Trailer train and method of driving control thereof

Abstract

The application provides a trailer train and a driving control method thereof, which comprises a towing vehicle, an electric trailer and a corner measuring device, the rear end of the towing vehicle is provided with a towing hole, the front end of the electric trailer is provided with a towing pin relative to the towing hole, the corner measuring device comprises a magnetic field sensor, a soft magnetic part and a whole vehicle controller, the magnetic field sensor and the soft magnetic part are separately arranged on the towing vehicle and the electric trailer, the magnetic field sensor and the soft magnetic part are oppositely arranged, in the relative rotation process of the towing vehicle and the electric trailer, the magnetic field sensor can collect the magnetic field information of different strengths between the magnetic field sensor and the soft magnetic part, the whole vehicle controller is electrically connected with the magnetic field sensor to receive the magnetic field information collected by the magnetic field sensor, and the rotation angle θ between the towing vehicle and the electric trailer is calculated through the magnetic field information. The application can prevent the scratching caused by the fact that the driver cannot accurately judge the rotation angle θ of the towing vehicle and the electric trailer, and improve the reliability of the driver when driving the trailer train.

Description

Technical Field

[0001] This invention relates to the field of trailer train technology, and in particular to a trailer train and its drive control method. Background Technology

[0002] A trailer train consists of a tractor unit and an electric trailer, both of which are powered. The tractor unit drives and tows the electric trailer, which is detachably and rotatably connected to the tractor unit. The electric trailer is used to house and transport goods. The fact that both the tractor unit and the electric trailer are powered increases the overall difficulty of driving the trailer train.

[0003] During the operation of a trailer train, the direction of travel of the tractor unit can form an angle with the direction of travel of the electric trailer. Drivers typically rely on experience to judge this angle to facilitate turning, reversing, and other maneuvers. This judgment is prone to error, especially in adverse weather conditions. Furthermore, there is a possibility that the electric trailer may push the tractor unit, and in severe cases, the tractor unit and electric trailer may fold over. Therefore, precise control of the electric trailer's turning angle and power is necessary. Summary of the Invention

[0004] The purpose of this application is to provide a trailer train and its drive control method that can obtain the rotation angle θ between the tractor and the electric trailer in real time, thereby improving the reliability of the driver when driving the trailer train. Furthermore, it can prevent the tractor and the electric trailer from folding together.

[0005] To solve the above-mentioned technical problems, this application adopts the following technical solution:

[0006] According to one aspect of this application, a trailer train is provided, comprising a tractor, an electric trailer, and a turning angle measuring device. The tractor extends in a longitudinal direction, and a towing hole is provided at its rear end. The electric trailer extends in a longitudinal direction, and a towing pin is provided at its front end. The towing pin extends in a vertical direction and is rotatably engaged in the towing hole of the tractor. The tractor can rotate around the axis of the towing pin. The turning angle measuring device includes a magnetic field sensor, a soft magnetic component, and a vehicle controller. The magnetic field sensor and the soft magnetic component are respectively disposed on the tractor and the electric trailer, and are arranged opposite to each other. The magnetic field sensor can magnetize the opposite portion of the soft magnetic component. During the relative rotation of the tractor and the electric trailer, the magnetic field sensor can collect magnetic field information of different intensities on the soft magnetic component. The vehicle controller is electrically connected to the magnetic field sensor to receive the magnetic field information collected by the magnetic field sensor and calculate the rotation angle θ between the tractor and the electric trailer using the magnetic field information.

[0007] In some embodiments, the soft magnetic element extends in an arc around the circumference of the traction pin, the gap between the soft magnetic element and the central axis of the traction pin is equal, and the magnetic field strength is different at different points after the soft magnetic element is magnetized.

[0008] In some embodiments, the soft magnetic element is symmetrically arranged with respect to its horizontally extending centerline in a plane perpendicular to the vertical direction; in the vertical direction, the height from both ends to the middle of the soft magnetic element gradually decreases or increases, the gap between the soft magnetic element and the magnetic field sensor gradually increases or decreases, and in the initial position of the trailer train, the magnetic field sensor is arranged relative to the middle of the soft magnetic element.

[0009] In some embodiments, the soft magnetic element is disposed on the front side of the traction pin, and the soft magnetic element is symmetrically arranged with respect to its center line extending in the front-rear direction.

[0010] In some embodiments, the magnetic field sensor includes a permanent magnet and a sensing chip. The permanent magnet is disposed opposite to a portion of the soft magnetic component and magnetizes the soft magnetic component. The sensing chip is located on the side of the permanent magnet facing the soft magnetic component and is capable of collecting magnetic field information between the magnetized portion of the soft magnetic component and the permanent magnet.

[0011] In some embodiments, the tractor unit is capable of applying a driving force to itself, and the electric trailer unit is capable of applying a driving force to itself; the trailer train also includes an electronic braking system, which is capable of acquiring the mass parameters of the tractor unit and the electric trailer unit respectively, and is electrically connected to the vehicle controller to transmit the mass parameters of the tractor unit and the electric trailer unit to the vehicle controller; the vehicle controller is also capable of acquiring the driving force parameters output by the tractor unit and the electric trailer unit respectively, and the vehicle controller is capable of obtaining the acceleration of the tractor unit and the electric trailer unit respectively based on the driving force parameters and the mass parameters.

[0012] A trailer train drive control method, applied to any of the trailer trains described above, includes: during the operation of the trailer train, the tractor can drive the electric trailer to rotate, the soft magnetic component rotates relative to the axis of the traction pin, and the soft magnetic component moves relative to the magnetic field sensor so that the magnetic field sensor magnetizes the corresponding part of the soft magnetic component; the magnetic field sensor can also collect magnetic field information between the magnetic field sensor and the magnetized part of the soft magnetic component in real time, and transmit the magnetic field information to the vehicle controller, and the vehicle controller obtains the rotation angle θ between the tractor and the trailer train based on the magnetic field information.

[0013] In some embodiments, the system includes: both the tractor and the electric trailer are capable of applying driving force to themselves; the trailer train further includes the electronic braking system and the vehicle controller; the control method includes the following steps: the electronic braking system acquires the mass parameters of the tractor and the electric trailer in real time and transmits the mass parameters to the vehicle controller; the vehicle controller acquires the driving force parameters of the tractor and the electric trailer in real time; the vehicle controller calculates the acceleration of the tractor based on the mass parameters and driving force parameters of the tractor; the vehicle controller calculates the acceleration of the electric trailer based on the mass parameters and driving force parameters of the electric trailer; the vehicle controller calculates the component acceleration of the tractor in the direction of travel of the electric trailer based on the rotation angle θ between the tractor and the electric trailer, and compares it with the acceleration of the electric trailer; the vehicle controller can control the driving force output of the tractor and the electric trailer so that the acceleration of the electric trailer is less than or equal to the component acceleration of the tractor in the direction of travel of the electric trailer.

[0014] In some embodiments, the height of the soft magnetic component gradually changes, and as the soft magnetic component moves relative to the magnetic field sensor, the gap between the soft magnetic component and the magnetic field sensor gradually changes. The magnetic field sensor magnetizes different parts of the soft magnetic component, and the magnetic field sensor collects the change in magnetic field strength between the magnetic field sensor and the soft magnetic component, and transmits the magnetic field information to the vehicle controller to obtain the rotation angle θ between the tractor and the electric trailer based on the different magnetic field information and its changing trend.

[0015] In some embodiments, when the rotation angle θ between the tractor and the electric trailer is greater than or equal to 90°, the electric trailer stops self-driving.

[0016] As can be seen from the above technical solution, this application has at least the following advantages and positive effects:

[0017] In this application, the trailer train requires steering operations during operation. During the steering process, the tractor rotates relative to the electric trailer around the axis of the draw pin, creating a rotation angle θ between the tractor and the electric trailer. During this relative rotation, a soft magnetic component moves relative to a magnetic field sensor, enabling the sensor to identify the magnetic field strength at different points on the sensor and the soft magnetic component, collecting magnetic field information and inputting it into the vehicle controller. The vehicle controller can then determine the relative angle between the tractor and the electric trailer based on this magnetic field information. This prevents collisions caused by the driver's inaccurate judgment of the rotation angle θ, reduces the impact of harsh environments on the trailer train's steering, and improves the reliability of the driver's operation. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the trailer train of the present invention.

[0019] Figure 2 This is a partial structural schematic diagram of the tractor and angle measuring device of the present invention.

[0020] Figure 3 This is a schematic diagram of the structure of the tractor saddle and magnetic field sensor of the present invention.

[0021] Figure 4 This is a schematic diagram of the angle measuring device of the present invention.

[0022] Figure 5 yes Figure 4 Side view of the structure shown.

[0023] Figure 6 yes Figure 4 The bottom view of the structure shown.

[0024] Figure 7 This is a schematic diagram of step S1 of the trailer train drive control method of the present invention.

[0025] Figure 8 This is a schematic diagram of step S2 of the trailer train drive control method of the present invention.

[0026] Figure 9 This is a schematic diagram of steps S11 and S12 of the trailer train drive control method of the present invention.

[0027] Figure 10 This is a schematic diagram of step S3 of the trailer train drive control method of the present invention.

[0028] The annotations in the attached figures are explained as follows:

[0029] 100. Tractor; 110. Tractor saddle; 111. Traction hole; 200. Electric trailer; 211. Traction pin; 300. Angle measuring device; 310. Soft magnetic component; 320. Magnetic field sensor. Detailed Implementation

[0030] Typical embodiments embodying the features and advantages of this application will be described in detail in the following description. It should be understood that this application can have various variations in different embodiments, all of which do not depart from the scope of this application, and the descriptions and illustrations therein are for illustrative purposes only and not intended to limit this application.

[0031] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0032] In related technologies, trailer trains generally include a tractor unit 100 and an electric trailer 200. The tractor unit 100 has a cab, and the driver can control the steering and drive of the tractor unit 100 and the electric trailer 200 after entering the cab. The electric trailer 200 is rotatably connected to the tractor unit 100, and the connection between the electric trailer 200 and the tractor unit 100 is detachable. This allows the tractor unit 100 to be replaced with different types of electric trailers 200 as needed, thereby improving the cargo transportation efficiency of the trailer train.

[0033] Figure 1 This is a schematic diagram of the trailer train of the present invention.

[0034] See Figure 1 For ease of reference and understanding, the state of the trailer train during straight-line travel will be used as a reference, the front-to-back direction of the trailer train will be used as the front-to-back direction in the following text, the up-and-down direction of the trailer train will be used as the up-and-down direction in the following text, and the left-and-right direction of the trailer train will be used as the left-and-right direction in the following text.

[0035] Figure 2 This is a partial structural schematic diagram of the tractor and angle measuring device of the present invention. Figure 3 This is a schematic diagram of the structure of the tractor saddle and magnetic field sensor of the present invention. Figure 4 This is a schematic diagram of the angle measuring device of the present invention.

[0036] See Figures 1 to 4This application provides a trailer train, which includes a tractor 100, an electric trailer 200, and a turning angle measuring device 300. The tractor 100 extends in a front-to-back direction, and a towing hole 111 is provided at the rear end of the tractor 100. The electric trailer 200 extends in a front-to-back direction, and a towing pin 211 is provided at the front end of the electric trailer 200. The towing pin 211 extends in a vertical direction and is rotatably engaged in the towing hole 111 of the tractor 100. The tractor 100 can rotate around the axis of the towing pin 211. The turning angle measuring device 300 includes a magnetic field sensor 320, a soft magnetic component 310, and a vehicle control unit (VCU). The magnetic field sensor 320 and the soft magnetic component 310 are respectively disposed on the tractor 100 and the electric trailer 200. The magnetic field sensor 320 and the soft magnetic component 310 are arranged opposite to each other. The magnetic field sensor 320 can magnetize the opposite part of the soft magnetic component. During the relative rotation of the tractor 100 and the electric trailer 200, the magnetic field sensor 320 can collect magnetic field information of different intensities on the soft magnetic component 310. The vehicle controller is electrically connected to the magnetic field sensor 320 to receive the magnetic field information collected by the magnetic field sensor 320 and calculate the rotation angle θ between the tractor 100 and the electric trailer 200 through the magnetic field information.

[0037] When the driver turns the trailer train, the tractor unit 100 rotates left and right, driving the electric trailer 200 to rotate. There is a relative angle between the tractor unit 100 and the electric trailer 200 relative to the rotation axis of the towing pin 211. At this time, due to the relative rotation of the tractor unit 100 and the electric trailer 200, the magnetic field sensor 320 and the soft magnetic component 310 undergo relative changes, allowing the magnetic field sensor 320 to detect changes in the magnetic field strength between them. The magnetic field sensor 320 sends the collected magnetic field information to the vehicle controller, which calculates the rotation angle θ between the tractor unit 100 and the electric trailer 200 based on this information. This prevents collisions caused by the driver's inability to accurately judge the rotation angle θ, reduces the impact of harsh environments on the trailer train's turning and driving, and improves the reliability of the driver's operation of the trailer train.

[0038] The included angle θ is the rotation angle of the tractor vehicle around the axis of rotation of the traction pin in the left and right directions.

[0039] In some embodiments, the tractor unit 100 is equipped with a display screen (not shown) in the cab. The display screen is electrically connected to the vehicle controller to receive and display data acquired and calculated by the vehicle controller, thereby facilitating the driver's observation and reference. In other embodiments, a steering instrument (not shown) is provided in the cab. The steering instrument is electrically connected to the vehicle controller to display the rotation angle θ between the tractor unit 100 and the electric trailer 200.

[0040] In other embodiments, the towing hole 111 is located at the center of the electric trailer 200 in the left-right direction, and the towing pin 211 is located at the center of the electric trailer 200 in the left-right direction, so as to facilitate towing by the tractor 100.

[0041] See Figures 2 to 4 In this embodiment, the angle measuring device 300 is located between the tractor 100 and the electric trailer 200. A traction hole 111 is provided on the tractor saddle 110, and the soft magnetic component 310 and the magnetic field sensor 320 are arranged opposite each other. On one hand, the small gap between the magnetic field sensor 320 and the soft magnetic component 310 improves the information acquisition quality of the magnetic field sensor 320. On the other hand, the tractor 100 and the electric trailer 200 prevent external debris from entering between the soft magnetic component 310 and the magnetic field sensor 320, ensuring the safety of the angle measuring device 300 and effectively guaranteeing its efficient operation.

[0042] In some embodiments, the soft magnetic component 310 is disposed on the upper surface of the tractor 100, and the magnetic field sensor 320 is disposed on the lower surface of the electric trailer 200.

[0043] Figure 5 yes Figure 4 Side view of the structure shown. Figure 6 yes Figure 4 The bottom view of the structure shown.

[0044] See Figure 2 , Figures 4 to 6 In this embodiment, the soft magnetic component 310 is located on the periphery of the traction pin 211. The soft magnetic component 310 extends in an arc around the circumference of the traction pin 211. The gap between the soft magnetic component 310 and the central axis of the traction pin 211 is equal. The magnetic field strength after magnetization is different at different points of the soft magnetic component 310.

[0045] The magnetic field sensor 320 is set to correspond to the soft magnetic component 310 so that the gap between the magnetic field sensor 320 and the soft magnetic component 310 is different during the rotation of the magnetic field sensor 320 around the central axis of the traction pin 211. Therefore, the magnetic field strength between the magnetic field sensor 320 and the soft magnetic component 310 is different with rotation, and the magnetic field sensor 320 can collect the magnetic field strength of the magnetized part of the soft magnetic component 310.

[0046] The magnetic field sensor 320 includes a permanent magnet (not shown) and a sensing chip (not shown). The permanent magnet is disposed opposite to a portion of the soft magnetic component 310, and the permanent magnet is capable of magnetizing a portion of the soft magnetic component. The sensing chip is located on the side of the permanent magnet facing the soft magnetic component 310, enabling the sensing chip to collect magnetic field information between the magnetized portion of the soft magnetic component 310 and the permanent magnet. In some embodiments, the permanent magnet includes an electromagnet.

[0047] The sensing chip is electrically connected to the vehicle controller. After the sensing chip collects the magnetic field strength between the permanent magnet and the soft magnetic component 310 of the magnetized part, it transmits the collected magnetic field information to the vehicle controller. The vehicle controller calculates the rotation angle between the tractor 100 and the electric trailer 200 based on the different magnetic field information. In some embodiments, the magnetic field sensor 320 includes a Hall sensor.

[0048] In some embodiments, the soft magnetic element 310 is symmetrically arranged with respect to its horizontally extending centerline in a plane perpendicular to the vertical direction. In the vertical direction, the height of the soft magnetic element 310 from its two ends to its middle gradually decreases or increases, causing the gap between the soft magnetic element 310 and the magnetic field sensor 320 to gradually increase or decrease. This results in a change in the magnetic field strength detected by the sensing chip between the permanent magnet and the soft magnetic element 310, and a change in the magnetic field information output by the magnetic field sensor 320. At the initial position of the trailer train, the magnetic field sensor 320 is positioned relative to the middle of the soft magnetic element 310. At this time, the sensing chip can detect the maximum or minimum magnetic field strength between the permanent magnet and the soft magnetic element 310.

[0049] See Figure 2 , Figures 4 to 6 In other embodiments, specifically in this embodiment, the height of the soft magnetic component 310 gradually increases from both ends to its middle portion in the vertical direction. This causes the gap between the soft magnetic component 310 and the magnetic field sensor 320 to gradually decrease. When the magnetic field sensor 320 is located relatively at the middle of the soft magnetic component 310, the sensing chip detects the maximum magnetic field strength between the permanent magnet and the soft magnetic component 310. When the magnetic field sensor 320 moves away from the middle of the soft magnetic component 310 in the horizontal direction, the sensing chip detects a gradual decrease in the magnetic field strength between the permanent magnet and the soft magnetic component 310.

[0050] In some embodiments, the height of the soft magnetic element 310 gradually decreases from both ends to its middle portion in the vertical direction, such that the magnetic field sensor 320 detects the maximum magnetic field strength when it is located at both ends of the soft magnetic element 310, and the magnetic field strength is minimum when it is located at the middle portion of the soft magnetic element 310.

[0051] In some embodiments, the soft magnetic component 310 is disposed on the front side of the traction pin 211. In a horizontal plane perpendicular to the vertical direction, the projection of the center line extending horizontally along the soft magnetic component 310 is coaxially arranged with the projection of the center line extending in the longitudinal direction along the tractor vehicle 100. This facilitates the installation of the soft magnetic component 310 and prevents damage to the soft magnetic component 310 when the traction pin 211 enters and exits the traction hole 111 on the tractor vehicle 100.

[0052] In other embodiments, the soft magnetic component 310 is located on the front side of the traction pin 211, and extends in an arc around the circumference of the traction pin 211, with symmetrical structures on both sides. This ensures that when the magnetic field sensor 320 moves relative to the soft magnetic component 310, the magnetic field sensor 320 is always located on top of and aligned with the soft magnetic component 310, thereby improving the detection accuracy, safety, and stability of the magnetic field sensor 320.

[0053] See Figure 6 In this embodiment, the soft magnetic component 310 has an arc-shaped structure, and the included angle between one end of the soft magnetic component 310 and the middle part of the structure is greater than 90°. In some embodiments, the included angle between the two ends of the soft magnetic component 310 is greater than 180° and less than 210°.

[0054] In some embodiments, the soft magnetic component 310 includes silicon steel, soft magnetic ferrite, etc.

[0055] See Figures 3 to 6 In this embodiment, the magnetic field sensor 320 transmits the collected magnetic field information to the vehicle controller, and the vehicle controller calculates the rotation angle of the tractor 100 and the electric trailer 200 based on the strength of the magnetic field information.

[0056] A magnetic field sensor 320 is mounted on the electric trailer 200 and located in front of the towing pin 211, corresponding to the soft magnetic component 310. In some embodiments, when the trailer train is in its initial position, the rotation angle between the tractor 100 and the electric trailer 200 is 0°, and the trailer train travels in a straight line in the forward and backward direction. The magnetic field sensor 320 corresponds to the middle structure of the soft magnetic component 310.

[0057] In related technologies, trailer trains are generally equipped with an electronic braking system (EBS) and a vehicle controller. The electronic braking system can obtain the vehicle's own mass parameters, and the vehicle controller can obtain the vehicle's driving force parameters.

[0058] In this embodiment, the tractor unit 100 can apply driving force to itself, and the electric trailer 200 can apply driving force to itself to facilitate the transportation of goods and improve the driving and braking efficiency of the trailer train. The trailer train also includes an electronic braking system (not shown in the figure) and a vehicle controller (not shown in the figure). The electronic braking system can acquire the mass parameters of the tractor unit 100 and the electric trailer 200 respectively. The electronic braking system is electrically connected to the vehicle controller so that it can input the mass parameters of the tractor unit 100 and the electric trailer 200 into the vehicle controller. The vehicle controller can also acquire the driving force parameters output by the tractor unit and the electric trailer respectively.

[0059] The vehicle controller can obtain the accelerations of the tractor 100 and the electric trailer 200 based on the driving force and mass parameters. This allows the vehicle controller to control the driving speeds of the tractor 100 and the electric trailer 200, preventing the speed of the electric trailer 200 from exceeding the speed of the tractor 100 and preventing the trailer train from folding when turning. Furthermore, the vehicle controller controls the driving force output of the electric trailer 200, ensuring that the acceleration of the electric trailer 200 is less than or equal to the component acceleration of the tractor 100 in the direction of travel of the electric trailer 200, thus preventing the electric trailer 200 from pushing the tractor 100 and causing it to fold.

[0060] The folding phenomenon occurs when, during the forward movement and turning of the trailer train, the acceleration of the electric trailer 200 exceeds that of the tractor unit 100. In this situation, the front end of the electric trailer 200 will press against the rear end of the tractor unit 100, affecting its steering. Furthermore, the angle between the electric trailer 200 and the tractor unit 100 may become greater than or equal to 90°, rendering the tractor unit 100 unable to continue towing the electric trailer 200, thus preventing the trailer train from moving.

[0061] See Figures 2 to 3 In this embodiment, the upper surface of the tractor 100 is provided with a tractor saddle 110, and the tractor saddle 110 is provided with a towing hole 111. The lower surface of the electric trailer 200 is provided with a towing pin 211, which can slide into and out of the towing hole 111.

[0062] A magnetic field sensor 320 is mounted on the tractor saddle 110 and located around the towing hole 111. A soft magnetic component 310 is mounted on the electric trailer 200 and located around the towing pin 211. The magnetic field sensor 320 and the soft magnetic component 310 are positioned opposite each other.

[0063] In some embodiments, a protective structure is provided around the tractor saddle 110, extending along the circumference of the tractor saddle 110 to prevent external debris from entering between the soft magnetic component 310 and the magnetic field sensor 320.

[0064] See Figures 1 to 6 In this invention, when the driver is driving the trailer train, the driver can steer the tractor 100 to drive the electric trailer 200. The tractor 100 rotates relative to the axis of the towing pin 211, so that there is an angle between the tractor 100 and the electric trailer 200. When the tractor 100 rotates relative to the towing pin 211, the soft magnetic component 310 rotates synchronously around the rotation axis of the towing pin 211, so that the soft magnetic component 310 moves relative to the magnetic field sensor 320. The magnetic field sensor 320 can collect different magnetic field information between the magnetic field sensor 320 and the soft magnetic component 310, and transmit the magnetic field information to the vehicle controller. The vehicle controller calculates the rotation angle θ between the tractor 100 and the electric trailer 200 based on the magnetic field information. The rotation angle θ can be displayed on a display screen or steering instrument so that the driver can understand the rotation angle θ in real time. This is to prevent collisions caused by the driver's inability to accurately judge the rotation angle θ between the tractor 100 and the electric trailer 200, and to reduce the impact of harsh environments on the steering and driving of the trailer train, thereby improving the reliability of the driver when driving the trailer train.

[0065] Furthermore, the vehicle controller can control the driving force output of the trailer train, so that the acceleration of the electric trailer 200 is less than or equal to the component acceleration of the tractor 100 in the direction of travel of the electric trailer 200, thus preventing the electric trailer from folding when pushing the tractor.

[0066] In this application, the trailer train needs to perform operations such as turning during operation. During the turning process, the tractor 100 rotates relative to the electric trailer 200 around the axis of the towing pin 211, so that there is a rotation angle θ between the tractor 100 and the electric trailer 200. During the relative rotation of the tractor 100 and the electric trailer 200, the soft magnetic component 310 moves relative to the magnetic field sensor 320, so that the magnetic field sensor 320 can collect the magnetic field information between the magnetic field sensor 320 and the soft magnetic component 310, and input the magnetic field information into the vehicle controller. The vehicle controller can obtain the relative angle between the tractor 100 and the electric trailer 200 based on the magnetic field information, so as to prevent the driver from accidentally scratching the tractor 100 and the electric trailer 200 due to the inaccurate judgment of the rotation angle θ. It can also reduce the impact of harsh environment on the turning and driving of the trailer train and improve the reliability of the driver when driving the trailer train. Furthermore, the vehicle controller can control the driving force output of the trailer train, so that the acceleration of the electric trailer 200 is less than or equal to the component acceleration of the tractor 100 in the direction of travel of the electric trailer 200, thus preventing the electric trailer 200 from folding when pushing the tractor 100.

[0067] Figure 7 This is a schematic diagram of step S1 of the trailer train drive control method of the present invention.

[0068] See Figure 7The present invention also provides a trailer train drive control method, which is applied to the trailer train described above, and includes the following steps:

[0069] S1, during the operation of the trailer train, the tractor 100 can drive the electric trailer 200 to rotate, and the soft magnetic component 310 rotates relative to the axis of the traction pin 211. The soft magnetic component 310 moves relative to the magnetic field sensor 320 so that the magnetic field sensor magnetizes the corresponding part of the soft magnetic component. The magnetic field sensor 320 can also collect the magnetic field information between the magnetic field sensor 320 and the magnetized part of the soft magnetic component 310 in real time, and transmit the magnetic field information to the vehicle controller. The vehicle controller obtains the rotation angle θ between the tractor 100 and the electric trailer 200 based on the magnetic field information.

[0070] After obtaining the rotation angle θ information from the display screen or rotary instrument, the driver can accurately judge the rotation angle θ of the tractor 100 and the electric trailer 200, effectively preventing the electric trailer 200 from scraping. It can also reduce the impact of harsh environments on the steering and driving of the trailer train, and improve the reliability of the driver when driving the trailer train.

[0071] Figure 8 This is a schematic diagram of step S2 of the trailer train drive control method of the present invention.

[0072] See Figure 7 and Figure 8 In this embodiment, the trailer train drive control method further includes step S2, where both the tractor 100 and the electric trailer 200 can apply driving force to themselves. The trailer train also includes an electronic braking system and a vehicle controller. The control method includes the following steps:

[0073] S21, the electronic braking system acquires the mass parameter M1 of the tractor 100 and the mass parameter M2 of the electric trailer 200 in real time, and transmits the mass parameters to the vehicle controller.

[0074] S22, the vehicle controller acquires the driving force parameter F1 of the tractor 100 and the driving force parameter F2 of the electric trailer 200 in real time.

[0075] S23, the vehicle controller calculates the acceleration a1 = F1 / M1 of the tractor 100 based on the mass parameter M1 and driving force parameter F1 of the tractor 100; the driving force output F2 of the electric trailer 200 is the value to be calculated, and the acceleration a2 = F2 / M2 of the electric trailer 200.

[0076] S24, the vehicle controller calculates the component acceleration a3 = a1 of the tractor 100 in the direction of travel of the electric trailer 200 based on the rotation angle θ between the tractor 100 and the electric trailer 200. *By comparing cosθ with the acceleration a3 of the electric trailer 200 and a2, the vehicle controller can control the driving force F1 of the tractor 100 and the driving force F1 of the electric trailer 200, so that the acceleration a2 of the electric trailer 200 is less than or equal to the component acceleration a3 of the tractor 100 in the direction of travel of the electric trailer 200.

[0077] This ensures the safe and stable operation of the trailer train, avoids the electric trailer pushing the tractor, and prevents the trailer train from folding.

[0078] Figure 9 This is a schematic diagram of steps S11 and S12 of the trailer train drive control method of the present invention.

[0079] See Figure 7 and Figure 9 In this embodiment, step S1 further includes steps S11 and S12.

[0080] In step S11, the height of the soft magnetic component 310 gradually changes. As the soft magnetic component 310 moves relative to the magnetic field sensor 320, the gap between the soft magnetic component 310 and the magnetic field sensor 320 gradually changes. The magnetic field sensor magnetizes different parts of the soft magnetic component, and the magnetic field sensor 320 detects the change in the magnetic field strength between the magnetic field sensor 320 and the soft magnetic component 310.

[0081] In step S12, when the soft magnetic component 310 moves relative to the magnetic field sensor 320, the magnetic field sensor 320 collects magnetic field information and transmits it to the vehicle controller. The vehicle controller can calculate the rotation angle θ between the tractor 100 and the electric trailer 200 using the magnetic field information collected in real time by the magnetic field sensor 320.

[0082] Figure 10 This is a schematic diagram of step S3 of the trailer train drive control method of the present invention.

[0083] See Figure 10 In this embodiment, the trailer train drive control method further includes step S3, whereby the electric trailer 200 stops self-driving when the rotation angle θ between the tractor 100 and the electric trailer 200 is greater than or equal to 90°. This prevents the tractor 100 and the electric trailer 200 from folding, ensuring stable operation of the trailer train and improving its reliability and safety.

[0084] Although this application has been described with reference to several typical embodiments, it should be understood that the terminology used is illustrative and exemplary, and not restrictive. Since this application can be embodied in many forms without departing from the spirit or essence of the invention, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope defined by the appended claims. Therefore, all variations and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. A trailer train, characterized in that, include: A tractor unit that extends in a front-to-back direction, wherein a towing hole is provided at the rear end of the tractor unit; An electric trailer extends in a front-to-back direction, and a towing pin is provided at the front end of the electric trailer. The towing pin extends in a vertical direction and is rotatably engaged in the towing hole of the tractor vehicle. The tractor vehicle can rotate around the axis of the towing pin. Angle measuring device includes a magnetic field sensor, a soft magnetic component, and a vehicle controller. The magnetic field sensor and the soft magnetic component are respectively installed on the tractor and the electric trailer. The magnetic field sensor and the soft magnetic component are arranged opposite to each other. The magnetic field sensor can magnetize the opposite part of the soft magnetic component. During the relative rotation of the tractor and the electric trailer, the magnetic field sensor can collect magnetic field information of different intensities on the soft magnetic component. The vehicle controller is electrically connected to the magnetic field sensor to receive the magnetic field information collected by the magnetic field sensor and calculate the rotation angle θ between the tractor and the electric trailer based on the magnetic field information. The tractor unit is capable of applying driving force to itself, and the electric trailer unit is capable of applying driving force to itself. The trailer train also includes an electronic braking system, which is capable of acquiring the mass parameters of the tractor unit and the electric trailer unit respectively. The electronic braking system is electrically connected to the vehicle controller to transmit the mass parameters of the tractor unit and the electric trailer unit to the vehicle controller. The vehicle controller is also capable of acquiring the driving force parameters output by the tractor unit and the electric trailer unit respectively, and the vehicle controller is capable of obtaining the acceleration of the tractor unit and the electric trailer unit respectively based on the driving force parameters and mass parameters. The vehicle controller calculates the component acceleration of the tractor in the direction of travel of the electric trailer based on the rotation angle θ between the tractor and the electric trailer, and then compares it with the acceleration of the electric trailer. The vehicle controller can control the driving force output of the tractor and the electric trailer so that the acceleration of the electric trailer is less than or equal to the component acceleration of the tractor in the direction of travel of the electric trailer.

2. The trailer train according to claim 1, characterized in that, The soft magnetic component extends in an arc around the circumference of the traction pin, the gap between the soft magnetic component and the central axis of the traction pin is equal, and the magnetic field strength is different at different points after the soft magnetic component is magnetized.

3. The trailer train according to claim 1, characterized in that, In a plane perpendicular to the vertical direction, the soft magnetic component is symmetrically arranged with respect to its horizontally extending centerline; in the vertical direction, the height from both ends of the soft magnetic component to its middle part gradually decreases or increases, and the gap between the soft magnetic component and the magnetic field sensor gradually increases or decreases; at the initial position of the trailer train, the magnetic field sensor is positioned relative to the middle part of the soft magnetic component.

4. The trailer train according to claim 1, characterized in that, The soft magnetic component is disposed on the front side of the traction pin, and the soft magnetic component is symmetrically arranged with respect to its center line extending in the front-back direction.

5. The trailer train according to claim 1, characterized in that, The magnetic field sensor includes a permanent magnet and a sensing chip. The permanent magnet can be positioned opposite to a portion of the soft magnetic component and magnetize the soft magnetic component. The sensing chip is located on the side of the permanent magnet facing the soft magnetic component. The sensing chip can collect magnetic field information between the magnetized portion of the soft magnetic component and the permanent magnet.

6. A method for controlling the drive of a trailer train, characterized in that, It is applied to a trailer train as described in any one of claims 1 to 5, and comprises: During the operation of the trailer train, the tractor can drive the electric trailer to rotate, the soft magnetic component rotates relative to the axis of the traction pin, and the soft magnetic component moves relative to the magnetic field sensor so that the magnetic field sensor magnetizes the corresponding part of the soft magnetic component. The magnetic field sensor can also collect magnetic field information between the magnetic field sensor and the magnetized part of the soft magnetic component in real time, and transmit the magnetic field information to the vehicle controller. The vehicle controller obtains the rotation angle θ between the tractor and the trailer based on the magnetic field information. Both the tractor and the electric trailer can apply driving force to themselves. The trailer also includes the electronic braking system and the vehicle controller. The control method includes the following steps: The electronic braking system acquires the mass parameters of the tractor and the electric trailer in real time and transmits the mass parameters to the vehicle controller. The vehicle controller acquires the driving force parameters of the tractor and the electric trailer in real time; The vehicle controller calculates the acceleration of the tractor vehicle based on its mass parameters and driving force parameters; the vehicle controller also calculates the acceleration of the electric trailer based on its mass parameters and driving force parameters. The vehicle controller calculates the component acceleration of the tractor in the direction of travel of the electric trailer based on the rotation angle θ between the tractor and the electric trailer, and then compares it with the acceleration of the electric trailer. The vehicle controller can control the driving force output of the tractor and the electric trailer so that the acceleration of the electric trailer is less than or equal to the component acceleration of the tractor in the direction of travel of the electric trailer.

7. The trailer train drive control method according to claim 6, characterized in that, The height of the soft magnetic component gradually changes. As the soft magnetic component moves relative to the magnetic field sensor, the gap between the soft magnetic component and the magnetic field sensor gradually changes. The magnetic field sensor magnetizes different parts of the soft magnetic component. The magnetic field sensor collects the changes in the magnetic field strength between the magnetic field sensor and the soft magnetic component and transmits the magnetic field information to the vehicle controller to obtain the rotation angle θ between the tractor and the electric trailer based on the different magnetic field information and its changing trend.

8. The trailer train drive control method according to claim 6, characterized in that, When the rotation angle θ between the tractor and the electric trailer is greater than or equal to 90°, the electric trailer stops self-driving.

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