Semitrailer driving simulation system

Abstract

The utility model discloses a semitrailer driving simulation system, and belongs to the technical field of driving simulation training. Which comprises a cockpit, a main control circuit is arranged in the cockpit, and is characterized in that a semitrailer model is arranged, a model control circuit is arranged in the model, and a main controller circuit is in wireless connection with the simulation control circuit; the model comprises a vehicle body plate (10), a model control circuit and the vehicle body plate (10) are relatively fixed, a power unit and a steering unit are arranged at the bottom of the vehicle body plate (10), the model control circuit is connected with the steering unit, and front wheels (8) are symmetrically installed on the two sides of the steering unit. According to the semitrailer driving simulation system, by arranging the model in wireless connection with the cockpit and controlling the action of the model through the cockpit, the trainee can observe the driving state of the semitrailer at the third visual angle, and especially the training level of operation such as backing up of the semitrailer can be improved.

Description

Technical Field

[0001] A semi-trailer driving simulation system, belonging to the field of driving simulation training technology. Background Technology

[0002] In existing technologies, driving simulators are widely recognized by driving school students as a means to improve their driving skills. However, current driving simulators are primarily designed for small family vehicles. Due to the unique structure of semi-trailers, especially during maneuvers such as reversing and parallel parking, the driving posture of semi-trailers differs significantly from that of small vehicles due to the nature of their cargo bed. Therefore, existing driving simulators designed for small vehicles cannot simulate the driving of semi-trailers.

[0003] In the prior art, there are also some technical solutions for simulating driving of semi-trailers (or trucks), such as the solution described in Chinese invention patent application number 202311292894.1, application date October 8, 2023, entitled "A training method and system for driving large vehicles and reversing semi-trailers", and the solution described in Chinese utility model patent application number 201620222013.8, application date March 22, 2016, entitled "Experimental bench for electric braking system of commercial semi-trailers".

[0004] However, existing technologies, including the aforementioned solutions, primarily simulate driving from a first-person perspective. This approach focuses on learning from the driver's cab. However, due to the unique structure of semi-trailers, the simulation effect is limited when only a first-person perspective is used.

[0005] The Chinese invention patent with application number 202311369893.2 and application date of October 20, 2023, entitled "A semi-trailer trajectory simulation method based on vehicle speed and steering wheel turning technique", also describes a technical solution in which the simulation of semi-trailer is realized in pure software. This method reduces the actual operation of trainees and makes it difficult to achieve the desired simulation effect. Utility Model Content

[0006] The technical problem to be solved by this utility model is to overcome the shortcomings of the prior art and provide a semi-trailer driving simulation system that allows trainees to observe the driving status of the vehicle from a third-person perspective by setting up a model that is wirelessly connected to the cab and controlling the model's movements through the cab, which is especially helpful in improving the training level of semi-trailer reversing and other operations.

[0007] The technical solution adopted by this utility model to solve its technical problem is as follows: The semi-trailer driving simulation system includes a cab, in which a main control circuit is provided. The system is characterized by: a model of a semi-trailer is provided, and a model control circuit is provided in the model. The main controller circuit is wirelessly connected to the simulation control circuit. The model includes a body plate, and the model control circuit is fixed relative to the body plate. A power unit and a steering unit are provided at the bottom of the body plate. The model control circuit is connected to the steering unit, and the front wheels are symmetrically installed on both sides of the steering unit.

[0008] Preferably, the vehicle body is a one-piece structure, with a steering linkage assembly located on the front side of the bottom of the vehicle body. A servo motor mounted on the surface of the vehicle body is connected to the steering linkage assembly, and the model control circuit is connected to the servo motor. The front wheels are symmetrically mounted on both sides of the steering linkage assembly. The power unit is mounted in the middle of the vehicle body, and the rear wheels are symmetrically mounted on the output end of the power unit.

[0009] Preferably, the power unit includes a motor, a reducer is connected to the output end of the motor, the output end of the reducer is connected to a differential via a universal joint, and the rear wheels are symmetrically mounted on both sides of the differential.

[0010] Preferably, the steering linkage assembly includes a steering lifting linkage located at the bottom of the body plate, the body plate and the steering lifting linkage are elastically connected, a wheel connecting pin for fixing the front wheel is provided on both sides of the steering lifting linkage, a steering swing linkage parallel to the steering lifting linkage is rotatably connected between the wheel connecting pins on both sides, and the servo is connected to the steering swing linkage through the steering drive linkage.

[0011] Preferably, the wheel connecting pin includes a main shaft, with one end of the front wheel axle passing through the main shaft and the other end connected to the front wheel; two connecting shafts are symmetrically arranged on the outer wall of the main shaft, one of which is rotatably connected to the steering lifting link, and the other connecting shaft passes through the vehicle body plate; a steering transition plate is also provided on the surface of the main shaft, and both ends of the steering swing link are simultaneously hinged to the steering transition plates on both sides.

[0012] Preferably, steering screws are provided on both sides of the steering lifting linkage, the connecting pin of the corresponding side wheel interrupts the connecting shaft through the steering screw, and a shock-absorbing spring is fitted on the outside of the steering screw.

[0013] Preferably, a front fixing plate is vertically provided on the surface of the vehicle body panel, and the front of the vehicle is fixed to the vehicle body panel through the front fixing plate; a carriage connecting plate is also rotatably installed on the surface of the vehicle body panel, and the carriage is connected to the vehicle body panel through the carriage connecting plate.

[0014] Preferably, the main control circuit includes a main controller, an angle sensor connected to the main controller, a steering wheel mounted on the angle sensor, a forward travel switch and a reverse travel switch connected to the signal input terminal of the main controller, and a main communication module connected to the signal output terminal of the main controller.

[0015] The model control circuit includes a model controller, a model communication module connected to the signal input terminal of the model controller, and the model communication module wirelessly connected to the main communication module; a motor and a servo motor are connected to the output terminal of the model controller.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] In this semi-trailer driving simulation system, by setting up a model that is wirelessly connected to the cab, the trainee can control the model's movements through the cab, allowing them to observe the vehicle's driving status from a third-person perspective. This is especially helpful in improving the training level of semi-trailer reversing and other operations.

[0018] In this semi-trailer driving simulation system, a parallelogram structure is formed by the rotational connection between the steering swing link, the steering lifting link, and the steering transition plates on both sides. When the servo motor rotates, it pulls the steering swing link to swing through the steering drive link. At this time, the parallelogram structure formed by the steering swing link, the steering lifting link, and the steering transition plates on both sides deforms, realizing the steering of the front wheels on both sides. Attached Figure Description

[0019] Figure 1 This is a top view of the semi-trailer driving simulation system model.

[0020] Figure 2 for Figure 1 The diagram omits the front of the train and the rear of the carriages.

[0021] Figure 3 for Figure 2 Rear view.

[0022] Figure 4 for Figure 3 Enlarged cross-sectional view along the AA direction.

[0023] Figure 5 This is a schematic diagram of the wheel connection pins in a semi-trailer driving simulation system model.

[0024] Figure 6 for Figure 5 The left view.

[0025] Figure 7 for Figure 5 Top view.

[0026] Figure 8 This is a top view of the vehicle body of a semi-trailer driving simulation system model.

[0027] Figure 9 This is a schematic diagram of the cab mounting plate of a semi-trailer driving simulation system model.

[0028] Figure 10 This is a schematic diagram of the connecting plate of the semi-trailer driving simulation system model.

[0029] Figure 11 This is a block diagram of the control circuit principle of a semi-trailer driving simulation system.

[0030] The components include: 1. Front end; 2. Body; 3. Carriage compartment; 4. Servo; 5. Steering fixing bolt; 6. Cable hole; 7. Steering screw; 8. Front wheel; 9. Front end fixing plate; 10. Body plate; 11. Carriage compartment connecting plate; 12. Rear wheel; 13. Steering drive link; 14. Steering swing link; 15. Steering lifting link; 16. Motor; 17. Reducer; 18. Universal joint; 19. Differential; 20. Shock absorber assembly; 21. Battery box; 22. Front axle; 23. Wheel connecting pin; 24. Shock absorber spring; 25. Connecting shaft; 26. Main shaft; 27. Steering transition plate; 28. Front skirt; 29. ​​Servo fixing hole; 30. Steering fixing hole; 31. Main body; 32. Wheel skirt; 33. Side skirt; 34. Carriage compartment hinge plate; 35. Rear skirt; 36. Tail skirt; 37. Main fixing plate; 38. Fixing base plate; 39. Main connecting plate; 40. Connecting lug plate. Detailed Implementation

[0031] Figures 1-11 This is the preferred embodiment of the present invention, which is described below in conjunction with the appendix. Figures 1-11 The present invention will be further described below.

[0032] A semi-trailer driving simulation system includes a cab and a model of a semi-trailer. The cab and the model are connected wirelessly. The semi-trailer model is a scaled-down version of a real semi-trailer. When the operator operates the system in the cab, especially when turning the steering wheel, the steering system in the model will steer proportionally to the real vehicle. The operator can then observe the model's trajectory and driving posture from a third-person perspective, making it particularly suitable for simulating reversing and parallel parking.

[0033] like Figure 1 As shown, the model includes a cab 1 and a carriage 3. The cab 1 is fixed to the front of the vehicle body 2, and the carriage 3 is attached to the rear of the vehicle body 2. Similar to an actual vehicle, the carriage 3 moves with the vehicle body 2 and turns when the vehicle body 2 turns. Figures 2-3 As shown, the vehicle body 2 includes a body plate 10. Front wheels 8 are symmetrically arranged on both sides of the front part of the body plate 10, and rear wheels 12 are symmetrically arranged on both sides of the rear part of the body plate 10. A servo motor 4 is arranged at the front end of the body plate 10, and a steering system is arranged at the bottom of the body plate 10. The servo motor 4 is connected to the steering system. The front wheels 8 are installed at both ends of the steering system. When the servo motor 4 rotates, it drives the front wheels 8 to rotate through the steering system to achieve steering.

[0034] A front fixing plate 9 is erected in the middle of the body panel 10, and the front of the vehicle 1 is fixed to the surface of the body 2 through the front fixing plate 9. A carriage connecting plate 11 is swayed and installed at the rear of the body panel 10, and the carriage 3 is connected to the body 2 through the carriage connecting plate 11.

[0035] Battery boxes 21 are spaced apart on both sides of the lower surface of the vehicle body plate 10, and the batteries in the battery boxes 21 provide the power required for the model to work. A motor 16 is set in the middle of the battery boxes 21 on both sides. A reducer 17 is installed at the output end of the motor 16. The output shaft of the motor 16 is connected to the input shaft of the reducer 17. A universal joint 18 is installed at the output shaft of the reducer 17. A differential 19 is set at the rear of the lower surface of the vehicle body plate 10. The other end of the universal joint 18 is connected to the differential 19. A shaft is led out from both ends of the differential 19, and a rear wheel 12 is installed on each end.

[0036] On both sides of the differential 19, damping plate assemblies 20 are respectively provided, and the rotating shafts leading from both ends of the differential 19 are respectively installed at the bottom of the damping plate assemblies 20. The damping plate assemblies 20 are implemented by scaling down the steel plate damping spring structure known in the art. The differential 19 and the reducer 17 are also implemented using commercially available common models, and their structures will not be described in detail here. The motor 16 is implemented using a DC motor commonly used in the art.

[0037] Combination Figure 4 The steering system includes a steering lift link 15, which is positioned below the body panel 10 by multiple steering fixing bolts 5 arranged side-by-side and spaced apart from the lower surface of the body panel 10. Steering screws 7 are located on both sides of the body panel 10, passing through and fixing the body panel 10. The steering screws 7 are axially hollow, and wheel connecting pins 23 are installed inside them. The top of the wheel connecting pin 23 is rotatably connected to the steering screw 7, and its lower end passes through the steering lift link 15 and is rotatably connected to it. Front wheel axles 22 are horizontally mounted from the wheel connecting pins 23 on both sides, and the front wheels 8 on both sides are rotatably connected to the sides of the body panel 10 via the corresponding front wheel axles 22.

[0038] Combination Figures 5-7 The wheel connecting pin 23 includes a cylindrical main shaft 26, through which the front wheel axle 22 passes. A connecting shaft 25 is radially installed on the outer wall of the main shaft 26, and the two connecting shafts 25 are symmetrically arranged. A steering transition plate 27 is also provided on the side of the main shaft 26, and the steering transition plate 27 is located between the two connecting shafts 25.

[0039] The wheel connecting pin 23 is preferably made of plastic. One connecting shaft 25 passes through the center of the steering lift linkage 15 and is preferably connected by heating and melting followed by cooling and molding. Since the main shaft 26 is located above the steering lift linkage 15, the connection between the main shaft 26 and the steering lift linkage 15 is achieved simultaneously, meaning that there is only a rotational connection between the main shaft 26 and the steering lift linkage 15. The other connecting shaft 25 passes directly through the center of the steering screw 7.

[0040] The connecting shaft 25 passing through the steering screw 7 has a steering connection and an axial movement connection with the steering screw 7. A shock-absorbing spring 24 is also fitted on the outside of the steering screw 7. The shock-absorbing spring 24 is also fitted on the outside of the connecting shaft 25. The two ends of the shock-absorbing spring 24 are connected to the main shaft 26 and the steering screw 7 respectively. That is, the shock-absorbing spring 24 realizes the elastic connection between the steering screw 7 and the wheel connecting pin 23, and realizes the elastic connection between the two front wheels 8 and the body plate 10. The aforementioned steering fixing bolt 5 plays a limiting role to prevent the steering lifting link 15 from separating from the body plate 10 under the action of the shock-absorbing spring 24.

[0041] After the wheel connecting pins 23 on both sides are fixed, the steering transition plates 27 on the side of the main shaft 26 in the wheel connecting pins 23 on both sides extend horizontally towards the front of the vehicle 1. A steering swing link 14 is provided between the steering transition plates 27 on both sides, and both ends of the steering swing link 14 are simultaneously hinged to the steering transition plate 27 on the corresponding side. Therefore, the steering swing link 14, the steering lifting link 15, and the steering transition plates 27 on both sides are rotatably connected to form a parallelogram structure.

[0042] A ramp is provided on one side of the steering swing link 14. The servo motor 4, fixed to the surface of the body plate 10, has its output end located at the lower part of the body plate 10. The output shaft of the servo motor 4 is connected to the ramp of the steering swing link 14 via the steering drive link 13. When the servo motor 4 rotates, it pulls the steering swing link 14 to swing through the steering drive link 13. At this time, the parallelogram structure formed by the steering swing link 14, the steering lifting link 15, and the steering transition plates 27 on both sides deforms, realizing the steering of the front wheels 8 on both sides.

[0043] like Figure 8As shown, the body panel 10 is a one-piece structure, including a main body 31, which is preferably made of metal. A front skirt 28 is provided on the front side of the main body 31, side skirts 33 are provided on both sides of the main body 31, and a rear skirt 36 is provided at the rear of the main body 31. When forming the body panel 10, the front skirt 28, side skirts 33, and rear skirts 36 on both sides bend towards the bottom of the vehicle along various bending lines (dashed lines in the figure). Wheel skirts 32 are also provided on the front and rear sides of the side skirts 33, and a total of four wheel skirts 32 bend towards the bottom of the vehicle simultaneously.

[0044] Carriage hinge plates 34 are respectively provided on both sides of the rear of the main body 31. When the body plate 10 is formed, the carriage hinge plates 34 on both sides bend towards the roof. The carriage connecting plate 11 is hinged between the carriage hinge plates 34 on both sides. A rear skirt plate 35 is also provided on the rear side of the carriage connecting plate 11 on both sides. The rear skirt plates 35 on both sides bend towards the bottom of the vehicle.

[0045] like Figure 9 As shown, the front fixing plate 9 includes a main fixing plate 37 and a fixing base plate 38. After the main fixing plate 37 and the fixing base plate 38 are bent perpendicularly, the fixing base plate 38 is attached and fixed to the vehicle body plate 10. At this time, the main fixing plate 37 is perpendicular to the surface of the vehicle body plate 10 so as to fix it to the vehicle body 2.

[0046] like Figure 10 As shown, the carriage connecting plate 11 includes a main connecting plate 39 for connecting the carriage 3. A connecting ear plate 40 is provided on each side of the main connecting plate 39. The connecting ear plates 40 on both sides are bent perpendicularly to the main connecting plate 39 and placed on the surface of the body plate 10, and are simultaneously hinged to the carriage hinge plates 34 on both sides.

[0047] A servo mounting hole 29 for fixing the servo motor 4 is provided on the front side of the main body 31. A plurality of steering mounting holes 30 are provided side by side on the rear side of the servo mounting hole 29. After one end of the plurality of steering mounting bolts 5 is fixed to the steering mounting hole 30, the other end extends to the lower part of the body plate 10 and is connected to the steering lifting link 15.

[0048] A wire hole 6 is also provided at the rear of the steering fixing hole 30. The model control circuit of the model is arranged in the aforementioned front of the vehicle 1. The guide of the control circuit passes through the wire hole 6 and extends to the motor 16, where it is connected. The model control circuit can also be fixed to the surface of the vehicle body plate 10.

[0049] like Figure 11As shown, the control circuit includes a main control circuit located in the cockpit and a model control circuit within the model. The cockpit can adopt the same structure as existing technology (such as the cockpit described in the Chinese invention patent application number 202311292894.1, filed on October 8, 2023, entitled "A Training Method and System for Driving Large Vehicles and Reversing Semi-trailers"), which will not be described in detail here. The main control circuit includes a main controller, and the cockpit includes a steering wheel. An angle sensor is installed at the pivot of the steering wheel, and the output of the angle sensor is connected to the input of the main controller. A forward travel switch and a reverse travel switch are connected to the signal input of the main controller to send signals to drive the model forward or backward (reversing). A main communication module is also connected to the signal output of the main controller.

[0050] The model control circuit includes a model controller. A model communication module is connected to the signal input terminal of the model controller. The model communication module is wirelessly connected to the main communication module to achieve communication with the cockpit. A motor 16 is connected to the output terminal of the model controller. The model controller drives the motor 16 to rotate forward and backward by receiving control signals from the main communication module, realizing the model's forward and reverse movement. The output terminal of the model controller is also connected to a servo motor 4 to control the rotation of the servo motor 4, thereby further realizing the model's steering.

[0051] The specific working process and working principle are as follows:

[0052] The operator controls the model from the cockpit by controlling the steering wheel and the forward and reverse travel switches. At this time, the main controller receives signals from the angle sensor and the forward and reverse travel switches, and sends control signals to the model communication module through the main communication module. The model communication module sends the received signals to the model controller, and the model controller drives the motor 16 to rotate forward and backward according to the received signals, so as to realize the model's forward and reverse movement.

[0053] Alternatively, the model controller can control the rotation of the servo motor 4 to further achieve the steering of the model: when the servo motor 4 rotates, the steering drive link 13 pulls the steering swing link 14 to swing. At this time, the parallelogram structure formed between the steering swing link 14, the steering lifting link 15 and the steering transition plates 27 on both sides deforms, realizing the steering of the front wheels 8 on both sides.

[0054] When the steering wheel is turned, the rotation angle of the steering wheel is detected, and the rotation angle of servo motor 4 is calculated to make the steering system in the model steer in the same proportion as the real car. At this time, the operator can observe the driving trajectory and driving posture of the model from a third-person perspective, which is especially suitable for simulating reversing and parallel parking.

[0055] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this utility model without departing from its technical solution shall still fall within the protection scope of this utility model.

Claims

1. A semi-trailer drive simulation system comprising a driver's cab in which a master control circuit is provided, characterised in that: The model is provided with a semitrailer, a model control circuit is arranged in the model, and a main control circuit is wirelessly connected with the model control circuit; the model comprises a vehicle body plate (10), the model control circuit is fixed relative to the vehicle body plate (10), a power unit and a steering unit are arranged at the bottom of the vehicle body plate (10), the model control circuit is connected with the steering unit, and front wheels (8) are symmetrically arranged at the two sides of the steering unit; The vehicle body plate (10) is an integral structure, a steering connecting rod assembly is arranged at the front side of the bottom of the vehicle body plate (10), a steering engine (4) is arranged on the surface of the vehicle body plate (10) and connected with the steering connecting rod assembly, the model control circuit is connected with the steering engine (4), and the front wheels (8) are symmetrically arranged at the two sides of the steering connecting rod assembly; the power unit is arranged at the middle of the vehicle body plate (10), and rear wheels (12) are symmetrically arranged at the output ends of the power unit; The steering connecting rod assembly comprises a steering lifting connecting rod (15) arranged at the bottom of the vehicle body plate (10), the vehicle body plate (10) is elastically connected with the steering lifting connecting rod (15), a wheel connecting pin (23) for fixing the front wheel (8) is arranged at the two sides of the steering lifting connecting rod (15), a steering swing connecting rod (14) parallel to the steering lifting connecting rod (15) is rotatably connected between the two wheel connecting pins (23), and the steering engine (4) is connected with the steering swing connecting rod (14) through a steering driving connecting rod (13); The wheel connecting pin (23) comprises a main shaft (26), a front wheel shaft (22) passes through the main shaft (26) at one end and is connected with the front wheel (8) at the other end; two connecting shafts (25) are symmetrically arranged on the outer wall of the main shaft (26), one connecting shaft (25) is rotatably connected with the steering lifting connecting rod (15), and the other connecting shaft (25) penetrates through the vehicle body plate (10); a steering transition plate (27) is further arranged on the surface of the main shaft (26), and the two ends of the steering swing connecting rod (14) are hingedly connected with the steering transition plates (27) on the two sides; A vehicle head fixing plate (9) is vertically arranged on the surface of the vehicle body plate (10), the vehicle head (1) is fixed with the vehicle body plate (10) through the vehicle head fixing plate (9), and a carriage connecting plate (11) is rotatably arranged on the surface of the vehicle body plate (10); and the carriage (3) is connected with the vehicle body plate (10) through the carriage connecting plate (11).

2. The semi-trailer drive simulation system according to claim 1, characterized in that: The power unit comprises a motor (16), a speed reducer (17) is connected with the output end of the motor (16), the output end of the speed reducer (17) is connected with a differential mechanism (19) through a universal joint (18), and the rear wheels (12) are symmetrically arranged at the two sides of the differential mechanism (19).

3. The semi-trailer travel simulation system of claim 1, wherein: Steering screws (7) are arranged at the two sides of the steering lifting connecting rod (15), the interrupting connecting shafts (25) in the corresponding side wheel connecting pins (23) pass through the steering screws (7), and damping springs (24) are sleeved outside the steering screws (7).

4. The semi-trailer drive simulation system of claim 2, wherein: The main control circuit comprises a main controller, an angle sensor is connected with the main controller, a steering wheel is further arranged on the angle sensor, forward and reverse travel switches are connected with the signal input end of the main controller, and a main communication module is further connected with the signal output end of the main controller. The model control circuit comprises a model controller, a model communication module is connected to a signal input end of the model controller, and the model communication module is wirelessly connected to the main communication module; a motor (16) and a steering wheel (4) are connected to an output end of the model controller.

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