A semi-trailer corner measurement device, method and electronic device

Abstract

The present invention belongs to the technical field of vehicle detection, and provides a semi-trailer corner measurement device, method and electronic device. The device includes: a wire rope sensor, a processor, a circular slide rail and a connecting piece. Among them, the circular slide rail is coaxially and fixedly connected to the rotating shaft of the tractor and the trailer of the semi-trailer. One end of the connecting piece is slidably connected to the circular slide rail, and the other end of the connecting piece is fixedly connected to the tractor. One end of the wire rope sensor is fixedly installed on the side of the circular slide rail close to the trailer, and the other end of the wire rope sensor is fixedly installed on the connecting piece. The wire rope of the wire rope sensor always closely adheres to the outer circle of the chute of the circular slide rail. The wire rope sensor is electrically connected to the processor and is used to send the change value of the wire rope length to the processor. The processor is used to calculate the deflection angle of the connecting piece. The present invention effectively solves the problems of complex design and low accuracy in the existing technology for measuring the corner angles of the tractor and the trailer.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle detection, and particularly relates to a semi-trailer corner measurement device, method and electronic device. Background Art

[0002] In the existing transport vehicle market, the transport efficiency of semi-trailers is significantly improved compared with that of single-unit vehicles, and the transport cost is significantly reduced. The use of semi-trailers plays a certain role in promoting the organization form of logistics.

[0003] With the continuous development of autonomous driving technology, in many real scenarios, autonomous semi-trailers need to obtain the included angle between the tractor and the trailer in real time. However, the existing solutions for measuring or calculating the included angle between the tractor and the trailer are either complex in installation and unable to guarantee accuracy, or have a large investment cost and are easily interfered by natural conditions such as weather and magnetic fields. Therefore, they cannot be widely popularized and applied. Summary of the Invention

[0004] The purpose of the present invention is to provide a semi-trailer corner measurement device, method and electronic device in view of the deficiencies of the prior art, and solve the problems of complex design and low accuracy in the existing solutions for measuring the corner between the tractor and the trailer.

[0005] The present invention is implemented by adopting the following technical solutions:

[0006] In a first aspect, a semi-trailer corner measurement device includes: a wire rope sensor, a processor, a circular slide rail and a connector. Among them, the circular slide rail is coaxially and fixedly connected to the rotating shafts of the tractor and the trailer of the semi-trailer. One end of the connector is slidably connected to the circular slide rail, and the other end of the connector is fixedly connected to the tractor. One end of the wire rope sensor is fixedly installed on the side of the circular slide rail close to the trailer, and the other end of the wire rope sensor is fixedly installed on the connector. The wire rope of the wire rope sensor always closely adheres to the outer circle of the chute of the circular slide rail. The wire rope sensor is electrically connected to the processor and is used to send the wire rope length change value to the processor, and the processor is used to calculate the deflection angle of the connector.

[0007] Further, one end of the wire rope sensor is fixed at the vertex on the side of the circular slide rail close to the trailer, the central axis of the connector coincides with the central axis of the tractor, and the other end of the wire rope sensor is installed on the sliding end head of the connector.

[0008] Further, the processor includes:

[0009] An information acquisition module, configured to acquire the initial wire rope length value, the wire rope length change value sent by the wire rope sensor, and the pre-set chute radius value of the circular slide rail;

[0010] A function establishment module, connected to the information acquisition module, is used to establish a functional relationship based on the initial cable length value, the cable length change value, the chute radius value of the circular slide rail, and the deflection angle value of the connecting piece;

[0011] A calculation module, connected to the function establishment module, is used to calculate the deflection angle of the connecting piece according to the established functional relationship;

[0012] An output module, connected to the calculation module, is used to output the deflection angle.

[0013] In a second aspect, a method for measuring the turning angle of a semi-trailer includes:

[0014] Obtain the initial cable length, the cable length change value sent by the cable sensor, and the chute radius value of the pre-set circular slide rail;

[0015] Establish a functional relationship based on the initial cable length value, the cable length change value, the chute radius value, and the deflection angle value of the connecting piece;

[0016] Calculate the deflection angle of the connecting piece according to the established functional relationship;

[0017] Output the deflection angle.

[0018] Further, the functional relationship is:

[0019]

[0020] Wherein, is the deflection angle of the connecting piece, is the cable length change value, is the initial cable length value, is the chute radius value of the circular slide rail.

[0021] Further, when the central axis of the connecting piece coincides with the central axis of the tractor when the tractor is not rotating, assume that the deflection angle of the connecting piece in this state is ; when the tractor is rotating, the relative deflection angle of the tractor with respect to the semi-trailer is , negative for left turn and positive for right turn.

[0022] In a third aspect, an electronic device includes: a processor, a storage medium, and a bus. The storage medium stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to perform the steps of the above-mentioned semi-trailer turning angle measurement method when executed.

[0023] Compared with the prior art, the present invention has the following beneficial technical effects:

[0024] The present invention co-axially arranges circular slide rails at the rotating shafts of the tractor of the semi-trailer and the trailer, that is, arranges circular slide rails at the saddle of the tractor and the trailer, and slidably connects connecting pieces on the slide rails, which can effectively simulate the deflection angle of the tractor. With this counting scheme, the deflection angle can be directly measured from the source of the deflection, thereby simplifying the measurement structure and making the measurement more accurate; through the setting of the wire-pulling sensor, the arc length change during the deflection of the tractor can also be effectively realized, and its setting cost is low and the practicability is strong. Description of the Drawings

[0025] Figure 1 It is a schematic diagram of the abstract structure of the semi-trailer;

[0026] Figure 2 It is a schematic diagram of the abstract structure of the tractor and the trailer of the semi-trailer;

[0027] Figure 3 It is a schematic longitudinal sectional view of the circular slide rail of the present invention;

[0028] Figure 4 It is a schematic longitudinal sectional view of the connecting plate of the present invention;

[0029] Figure 5 It is a top view of the installation structure of the connecting plate and the circular slide rail of the present invention;

[0030] Figure 6 It is a side view of the installation structure of the connecting plate and the circular slide rail of the present invention;

[0031] Figure 7 It is a top view of the installation positions of the connecting plate, the circular slide rail and the wire-pulling sensor of the present invention;

[0032] Figure 8 It is a side view of the installation positions of the connecting plate, the circular slide rail and the wire-pulling sensor of the present invention;

[0033] Figure 9 It is a schematic diagram of the change in the position of the free end of the wire-pulling sensor of the present invention;

[0034] Figure 10 It is a flowchart of the measurement method of the present invention;

[0035] Figure 11 It is a schematic diagram of the connection structure between the wire-pulling sensor and the processor of the present invention.

[0036] Description of the Reference Numerals:

[0037] 2 - Processor, 201 - Output module, 202 - Calculation module, 203 - Function establishment module, 204 - Information acquisition module, 4 - Circular slide rail, 401 - Slide groove, 5 - Connecting plate, 6 - Tractor, 7 - Trailer, 8 - Chassis, 9 - Saddle, 10 - Wire rope tension sensor, 1001 - Fixed end, 1002 - Wire rope, 1003 - Movable end. Detailed implementation

[0038] In order to more clearly understand the above - mentioned objects, features, and advantages of the present invention, the present invention will be described in detail below with reference to the drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0039] Figure 1 It is a schematic diagram of the abstract structure of a semi - trailer; Figure 2 It is a schematic diagram of the abstract structure of the tractor and trailer of a semi - trailer; Figure 3 It is a schematic longitudinal sectional view of the circular slide rail of the present invention; Figure 4 It is a schematic longitudinal sectional view of the connecting plate of the present invention; Figure 5 It is a top view of the installation structure of the connecting plate and the circular slide rail of the present invention; Figure 6 It is a side view of the installation structure of the connecting plate and the circular slide rail of the present invention; Figure 7 It is a top view of the installation positions of the connecting plate, circular slide rail, and wire rope tension sensor of the present invention; Figure 8 It is a side view of the installation positions of the connecting plate, circular slide rail, and wire rope tension sensor of the present invention; As Figure 1-8 shown,

[0040] In a first aspect, a semi - trailer corner measurement device includes: a wire rope tension sensor 10, a processor 2, a circular slide rail 4, and a connecting member. Here, the connecting member is preferably a connecting plate 5 made of steel. Among them, the circular slide rail is coaxially and fixedly connected to the rotating shafts of the tractor and trailer of the semi - trailer. One end of the connecting member is slidably connected to the circular slide rail, and the other end of the connecting member is fixedly connected to the tractor. One end of the wire rope tension sensor is fixedly installed on the side of the circular slide rail close to the trailer, and the other end of the wire rope tension sensor is fixedly installed on the connecting member. The wire rope of the wire rope tension sensor always closely adheres to the outer circle of the slide groove of the circular slide rail. The wire rope tension sensor is electrically connected to the processor and is used to send the change value of the wire rope length to the processor, and the processor is used to calculate the deflection angle of the connecting member.

[0041] The present invention effectively simulates the deflection angle of the tractor by coaxially arranging circular sliding rails at the rotating shafts of the tractor of the semi-trailer and the trailer, that is, arranging circular sliding rails at the saddle of the tractor and the trailer, and slidingly connecting a connecting member on the sliding rail. With this counting scheme, the deflection angle can be directly measured from the source of the deflection, thus simplifying the measurement structure and making the measurement more accurate. By setting a wire-pulling sensor, the arc length change during the deflection of the tractor can also be effectively achieved, and its setting cost is low and the practicability is strong.

[0042] The above solution can also be expressed as: fixing the fixed end 1001 of the wire-pulling sensor 10 on the vertex on the side of the circular sliding rail close to the trailer, that is, on the central axis of the whole vehicle. The central axis of the connecting member coincides with the central axis of the tractor. The movable end 1003 of the wire-pulling sensor is installed on the sliding end head of the connecting member, that is, one end of the connecting plate 5 is slidably connected to the chute 401 of the circular track 4 through a pulley assembly arranged up and down, and the other end is fixedly connected to the tail end of the tractor through bolts. When the tractor 6 does not turn, the central axis of the connecting plate coincides with the central axis of the whole vehicle, that is, the deflection angle of the connecting plate is the deflection angle of the tractor.

[0043] Figure 11 Schematic diagram of the connection structure between the wire-pulling sensor and the processor of the present invention; as Figure 11 shown, the above-mentioned processor 2 includes:

[0044] An information acquisition module 204, which is used to acquire the initial wire length value, the wire length change value sent by the wire-pulling sensor, and the preset chute radius value of the circular sliding rail;

[0045] A function establishment module 203, which is connected to the information acquisition module and is used to establish a functional relationship according to the initial wire length value, the wire length change value, the chute radius value, and the connecting member deflection angle value;

[0046] A calculation module 202, which is connected to the function establishment module and is used to calculate the connecting member deflection angle according to the established functional relationship;

[0047] An output module 201, which is connected to the calculation module and is used to output the deflection angle.

[0048] Of course, certain principles also need to be followed when selecting the accessories of this device. Specifically, it is necessary to select metal circular sliding rails, connecting plates, and wire-pulling sensors with appropriate sizes.

[0049] Step 1: Obtain vehicle-related parameters: the width W2 of the trailer and the outer circle width W1 of the saddle;

[0050] Step 2: Select and install a circular sliding rail with an appropriate size: The cross-sectional view of the circular sliding rail is as Figure 3As shown, the diameter of the circular slide rail should be greater than the maximum width W1 of the saddle and less than the width W2 of the trailer.

[0051] Step 3: Select and install a connecting plate of appropriate size: The cross-sectional view of the connecting plate is as shown in Figure 4 as shown.

[0052] Step 4: Select and install a wire-pulling sensor of appropriate size: The measuring range of the wire-pulling sensor should be greater than the circumference of the chute of the circular slide rail. The movable end of the wire-pulling sensor can move on the slide rail during steering. The tractor rotates relative to the center of the saddle 9 of the trailer, and the wire 1002 of the wire-pulling sensor should be closely attached to the circular slide rail.

[0053] Model simplification: Simplify the models of the connecting plate, circular slide rail, and wire-pulling sensor. The simplified schematic diagram is as shown in Figure 9 as shown. The fixed end of the wire-pulling sensor is fixed at position A, and the movable end moves on the circular slide rail as the tractor rotates relative to the trailer. When the movable end of the wire-pulling sensor is at the symmetric position B2 of A, the relative rotation of the tractor 6 and the trailer 7 is 0; when the movable end of the wire-pulling sensor is at a position to the left of B2 (such as B1), the tractor rotates left relative to the trailer; when the movable end of the wire-pulling sensor is at a position to the right of B2 (such as B1), the tractor rotates right relative to the trailer.

[0054] In a second aspect, a method for measuring the corner of a semi-trailer includes:

[0055] S101 Obtain the change value of the wire length sent by the wire-pulling sensor, the pre-set chute radius value of the circular slide rail, and the initial length of the wire-pulling sensor;

[0056] S102 Establish a functional relationship based on the real-time wire length, chute radius value, initial length of the wire-pulling sensor, and the deflection angle value of the connecting piece;

[0057] S103 Calculate the deflection angle of the connecting piece according to the established functional relationship;

[0058] S104 Output the deflection angle.

[0059] The above functional relationship is:

[0060] where, is the deflection angle of the connecting piece, is the change value of the wire length, is the initial wire length, is the chute radius value of the circular slide rail.

[0061] When the central axis of the connecting piece coincides with the central axis of the tractor in the non-rotating state of the tractor, the deflection angle of the connecting piece in this state is ; When the tractor is rotating, the deflection angle of the tractor relative to the trailer , is negative for a left turn and positive for a right turn.

[0062] Calculate the functional relationship between the measured length of the wire rope sensor and the angle of rotation of the tractor relative to the trailer, which is used as the formula for real-time calculation of the angle of rotation of the tractor relative to the trailer.

[0063] When , the tractor turns left relative to the trailer;

[0064] When , the steering angle of the tractor relative to the trailer is 0;

[0065] When , the tractor turns right relative to the trailer;

[0066] In a third aspect, an electronic device includes: a processor, a storage medium, and a bus. The storage medium stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to perform the steps of the semi-trailer angle measurement method described above when executed. In the present invention, the steps of executing this method are as follows:

[0067] An information acquisition module 204, configured to acquire an initial wire rope length value, a wire rope length change value sent by the wire rope sensor, and a chute radius value of a circular slide rail preset in advance;

[0068] A function establishment module 203, connected to the information acquisition module, for establishing a functional relationship according to the initial wire rope length value, the wire rope length change value, the chute radius value, and the connecting member deflection angle value;

[0069] A calculation module 202, connected to the function establishment module, for calculating the connecting member deflection angle according to the established functional relationship;

[0070] An output module 201, connected to the calculation module, for outputting the deflection angle.

[0071] The above-mentioned modules may be one or more integrated circuits configured to implement the above methods. For example: one or more Application Specific Integrated Circuits (ASICs), or, one or more digital signal processors (DSPs), or, one or more Field Programmable Gate Arrays (FPGAs), etc. Again, when a certain module above is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processors that can call program code. Again, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0072] The electronic device includes: a processor, a storage medium, and a bus. Among them, the storage medium stores machine-readable instructions executable by the processor. When the measurement method runs, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to execute the above method embodiments. The specific implementation manners and technical effects are similar and will not be elaborated here.

[0073] The present invention calculates the included angle between the tractor and the trailer and the rotation direction (left turn or right turn) of the tractor relative to the trailer based on the measured length of the wire-pulling sensor. Before calculating the included angle between the tractor and the trailer, a functional relationship between the wire-pulling length of the wire-pulling sensor and the rotation angle of the tractor relative to the trailer needs to be established. The steering and rotation angle of the tractor relative to the trailer can be calculated in real time using the functional relationship model between the wire-pulling length and the rotation angle. This method is not restricted by weather conditions, geographical conditions, or usage scenarios, and has good portability and scalability.

[0074] The above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the above embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A semi-trailer corner measurement device, characterized in that, Comprising: A wire-drawing sensor, a processor, a circular slide rail, and a connecting member. Among them, the circular slide rail is coaxially fixedly connected to the rotating shafts of the tractor and the trailer of the semi-trailer. One end of the connecting member is slidably connected to the circular slide rail, and the other end of the connecting member is fixedly connected to the tractor. One end of the wire-drawing sensor is fixedly installed on the side of the circular slide rail close to the trailer, and the other end of the wire-drawing sensor is fixedly installed on the connecting member. The wire of the wire-drawing sensor always closely adheres to the outer circle of the chute of the circular slide rail. The wire-drawing sensor is electrically connected to the processor and is used to send the wire length change value to the processor, and the processor is used to calculate the deflection angle of the connecting member; One end of the wire-drawing sensor is fixed at the vertex on the side of the circular slide rail close to the trailer, the central axis of the connecting member coincides with the central axis of the tractor, and the other end of the wire-drawing sensor is installed on the sliding end head of the connecting member; Fix the fixed end of the wire-drawing sensor on the vertex on the side of the circular slide rail close to the trailer, that is, on the central axis of the whole vehicle. The central axis of the connecting member coincides with the central axis of the tractor. The movable end of the wire-drawing sensor is installed on the sliding end head of the connecting member; The connecting member is a steel material connecting plate, that is, one end of the connecting plate is slidably connected to the chute of the circular track through a pulley assembly arranged up and down, and the other end is fixedly connected to the tail end of the tractor through bolts. When the tractor does not turn, the central axis of the connecting plate coincides with the central axis of the whole vehicle, that is, the deflection angle of the connecting plate is the deflection angle of the tractor; The processor includes: An information acquisition module, which is used to acquire the initial wire length value, the wire length change value sent by the wire-drawing sensor, and the pre-set chute radius value of the circular slide rail; A function establishment module, connected to the information acquisition module, and is used to establish a function relationship according to the initial wire length value, the wire length change value, the chute radius value, and the connecting member deflection angle value; A calculation module, connected to the function establishment module, and is used to calculate the connecting member deflection angle according to the established function relationship; An output module, connected to the calculation module, and is used to output the deflection angle; The functional relationship is as follows: Among them, is the receiving part deflection angle, is the change value of the cable length, is the initial cable length value, is the radius value of the circular slide rail chute.

2. A method for measuring the turning angle of a semi-trailer, characterized in that, Adopt the semi-trailer corner measurement device described in claim 1, including: Obtain the initial wire length, the wire length change value sent by the wire-drawing sensor, and the pre-set chute radius value of the circular slide rail; Establish a function relationship according to the initial wire length value, the wire length change value, the chute radius value, and the connecting member deflection angle value; Calculate the connecting member deflection angle according to the established function relationship; Output the deflection angle; When the central axis of the connecting member coincides with the central axis of the towing vehicle when the towing vehicle is not rotating, let the deflection angle of the connecting member in this state be ; When the towing vehicle is rotating, the relative deflection angle of the towing vehicle with respect to the trailer is negative for a left turn and positive for a right turn.

3. An electronic device, characterized in that, Comprising: A processor, a storage medium, and a bus. The storage medium stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to execute the steps of the semi-trailer corner measurement method described in claim 2 when executed.

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