915B2 (en) | 1992-08-27 | 2003-01-14 | 日本電子工業株式会社 | Control system for vehicle anti-lock brake device |
| CN100414282C (en) * | 2003-01-09 | 2008-08-27 | 胡长顺 | Bridge surface water-proofing layer electric shearing equipment |
| JP5202446B2 (en) * | 2009-06-08 | 2013-06-05 | 日立建機株式会社 | Work machine and pin type load cell |
| JP5331035B2 (en) * | 2010-03-05 | 2013-10-30 | 日信工業株式会社 | LOAD DETECTING DEVICE AND BRAKE PRESSING FORCE DETECTING DEVICE HAVING THE LOAD DETECTING DEVICE |
| JP2016057266A (en) * | 2014-09-12 | 2016-04-21 | 富士重工業株式会社 | Load detector |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4912871A (en) * | 1972-05-13 | 1974-02-04 | ||
| JPS5412874A (en) * | 1977-06-30 | 1979-01-30 | Hino Motors Ltd | Apparatus for measuring three component forces applied to front wheel shaft |
-
1990
- 1990-01-20 JP JP2011251A patent/JPH0781923B2/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6915708B2 (en) | 2001-06-28 | 2005-07-12 | Toyota Jidosha Kabushiki Kaisha | Device for detecting force acting on a vehicle wheel |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH03215726A (en) | 1991-09-20 |
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