Measuring apparatus for a trailer vehicle for determining an articulation angle, measuring system, trailer vehicle

Abstract

A measuring apparatus (250) for a trailer vehicle (201) for determining an articulation angle (A) between a towing vehicle (202) and the trailer vehicle (201) comprises a kingpin (210) and a sensor apparatus (215). The sensor apparatus (215) is designed to measure a deflection (D) of the kingpin (210) in two directions (R1, R2) that is caused by a force (F) between the towing vehicle (202) and the trailer vehicle (201).

Description

[0001] Measuring device for a trailer vehicle for determining a bending angle, measuring system, trailer vehicle

[0002] The disclosure relates to a measuring device for a trailer vehicle for determining a bending angle between a towing vehicle and the trailer vehicle, wherein the measuring device comprises a kingpin and a sensor device. The disclosure further relates to a measuring system for a trailer vehicle, comprising a measuring device and a control unit connected to the sensor device, as well as a trailer vehicle.

[0003] In particular, the disclosure relates to the field of semi-trailers with electrically driven axles and / or automatic trailing axle control, in particular trailer vehicles with an electrically driven axle, and vehicles of level 4 or higher according to SAE J3016 “Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor Vehicles” from April 30, 2021.

[0004] A kingpin can be used to connect a semi-trailer, or the trailer, and the towing vehicle with a fifth wheel coupling to form a multi-unit vehicle. Accordingly, forces can act on the kingpin during operation that reflect the forces between the towing vehicle and the trailer. Such forces can be caused by the load (i.e., the mass) of the semi-trailer, but also by load changes or driving dynamics. For example, during braking, a force with a component acting against the direction of travel can act on the kingpin, while during acceleration, a force with a component acting in the direction of travel can act on the kingpin.

[0005] EP 0 548487 A2 discloses a device for measuring the deformation of a component. To reduce the complexity of deformation measurement, an arrangement comprising a transmission element and one or two sensors is provided in the component. The sensor is of a type with a measuring surface that emits an electrical signal dependent on a deformation of the measuring surface. The transmission element is supported on one side by a sensor and on the other side by the component or the other sensor. When the component is deformed, the distance between the support points of the transmission element changes. This change in distance generates a deformation of the measuring surface of the sensor, which is evaluated as a measure of the deformation of the component.

[0006] This discloses a method with which the deflection of a supporting bolt of a fifth wheel coupling can be detected using a sensor in the supporting bolt.

[0007] Furthermore, it is known to fasten the kingpin, for example, using sensory screws and to measure the forces acting on the screws.

[0008] WO 2022 / 074010 A1 discloses a screw with strain gauges, a kingpin, and a jaw coupling. The sensory screw with a screw head, a screw shaft adjoining the screw head along a screw axis, and a thread formed on the screw shaft comprises a measuring device with a strain gauge arranged along or inside the screw shaft and detecting strains of the screw shaft in the direction of the screw axis. The measuring device comprises at least two electrical connections located as contact points on an outer side of the sensory screw and, in particular, arranged such that they come into contact with two correlating electrical contacts of the socket when the sensory screw is inserted into a socket.Furthermore, a kingpin for a fifth wheel coupling is disclosed, comprising a kingpin shaft, at the first end of which a pin head is arranged and at the second end of which a fastening flange is arranged, wherein the fastening flange has at least one screw hole, and at least one screw connection, wherein the sensory screw of this screw connection projects through the screw hole.

[0009] DE 10 2023 101 340.8, which was not yet disclosed on the filing date of the present disclosure, describes a device for measuring a force acting on a kingpin of a semi-trailer, wherein the device comprises the kingpin and a sensor device, and the sensor device is configured to determine a deflection of the kingpin caused by the force.

[0010] This makes it possible to measure the horizontal or radial forces acting between the trailer and the towing vehicle at the kingpin, which can act particularly as a result of braking or acceleration between the semi-trailer and the towing vehicle.

[0011] Particularly for an automated driving function, knowledge of the forces acting on the kingpin may be necessary, for example, to control the deceleration and / or propulsion of the trailer by controlling the trailer. A pivot angle between the towing vehicle and the trailer may be necessary for a self-contained automated function of the trailer, i.e., for automated functions that the trailer performs without input from the towing vehicle.

[0012] EP 0 433 858 A2 discloses a bending angle sensor in which a magnet is attached to a kingpin and the bending angle is determined using a Hall sensor on the towing vehicle.

[0013] However, components are required in both the towing vehicle and the trailer to determine the articulation angle. A standalone solution for the trailer alone cannot be implemented.

[0014] DE 10 2017 110 520 A1 discloses a trailer for a vehicle. The trailer has at least one sensor designed to directly or indirectly measure a force acting on the trailer. The trailer further has an electric motor coupled to at least one wheel of the trailer. A control unit is designed to control the electric motor. Based on data determined by the at least one sensor, a driving state of the trailer is determined, and depending on the determined driving state, the electric motor is operated in engine mode, generator mode, or idle mode. The semi-trailer can have one or more sensors that are mechanically connected to the kingpin. This can be understood to mean that the sensor(s) are attached, for example, directly to the kingpin or in its vicinity.The sensor can measure strains or forces occurring on the kingpin while the semi-trailer is traveling. The sensors can be designed to measure forces in a plane that act on the kingpin while the semi-trailer is traveling. Based on the measured forces in the plane, the driving status of the semi-trailer can be determined. For example, it can be determined whether the semi-trailer is traveling straight ahead or cornering and / or whether the semi-trailer is moving at a constant speed or accelerating. The sensors can be strain gauges, for example, attached to the shaft of the kingpin.

[0015] The disclosure is based on the object of enriching the state of the art. In particular, the disclosure solves the problem of providing an alternative, autonomous determination of a steering angle between a towing vehicle and a trailer vehicle by means of an alternative sensing system in the trailer vehicle.

[0016] According to one aspect of the disclosure, a measuring device for a trailer vehicle for determining a bending angle between a towing vehicle and the trailer vehicle is provided, wherein the measuring device comprises a kingpin and a sensor device, and the sensor device is configured to measure a deflection of the kingpin in two directions caused by a force between the towing vehicle and the trailer vehicle.

[0017] It was recognized that the force acting on the kingpin can cause the kingpin to deform, as the kingpin is typically made of a material, such as metal, that allows for elastic deformation when the force is applied. The force acting on the kingpin can be determined by the sensor device via the deformation caused by the force, or in particular, the deflection. It was recognized that the deflection typically has a defined relationship to the acting force. Thus, the acting force can be deduced from the deflection of the kingpin.

[0018] To determine the bending angle, the measuring device is configured to measure the force or deflection in two directions. In other words, the measuring device is configured to measure components of the force or deflection in two different, i.e., linearly independent, directions. By measuring the components in the two different directions, the direction of the force can be determined. It was recognized that the two directions in which the deflections can be measured span a plane in which the direction of the force can be measured. The direction of the force can be used to determine the bending angle.

[0019] This allows for a direct measurement of the kingpin's deflection and thus a direct determination of the force acting on the kingpin, enabling reliable and precise measurements. Indirect determination of the force acting on the kingpin by applying forces to one or more sensor-based screws or bolts, which, for example, attach a kingpin mounting flange to a semi-trailer's scuff plate, can thus be dispensed with.

[0020] In other words, a measuring device for determining the articulation angle between the towing vehicle and the trailer is proposed. The deflection caused by the tensile or compressive forces between the towing vehicle and the trailer can be measured in two directions in the kingpin, allowing the articulation angle to be calculated. By sensing the forces between the towing vehicle and the trailer, it is effectively possible to measure dynamic articulation angles while driving.

[0021] A key advantage is that no wearing sensor parts are used. Based on the articulation angle between truck and trailer determined by the measuring device in the trailer, autonomous functions for the trailer are possible. Optionally, the two directions can form an angle of 80° to 100° with each other. It was recognized that an angle of 80° to 100° between the two directions can enable particularly effective and essentially or completely decoupled detection of the deflection components. Furthermore, an angle of 90° between the two directions can simplify the calculation of the articulation angle using trigonometric relationships.

[0022] Optionally, the sensor device has two sensor elements for measuring the deflection in one of the two directions. Each of the sensor elements is configured to detect the deflection of the kingpin in one of the directions. Each of the sensor elements can be configured analogously to the sensor device known from DE 10 2023 101 340.8, but the two sensor elements are provided to determine the force application angle on the kingpin and thus the dynamic bending angle.

[0023] In addition, two sensor elements enable redundancy in order to verify the plausibility of a force and / or its magnitude regardless of direction and / or to detect it in the event of a failure of one of the sensor elements.

[0024] Optionally, the trailer defines a forward direction of travel, and the two sensor elements are arranged such that a straight line between the kingpin and one of the sensor elements forms a second angle of 40° to 50° with the forward direction of travel. It was recognized that an angle of 40° to 50° between the respective straight line and the forward direction of travel can enable particularly effective and essentially or completely decoupled detection of the deflection components. Furthermore, an angle of 45° between the respective straight line and the forward direction of travel can simplify the calculation of the articulation angle using trigonometric relationships.

[0025] Optionally, the kingpin has two openings, and the sensor device is arranged in the two openings. The openings allow for protected attachment of components of the sensor device, in particular the sensor elements. When the kingpin deflects, the openings also deform, which makes it possible to determine the deflection of the kingpin in the openings and / or by deformation of the openings. The kingpin has a longitudinal axis, and the openings can be arranged parallel to the longitudinal axis. In other words, the openings can be arranged such that the openings each extend parallel to the longitudinal axis. The longitudinal axis can be a rotational axis of the kingpin, and in particular of the pin shaft and the pin head. Thus, there is a distance between the respective opening and the longitudinal axis, which can influence the sensitivity of the deflection measurement.Alternatively or additionally, the kingpin has a neutral fiber, and the openings are each arranged outside the neutral fiber. The neutral fiber can be referred to as the zero line, as in strength of materials. The neutral fiber is the fiber or layer of a cross-section of the kingpin whose length does not change during deflection, or more generally during twisting and / or bending. In the neutral fiber, deflection does not cause tensile or compressive stress. Outside the neutral fiber, deflection causes a change in length and thus tensile and / or compressive stress. The neutral fiber can correspond to a longitudinal axis of the kingpin. Arranging the openings outside the neutral fiber enables reliable measurement of the deflection. The distance of the respective opening to the neutral fiber can influence the sensitivity of a measurement and / or the sensor device.

[0026] Optionally, the kingpin has a pin shaft, and the openings are arranged within the pin shaft. The pin shaft can typically accommodate a significant portion of the deflection, allowing the openings within the pin shaft to also be deflected, enabling effective and reliable determination of the kingpin's deflection.

[0027] Optionally, the kingpin has a pin head, and the openings extend through the pin shaft into the pin head. The pin head can form one end of the kingpin and therefore experience a comparatively large deflection when the kingpin deflects, which can contribute to effective and reliable determination of the kingpin deflection.

[0028] According to one aspect of the disclosure, a measuring system for a trailer vehicle is provided. The measuring system comprises the measuring device described above and a control unit connected to the sensor device, wherein the control unit is configured to determine a bending angle between the towing vehicle and the trailer vehicle based on the deflection of the kingpin in two directions. It was recognized that by detecting the deflection in two, in particular linearly independent, directions, it is possible to determine components of the force acting on the kingpin. Based on the force or its components, the direction of the force and thus the bending angle can be deduced. Optionally, the measuring device comprises one or more of the optional and / or advantageous features described above in order to achieve an associated technical effect.

[0029] Optionally, the control unit is configured to determine the bending angle as a function of a quotient of a first deflection in a first direction of the two directions and a second deflection in a second direction of the two directions and / or an arc function of the quotient. It was recognized that the quotient of the first deflection and the second deflection can correspond to a ratio of components of the force acting in the plane spanned by the two directions. By considering an arc function, an angle can be calculated from the two directions of deflection and thus the force, which can correspond to the bending angle.

[0030] According to one aspect of the disclosure, a trailer vehicle is provided. The trailer vehicle comprises the measuring device and / or the measuring system described above. Optionally, the measuring device and / or the measuring system comprises one or more of the optional and / or advantageous features described above to achieve an associated technical effect.

[0031] Further features of the disclosure and their technical effects emerge from the figures and the description of the preferred embodiments shown in the figures. Figure 1 shows a schematic representation of a side view of a multi-unit vehicle with a trailer according to one aspect of the disclosure;

[0032] Fig. 2 is a further schematic representation of a side view of a multi-unit vehicle with a trailer according to one aspect of the disclosure;

[0033] Fig. 3 is a schematic representation of a plan view of a multi-unit vehicle with a trailer according to one aspect of the disclosure;

[0034] Fig. 4 is a schematic sectional view of a measuring device according to an embodiment according to one aspect of the disclosure; and

[0035] Fig. 5 is a schematic representation of a kingpin with a measuring device according to an embodiment according to an aspect of the disclosure and acting and measurable forces.

[0036] Fig. 1 shows a schematic representation of a multi-unit vehicle 200 with a trailer vehicle 201 according to one aspect of the disclosure. The multi-unit vehicle 200 is a commercial vehicle and a land vehicle.

[0037] The multi-unit vehicle 200 comprises a towing vehicle 202 and a trailer 201, here configured as a semi-trailer. The towing vehicle 202 is configured to be coupled to the trailer 201 in order to pull the trailer 201. For this purpose, the towing vehicle 202 has a fifth wheel coupling 205.

[0038] The trailer vehicle 201 according to Fig. 1 has a measuring system 260 for measuring a bending angle A (see Figs. 3 and 5). The measuring system 260 comprises a measuring device 250 with a sensor device 215 and a control unit 255 connected to the sensor device 215.

[0039] The multi-unit vehicle 200 and the features of the fifth wheel coupling 205, the measuring system 260, the measuring device 250, and the controller 255 are further described with reference to FIGS. 2 to 5. FIG. 2 shows a further schematic representation of a side view of a multi-unit vehicle 200 with a trailer vehicle 201 according to one aspect of the disclosure. FIG. 2 is described with reference to FIG. 1. The towing vehicle 202 and the trailer vehicle 201 are shown separated from one another to clarify the structure and function of the fifth wheel coupling 210.

[0040] The trailer vehicle 201 includes a kingpin 210. The kingpin 210 and the fifth wheel coupling 205 are designed to be operatively connected to one another so that the towing vehicle 202 can pull the trailer vehicle 201 or, more generally, move it.

[0041] When the trailer vehicle 201 and / or the towing vehicle 202 are moving, forces F can act between the towing vehicle 201 and the trailer vehicle 201, for example due to a difference in the accelerations of the towing vehicle 201 and the trailer vehicle 201. The forces F between the towing vehicle 201 and the trailer vehicle 201 cause and / or are forces F on the kingpin 210. For example, during a relative acceleration of the towing vehicle 201, a force F acting in the direction of the towing vehicle 205 acts on the kingpin 210; during a relative braking of the towing vehicle 201, a force F acting in the direction of the trailer vehicle 201 acts. The kingpin 210 has elasticity and can therefore be deformed by the force F. The force F results in a deflection D of the kingpin 210.

[0042] The trailer vehicle 201 comprises the measuring system 260 for measuring the deflection D of the kingpin 210 caused by the force F between the towing vehicle 202 and the trailer vehicle 201 in two directions R1, R2 (see Figs. 3 and 5). This makes it possible to measure the deformation in the kingpin 210 in two directions R1, R2 and thus to detect the radial forces or horizontal forces, in particular in a plane spanned by the directions R1, R2 between the towing vehicle 202 and the trailer vehicle 201. This can then be used to control the braking forces of the trailer vehicle 201 and / or an electric drive 207 of the trailer vehicle 201, and thus to control an electrically driven axle 203 of the trailer vehicle 201 (see Fig. 3). For this purpose, the trailer vehicle 201 has a braking system 206 and an electric drive 207, which are connected to the control unit 255 of the measuring system 260 for communication purposes (not shown).

[0043] Fig. 3 shows a schematic representation of a top view of a multi-unit vehicle 200 with a trailer 201 according to one aspect of the disclosure. Fig. 3 is described with reference to Figs. 1 and 2.

[0044] The multi-unit vehicle 200, or the towing vehicle 202 and / or the trailer vehicle 201, has a forward direction of travel V (see also Fig. 2). The forward direction of travel V is the direction of travel of the multi-unit vehicle 200 without a change of direction and can coincide with a longitudinal axis of the multi-unit vehicle 200, or the towing vehicle 202 and / or the trailer vehicle 201.

[0045] The towing vehicle 202 can rotate about a vertical axis (schematically indicated by a circle with a cross in the towing vehicle 202) due to a steering movement and / or during braking. A bending angle A can occur in the process. The bending angle A is the angle between the forward direction of travel V and a trailer longitudinal axis AA, i.e., a longitudinal axis of the trailer 201. The trailer longitudinal axis AA corresponds to a straight line connecting a center of gravity of the trailer 201 (schematically indicated by a circle with a cross in the trailer 201) and the kingpin 210.

[0046] The trailer vehicle 201 has an electrically driven axle 203 and an electric drive 207. The electric drive 207 can be configured for regenerative braking. Thus, the electric drive 207 can apply a braking and / or drive torque to the wheels of the driven axle 203 (shown schematically by double arrows).

[0047] By accelerating, braking, and / or steering the towing vehicle 202 and / or driving and / or braking one or more wheels of the drivable axle 203 of the trailer vehicle 201, a force F can act between the trailer vehicle 201 and the towing vehicle 202. The force F acts on the kingpin 210, on which the sensor device 210 is provided.

[0048] The control unit 255 is configured to determine a bending angle A between the towing vehicle 202 and the trailer vehicle 201 based on the deflection D of the kingpin 210 in the two directions R1, R2. In particular, the control unit 255 is configured to determine the bending angle A as a function of a quotient of a first deflection D1 in a first direction R1 of the two directions R1, R2 and a second deflection D2 in a second direction R2 of the two directions R1, R2, and an arc function of the quotient (see Fig. 5 and its description).

[0049] Fig. 4 shows a schematic sectional view of a measuring device 250 according to an embodiment according to one aspect of the disclosure. The measuring device 250 is a measuring device 250 for a trailer vehicle 201 for determining a bending angle A between a towing vehicle 202 and the trailer vehicle 201.

[0050] Such a trailer vehicle 201 is described with reference to Figs. 1 to 3. Fig. 4 is described with reference to Figs. 1 to 3.

[0051] The measuring device 250 according to Fig. 4 comprises the kingpin 210 and the sensor device 215.

[0052] The trailer 201 includes a scuff plate 220 and the kingpin 210 includes a mounting flange 221. The trailer 201 has several screw connections 225 with which the kingpin 210 with the mounting flange 221 is mounted on the scuff plate 220 of the trailer 201.

[0053] The scuff plate 220 rests on the fifth wheel coupling 205 of the towing vehicle 201 and the kingpin 210 engages the fifth wheel coupling 205.

[0054] The sensor device 215 is configured to measure a deflection D of the kingpin 210 in two directions R1, R2 caused by the force F between the towing vehicle 202 and the trailer vehicle 201. The deflection D of the kingpin 210 is in particular an elastic deformation of the kingpin 210. Due to the action of the force F, the kingpin 210 can be deformed such that the kingpin 210 is deflected in sections perpendicular to its longitudinal axis A. Two directions R1, R2 of the deflection D or the force F can be measured in order to comprehensively determine the deflection D or the force F and / or their components. For this purpose, the sensor device 215 has two sensor elements 216, 217 for measuring the deflection D in one of the two directions R1, R2.

[0055] The kingpin 210 has two openings 211, 212, and the sensor device 215 and / or the sensor elements 216, 217 are partially arranged, or their components are partially arranged, in the openings 211, 212 and at one end 112a of the respective opening 211, 212. Each of the sensor elements 216, 217 is assigned to one of the openings 211, 212. Each of the sensor elements 216, 217 is partially arranged in one of the openings 211, 212.

[0056] The openings 211, 212 are each blind holes or blind bores in the king pin 210. The openings 211, 212 each have a diameter d of 3 mm to 6 mm.

[0057] The kingpin 210 has a pin shaft 218, and the openings 211, 212 are arranged within the pin shaft 218. The kingpin 210 has a pin head 219, and the openings 211, 212 extend through the pin shaft 218 into the pin head 219. The openings 211, 212 are each cylindrical and thus each define a main extension direction along a cylinder axis of the respective opening 211, 212. The openings 211, 212 are arranged extending parallel to the longitudinal axis A in the main extension direction.

[0058] The kingpin 210 has a neutral fiber 214, and the openings 211, 212 are arranged outside the neutral fiber 214. The neutral fiber 214 is only schematically shown outside the longitudinal axis A. The neutral fiber 214 can coincide with the longitudinal axis A. The measuring device 250 has a transmission element 117 and a pressure sensor 115b in each of the openings 211, 212 as one of the sensor elements 216, 217. In other words, each of the sensor elements 216, 217 comprises a transmission element 117 and a pressure sensor 115b.

[0059] The pressure sensor 115b of each sensor element 216, 217 has a deformable membrane 119, and the respective transmission element 117 is a compression rod 117' supported on the pressure sensor 115 and partially threadless, with a curved head 119a as the spherical end of the compression rod 117' for interacting with the membrane 119. The compression rod 117' is made, for example, of metal or another suitable elastically deformable material. Deflection of the kingpin 210 causes a deflection of the compression rod 117', which can manifest itself as compressive or tensile stress. Due to the pressure or tension, the head 119a of the pressure rod 117' interacts mechanically with the membrane 119. The interaction of the head 119a of the pressure rod 117' with the membrane 119 leads to a deformation of the membrane 119 and thus to a pressure that can be measured by the respective pressure sensor 115b as an electrical signal.The transmission member 117 has a preload in an undeformed state of the kingpin 210.

[0060] Due to the possibility of measuring a deflection of the kingpin 210 by the two independent sensor elements 216, 217, the sensor device 215 is configured to determine a deflection D caused by a radial force F in the two directions R1, R2 of the kingpin 210.

[0061] The sensor device 215 has an electronic interface 116 for each sensor element 216, 217 for communicatively connecting the sensor device 215 or the respective sensor element 216, 217 to the control unit 255, the braking system 206, and / or the electric drive 207. The sensor device 215 outputs, for example, an analog signal that corresponds to the pressure and thus directly to the deflection of the kingpin 210. Based on the pressures of the two sensor elements 216, 217, the force F and / or deflection D can be determined in one of the directions R1, R2, respectively. As an alternative to the pressure rod 117' as a transmission member 177, a transmission fluid can be provided in one or more of the openings 211, 212, wherein a pressure change can result from a volume change of the opening 211, 212 upon bending of the kingpin 210.As an alternative to the pressure rod 117' as a transmission element 177, a strain gauge can also be arranged in one or more of the openings 211, 212.

[0062] Fig. 5 shows a schematic representation of a measuring device 250 according to an embodiment according to an aspect of the disclosure and acting and measurable forces F. Such a measuring device 250 is described with reference to Figs. 1 to 4. Fig. 5 is described with reference to Figs. 1 to 4.

[0063] According to Fig. 5, the measuring device 250 is configured to measure the force F in the two directions R1, R2. For this purpose, the measuring device 250 has two sensor elements 216, 217. Each of the sensor elements 216, 217 is configured to measure the deflection D or the force F in one of the two directions R1, R2, respectively.

[0064] Between each of the sensor elements 216, 217 and the kingpin 210 or its center point (not indexed), a straight line G1, G2 is arranged, which is each assigned to one of the sensor elements 216, 217. The straight line G1, G2 of the respective sensor element 216, 217 defines the direction R1, R2 in which the sensor element 216, 217 can detect the deflection D or the force F, i.e. the component of the deflection D or the force F. The first direction R1 is parallel to the first straight line G1 and the second direction R2 is parallel to the second straight line G2.

[0065] The two directions R1, R2 form an angle W of 90° with each other. In other words, the two straight lines G1, G2 between the sensor elements 216, 217 form an angle of 90° with each other.

[0066] The two sensor elements 216, 217 are arranged such that each of the straight lines G1, G2 between the kingpin 210 and the respective sensor element 216, 217 forms a second angle W2 of 45° with the forward direction of travel V. In another embodiment, the second angle W2 can have a different value and / or be different for each of the straight lines G1, G2 or for each of the sensor elements 216, 217.

[0067] The first sensor element 216 is configured to measure a first force F1 as a component of the force F between the trailer vehicle 201 and the towing vehicle 202, acting along the first direction R1. The second sensor element 217 is configured to measure a second force F2 as a component of the force F between the trailer vehicle 201 and the towing vehicle 202, acting along the second direction R2.

[0068] By means of two sensor elements 216, 217, the force F can be broken down into components (see arrows with dotted line), which can be measured as the first force F1 and the second force F2.

[0069] The following applies to the force F: F = F1 ■ cos (W2 + A) + F2 ■ cos (W2 - A) and with the second angle W2 of 45° the following applies to the bending angle A: A = arctan (F1 / F2) - 45°, where cos is the cosine function and arctan is the arctangent function, i.e. an arc function. The argument of the arctangent function is a quotient of the first force F1 and the second force F2 and is equal to a quotient of the force F in the first direction R1 and the force F in the second direction R2 and thus a quotient of the deflection D in the first direction R1 and the deflection D in the second direction R2.

[0070] Reference symbol (part of the description)

[0071] 115b pressure sensor

[0072] 116 electronic interface

[0073] 117 transmission element

[0074] 117' pressure rod

[0075] 118 metal housings

[0076] 119 Membran

[0077] 119a Head

[0078] 200 multi-unit vehicle

[0079] 201 trailer vehicle

[0080] 202 towing vehicle

[0081] 203 drivable axle

[0082] 205 fifth wheel coupling

[0083] 206 braking system

[0084] 207 drive

[0085] 210 kingpins

[0086] 211 first opening

[0087] 212 second opening

[0088] 214 neutral fiber

[0089] 215 Sensor device

[0090] 216 first sensor element

[0091] 217 second sensor element

[0092] 218 tenon shaft

[0093] 219 tenon head

[0094] 220 scouring plate

[0095] 221 Mounting flange

[0096] 225 screw connection

[0097] 250 measuring device

[0098] 255 control unit

[0099] 260 measuring system

[0100] A bend angle

[0101] AA Trailer longitudinal axis d Diameter

[0102] D Deflection

[0103] D1 first deflection

[0104] D2 second deflection

[0105] F Force

[0106] F1 Force in first direction

[0107] F2 Force in second direction

[0108] G1 first straight

[0109] G2 second straight

[0110] L Longitudinal axis

[0111] R1 first direction

[0112] R2 second direction

[0113] V Forward direction

[0114] W angle

[0115] W2 second angle

Claims

Patent claims 1. Measuring device (250) for a trailer vehicle (201) for determining a bending angle (A) between a towing vehicle (202) and the trailer vehicle (201), wherein the measuring device (250) comprises a kingpin (210) and a sensor device (215), characterized in that the sensor device (215) is designed to measure a deflection (D) of the kingpin (210) in two directions (R1, R2) caused by a force (F) between the towing vehicle (202) and the trailer vehicle (201).

2. Measuring device (250) according to claim 1, wherein the two directions (R1, R2) enclose an angle (W) of 80° to 100° with each other.

3. Measuring device (250) according to claim 1 or 2, wherein the sensor device (215) has two sensor elements (216, 217) for measuring the deflection (D) in one of the two directions (R1, R2).

4. Measuring device (250) according to claim 3, wherein the trailer vehicle (201) defines a forward direction of travel (V), and the two sensor elements (216, 217) are arranged such that a straight line (G1, G2) between the kingpin (210) and one of the sensor elements (216, 217) encloses a second angle (W2) of 40° to 50° with the forward direction of travel (V).

5. Measuring device (250) according to one of the preceding claims, wherein the kingpin (210) has two openings (211, 212) and the sensor device (215) is arranged in the two openings (211, 212), and the kingpin (210) has a longitudinal axis (L) and the openings (211, 212) are arranged parallel to the longitudinal axis (L), and / or the kingpin (210) has a neutral fiber (214) and the openings (211, 212) are each arranged outside the neutral fiber (214).

6. Measuring device (250) according to claim 5, wherein the kingpin (210) has a pin shaft (218) and the openings (211, 212) are arranged within the pin shaft (218).

7. Measuring device (250) according to claim 6, wherein the kingpin (110) has a pin head (219) and the openings (211, 212) each extend through the pin shaft (218) into the pin head (219).

8. Measuring system (260) for a trailer vehicle (201), comprising a measuring device (250) according to one of the preceding claims and a control unit (255) connected to the sensor device (215), wherein the control unit (255) is configured to determine an articulation angle (A) between the towing vehicle (202) and the trailer vehicle (201) based on the deflection (D) of the kingpin (210) in two directions (R1, R2).

9. Measuring system (260) according to claim 8, wherein the control unit (255) is configured to determine the bending angle (A) as a function of a quotient of a first deflection (D1) in a first direction (R1) of the two directions (R1, R2) and a second deflection (D2) in a second direction (R2) of the two directions (R1, R2) and / or an arc function of the quotient.

10. Trailer vehicle (201) comprising a measuring device (250) according to one of claims 1 to 7 and / or a measuring system (260) according to claim 8 or 9.

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