Tractor and trailer included angle measuring system

Abstract

The utility model relates to a tractor and trailer included angle measuring system. A tractor and a trailer are connected through a saddle and a traction pin. The measuring system is characterized by comprising a pattern structure and a camera, the pattern structure is arranged in the circumferential direction of the traction pin, and patterns on the pattern structure are different in the circumferential direction. The camera is installed on the saddle, right faces the pattern structure and is used for shooting the part, located right in front of the camera, of the pattern structure. The camera is at least used for shooting a first image when the included angle of the trailer is zero and a second image when the included angle is formed. The device is simple in structure, low in cost, small in vehicle body change, easy to implement, and capable of being suitable for included angle measurement when the tractor and the trailer rotate at a large angle; and different measurement precisions can be realized by setting the number of the pattern structures in the circumferential direction, for example, high-precision measurement can be realized by setting continuously changing patterns.

Description

Technical Field

[0001] The utility model relates to the technical field of automobiles, in particular to a system for measuring the angle between a tractor and a trailer. Background Art

[0002] Tractors are the backbone of medium- and heavy-duty commercial vehicles. During driving and reversing, the trailer and tractor are out of sync, maintaining a certain relative angle. To ensure the traceability and accuracy of reversing and driving during autonomous driving, and to meet the functional requirements of steering and other modules, real-time monitoring and feedback of the relative angle between the trailer and the main vehicle are required.

[0003] For example, machine vision-based methods, such as CN216184880U, use a marking plate to identify and measure angles. However, this marking plate is mounted on the front of the trailer. However, if the angle exceeds a certain value, the marking plate image will not be captured. Furthermore, the front of trailers is currently diverse, and some trailers, such as flatbed trailers, cannot accommodate the marking plate. Therefore, the trailer must be modified to complete installation. These issues urgently need to be addressed. Utility Model Content

[0004] The utility model discloses a system for measuring the angle between a tractor and a trailer, aiming to solve the technical problems existing in the prior art.

[0005] The utility model adopts the following technical solutions:

[0006] In a first aspect, the utility model provides a system for measuring the angle between a tractor and a trailer, wherein the tractor and the trailer are connected by a saddle and a traction pin; the measurement system comprises: a pattern structure and a camera; the pattern structure is arranged circumferentially along the traction pin, and the pattern on the pattern structure is different along the circumference; the camera is installed on the saddle and faces the pattern structure, and is used to photograph the part of the pattern structure located directly in front of the camera; the camera is used at least to photograph a first image when the trailer angle is zero and a second image when an angle is formed.

[0007] In the tractor-trailer angle measurement system of the present invention, the pattern structure is a continuous pattern with different features along the circumference of the tractor pin.

[0008] In the tractor-trailer angle measurement system of the present invention, the pattern structure is a continuous curve arranged along the circumference of the tractor pin.

[0009] In the tractor-trailer angle measurement system of the present invention, the continuous curve has different heights at various points in the axial direction of the tractor pin and / or has different tangent slopes at various points in the circumferential direction of the tractor pin.

[0010] The tractor and trailer angle measurement system of the present invention further includes a shielding plate;

[0011] The shielding plate is mounted on the saddle and is arranged adjacent to the camera to shield the camera from rain and dust.

[0012] In the tractor-trailer angle measurement system of the present invention, the pattern structure is a tubular structure with an opening at the bottom or a top and bottom opening, and is sleeved on the traction pin.

[0013] The tractor-trailer angle measurement system of the present invention further includes a processor, which is connected to the camera and is used to receive images taken by the camera, and obtain the angle between the tractor and the trailer based on a first image when the angle between the tractor and the trailer is zero and a second image when there is an angle between the tractor and the trailer.

[0014] In the tractor-trailer angle measurement system of the present invention, the camera is screwed, bonded or welded to the saddle.

[0015] The technical solution adopted by the utility model can achieve the following beneficial effects:

[0016] The utility model mainly provides a system for measuring the angle between a tractor and a trailer. The system is based on shooting a circumferential pattern on a pattern structure with a camera, and the patterns on the circumference of the pattern structure are different. The angle between the tractor and the trailer can be obtained by processing the first image and the second image shot by a processor. The system has a simple structure and low cost. The pattern structure is set on a traction pin, and the camera is installed on a saddle facing the pattern structure. The vehicle body is slightly modified and the implementation is simple. Based on the fixed relative position of the traction pin and the saddle, the system can adapt to measurements under different road conditions. Patterns are set on the circumferential direction of the pattern structure, so the system can adapt to angle measurement when the tractor and the trailer make a large turn. Different measurement accuracies can be achieved by setting the number of pattern structures on the circumference. For example, high-precision measurement can be achieved by setting a continuously changing pattern. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments, which constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of a system for measuring the angle between a tractor and a trailer according to the present invention;

[0019] Figure 2 This is a schematic diagram of the main structure of a tractor and trailer angle measurement system of the present invention;

[0020] Figure 3 This is a schematic diagram of the angle measured by the angle measurement system of the present invention.

[0021] Description of reference numerals:

[0022] 1. Pattern structure; 2. Camera; 3. Shield; A. Saddle; B. Tow pin. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention more clear, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. In the description of the present invention, it should be noted that the term "or" is generally used in the sense of including "and / or" unless the content clearly indicates otherwise.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or a magnetic connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a connection between the two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. In addition, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In the description of the present invention, the meaning of "multiple" is at least two, such as two, three or more, etc., unless otherwise clearly specified and limited.

[0025] Obviously, the embodiments described are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] To solve the problems existing in the prior art, the embodiments of the present application provide a system and method for measuring the angle between a tractor and a trailer.

[0027] Example 1

[0028] This embodiment provides a system for measuring the angle between a tractor and a trailer. Figure 1-2As shown, the tractor and the trailer are connected by a saddle A and a traction pin B; the measurement system includes: a pattern structure 1 and a camera 2; the pattern structure 1 is arranged circumferentially along the traction pin B; the patterns at different positions on the circumference of the pattern structure 1 are different, that is, different positions have different patterns; the camera 2 is installed on the saddle A and is facing the pattern structure 1, and is used to shoot the part of the pattern structure 1 that is located directly in front of the camera 2; the processor is connected to the camera 2, and is used to receive the image shot by the camera 2, and obtain the angle between the tractor and the trailer based on the first image when the angle between the tractor and the trailer is zero and the second image when the angle is formed; that is, the camera 2 obtains the image shot by rotating around the pattern structure 1 The images obtained include N different images, and the angle of rotation of the camera 2 around the pattern structure 1 when the image is taken is recorded; when the tractor rotates, the first image and the second image before and after the rotation, as well as the angles corresponding to the images are obtained (which can be obtained manually or by a processor, that is, by comparing the first image and the second image with the pre-taken image and subtracting the angle values ​​corresponding to the compared images), and the difference between the corresponding angles of the first image and the second image is calculated, which is the relative rotation angle of the tractor and the trailer; when the angle between the tractor A and the trailer B corresponding to the first image is 0, the rotation angle calculated at this time is the angle between the tractor A and the trailer B ( Figure 3 by controlling the number of different patterns of the pattern structure 1 in the circumferential direction and the number n of images in the image group, the measurement accuracy can be controlled.

[0029] The utility model provides a system for measuring the angle between a tractor and a trailer. The system is based on shooting a circumferential pattern on a pattern structure 1 with a camera 2, and the patterns on the circumference of the pattern structure 1 are different. The angle between the tractor and the trailer can be obtained by using the first image and the second image shot by the camera 2. The system has a simple structure and low cost. The pattern structure 1 is set on the traction pin B, and the camera 2 is installed on the saddle A facing the pattern structure 1. The vehicle body is slightly modified and the implementation is simple. Based on the fixed relative position of the traction pin A and the saddle B (rigid connection), the angle measurement is more direct (equal to the relative rotation angle of the traction pin B and the saddle A), and can adapt to measurements under different road conditions. Patterns are set circumferentially on the pattern structure 1, which can adapt to angle measurement when the tractor and the trailer make large turns. Different measurement accuracies can be achieved by setting the number of different patterns on the circumference of the pattern structure. For example, high-precision measurement can be achieved by setting a continuously changing pattern.

[0030] In some preferred embodiments, the measurement system further includes a processor (not shown), which is connected to the camera 2 and is used to receive images taken by the camera 2, and obtain the angle between the tractor and the trailer based on the first image when the angle between the tractor and the trailer is zero and the second image when there is an angle; that is, the processor obtains N images obtained by rotating the camera 2 around the pattern structure 1, and records the angle at which the camera 2 rotates around the pattern structure 1 when taking the image; when the tractor rotates, the first image and the second image before and after the rotation, as well as the angles corresponding to the images, are obtained, and the difference between the corresponding angles of the first image and the second image is calculated, which is the relative rotation angle of the tractor and the trailer.

[0031] In some preferred embodiments, the pattern structure 1 has a continuous pattern with different characteristics along the circumference of the traction pin B, that is, at this time, the number of different patterns of the pattern structure 1 in the circumferential direction is the largest, that is, the camera 2 can take any number of images to achieve adjustable accuracy.

[0032] In some preferred embodiments, the pattern structure 1 is a continuous curve arranged along the circumference of the traction pin B; based on the continuous curve as the pattern structure 1, the structure is simple and easy to process.

[0033] Preferably, the continuous curve has different heights at each point in the axial direction of the traction pin B and / or has different tangent slopes at each point in the circumferential direction of the traction pin B; that is, specifically, the continuous curve can be fixed in position on the pattern structure 1, such as along the axial direction of the traction pin B. At this time, the image can be distinguished based on the different heights in the axial direction of the traction pin B, or the shape is different in the circumferential direction of the traction pin B, such as different slopes, to distinguish the image.

[0034] In some preferred embodiments, the tractor and trailer angle measurement system also includes a shielding plate 3; the shielding plate 3 is installed on the saddle A and is arranged adjacent to the camera 2 to shield the camera 2 from rain and dust; to reduce the accumulation of oil or dust on the camera 2, resulting in unclear shooting problems; specifically, the shielding plate 3 is welded, bonded or screwed to the saddle A.

[0035] In some preferred embodiments, the pattern structure 1 is a cylindrical structure with an open bottom or top and bottom openings, with different patterns arranged along the circumference of the cylindrical structure. The pattern structure 1 is fitted onto the traction pin B, such as by an elastic interference fit or magnetic connection. This fitting method requires minimal modification to the vehicle body structure, and the fitting method, combined with the different circumferential patterns of the pattern structure 1, eliminates the need for special requirements for the installation angle of the pattern structure 1, making installation easier. When the cylindrical structure is open at the top and bottom, it can be a cylindrical structure surrounded by plates or a one-piece cylindrical structure.

[0036] In some preferred embodiments, the camera 2 is screwed, bonded or welded to the saddle A; preferably, the camera 2 is screwed.

[0037] In some preferred embodiments, the processor can be set up separately or adopt the whole vehicle FCWS\LDWS (forward collision warning and lane departure warning system) controller.

[0038] In some preferred embodiments, the pattern structure 1 is directly set on the traction pin B or another structure connected to the traction pin B. Preferably, the pattern structure 1 is directly set on the traction pin B so that it can be processed and completed when leaving the factory, and the patterns of the pattern structure 1 at different circumferential positions can be pre-stored on the controller of the tractor.

[0039] In some preferred embodiments, when the angle between the tractor and the trailer is zero, it can be determined by the following method:

[0040] Confirm whether the tractor and trailer are in the unhook state.

[0041] If yes, then after the tractor and the trailer are mounted, when the angle between the tractor and the trailer is zero, the image captured by camera 2 is used as the first image, that is, the first image is used as the image when the angle between the tractor and the trailer is zero;

[0042] If not, the image captured by the front parking camera 2 with the angle between the tractor and the trailer being zero is used as the first image, that is, the previous first image is used as the first image this time.

[0043] In some preferred embodiments, the step of confirming that the angle between the tractor and the trailer is zero includes:

[0044] Start the tractor, adjust the steering wheel of the tractor to the zero position, and after driving ≥40m, the angle between the tractor and the trailer is zero. Specifically, the steering wheel is judged to be at the zero position by the steering angle sensor on the tractor. That is, when the steering angle sensor measures 0°±0.5°, it is considered that the steering wheel is at the zero position.

[0045] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A system for measuring the angle between a tractor and a trailer, wherein the tractor and the trailer are connected by a saddle and a tow pin; The measurement system includes: a pattern structure and a camera; The pattern structure is arranged along the circumference of the traction pin, and the patterns on the pattern structure are different along the circumference; The camera is installed on the saddle and faces the pattern structure, and is used to shoot the part of the pattern structure located directly in front of the camera; the camera is at least used to shoot a first image when the trailer angle is zero and a second image when there is an angle.

2. The tractor-trailer angle measurement system according to claim 1, characterized in that: The pattern structure is a continuous pattern with different features along the circumference of the traction pin.

3. The tractor-trailer angle measurement system according to claim 2, characterized in that: The pattern structure is a continuous curve arranged along the circumference of the traction pin.

4. The tractor-trailer angle measurement system according to claim 3, characterized in that: The continuous curve has different heights at various points in the axial direction of the traction pin and / or has different tangent slopes at various points in the circumferential direction of the traction pin.

5. The tractor-trailer angle measurement system according to claim 1, characterized in that: Also includes a blind panel; The shielding plate is mounted on the saddle and is arranged adjacent to the camera to shield the camera from rain and dust.

6. The tractor-trailer angle measurement system according to claim 1, characterized in that: The pattern structure is a tubular structure with an opening at the bottom or a top and bottom opening, and is sleeved on the traction pin.

7. The tractor-trailer angle measurement system according to claim 1, characterized in that: It also includes a processor, which is connected to the camera and is used to receive images taken by the camera and obtain the angle between the tractor and the trailer based on a first image when the angle between the tractor and the trailer is zero and a second image when there is an angle between the tractor and the trailer.

8. The tractor-trailer angle measurement system according to claim 1, characterized in that: The camera is screwed, bonded or welded to the saddle.

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