A device and method for measuring the angle between a towing vehicle and a trailer

Abstract

The present application belongs to the field of automobile accessory development and manufacturing, and particularly relates to a device for measuring the angle between a tractor and a trailer, comprising a light-emitting unit assembly arranged on a power supply spiral plug, the power supply spiral plug being connected to the tractor and the trailer; a light-pursuing unit assembly arranged on the tractor; wherein the light-emitting unit assembly emits light, and the light-pursuing unit assembly receives the light; the relative positions of the light-emitting unit assembly and the light-pursuing unit assembly change with the relative movement of the tractor and the trailer. The present application also provides a method for operating the above measuring device. The present application satisfies the characteristics of safety and convenient operation, the main-trailer included angle measuring device is installed on the tractor, the angle measuring function has no modification requirement for the trailer, and can satisfy the drop and hang transport scene.

Description

Technical Field

[0001] This invention belongs to the field of automotive parts development and manufacturing, specifically relating to a device and method for measuring the angle between a tractor truck and a trailer. Background Technology

[0002] In scenarios such as automated parking of truck-trailers, the trailer's trajectory significantly impacts the truck-trailer's motion control. While the steering degree and trajectory of the tractor unit can be measured and estimated using steering wheel angles, a more economical and accurate method for measuring trailer steering has long been lacking. Given the tractor unit's steering angle, the trailer's trajectory can be predicted using the angle between the tractor and trailer. This information helps in accurately understanding the trailer's operating status, and it is particularly important for unmanned driving scenarios.

[0003] Existing methods for measuring the trailer-to-trailer angle without modifying the trailer or with minimal modifications often require sensors such as lidar, millimeter-wave radar, or cameras. These sensors are currently expensive, their processing algorithms are complex, and they require high-performance controllers, resulting in a high overall measurement system cost and significant development challenges. Installing various angle / rotation sensors at the trailer's towing pin requires trailer modification, and while the cost of such systems is lower, the current industry specialization—where heavy-duty truck manufacturers only produce the tractor unit and trailers are manufactured by trailer manufacturers—prevents mass production of this type of trailer-to-trailer angle measurement device.

[0004] To address the aforementioned problems, this invention provides a device and method for measuring the angle between a tractor unit and a trailer. Summary of the Invention

[0005] This invention proposes a device for measuring the angle between the tractor and the trailer, which is safe and easy to operate, eliminates the safety hazards of the operator when moving the tubular crossbeam, can be operated quickly, and improves the efficiency of frame assembly.

[0006] To solve the above-mentioned technical problems, the present invention provides a device for measuring the angle between a tractor unit and a trailer, comprising:

[0007] The light-emitting unit assembly is mounted on a power supply spiral plug, which connects the main vehicle and the trailer;

[0008] The follow-beam unit assembly is mounted on the main vehicle;

[0009] The light-emitting unit assembly emits light, and the light-tracking unit assembly receives the light; the relative positions of the light-emitting unit assembly and the light-tracking unit assembly change with the relative movement of the main vehicle and the trailer.

[0010] Preferably, the light-emitting unit assembly includes an upper housing, a lower housing, a light-emitting wire harness, and light-emitting LED beads. The upper housing and the lower housing are corresponding arc-shaped bodies. One end of the light-emitting wire harness is connected to a power source, and the other end of the light-emitting wire harness is connected to the light-emitting LED beads.

[0011] Preferably, the tracking light unit assembly includes a housing, an angle sensor, a photosensitive component, a geared motor or servo motor, and a tracking light beam. The angle sensor, the photosensitive component, and the geared motor or servo motor are all located inside the housing. The angle sensor and the photosensitive component are respectively connected to the geared motor or servo motor, and the tracking light beam is connected to the vehicle power supply.

[0012] Preferably, the photosensitive component includes a photodiode element, a light-shielding tube, and a chip circuit board. The light-shielding tube is sleeved on the photodiode element, coaxial and with a transition fit. The chip circuit board is connected to the photodiode element and the angle sensor.

[0013] Preferably, one end of the light-shielding tube is circular with the same diameter as the photodiode element, and the other end of the light-shielding tube is flat and flared. The circular end of the light-shielding tube is fitted onto the photodiode element.

[0014] Preferably, the cross-section of the flared opening is rectangular or elliptical, and the long side of the rectangle or the major axis of the ellipse is parallel to the central axis of the housing.

[0015] Preferably, the housing is provided with a positioning boss, which cooperates with a positioning hole provided on the crossbeam of the main vehicle frame, so that it is installed on the left and right symmetrical center planes of the main vehicle.

[0016] The shell is made of a light-transmitting and hydrophobic material.

[0017] The present invention also provides a method for measuring the angle between a tractor unit and a trailer, wherein operating the aforementioned angle measuring device includes the following steps:

[0018] The centerline of the sunshade and the zero position of the angle sensor are both pointed to 90 degrees counterclockwise from the direction of vehicle travel. This position is defined as the zero position of the chasing light unit assembly.

[0019] The photosensitive component and the angle sensor are driven to rotate. When the photosensitive component receives infrared light emitted by the light-emitting unit assembly, the angle value measured by the angle sensor relative to its zero position is recorded.

[0020] Based on the relationship between the angle value measured by the angle sensor, the center point of the light-emitting unit assembly, and the distance from the rotation center of the tracking unit assembly to the center of the traction pin, the angle value of the trailer relative to the zero position of the tracking unit assembly is obtained.

[0021] Preferably, when the photosensitive component receives infrared light emitted by the light-emitting unit assembly, recording the angle value measured by the angle sensor relative to its zero position specifically includes the following steps;

[0022] When the axis of the light-shielding tube rotates to the position of the light-emitting unit assembly, it receives the infrared light emitted by the light-emitting unit assembly;

[0023] The output voltage of the photodiode at this moment is the level signal of the supply voltage. After receiving the level signal, the chip circuit board records the angle value measured by the angle sensor relative to its zero position.

[0024] Preferably, the relationship between the angle value of the trailer and the zero position of the follow-beam unit assembly is as follows:

[0025]

[0026] Where L1 is the distance from the center point of the light-emitting unit assembly to the center of the traction pin shaft;

[0027] L2 is the distance from the rotation center of the tracking unit assembly to the center of the traction pin shaft;

[0028] α is the angle value measured by the angle sensor relative to its zero position;

[0029] β is the angle value of the trailer relative to the zero position of the follow spot unit assembly;

[0030] L1, L2, and α are known values.

[0031] The beneficial effects of this invention are:

[0032] 1. This invention provides a device for measuring the angle between the tractor unit and the trailer, which does not require modification of the trailer and can be directly converted into production by truck manufacturers.

[0033] 2. This invention provides a device for measuring the angle between the tractor and trailer, which does not require expensive load sensors such as lidar and cameras, and has a lower cost.

[0034] 3. This invention provides a device for measuring the angle between the tractor unit and the trailer, which saves grabbing time and improves work efficiency.

[0035] 4. This invention provides a method for measuring the angle between the tractor and the trailer, which is more accurate than the method of measuring the main trailer angle using ultrasonic radar. Attached Figure Description

[0036] Figure 1 This is an installation structure diagram of the device for measuring the angle between the tractor unit and the trailer as described in this invention;

[0037] Figure 2 This is a structural diagram of the light-emitting unit assembly described in this invention;

[0038] Figure 3 This is a structural diagram of the light-tracking unit assembly described in this invention;

[0039] Figure 4 This is a schematic diagram of the photosensitive component of the present invention rotated to different positions;

[0040] Figure 5 This is a diagram showing the relationship between the angle measured by Zongchen of the tracking light unit after the trailer rotates relative to the saddle and the included angle between the trailer and the main trailer.

[0041] Figure 6 This is a schematic diagram of the structure of the housing described in this invention;

[0042] Among them, 1-housing, 2-angle sensor, 3-photodiode element, 4-sunshade tube, 5-gear motor or servo motor, 6-tracking beam, 7-chip circuit board, 8-upper housing, 9-lower housing, 10-light bulb, 11-lighting wire harness, 12-trailer, 13-main vehicle, 14-power supply spiral plug, 15-lighting unit assembly, 16-tracking unit assembly, 17-positioning boss. Detailed Implementation

[0043] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0044] In this specification, it should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0045] This invention provides a device for measuring the angle between a tractor unit and a trailer. It is mainly used to measure the angle between the tractor unit and the trailer, providing the tractor-trailer angle parameters for assisted parking and automatic parking control of tractor units with trailers.

[0046] like Figure 1 As shown, the present invention provides a device for measuring the angle between a tractor unit and a trailer, comprising:

[0047] The light-emitting unit assembly 15 is mounted on the power supply spiral plug 14, which connects the main vehicle 13 and the trailer 12.

[0048] The follow-light unit assembly 16 is mounted on the main vehicle 13, specifically on the crossbeam of the main vehicle frame, at the center plane of the left and right sides of the main vehicle, and can only receive light from a designated direction.

[0049] In this embodiment, the light-emitting unit assembly 15 emits light, and the light-tracking unit assembly 16 receives the light. The embodiment provided in this invention uses infrared light, but with technological advancements, the application of other light sources is not excluded. The light-tracking unit assembly is sufficient as long as it can receive the light emitted by the light-emitting unit assembly. Furthermore, the relative positions of the light-emitting unit assembly 15 and the light-tracking unit assembly 16 change with the relative movement of the main vehicle 13 and the trailer 12; that is, the angle between the main vehicle and the trailer changes.

[0050] Based on the above, another embodiment is as follows: Figure 2 As shown, the light-emitting unit assembly 15 includes an upper housing 8, a lower housing 9, a light-emitting wire harness 11, and a light-emitting lamp bead 10. The upper housing 8 and the lower housing 9 are corresponding arc-shaped bodies, and the two arc-shaped bodies form a ring structure in a one-to-one correspondence. The arc-shaped bodies are installed on the trailer power supply spiral plug. One end of the light-emitting wire harness 11 is connected to the negative terminal and the positive terminal of the battery, and the other end of the light-emitting wire harness is connected to the light-emitting lamp bead.

[0051] The light-emitting unit assembly 15 is installed on the power supply spiral plug and is a component of the tractor vehicle. Regardless of whether the trailer is present, the light-emitting unit assembly is always on the tractor vehicle. When the tractor vehicle and the trailer are assembled together, the light-emitting unit assembly is fixedly connected to the trailer along with the power supply spiral plug.

[0052] Based on the above embodiments, another embodiment is as follows: Figure 3 , Figure 4 , Figure 6 As shown, the tracking light unit assembly 16 includes a housing 1, an angle sensor 2, a photosensitive component, a geared motor or servo motor 5, and a tracking light beam 6. The angle sensor, the photosensitive component, and the geared motor or servo motor 5 are all located inside the housing 1. The input shaft of the angle sensor 2 is mounted on the output shaft of the servo motor or geared motor 5, and the photosensitive component is mounted on the output shaft of the geared motor or servo motor 5. A positioning boss 17 is provided outside the housing. The positioning boss cooperates with the positioning hole provided on the crossbeam of the main vehicle frame, so that it is installed on the left and right symmetrical center planes of the main vehicle. It is connected to the vehicle power supply through the tracking light beam and can perform CAN communication.

[0053] Specifically, the photosensitive component includes a photodiode element 3, a light-shielding tube 4, and a chip circuit board 7. The light-shielding tube 4 is sleeved on the photodiode element 3, coaxial and with a transition fit. The chip circuit board 7 is connected to the photodiode element 3 and the angle sensor 2.

[0054] The shell is made of a light-transmitting and hydrophobic material. Choosing a transparent and hydrophobic material not only meets the high light transmittance requirement for protecting optical devices, but also achieves beneficial effects such as self-cleaning, anti-fogging, anti-icing, anti-fogging, and anti-corrosion.

[0055] Based on the above embodiments, another embodiment is as follows: Figure 4 As shown, one end of the light-shielding tube is circular, with a diameter identical to that of the photodiode element. The other end of the light-shielding tube is a flat, flared shape. The circular end of the light-shielding tube is fitted onto the photodiode element. When viewed from this end, the cross-section of the flared opening is rectangular; an elliptical shape could also be chosen. The long side of the rectangle or the major axis of the ellipse is parallel to the central axis of the housing. This ensures that the photodiode element can only receive light from the direction in which the light-shielding tube rotates. Figure 4 The diagram shows the structure of the light-shielding tube rotated to different positions.

[0056] The working principle of this invention is as follows:

[0057] When the power is turned on, the geared motor or servo motor drives the angle sensor input shaft and the photosensitive component to rotate. The photodiode element in the photosensitive component can only receive infrared light in the direction of the axis of the light-shielding tube through the light-shielding tube. When the axis of the light-shielding tube rotates to the position of the light-emitting unit, and receives the infrared light emitted by the light-emitting unit, the output voltage of the photodiode is the signal level of the power supply voltage. After the chip receives this level, it records the angle sensor value at this time, and the angle between the main trailer can be obtained.

[0058] The device for measuring angles provided by the inventor has a simple structure, high measurement accuracy, low design cost, and does not require modification of the trailer. It can provide trailer driving mode data support for turning and parking of automobile trains.

[0059] The present invention also provides a method for measuring the angle between a tractor unit and a trailer, wherein operating the aforementioned angle measuring device includes the following steps:

[0060] Step 1: Align the centerline of the sunshade and the zero position of the angle sensor with 90 degrees counterclockwise from the direction of vehicle travel. Define this position as the zero position of the chasing light unit assembly.

[0061] Step 2: After power is supplied, the servo motor or geared motor drives the photosensitive component and the angle sensor input shaft to rotate. When the axis of the light shield rotates to the position of the light-emitting unit assembly, it receives the infrared light emitted by the light-emitting unit assembly. At this moment, the output voltage of the photodiode element is the level signal of the power supply voltage. After receiving the level signal, the chip circuit board records the angle value measured by the angle sensor relative to its zero position.

[0062] Based on the relationship between the angle value measured by the angle sensor, the center point of the light-emitting unit assembly, and the distance from the rotation center of the tracking unit assembly to the center of the traction pin, the angle value of the trailer relative to the zero position of the tracking unit assembly is obtained.

[0063] Specifically, the relationship between the angle value of the trailer relative to the zero position of the follow spot unit assembly is as follows:

[0064]

[0065] Where L1 is the distance from the center point of the light-emitting unit assembly to the center of the traction pin shaft;

[0066] L2 is the distance from the rotation center of the tracking unit assembly to the center of the traction pin shaft;

[0067] α is the angle value measured by the angle sensor relative to its zero position;

[0068] β is the angle value of the trailer relative to the zero position of the follow spot unit assembly;

[0069] L1, L2, and α are known values.

[0070] The light-tracking unit assembly 16 internally houses an angle sensor 2, a servo motor or geared motor 5, and a photosensitive unit assembly that can only receive infrared light from a specified direction. The angle sensor input shaft can rotate 360° around its axis, corresponding to an output voltage of 0-5V, forming a configuration as follows: Figure 5 As shown.

[0071] Specifically, based on the aforementioned device, the presence of the light-shielding tube ensures that the photodiode can only receive infrared light along its axial direction. The chip on the photosensitive unit's circuit board receives the detection signal output from the photodiode and the angle signal output from the angle sensor, and outputs the angle signal to the outside of the tracking unit. This measurement method is simple, highly accurate, and has significant potential for widespread application.

[0072] Other alternative embodiments of the present invention are also available, which will not be described in detail here.

[0073] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A device for measuring the angle between a tractor unit and a trailer, characterized in that, include: The light-emitting unit assembly is mounted on a power supply spiral plug, which connects the main vehicle and the trailer; The follow-beam unit assembly is mounted on the main vehicle; The light-emitting unit assembly emits light, and the light-tracking unit assembly receives the light; the relative positions of the light-emitting unit assembly and the light-tracking unit assembly change with the relative movement of the main vehicle and the trailer. The light-emitting unit assembly includes an upper housing, a lower housing, a light-emitting wire harness, and light-emitting LEDs. The upper housing and the lower housing are corresponding arc-shaped bodies. One end of the light-emitting wire harness is connected to a power source, and the other end of the light-emitting wire harness is connected to the light-emitting LEDs. The arc-shaped bodies are mounted on the trailer power supply spiral plug. The light-emitting unit assembly is a component of the tractor vehicle. Regardless of whether the trailer exists, the light-emitting unit assembly is always on the tractor vehicle. When the tractor vehicle and the trailer are assembled together, the light-emitting unit assembly is fixedly connected to the trailer along with the power supply spiral plug. The tracking light unit assembly includes a housing, an angle sensor, a photosensitive component, a geared motor or servo motor, and a tracking light beam. The angle sensor, the photosensitive component, and the geared motor or servo motor are all located inside the housing. The angle sensor and the photosensitive component are respectively connected to the geared motor or servo motor, and the tracking light beam is connected to the vehicle power supply. The photosensitive component includes a photodiode element, a light-shielding tube, and a chip circuit board. The light-shielding tube is sleeved on the photodiode element, coaxial and with a transition fit. The chip circuit board is connected to the photodiode element and the angle sensor. One end of the light-shielding tube is circular, with the same diameter as the photodiode element. The other end of the light-shielding tube is flat and flared. The circular end of the light-shielding tube is fitted onto the photodiode element.

2. The device for measuring the angle between the tractor unit and the trailer as described in claim 1, characterized in that, The cross-section of the flared opening is rectangular or elliptical, and the long side of the rectangle or the major axis of the ellipse is parallel to the central axis of the housing.

3. The device for measuring the angle between the tractor unit and the trailer as described in claim 1, characterized in that, The housing is provided with a positioning boss, which cooperates with the positioning hole provided on the crossbeam of the main vehicle frame, so that it is installed on the left and right symmetrical center planes of the main vehicle; wherein, the material of the housing is a light-transmitting and hydrophobic material.

4. A method for measuring the angle between a tractor unit and a trailer, characterized in that, Operating the device for measuring the angle between the tractor unit and the trailer as described in any one of claims 1 to 3 includes the following steps: The centerline of the sunshade and the zero position of the angle sensor are both pointed to 90 degrees counterclockwise from the direction of vehicle travel. This position is defined as the zero position of the chasing light unit assembly. The photosensitive component and the angle sensor are driven to rotate. When the photosensitive component receives infrared light emitted by the light-emitting unit assembly, the angle value measured by the angle sensor relative to its zero position is recorded. Based on the relationship between the angle value measured by the angle sensor, the center point of the light-emitting unit assembly, and the distance from the rotation center of the tracking unit assembly to the center of the traction pin, the angle value of the trailer relative to the zero position of the tracking unit assembly is obtained.

5. The method for measuring the angle between the tractor unit and the trailer as described in claim 4, characterized in that, When the photosensitive component receives infrared light emitted by the light-emitting unit assembly, the recording of the angle value measured by the angle sensor relative to its zero position specifically includes the following steps; When the axis of the light-shielding tube rotates to the position of the light-emitting unit assembly, it receives the infrared light emitted by the light-emitting unit assembly; The output voltage of the photodiode element at this moment is the level signal of the supply voltage. After receiving the level signal, the chip circuit board records the angle value measured by the angle sensor relative to its zero position.

6. The method for measuring the angle between the tractor unit and the trailer as described in claim 4, characterized in that, The relationship between the angle value of the trailer relative to the zero position of the follow spot unit assembly is as follows: ； Where L1 is the distance from the center point of the light-emitting unit assembly to the center of the traction pin; L2 is the distance from the rotation center of the tracking unit assembly to the center of the traction pin shaft; α is the angle value measured by the angle sensor relative to its zero position; β is the angle value of the trailer relative to the zero position of the follow spot unit assembly; L1, L2, and α are known values.

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