Angle measuring device of vehicle and vehicle thereof

Abstract

The utility model discloses an angle measuring device of a vehicle and the vehicle, the angle measuring device of the vehicle comprises an angle measuring assembly, a traction pin and a second magnetic member. The angle measuring assembly can be switched between a joint state and a separation state, when the angle measuring assembly is in the joint state, the positioning pin is matched in the positioning hole, the traction pin can rotate around the positioning pin, and one of the multiple first magnetic parts is in magnetic attraction fit with the second magnetic part; when the angle measuring assembly is in the separated state, the positioning pin is separated from the positioning hole, and one of the multiple first magnetic parts is separated from the second magnetic part. According to the angle measuring device provided by the utility model, the angle and the movement trend of the tractor and the trailer are displayed in real time, so that the reliability of providing technical parameter support for automatic driving or manual driving by the angle measuring device is improved. In addition, the angle measuring device is simple in structure, the installation efficiency of the angle measuring device is improved, and the cost of the angle measuring device is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of vehicles, in particular to a vehicle angle measuring device and a vehicle thereof. Background Art

[0002] For both autonomous and manually driven vehicles, the angles of the tractor and trailer play a key role in controlling the turning radius and driving path of the vehicle. For example, it helps avoid the phenomenon of trailer jackknife due to understeering when the vehicle is moving forward, and helps control the vehicle's driving path during reversing, allowing for precise reversing.

[0003] In the related art, two methods are usually used to measure the angle between the tractor and the trailer. Among them, the first measurement method is to provide a detection plate on the side of the trailer facing the tractor, and use the camera on the tractor to capture at least one characteristic pattern on the detection plate. Extract multiple feature points on the characteristic pattern, combine the coordinates of all feature points in the camera coordinate system and the coordinates in the world coordinate system to calculate the current transformation matrix between the tractor and the trailer, and then calculate the angle between the tractor and the trailer. However, the above angle measurement method has high performance requirements for the cameras involved, and the algorithm is complex and the development cost is high. The second measurement method is to measure and calculate the angle between the tractor and the trailer based on a rotary encoder. However, the angle detection component involved in this method includes a variety of electronic components such as a rotary encoder, a laser, and a photoelectric detection array, which is expensive, and the interaction and detection relationship between the components are complex. It has high requirements for the accuracy and installation of components, and the stability during operation is poor. Utility Model Content

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the utility model is to provide a vehicle angle measurement device, which improves the reliability of the angle measurement device in providing technical parameter support for automatic driving or manual driving. The angle measurement device has a simple structure, which is conducive to improving installation efficiency and reducing costs.

[0005] Another object of the utility model is to provide a vehicle using the above-mentioned vehicle angle measuring device.

[0006] According to the first aspect of the utility model, the angle measuring device of a vehicle includes: an angle measuring component, the angle measuring component includes a movable disk, a positioning pin and a plurality of first magnetic parts, the positioning pin and the plurality of first magnetic parts are arranged on the same side of the thickness direction of the movable disk, and the plurality of first magnetic parts are spaced apart along the circumference of the movable disk; a traction pin, the traction pin is arranged above the positioning pin, and a positioning hole is formed on the side of the traction pin adjacent to the positioning pin; a second magnetic part, the second magnetic part is arranged on the side of the traction pin adjacent to the positioning pin; wherein, the angle measuring component can be switched between an engaged state and a disengaged state, when the angle measuring component is in the engaged state, the positioning pin is engaged in the positioning hole, the traction pin can rotate around the positioning pin, and one of the plurality of first magnetic parts is magnetically engaged with the second magnetic part; when the angle measuring component is in the disengaged state, the positioning pin is separated from the positioning hole, and one of the plurality of first magnetic parts is separated from the second magnetic part.

[0007] According to the angle measuring device of the vehicle of the embodiment of the utility model, the angle measuring component can be switched between the engaged state and the disengaged state. When the angle measuring component is in the engaged state, the positioning pin is engaged in the positioning hole, the traction pin can rotate around the positioning pin, and one of the multiple first magnetic parts is magnetically engaged with the second magnetic part to display the rotation angle of the traction pin around the positioning pin in real time, that is, to display the angle and movement trend of the tractor and the trailer in real time, thereby improving the reliability of the angle measuring device in providing technical parameter support for automatic driving or manual driving. In addition, the angle measuring device has a simple structure, which is conducive to improving the installation efficiency of the angle measuring device and reducing the cost of the angle measuring device.

[0008] According to some embodiments of the present invention, the positioning pin is disposed in the middle of the movable disk, a plurality of the first magnetic members are disposed adjacent to the edge of the movable disk, and the plurality of the first magnetic members are evenly spaced apart along the circumference of the movable disk.

[0009] According to some embodiments of the utility model, the angle measuring assembly also includes an elastic member, which is arranged on the other side of the movable disk in the thickness direction, and one end of the elastic member away from the movable disk is fixed, and when the angle measuring assembly is in the engaged state, the elastic member is in a compressed state.

[0010] According to some embodiments of the utility model, the angle measuring device of the vehicle also includes a base, which is arranged on the other side of the thickness direction of the movable disk, and the elastic member is fixedly connected to the base; an airbag, which is arranged between the base and the movable disk, and the airbag is inflated to drive the angle measuring component to switch to the engaged state, and the airbag is deflated to drive the angle measuring component to switch to the separated state.

[0011] According to some embodiments of the present invention, there are multiple airbags, and the multiple airbags are symmetrically arranged with respect to the elastic member.

[0012] According to some embodiments of the utility model, a positioning groove is formed on one of the elastic member and the base, and a positioning column is provided on the other of the elastic member and the base, and the positioning column cooperates with the positioning groove.

[0013] According to some embodiments of the utility model, the base includes a main body, which is arranged on a side of the airbag away from the movable disk; a reinforcing plate, which is arranged between the main body and the airbag, and the elastic member passes through the reinforcing plate and is fixedly connected to the main body; wherein the width of the reinforcing plate in the radial direction of the movable disk gradually increases in the direction toward the main body.

[0014] According to some embodiments of the utility model, the reinforcement plate includes a first reinforcement segment, which extends radially along the movable disk; a second reinforcement segment, which is connected to the circumference of the first reinforcement segment and extends obliquely in a direction away from the first reinforcement segment, and the airbag is connected to the second reinforcement segment.

[0015] According to some embodiments of the present invention, the second reinforcement segment includes a first sub-segment and a second sub-segment connected to each other, the first sub-segment is connected between the first reinforcement segment and the second sub-segment, the second sub-segment is parallel to the first reinforcement segment, and the first sub-segment is an arc segment.

[0016] The vehicle according to the second aspect of the utility model comprises: an angle measuring device, which is the angle measuring device of the vehicle according to the first aspect of the utility model; a tractor, on which the traction pin of the angle measuring device is arranged; and a trailer, on which the angle measuring component of the angle measuring device is arranged.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0019] Figure 1 is a schematic diagram of an angle measuring device according to an embodiment of the utility model;

[0020] Figure 2is a schematic diagram of an angle measuring device according to an embodiment of the utility model in an engaged state;

[0021] Figure 3 is a schematic diagram of an angle measuring device according to an embodiment of the utility model in a separated state;

[0022] Figure 4 is a schematic diagram of a traction pin of an angle measuring device according to an embodiment of the utility model;

[0023] Figure 5 yes Figure 4 A schematic diagram of another angle of the traction pin of the angle measuring device shown in ;

[0024] Figure 6 is a schematic diagram of an angle measuring assembly of an angle measuring device according to an embodiment of the utility model;

[0025] Figure 7 yes Figure 6 A schematic diagram of another angle of the angle measuring assembly of the angle measuring device shown in ;

[0026] Figure 8 It is a principle schematic diagram of an angle measuring device according to an embodiment of the utility model.

[0027] Reference numerals:

[0028] 100: Angle measuring device;

[0029] 1: Angle measurement assembly; 11: Movable disk; 12: Positioning pin; 13: First magnetic member; 14: Elastic member; 141: Positioning column; 2: Traction pin; 21: Positioning hole; 3: Second magnetic member; 4: Base; 41: Positioning slot; 42: Body; 43: Reinforcement plate; 431: First reinforcement section; 432: Second reinforcement section; 4321: First subsection; 4322: Second subsection; 5: Airbag;

[0030] 200: signal converter; 300: display. DETAILED DESCRIPTION

[0031] Reference below Figure 1-Figure 8 A vehicle angle measuring device 100 according to an embodiment of a first aspect of the present invention is described.

[0032] like Figure 1-Figure 8 As shown, the vehicle angle measuring device 100 according to the embodiment of the first aspect of the utility model includes an angle measuring component 1, a traction pin 2 and a second magnetic component 3.

[0033] Specifically, the angle measurement assembly 1 includes a movable disk 11, a positioning pin 12 and a plurality of first magnetic members 13. In the description of the utility model, "plurality" means two or more. The positioning pin 12 and the plurality of first magnetic members 13 are arranged on the same side of the thickness direction of the movable disk 11, and the plurality of first magnetic members 13 are spaced apart along the circumference of the movable disk 11. The traction pin 2 is arranged above the positioning pin 12, and a positioning hole 21 is formed on the side of the traction pin 2 adjacent to the positioning pin 12. The second magnetic member 3 is arranged on the side of the traction pin 2 adjacent to the positioning pin 12. Among them, the angle measurement assembly 1 can be switched between an engaged state and a disengaged state. When the angle measurement assembly 1 is in an engaged state, the positioning pin 12 is fitted in the positioning hole 21, the traction pin 2 can rotate around the positioning pin 12, and one of the plurality of first magnetic members 13 is magnetically matched with the second magnetic member 3. When the angle measurement assembly 1 is in a disengaged state, the positioning pin 12 is separated from the positioning hole 21, and one of the plurality of first magnetic members 13 is separated from the second magnetic member 3.

[0034] For example, in Figure 1-Figure 7 In the example, the positioning pin 12 and the plurality of first magnetic members 13 are arranged on the side of the movable disk 11 facing the traction pin 2, so that when the positioning pin 12 and the positioning hole 21 of the traction pin 2 are matched, the second magnetic member 3 on the traction pin 2 is magnetically matched with one of the plurality of first magnetic members 13. Among them, the angle display accuracy of the angle measuring device 100 can be adjusted by the density of the first magnetic members 13, which simplifies the difficulty of adjusting the accuracy of the angle measuring device 100, reduces the cost of the angle measuring device 100, and improves the market competitiveness of the angle measuring device 100. At the same time, compared with traditional angle measurement devices, the angle measuring device 100 has a simpler structure, simpler installation, better stability in use, and lower production cost.

[0035] When the trailer is connected to the tractor, the angle between the trailer and the tractor can be displayed by the cooperation of the angle measurement component 1 and the traction pin 2, thereby providing technical parameter support for automatic driving or manual driving (refer to Figure 8 ). When the vehicle is driven automatically, the angle measuring device 100 provides the controller with real-time angle parameter support of the tractor and trailer; when the vehicle is driven manually, the driver can adjust the driving path according to the angle between the tractor and trailer.

[0036] When the angle measurement assembly 1 is in the engaged state, the positioning pin 12 cooperates with the positioning hole 21, that is, the trailer is connected to the tractor, and the angle formed between the trailer and the tractor corresponds to the angle of rotation of the traction pin 2 around the positioning pin 12. After the second magnetic member 3 on the traction pin 2 rotates, it magnetically cooperates with one of the multiple first magnetic members 13. The angle signal θ is transmitted to the signal converter 200 through the first magnetic member 13 and / or the second magnetic member 3, and the signal converter 200 transmits the angle signal θ to the display 300 in the cab or other modules involving automatic driving or manual driving scenes that need to monitor the angles of the tractor and trailer, so as to display the rotation angle of the traction pin 2 around the positioning pin 12 in real time, that is, to display the angle and movement trend of the tractor and the trailer in real time. When the angle measurement assembly 1 is in the separated state, the angle measurement assembly 1 is far away from the traction pin 2, and the trailer is not connected to the tractor, so there is no magnetic attraction between the first magnetic member 13 and the second magnetic member 3, and the angle is not measured.

[0037] According to the vehicle angle measuring device 100 of the embodiment of the utility model, the angle measuring component 1 can be switched between the engaged state and the disengaged state. When the angle measuring component 1 is in the engaged state, the positioning pin 12 is engaged in the positioning hole 21, and the traction pin 2 can rotate around the positioning pin 12. One of the multiple first magnetic parts 13 is magnetically engaged with the second magnetic part 3 to display the rotation angle of the traction pin 2 around the positioning pin 12 in real time, that is, to display the angle and movement trend of the tractor and the trailer in real time, thereby improving the reliability of providing technical parameter support for automatic driving or manual driving. In addition, the angle measuring device 100 has a simple structure, which is conducive to improving the installation efficiency of the angle measuring device 100 and reducing the cost of the angle measuring device 100.

[0038] According to some embodiments of the present invention, referring to Figure 7 The positioning pin 12 is arranged in the middle of the movable disk 11, and the plurality of first magnetic members 13 are arranged adjacent to the edge of the movable disk 11, and the plurality of first magnetic members 13 are evenly spaced along the circumference of the movable disk 11. Such an arrangement increases the installation area of ​​the plurality of first magnetic members 13, thereby increasing the matching area of ​​the second magnetic member 3 and the first magnetic member 13, which is conducive to improving the accuracy of angle measurement.

[0039] The movable disk 11 rotates with the positioning pin 12 as the axis, and multiple first magnetic parts 13 are arranged on the movable disk 11 with the positioning pin 12 as the axis. When the traction pin 2 rotates around the positioning pin 12, the second magnetic part 3 cooperates with any one of the multiple first magnetic parts 13 located in the same circumferential direction, further improving the accuracy of the angle measuring device 100 in measuring the angle.

[0040] Further, refer to Figure 1 , Figure 2 and Figure 6, the angle measuring assembly 1 also includes an elastic member 14, which is arranged on the other side of the movable disk 11 in the thickness direction, and one end of the elastic member 14 away from the movable disk 11 is fixed. When the angle measuring assembly 1 is in the engaged state, the elastic member 14 is in a compressed state. The elastic member 14 is arranged on the side of the movable disk 11 away from the positioning pin 12, and the elastic member 14 is fixed to improve the stability of the movable disk 11 when the movable disk 11 moves axially along the positioning pin 12. When the angle measuring assembly 1 is in the engaged state, the elastic member 14 restores the deformation force to act on the movable disk 11, thereby preventing the movable disk 11 from moving in the axial direction, so that only rotation can occur between the movable disk 11 and the traction pin 2, thereby improving the matching stability between the angle measuring assembly 1 and the traction pin 2, and improving the installation of the angle measuring device 100 and the stability of angle measurement.

[0041] Furthermore, refer to Figure 1 , Figure 2 and Figure 6 , the angle measuring device 100 for a vehicle further includes a base 4 and an airbag 5. The base 4 is disposed on the other side of the thickness direction of the movable disk 11, and the elastic member 14 is fixedly connected to the base 4. The airbag 5 is disposed between the base 4 and the movable disk 11, and the airbag 5 is inflated to drive the angle measuring assembly 1 to switch to an engaged state, and the airbag 5 is deflated to drive the angle measuring assembly 1 to switch to a disengaged state. In other words, the base 4 is disposed on the side of the movable disk 11 facing the elastic member 14, and the elastic member 14 is fixed on the base 4, so that the movable disk 11 can move relative to the base 4, thereby increasing the structural stability of the elastic member 14 and the movable disk 11. The base 4 and the movable disk 11 are connected via the airbag 5, thereby increasing the circumferential support stability of the movable disk 11. The airbag 5 is inflated to drive the movable disk 11 to move in a direction away from the base 4, so that the positioning pin 12 on the side of the movable disk 11 away from the base 4 cooperates with the positioning hole 21 on the traction pin 2, so that the angle measurement assembly 1 is in an engaged state; or the airbag 5 is deflated, the circumferential supporting force of the movable disk 11 is reduced, and the movable disk 11 moves toward the base 4, so that the angle measurement assembly 1 is in a separated state.

[0042] In addition, there are multiple airbags 5, and the multiple airbags 5 are symmetrically arranged about the elastic member 14. Therefore, the multiple airbags 5 are symmetrically arranged around the elastic member 14, so that the multiple airbags 5 can be stably supported between the base 4 and the movable disk 11, thereby improving the movement stability of the movable disk 11 along the axial direction, and improving the stability of the movable disk 11 during the angle measurement process.

[0043] According to some embodiments of the utility model, a positioning groove 41 is formed on one of the elastic member 14 and the base 4, and a positioning column 141 is provided on the other of the elastic member 14 and the base 4, and the positioning column 141 cooperates with the positioning groove 41. That is, when the positioning groove 41 is formed on the elastic member 14, the base 4 is provided with a positioning column 141 (not shown); or, when the elastic member 14 is provided with a positioning column 141, the base 4 is provided with a positioning groove 41 (not shown); Figure 1-Figure 3 ,as well as Figure 6 shown).

[0044] Reference Figure 1-Figure 3 , and combined with Figure 6 The positioning column 141 is arranged at one end of the elastic member 14 away from the movable disk 11, so as to facilitate the cooperation between the positioning column 141 and the positioning groove 41, increase the connection area between the positioning column 141 and the base 4, and improve the installation stability of the angle measurement component 1 on the base 4.

[0045] Optionally, the cross-section of the positioning column 141 and the positioning groove 41 may be in the shape of a triangle or a polygon, but is not limited thereto. Thus, the cooperation between the positioning column 141 and the positioning groove 41 limits the movement of the positioning column 141, the elastic member 14 and the movable disk 11 in the circumferential direction, thereby ensuring that only the traction pin 2 rotates around the positioning pin 12, thereby improving the accuracy of the angle measured by the angle measuring device 100.

[0046] According to some embodiments of the present invention, referring to Figure 1 , Figure 2 and Figure 6 The base 4 includes a body 42 and a reinforcing plate 43. The body 42 is disposed on a side of the airbag 5 away from the movable disk 11. The reinforcing plate 43 is disposed between the body 42 and the airbag 5, and the elastic member 14 passes through the reinforcing plate 43 and is fixedly connected to the body 42. Thus, the reinforcing plate 43 is used to increase the support of the elastic member 14, thereby preventing the elastic member 14 in the angle measuring assembly 1 from bending when the angle measuring assembly 1 switches between the engaged state and the disengaged state, thereby improving the use stability of the elastic member 14, improving the use stability of the angle measuring device 100, and extending the service life of the angle measuring device 100.

[0047] Among them, refer to Figure 1 , Figure 2 and Figure 6 , the width of the reinforcing plate 43 in the radial direction of the movable disk 11 gradually increases in the direction toward the main body 42. Thus, the contact area between the reinforcing plate 43 and the main body 42 is increased, and the force transmitted to the reinforcing plate 43 by the elastic member 14 can be released to the main body 42 to a large extent, thereby buffering the force on the reinforcing plate 43, avoiding excessive deformation of the reinforcing plate 43, and extending the service life of the reinforcing plate 43.

[0048] Further, refer to Figure 1 , Figure 2 and Figure 6 The reinforcing plate 43 includes a first reinforcing section 431 and a second reinforcing section 432. The first reinforcing section 431 extends in the radial direction of the movable disk 11. The second reinforcing section 432 is connected to the first reinforcing section 431 in the circumferential direction, and the second reinforcing section 432 extends obliquely in a direction away from the first reinforcing section 431, and the airbag 5 is connected to the second reinforcing section 432.

[0049] In the direction away from the elastic member 14, a first reinforcing section 431 is provided on the circumference of the elastic member 14, and a second reinforcing section 432 is provided on the circumference of the first reinforcing section 431 away from the elastic member 14, and the second reinforcing section 432 extends toward the body 42 so that the second reinforcing section 432 is suitable for contacting the body 42. The force of the elastic member 14 acts on the first reinforcing section 431, and the force is transmitted to the body 42 through the first reinforcing section 431 and the second reinforcing section 432, thereby avoiding deformation of the elastic member 14 and large deformation of the reinforcing plate 43, thereby extending the service life of the reinforcing plate 43.

[0050] Furthermore, refer to Figure 6 The second reinforcement section 432 includes a first subsection 4321 and a second subsection 4322 connected to each other, the first subsection 4321 is connected between the first reinforcement section 431 and the second subsection 4322, the second subsection 4322 is parallel to the first reinforcement section 431, and the first subsection 4321 is an arc section. The second subsection 4322 is suitable for contacting the body 42, and the first subsection 4321 is arranged in an arc shape. The first subsection 4321 can also buffer the force acting on the first reinforcement section 431, and at the same time, it is beneficial to improve the setting stability of the reinforcement plate 43 through the deformation and recovery force of the first subsection 4321.

[0051] The vehicle (not shown) according to the second embodiment of the utility model comprises an angle measuring device 100, a tractor and a trailer. The angle measuring device 100 is the angle measuring device 100 of the vehicle according to the first embodiment of the utility model. The traction pin 2 of the angle measuring device 100 is arranged on the tractor. The angle measuring assembly 1 of the angle measuring device 100 is arranged on the trailer.

[0052] The vehicle according to the embodiment of the utility model, by adopting the above-mentioned angle measuring device 100, is conducive to displaying the angle between the trailer and the tractor, and provides technical parameter support for automatic driving or manual driving.

[0053] Other structures and operations of the vehicle according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0054] In the description of the present invention, it is necessary to understand that the terms "center", "thickness", "up", "down", "top", "bottom", "outer", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0055] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0056] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example.

[0057] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A vehicle angle measuring device, characterized in that: include: An angle measuring assembly, the angle measuring assembly comprising a movable disk, a positioning pin and a plurality of first magnetic members, the positioning pin and the plurality of first magnetic members are arranged on the same side of the movable disk in a thickness direction, and the plurality of first magnetic members are spaced apart along the circumference of the movable disk; A traction pin, wherein the traction pin is arranged above the positioning pin, and a positioning hole is formed on one side of the traction pin adjacent to the positioning pin; A second magnetic member, the second magnetic member is arranged on a side of the traction pin adjacent to the positioning pin; In which, the angle measuring component can be switched between an engaged state and a disengaged state. When the angle measuring component is in the engaged state, the positioning pin is engaged in the positioning hole, the traction pin can rotate around the positioning pin, and one of the multiple first magnetic parts is magnetically engaged with the second magnetic part; when the angle measuring component is in the disengaged state, the positioning pin is separated from the positioning hole, and one of the multiple first magnetic parts is separated from the second magnetic part.

2. The vehicle angle measuring device according to claim 1, characterized in that: The positioning pin is arranged in the middle of the movable disk, a plurality of the first magnetic members are arranged adjacent to the edge of the movable disk, and the plurality of the first magnetic members are evenly spaced apart along the circumference of the movable disk.

3. The vehicle angle measuring device according to claim 2, characterized in that: The angle measurement component also includes: An elastic member is arranged on the other side of the movable disk in the thickness direction, one end of the elastic member away from the movable disk is fixed, and when the angle measuring assembly is in the engaged state, the elastic member is in a compressed state.

4. The vehicle angle measuring device according to claim 3, characterized in that: Also includes: A base, the base being arranged on the other side of the movable disk in the thickness direction, the elastic member being fixedly connected to the base; An airbag is provided between the base and the movable plate, wherein the airbag is inflated to drive the angle measuring assembly to switch to the engaged state, and the airbag is deflated to drive the angle measuring assembly to switch to the separated state.

5. The vehicle angle measuring device according to claim 4, characterized in that: There are multiple airbags, and the multiple airbags are symmetrically arranged with respect to the elastic member.

6. The vehicle angle measuring device according to claim 4, characterized in that: A positioning groove is formed on one of the elastic member and the base, and a positioning column is provided on the other of the elastic member and the base, and the positioning column cooperates with the positioning groove.

7. The vehicle angle measuring device according to any one of claims 4 to 6, characterized in that: The base comprises: A body, the body being arranged on a side of the airbag away from the movable disk; A reinforcing plate, the reinforcing plate being arranged between the body and the airbag, the elastic member passing through the reinforcing plate and being fixedly connected to the body; Wherein, the width of the reinforcing plate in the radial direction of the movable disk gradually increases in a direction toward the main body.

8. The vehicle angle measuring device according to claim 7, characterized in that: The reinforcing plate comprises: a first reinforcement section, wherein the first reinforcement section extends in a radial direction of the movable disk; A second reinforcement section, wherein the second reinforcement section is connected in the circumferential direction of the first reinforcement section, the second reinforcement section extends obliquely in a direction away from the first reinforcement section, and the airbag is connected to the second reinforcement section.

9. The vehicle angle measuring device according to claim 8, characterized in that: The second reinforcement segment includes a first subsegment and a second subsegment connected to each other, the first subsegment is connected between the first reinforcement segment and the second subsegment, the second subsegment is parallel to the first reinforcement segment, and the first subsegment is an arc segment.

10. A vehicle, characterized in that: include: An angle measuring device, wherein the angle measuring device is an angle measuring device for a vehicle according to any one of claims 1 to 9; A tractor, on which the traction pin of the angle measuring device is arranged; A trailer, wherein the angle measuring component of the angle measuring device is arranged on the trailer.

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