Traction force sensor assembly, tractor and tractor control method

Abstract

The invention belongs to the technical field of vehicle control, and discloses a traction force sensor assembly, a tractor and a tractor control method. The traction force sensor assembly comprises a shell, a sensor assembly and a controller, wherein the shell is used for being arranged on a wear-resistant ring of a tractor; the sensor assembly is used for detecting traction force borne by the traction pin, the sensor assembly is arranged on the shell, and the detection end of the sensor assembly can abut against the traction pin; the controller is arranged in the shell, the controller is in communication connection with the sensor assembly, and the controller is used for being in communication connection with the VDCU. The traction force sensor assembly, the tractor and the tractor control method are high in detection precision and large in detection range, dangerous states such as folding and drifting between the main vehicle and the trailer of the tractor can be prevented, and driving safety is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a traction sensor assembly, a tractor, and a tractor control method. Background Technology

[0002] The tractor unit is the core carrier of freight transportation. It consists of a tractor, trailer, and towing device. The towing device connects the tractor and trailer via a towing pin and a towing seat. The coordinated stability of the tractor and trailer directly determines driving safety, and the force state and relative angle between them are key parameters for measuring coordinated performance. Traction force, impact thrust, and lateral force are all transmitted through the mating surface of the towing pin and towing seat. Accurately sensing the magnitude and direction of these forces is a prerequisite for achieving coordinated power and braking between the tractor and the auxiliary electric drive trailer. The traction sensor, as a core sensing component, can capture mechanical signals at the traction connection point in real time and transmit them to the vehicle control system, providing data support for power output and braking commands. It plays an irreplaceable role in preventing dangerous conditions such as folding and fishtailing between the tractor and trailer, ensuring road transport safety.

[0003] In related technologies, some solutions use a torsion pin to sense the force on the trailer and torsion seat, which has low accuracy and the torsion pin is prone to wear and deformation, leading to data inconsistencies and deviations over long-term use. Other solutions use a magnetic field sensor installed on the torsion seat to sense the turning angle of the tractor and trailer, but cannot sense the force state. Therefore, the traction sensor assemblies in these technologies suffer from low detection accuracy, small detection range, and few detection parameters. This results in the VDCU (Vehicle Domain Controller) being unable to obtain accurate force values ​​and angle parameters, and thus unable to issue timely and appropriate drive or braking commands to the auxiliary electric drive trailer. This leads to a loss of coordinated control between the tractor and trailer, resulting in problems such as folding and fishtailing, creating safety hazards. Summary of the Invention

[0004] The purpose of this invention is to provide a traction sensor assembly, a tractor, and a tractor control method. This traction sensor assembly, tractor, and tractor control method have high detection accuracy and a large detection range, and can prevent dangerous conditions such as folding and tail-wagging between the tractor and the trailer, thus ensuring driving safety.

[0005] To achieve this objective, the present invention adopts the following technical solution: In a first aspect, a traction sensor assembly is provided, comprising: Housing, used to mount the wear-resistant ring on the traction device; A sensor assembly for detecting the traction force on the traction pin, the sensor assembly being disposed in the housing, and the detection end of the sensor assembly being able to abut against the traction pin; The controller is housed within the housing and communicates with the sensor assembly, as well as with the VDCU.

[0006] Preferably, the traction sensor assembly also includes a wiring port, which is located on the housing, and the controller can communicate with the VDCU through the wiring port.

[0007] Preferably, the housing has a U-shaped groove, the detection end of the sensor assembly faces the U-shaped groove, and the center line of the U-shaped groove is configured to coincide with the driving direction of the trailer.

[0008] Preferably, the sensor assembly includes multiple sensor detection heads, and the housing is provided with multiple mounting holes. The multiple sensor detection heads are correspondingly inserted into the multiple mounting holes, and the multiple sensor detection heads are distributed in a ring array. The extension lines of the multiple sensor detection heads along their detection directions intersect in a U-shaped groove.

[0009] Preferably, the sensing angle of the multiple sensor heads is not less than 180°.

[0010] Preferably, the detection end of the sensor assembly has an arc-shaped contact surface that can conform to the outer peripheral wall of the traction pin.

[0011] Preferably, the controller can communicate with the VDCU via a CAN bus (Controller Area Network).

[0012] In a second aspect, a tractor unit is provided, comprising a main vehicle, a trailer, and a towing device, wherein the main vehicle and the trailer are connected by the towing device. The tractor unit also includes a VDCU, a memory, and a traction force sensor assembly according to any of the above technical solutions. The traction force sensor assembly is disposed on the wear ring of the towing device, and the memory is used to store one or more programs.

[0013] Thirdly, a tractor control method is provided, which is applied to a tractor as described in the above technical solution. When one or more programs are executed by a VDCU, the VDCU controls the tractor to implement the tractor control method. The tractor control method includes: Get the current vehicle speed; Determine if the current vehicle speed is greater than 0; If so, the sensor components are used to obtain the value of the traction force and the direction of the traction force on the tow unit; The operating mode of the trailer is determined based on the value and direction of the traction force on the tow hitter. The operating mode includes drive mode and braking mode. Depending on the operating mode, the trailer is driven or braked.

[0014] Preferably, the step of determining the trailer's operating mode based on the magnitude and direction of the traction force acting on the tow hitter further includes: Based on the direction of the traction force on the tow hitter, obtain the angle between the travel directions of the tractor and the trailer; Compare the traction force value with the preset traction force threshold, and compare the angle between the driving directions of the tractor and trailer with the preset angle threshold; If the traction force is less than or equal to 0, the trailer will enter drive mode; If the traction force value is greater than 0 and less than or equal to the preset traction force threshold, and the angle between the driving directions of the tractor and trailer is less than or equal to the preset angle threshold, then the trailer will execute the drive mode. If the traction force value is greater than the preset traction force threshold, and the angle between the driving directions of the tractor and trailer is greater than the preset angle threshold, the trailer will engage braking mode.

[0015] The beneficial effects of this invention are as follows: This invention provides a traction force sensor assembly, a tractor unit, and a tractor unit control method. The traction force sensor assembly integrates the sensor components and controller into a single housing and is directly mounted on the wear ring of the traction seat, forming an independent sensor assembly module. This eliminates the need for significant modifications to the main structure of the traction seat, ensuring precise installation and positioning, facilitating vehicle assembly and subsequent maintenance and replacement, and improving assembly and maintenance efficiency. The housing is mounted on the wear ring of the traction seat. Utilizing the structural strength and installation position of the wear ring, the installation stability of the sensor assembly is ensured, and the protective function of the wear ring reduces the impact and wear on the sensor detection head, thus improving sensing performance. The sensor assembly boasts a long service life and stable operation under complex working conditions. The sensor assembly's detection end directly contacts the traction pin, enabling real-time and direct capture of traction force, lateral force, and other forces transmitted by the traction pin. This avoids force transmission loss and signal delay caused by intermediate transmission structures, resulting in high detection accuracy and fast response. The controller is integrated inside the housing and connected closely to the sensor assembly, shortening the signal transmission path and reducing the impact of external electromagnetic interference on the detection signal, ensuring the stability and accuracy of signal transmission. Simultaneously, the controller directly communicates with the VDCU, enabling rapid uploading of detection data to the vehicle control system for real-time data interaction. Attached Figure Description

[0016] Figure 1 This is a cross-sectional view of the traction sensor assembly provided in Embodiment 1 of the present invention; Figure 2 This is a first-view structural schematic diagram of the traction sensor assembly provided in Embodiment 1 of the present invention; Figure 3 This is a second-view structural schematic diagram of the traction sensor assembly provided in Embodiment 1 of the present invention; Figure 4 This is an exploded view of the traction sensor assembly provided in Embodiment 1 of the present invention disposed on the traction device; Figure 5 This is a structural diagram of the tractor provided in Embodiment 2 of the present invention; Figure 6 This is a flowchart illustrating a tractor control method provided in Embodiment 3 of the present invention; Figure 7 This is a flowchart illustrating a tractor control method provided in Embodiment 4 of the present invention.

[0017] In the picture: 1. Shell; 11. U-shaped groove; 2. Sensor detection head; 21. Contact surface; 3. Controller; 4. Wiring ports; 200. Main vehicle; 210. Trailer; 220. Tractor; 230. VDCU; 240. Storage device; 250. Traction sensor assembly. Detailed Implementation

[0018] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0019] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0020] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0021] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0022] Example 1: Please refer to Figures 1 to 4 This embodiment provides a traction sensor assembly 250, including a housing 1, a sensor assembly, and a controller 3. The housing 1 is used to be disposed on the wear-resistant ring of the traction device 220; the sensor assembly is used to detect the traction force on the traction pin, the sensor assembly is disposed in the housing 1, and the detection end of the sensor assembly can abut against the traction pin; the controller 3 is disposed in the housing 1, the controller 3 is communicatively connected to the sensor assembly, and the controller 3 is used to communicate with the VDCU 230.

[0023] This configuration integrates the sensor assembly and controller 3 into the same housing 1, directly mounting them on the wear ring of the traction seat to form an independent sensor assembly module. This eliminates the need for significant modifications to the main structure of the traction seat, ensuring precise installation and positioning, facilitating vehicle assembly and subsequent maintenance and replacement, and improving assembly and maintenance efficiency. The housing 1, mounted on the wear ring of the traction seat, leverages the structural strength and installation position of the wear ring to ensure the stability of the sensor assembly while utilizing its protective function to reduce the impact and wear on the sensor detection head 2, thus extending the service life and operational stability of the sensor assembly under complex working conditions. The sensor assembly's detection end directly abuts against the traction pin, enabling real-time and direct capture of traction force, lateral force, and other forces transmitted by the traction pin, avoiding force transmission loss and signal delay caused by intermediate transmission structures, resulting in high detection accuracy and fast response speed. The controller 3, integrated inside the housing 1 and connected closely to the sensor assembly, shortens the signal transmission path, reduces the impact of external electromagnetic interference on the detection signal, and ensures the stability and accuracy of signal transmission. Simultaneously, the controller 3 directly connects to the VDCU. The 230 communication connection allows for rapid uploading of test data to the vehicle control system, enabling real-time data interaction.

[0024] Optionally, the traction sensor assembly 250 also includes a wiring port 4, which is located on the housing 1. The controller 3 can communicate with the VDCU 230 through the wiring port 4. Specifically, the controller 3 can communicate with the VDCU 230 via a CAN bus. This configuration allows for a pluggable design of the wiring port 4, enabling quick connection and disconnection from the vehicle wiring harness during sensor assembly assembly or maintenance. This eliminates the need for complex wiring operations, significantly reducing vehicle assembly time. Furthermore, when the sensor assembly malfunctions, it can be quickly replaced by plugging and unplugging, greatly improving the convenience and efficiency of after-sales maintenance.

[0025] Optionally, the housing 1 has a U-shaped groove 11, with the detection end of the sensor assembly facing the U-shaped groove 11. The centerline of the U-shaped groove 11 is configured to coincide with the driving direction of the trailer 210. This configuration provides a suitable accommodating space for the towing pin, facilitating the engagement of the sensor assembly's detection end with the towing pin and ensuring effective contact between them. The centerline of the U-shaped groove 11, coinciding with the driving direction of the trailer 210, provides a reference for calculating the angle between the driving directions of the main vehicle 200 and the trailer 210.

[0026] Optionally, the sensor assembly includes multiple sensor detection heads 2, and the housing 1 is provided with multiple mounting holes. The multiple sensor detection heads 2 are correspondingly inserted into the multiple mounting holes. The multiple sensor detection heads 2 are arranged in a ring array, and the extension lines of the multiple sensor detection heads 2 along their detection directions intersect in the U-shaped groove 11.

[0027] Preferably, the sensing angle of the multiple sensor detection heads 2 is not less than 180°. In this embodiment, seven sensor detection heads 2 are provided, with adjacent sensor detection heads 2 spaced 30° apart. This arrangement, by setting multiple sensor detection heads 2 in a circular array, ensures that the extended lines of the detection directions of the sensor detection heads 2 intersect within the U-shaped groove 11, enabling comprehensive and high-precision detection of the force state of the traction pin. The multiple sensor detection heads 2 are evenly arranged circumferentially, allowing simultaneous sensing of forces from different directions, covering the force changes of the traction pin within a 180° range, comprehensively capturing the magnitude and direction of traction force, impact thrust, and lateral deviation force, avoiding the loss of force information caused by the limited detection range of a single sensor. In this embodiment, seven sensor detection heads 2 are arranged at 30° intervals. This allows for reasonable control of structural complexity and cost while ensuring detection accuracy. It enables detailed identification of the force direction, providing richer and more reliable traction status information for the vehicle control system. This improves the coordinated control accuracy between the tractor 200 and the trailer 210, effectively avoids dangerous conditions such as folding and tail-wagging, and enhances driving safety.

[0028] Optionally, the detection end of the sensor assembly has an arc-shaped contact surface 21, which can conform to the outer peripheral wall of the traction pin. Specifically, the radius of curvature of the arc-shaped contact surface 21 is equal to the radius of the traction pin. With this configuration, the arc-shaped contact surface 21 and the outer peripheral wall of the traction pin achieve a tight fit in the entire circumference, ensuring uniform force transmission and stable contact, effectively avoiding stress concentration caused by point or line contact, and improving the detection accuracy and service life of the sensor; at the same time, the arc-shaped fitting structure can adapt to the slight swing and rotation of the traction pin, ensuring effective contact under different working conditions, further improving the continuity and reliability of force signal acquisition.

[0029] Example 2: Please refer to Figure 5 Embodiment 2 provides a tractor unit, including a main vehicle 200, a trailer 210 and a towing device 220. The main vehicle 200 and the trailer 210 are connected by the towing device 220. The tractor unit also includes a VDCU 230, a memory and the aforementioned traction force sensor assembly 250. The traction force sensor assembly 250 is disposed on the wear ring of the towing device 220. The memory is used to store one or more programs.

[0030] Optionally, the tractor unit may also include a vehicle speed sensor, a rotation speed sensor, and an engine. The VDCU230, memory, traction sensor assembly 250, vehicle speed sensor, rotation speed sensor, and engine can be connected via bus or other means. Figure 4Taking a bus connection as an example, the engine speed sensor detects the engine speed and sends it to the VDCU 230. The fuel consumption meter detects the instantaneous fuel consumption of the engine and sends it to the VDCU 230. The vehicle speed sensor detects the vehicle's speed. The traction sensor assembly 250 detects the traction force between the tractor unit 200 and the trailer 210.

[0031] As a computer-readable storage medium, a memory can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the tractor control method in the embodiments of the present invention. The VDCU 230 executes various functional applications and data processing of the tractor by running the software programs, instructions, and modules stored in the memory, thereby implementing the tractor control method of the above embodiments.

[0032] Example 3: Figure 6 This is a flowchart of a tractor control method provided in Embodiment 3 of the present invention. This embodiment can be applied to the situation where the trailer 210 of the tractor is automatically controlled to perform a drive mode or a braking mode. The tractor control method can be implemented by software and / or hardware and integrated into the tractor.

[0033] Specifically, such as Figure 6 As shown, this tractor control method is applied to the tractor described above. When one or more programs are executed by VDCU 230, VDCU 230 controls the tractor to implement the tractor control method, which includes: S310, Get the current vehicle speed.

[0034] Specifically, vehicle speed is obtained through a vehicle speed sensor.

[0035] S320. Determine if the current vehicle speed is greater than 0.

[0036] If yes, proceed to step S330. Otherwise, return to step S310.

[0037] S330: The sensor assembly acquires the value of the traction force on the traction device 220 and the direction of the traction force on the traction device 220.

[0038] S340. Determine the operating mode of trailer 210 based on the value and direction of the traction force received by tow 220.

[0039] Specifically, the operating modes include drive mode and braking mode. When in drive mode, the VDCU 230 sends a drive mode signal to the TCU (Telematics Control Unit).

[0040] When the braking mode is activated, the VDCU 230 sends a braking mode signal to the EBS (Electronic Brake System).

[0041] S350: Drive or brake trailer 210 according to the operating mode.

[0042] Understandably, how to send control signals through VDCU 230 to drive or brake the trailer 210 is existing technology in the field, and will not be described in detail here.

[0043] Example 4: Figure 7 This is a flowchart of a tractor control method provided in Embodiment 4 of the present invention. This embodiment is a specific implementation based on Embodiment 3 above. The tractor control method includes: S410, Get the current vehicle speed.

[0044] S420: Determine if the current vehicle speed is greater than 0.

[0045] If so, proceed to step S430. Otherwise, return to step S410.

[0046] S430: The sensor assembly acquires the value of the traction force on the traction device 220 and the direction of the traction force on the traction device 220.

[0047] S440. Determine the operating mode of trailer 210 based on the value and direction of the traction force received by tow 220.

[0048] Specifically, the operating modes include drive mode and braking mode. When in drive mode, the VDCU 230 sends a drive mode signal to the TCU (Telematics Control Unit).

[0049] When the braking mode is activated, the VDCU 230 sends a braking mode signal to the EBS (Electronic Brake System).

[0050] S450. Based on the direction of the traction force received by the tow unit 220, obtain the angle between the travel directions of the main vehicle 200 and the trailer 210.

[0051] S460, compare the value of the traction force with the size of the preset traction force threshold, and compare the angle between the driving directions of the main vehicle 200 and the trailer 210 with the size of the preset angle threshold. If the traction force value is less than or equal to 0, then execute S470; If the traction force value is greater than 0 and less than or equal to the preset traction force threshold, and the angle between the driving directions of the main vehicle 200 and the trailer 210 is less than or equal to the preset angle threshold, then execute S480. If the traction force value is greater than the preset traction force threshold, and the angle between the driving directions of the main vehicle 200 and the trailer 210 is greater than the preset angle threshold, then S490 is executed.

[0052] S470 and trailer 210 are in drive mode.

[0053] S480 and trailer 210 are in drive mode.

[0054] S490 and trailer 210 are in braking mode.

[0055] Understandably, how to set the preset traction force threshold and the preset included angle threshold is existing technology in this field, and will not be described in detail here.

[0056] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A traction sensor assembly, characterized by, The traction force sensor assembly comprises: a shell (1) arranged on the wear ring of the tractor (220); a sensor assembly arranged on the shell (1) and capable of abutting the traction pin; a controller (3) arranged in the shell (1) and in communication with the sensor assembly and the VDCU (230).

2. The traction sensor assembly of claim 1, wherein, The traction force sensor assembly further comprises a wiring port (4) arranged on the shell (1), and the controller (3) is capable of communicating with the VDCU (230) through the wiring port (4).

3. The traction sensor assembly of claim 1, wherein, The shell (1) has a U-shaped groove (11), the detection end of the sensor assembly faces the U-shaped groove (11), and the center line of the U-shaped groove (11) is configured to coincide with the driving direction of the trailer (210).

4. The traction sensor assembly of claim 3, wherein, The sensor assembly comprises a plurality of sensor detection heads (2), the shell (1) is provided with a plurality of mounting holes, and the plurality of sensor detection heads (2) are correspondingly arranged in the plurality of mounting holes, the plurality of sensor detection heads (2) are arranged in an annular array, and the extension lines of the plurality of sensor detection heads (2) along the detection direction intersect in the U-shaped groove (11).

5. The traction sensor assembly of claim 4, wherein, The sensing angle of the plurality of sensor detection heads (2) is not less than 180°.

6. The traction sensor assembly of claim 1, wherein, The detection end of the sensor assembly has an arc-shaped contact surface (21) capable of fitting the outer wall of the traction pin.

7. The traction sensor assembly of claim 1, wherein, The controller (3) can communicate with the VDCU (230) through the CAN bus.

8. A tractor comprising a main vehicle (200), a trailer (210) and a tractor (220), the main vehicle (200) and the trailer (210) being connected by the tractor (220), characterized in that, The tractor further comprises a VDCU (230), a memory and the traction force sensor assembly (250) of any one of claims 1-7, the traction force sensor assembly (250) is arranged on the wear ring of the tractor (220), and the memory is used to store one or more programs.

9. A tractor control method characterized by, The tractor control method is applied to the tractor of claim 8, when the one or more programs are executed by the VDCU (230), the VDCU (230) controls the tractor to implement the tractor control method, and the tractor control method comprises: obtaining the current vehicle speed; determining whether the current vehicle speed is greater than 0; if yes, obtaining the value and direction of the traction force received by the tractor (220) through the sensor assembly; determining the running mode of the trailer (210) according to the value and direction of the traction force received by the tractor (220), the running mode comprising driving mode and braking mode; driving or braking the trailer (210) according to the running mode.

10. The tractor control method of claim 9, wherein, The step of determining the running mode of the trailer (210) according to the value and direction of the traction force received by the tractor (220) further comprises: According to the direction of the towing force received by the towing device (220), an angle between the driving direction of the host vehicle (200) and the trailer (210) is obtained; The value of the towing force is compared with a preset towing force threshold, and the angle between the driving direction of the host vehicle (200) and the trailer (210) is compared with a preset angle threshold; If the value of the towing force is less than or equal to 0, the trailer (210) executes the driving mode; If the value of the towing force is greater than 0 and less than or equal to the preset towing force threshold, and the angle between the driving direction of the host vehicle (200) and the trailer (210) is less than or equal to the preset angle threshold, the trailer (210) executes the driving mode; If the value of the towing force is greater than the preset towing force threshold, and the angle between the driving direction of the host vehicle (200) and the trailer (210) is greater than the preset angle threshold, the trailer (210) executes the braking mode.

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