CN109747712A - Central axle trailer turns to angle control system - Google Patents
Central axle trailer turns to angle control system Download PDFInfo
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- CN109747712A CN109747712A CN201910176961.0A CN201910176961A CN109747712A CN 109747712 A CN109747712 A CN 109747712A CN 201910176961 A CN201910176961 A CN 201910176961A CN 109747712 A CN109747712 A CN 109747712A
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- 238000010586 diagram Methods 0.000 description 13
- 238000000034 method Methods 0.000 description 12
- 230000000087 stabilizing effect Effects 0.000 description 6
- 238000012937 correction Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000011897 real-time detection Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
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Abstract
The present invention relates to safe driving assistant system technical fields, and its purpose is to provide central axle trailers to turn to angle control system.The present invention includes the host that main vehicle is arranged in and the slave being arranged on trailer；The slave includes: slave locating module, for detecting the position of trailer and trailer location information being sent to slave processor；Slave processor, for trailer location information to be sent to host-processor；The host includes: host locating module, for detecting the position of main vehicle and main vehicle location information being sent to host-processor；Host-processor work as leading angle with obtain trailer and main vehicle, then will work as leading angle data and be sent to angle indicating module for handling main vehicle location information and trailer location information；Angle indicating module works as leading angle data for receiving, and then leading angle information is worked as in display.The present invention can show the current angular difference between trailer and main vehicle, be conducive to user and refer to, clearly to grasp driving situation.
Description
Technical field
The present invention relates to safe driving assistant system technical fields, turn to angle control system more particularly to central axle trailer
System.
Background technique
Trailer is the important car type of highway transportation, has the advantages such as rapid, motor-driven, flexible, safe, it is convenient to realize area
Section transport.Trailer is divided into full trailor, semitrailer and central axle trailer etc., and trailer usually connect use with main vehicle, is to hang by main vehicle
Vehicle provides tractive force and, if the steering angle of the relatively main vehicle of trailer is excessive, is unfavorable for safe driving in shipment process.
In the prior art, when the steering angle of the relatively main vehicle of trailer is excessive, early warning is usually carried out by limit switch.So
And limit switch belongs to mechanical switch alarm, can not show the current angle value of the relatively main vehicle of trailer, is unfavorable for user's standard
Really grasp driving situation.
Summary of the invention
In order to solve the above problems existing in the present technology, the present invention provides central axle trailers to turn to angle control system
System.
The technical solution adopted by the present invention is that:
Central axle trailer turns to angle control system, including the host of main vehicle and the slave being arranged on trailer is arranged in；
The slave includes slave locating module, slave processor, slave data transmit-receive module and slave power module:
The slave locating module, for detecting the position of trailer and trailer location information being sent to slave processor；
Then the slave processor is determined trailer by slave data transmit-receive module for receiving trailer location information
Position information is sent to host；
The slave power module, for being provided to slave locating module, slave processor and slave data transmit-receive module
Power supply；
The host includes host locating module, host-processor, host data transceiver module, angle indicating module and master
Electromechanical source module:
The host locating module, for detecting the position of main vehicle and main vehicle location information being sent to host-processor；
The host-processor receives the trailer from slave data transmit-receive module by host data transceiver module and positions
Information, and receive the main vehicle location information from host locating module, then to trailer location information and main vehicle location information into
Row processing to obtain trailer with main vehicle when leading angle data, then will be sent to angle indicating module when leading angle data；
The angle indicating module works as leading angle data for receiving, and then leading angle information is worked as in display；
The host power supply module is used for host locating module, host-processor, angle indicating module and host data
Transceiver module provides power supply.
Preferably, the host further includes alarm module；The host-processor is also used to when leading angle is more than default
Early warning angle when, send alarm signal to alarm module；The alarm module is actuated for alarming after receiving alarm signal.
Preferably, the host-processor and slave processor are all made of the single-chip microcontroller of model STM32F030F4P6.
Preferably, the alarm module includes buzzer, the 24th resistance, the 5th diode, the 8th triode, second
16 resistance and the 29th resistance；The cathode of 5th diode is electrically connected by the 24th resistance with host power supply module
It connects, anode is electrically connected with the collector of the 8th triode, two pins of buzzer anode with the 5th diode respectively
It is electrically connected with cathode, the base stage of the 8th triode is electrically connected with 9 feet of host-processor, is emitted by the 26th resistance
Pole ground connection, the base stage of the 8th triode and the binding site of the 26th resistance pass through the 29th resistance eutral grounding.
Preferably, the host data transceiver module includes the first triode, the second triode, third transistor, the 4th
Triode, the 5th resistance, the 7th resistance, the 8th resistance, the 9th resistance, third diode, twelfth resistor, thirteenth resistor,
14th resistance, the 15th resistance and the 16th resistance；The emitter of first triode passes sequentially through the 5th resistance and
Seven resistance are electrically connected with the anode of third diode, the emitter of first triode and the binding site and host of the 5th resistance
Power module electrical connection, the collector of first triode pass sequentially through the 9th resistance and the 8th resistance and the second triode
Emitter electrical connection, the base stage of first triode are electrically connected with the binding site of the 5th resistance and the 7th resistance；Described second
The collector of triode is electrically connected with the binding site of the 9th resistance and the 8th resistance, and the collector of second triode passes through the
12 resistance are electrically connected with third transistor emitter, the binding site of the collector of second triode and twelfth resistor with
18 feet of host-processor are electrically connected；The base stage of the third transistor passes through 17 feet of the 14th resistance and host-processor electricity
Connection, the collector of the third transistor pass sequentially through the emitter of the 15th resistance and the 16th resistance and the 4th triode
Electrical connection；The binding site of the emitter of 4th triode and the 16th resistance is grounded, the base stage of the 4th triode with
The electrical connection of the binding site of 15th resistance and the 16th resistance, the collector of the 4th triode pass through thirteenth resistor and the
The cathode electrical connection of three diodes, the cathode of the third diode and the binding site of thirteenth resistor and slave data transmit-receive mould
Block electrical connection.
Preferably, the angle indicating module includes shift register, the first charactron, the second charactron, the 12nd electricity
Appearance, the 18th resistance, the 6th triode, the 25th resistance, the 7th triode, the 33rd resistance, the 5th triode and
27 resistance；
10 feet, 11 feet, 12 feet and 14 feet of the shift register respectively with 12 feet of host-processor, 11 feet, 10 feet
It is electrically connected with 13 feet；16 feet of the shift register are by the 12nd capacity earth, 16 feet of the shift register and the
The binding site of 12 capacitors is electrically connected with host power supply module；13 feet of the shift register pass through the 18th resistance eutral grounding；
1 foot of the shift register is electrically connected with 1 foot of the first charactron and 7 feet respectively to 7 feet, the six or three pole
The base stage of pipe by the 25th resistance is electrically connected with 8 feet of host-processor, base stage is electrically connected with 8 feet of the first charactron,
Emitter is electrically connected with host power supply module；1 foot of the shift register to 7 feet also respectively with 7 feet of the second charactron, 6
Foot, 4 feet, 1 foot, 3 feet, 8 feet and the electrical connection of 9 feet, the base stage of the 7th triode pass through the 33rd resistance and host process
The 2 feet electrical connection of device, collector is electrically connected with 10 feet of the second charactron, emitter is electrically connected with host power supply module, described
The base stage of 5th triode is electrically connected by the 27th resistance with 3 feet of host-processor, collector and the second charactron 5
Foot electrical connection, emitter are electrically connected with host power supply module.
Preferably, the slave locating module and host locating module are all made of geomagnetic sensor.
Preferably, the geomagnetic sensor uses the geomagnetic sensor of model LSM303DLH.
Beneficial effects of the present invention embody a concentrated reflection of, and can show the current angular difference between trailer and main vehicle, be conducive to
User refers to, clearly to grasp driving situation.Specifically, the present invention is in real-time process, firstly, passing through host pair
The initial information of main vehicle and trailer carries out position correction；Then, the position of slave locating module real-time detection trailer and by trailer
Location information is sent to slave processor, and trailer location information is sent to host-processor by slave processor, meanwhile, host is fixed
Main vehicle location information is simultaneously sent to host-processor by the position of the position main vehicle of module real-time detection, and host-processor positions trailer
Information, main vehicle location information and initial position message compare processing, and obtain trailer and main vehicle works as leading angle；Finally, main
Machine processor will be sent to angle indicating module when leading angle, so that current between angle indicating module display trailer and main vehicle
Angle information is conducive to user and refers to it is thus achieved that showing the effect of current angle value between main vehicle and trailer.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.By the way that shown in attached drawing, above and other purpose of the invention, feature and advantage will be more clear.In whole
Identical appended drawing reference indicates identical part in attached drawing.Attached drawing, emphasis deliberately are not drawn by actual size equal proportion scaling
It is to show the gist of the present invention.
Fig. 1 is control block diagram of the invention；
Fig. 2 is the circuit diagram of host-processor in the present invention；
Fig. 3 is the circuit diagram of alignment key of the present invention；
Fig. 4 is the circuit diagram of burning module in the present invention；
Fig. 5 is the circuit diagram of host data transceiver module in the present invention；
Fig. 6 is the circuit diagram of host locating module in the present invention；
Fig. 7 is the circuit diagram of angle indicating module in the present invention；
Fig. 8 is the circuit diagram of alarm module in the present invention；
Fig. 9 is the circuit diagram of host supplying power module in the present invention；
Figure 10 is the circuit diagram of host power supply Voltage stabilizing module in the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
1~10 the present invention is further explained with reference to the accompanying drawing.
Embodiment:
Central axle trailer turns to angle control system, as shown in Figure 1, including that the host of main vehicle is arranged in and is arranged in trailer
On slave, it should be noted that the host and slave can be installed in any position of main vehicle and trailer respectively, installed
Cheng Hou can first pass through host and carry out position correction, confirm the initial position message of host and slave, then carry out subsequent master again
The work such as the position information process of machine and slave.
The slave includes slave locating module, slave processor, slave data transmit-receive module and slave power module.
The slave locating module, for detecting the position of trailer and trailer location information being sent to slave processor.
Then the slave processor is determined trailer by slave data transmit-receive module for receiving trailer location information
Position information is sent to host；
The slave power module, for being provided to slave locating module, slave processor and slave data transmit-receive module
Power supply.
The host includes host locating module, host-processor, host data transceiver module, angle indicating module and master
Electromechanical source module.
It should be noted that in the present embodiment, the slave locating module, slave processor, slave data transmit-receive module
With the implementation of slave power module respectively with host locating module, host-processor, host data transceiver module and master
The implementation of electromechanical source module is identical.
The host locating module, for detecting the position of main vehicle and main vehicle location information being sent to host-processor.
It is preferably provided with, in the present embodiment, the slave locating module and host locating module are all made of model
The geomagnetic sensor of LSM303DLH, wherein the circuit diagram of the host locating module is as shown in Figure 6, it should be appreciated that
The locating modules such as its GPS module that model UBlox can also be used, the Beidou module of model GYM2003B are realized, using type
Number main vehicle and trailer are positioned respectively for the geomagnetic sensor of LSM303DLH, measurement can be made convenient, in use, main vehicle and
Trailer can be respectively reference with earth's magnetic field, the angle in main vehicle and trailer and earth's magnetic field be measured, then by the way that tractor is calculated
Angle between trailer.In the present embodiment, the host locating module and slave locating module pass through iic bus and master respectively
Machine processor is connected with slave processor, is respectively used to measure the various azimuths of main vehicle and trailer, then respectively by orientation
Angular data issues host-processor and slave processor.
The host-processor receives the trailer from slave data transmit-receive module by host data transceiver module and positions
Information, and receive the main vehicle location information from host locating module, then to trailer location information and main vehicle location information into
Row processing to obtain trailer with main vehicle when leading angle data, then will be sent to angle indicating module when leading angle data.
It is preferably provided with, as shown in Fig. 2, the host-processor and slave processor are all made of model
The single-chip microcontroller of STM32F030F4P6.
It should be noted that the host-processor is also connected with calibration key S1 and burning module, institute in the present embodiment
The circuit diagram of calibration key S1 is stated as shown in figure 3, the present embodiment is in implementation process, when carrying out position correction, in main vehicle
Calibration key S1 is pressed when being located along the same line with trailer, to carry out the calibration of the initial position between main vehicle and trailer, note master
The azimuth that machine locating module measures main vehicle is a, and the azimuth that slave locating module measures trailer is b, and the value of a-b is error
Value；When the vehicle is turning, if the azimuth that host locating module measures main vehicle is c, slave locating module measures the orientation of trailer
Angle is d, then the angle value between the i.e. main vehicle of c-d- (a-b) and trailer.The circuit diagram of the burning module as shown in figure 4,
The burning module includes burning interface DEBUG1 and burning indicator light LED7, can be by burning interface DEBUG1 to host process
Burning program in device indicates burning performance by burning indicator light LED7.
As shown in figure 5, the host data transceiver module includes the first triode Q1, the second triode in the present embodiment
Q2, third transistor Q3, the 4th triode Q4, the 5th resistance R5, the 7th resistance R7, the 8th resistance R8, the 9th resistance R9, third
Diode D3, twelfth resistor R12, thirteenth resistor R13, the 14th resistance R14, the 15th resistance R15 and the 16th resistance
R16；The emitter of the first triode Q1 passes sequentially through the sun of the 5th resistance R5 and the 7th resistance R7 and third diode D3
Pole electrical connection, the emitter of the first triode Q1 are electrically connected with the binding site of the 5th resistance R5 with host power supply module, institute
The collector for stating the first triode Q1 passes sequentially through the emitter electricity of the 9th resistance R9 and the 8th resistance R8 and the second triode Q2
Connection, the base stage of the first triode Q1 are electrically connected with the binding site of the 5th resistance R5 and the 7th resistance R7；Described 2nd 3
The collector of pole pipe Q2 is electrically connected with the binding site of the 9th resistance R9 and the 8th resistance R8, the collector of the second triode Q2
It is electrically connected by twelfth resistor R12 with third transistor Q3 emitter, the collector and the 12nd of the second triode Q2
The binding site of resistance R12 is electrically connected with 18 feet of host-processor；The base stage of the third transistor Q3 passes through the 14th resistance
R14 is electrically connected with 17 feet of host-processor, and the collector of the third transistor Q3 passes sequentially through the 15th resistance R15 and
16 resistance R16 are electrically connected with the emitter of the 4th triode Q4；The emitter and the 16th resistance of the 4th triode Q4
The binding site of R16 is grounded, the base stage of the 4th triode Q4 and the binding site of the 15th resistance R15 and the 16th resistance R16
The collector of electrical connection, the 4th triode Q4 is electrically connected by thirteenth resistor R13 with the cathode of third diode D3, institute
The cathode for stating third diode D3 is electrically connected with the binding site of thirteenth resistor R13 with slave data transmit-receive module.
In this example, during host-processor sends and receives data " 1 " to slave processor, work as host process
When device sends data to slave processor, 18 feet (i.e. RXD1 foot in Fig. 5) of host-processor are disabled, host-processor
When high level (3.3V) that 18 foot receiving host processors are sent, third transistor Q3 and the 4th triode Q4 are turned off, at this time
The binding site (i.e. CAN foot in Fig. 5) of the cathode of thirteenth resistor R13 and third diode D3 is high level (12V)；Work as host
When processor receives the data that slave processor is sent, 17 feet (i.e. TXD1 foot in Fig. 5) of host-processor are disabled, at this time
The binding site (i.e. CAN foot in Fig. 5) of the cathode of thirteenth resistor R13 and third diode D3 be high level (12V), the one or three
Pole pipe Q1 and the second triode Q2 cut-off, 18 feet (i.e. RXD1 foot in Fig. 5) of host-processor are low level (3.3V) at this time.
During host-processor sends and receives data " 0 " to slave processor, the first triode Q1, the second triode Q2,
Third transistor Q3, the 4th triode Q4 are both turned on.This system realizes that data are transmitted by this method, while improve data transfer electricity
Pressure, helps to improve the anti-interference of system.
The angle indicating module works as leading angle data for receiving, and then leading angle information is worked as in display.It needs to illustrate
It is that charactron realization can be used in the angle indicating module, the realization such as display screen, touch screen can also be used, as long as playing display
Angle information between main vehicle and trailer.
Be preferably provided with, as shown in fig. 7, the angle indicating module include shift register U1, the first charactron LED1,
Second charactron LED2, the 12nd capacitor C12, the 18th resistance R18, the 6th triode Q6, the 25th resistance R25, the 7th
Triode Q7, the 33rd resistance R33, the 5th triode Q5 and the 27th resistance R27；
10 feet, 11 feet, 12 feet and 14 feet of the shift register U1 respectively with 12 feet of host-processor, 11 feet, 10
Foot and the electrical connection of 13 feet；16 feet of the shift register U1 are grounded by the 12nd capacitor C12, the shift register U1's
16 feet are electrically connected with the binding site of the 12nd capacitor C12 with host power supply module；13 feet of the shift register U1 pass through the
18 resistance R18 ground connection；
1 foot of the shift register U1 is electrically connected with 1 foot of the first charactron LED1 and 7 feet respectively to 7 feet, and described
The base stage of six triode Q6 be electrically connected by the 25th resistance R25 with 8 feet of host-processor, base stage and the first charactron
The 8 feet electrical connection of LED1, emitter are electrically connected with host power supply module；1 foot of the shift register U1 to 7 feet also respectively with
7 feet, 6 feet, 4 feet, 1 foot, 3 feet, 8 feet and 9 feet of second charactron LED2 are electrically connected, and the base stage of the 7th triode Q7 passes through
33rd resistance R33 is electrically connected with 2 feet of host-processor, collector is electrically connected with 10 feet of the second charactron LED2, sends out
Emitter-base bandgap grading is electrically connected with host power supply module, and the base stage of the 5th triode Q5 passes through the 27th resistance R27 and host process
The 3 feet electrical connection of device, collector is electrically connected with 5 feet of the second charactron LED2, emitter is electrically connected with host power supply module.
In the present embodiment, the shift register U1 play the role of expand host-processor pin so that host and
Angle information between slave can more fully show that in implementation process, the host-processor calculates the present embodiment
Obtain trailer and main vehicle work as leading angle, then will work as leading angle data by shift register U1 and be sent to the first charactron
Serial communication mode can be switched to parallel communication fashion by LED1 and the second charactron LED2, shift register U1, by the first number
Pipe LED1 and the second charactron LED2 show main vehicle and trailer when leading angle information.It should be noted that in the present embodiment, institute
Stating the angle that the first charactron LED1 and the second charactron LED2 respectively represents between main vehicle and trailer is positive angle and negative angle, described
First charactron LED1 and the second charactron LED2 is respectively arranged with seven indicator lights, and the angle difference of adjacent indicator light can be set
Be set to 12.85 ° etc., in use, indicator light on the first charactron LED1 and the second charactron LED2 according to trailer with
Variable angle between main vehicle is successively lighted, and the effect of angle between instruction trailer and main vehicle is achieved in.
The host power supply module is used for host locating module, host-processor, angle indicating module and host data
Transceiver module provides power supply.It should be noted that as shown in Figures 9 and 10, the host power supply module includes host supplying power module
With host power supply Voltage stabilizing module；The host power supply module mainly uses the power supply chip U1 of model MP2494DN to realize,
It may be implemented in the continuous output current in very wide input voltage range with excellent load and line adjustment 2A.The host
Voltage stabilizing module utilizes the first voltage stabilizing chip U3 of model 78L05 and two models are the second pressure stabilizing of XC6206P182MR
Chip U4 and third voltage stabilizing chip U6 realizes that wherein XC6206P182MR is a high-precision to the pressure stabilization function of input power,
Low-power consumption, 3 pin LDO high voltage adjuster chips, and CMOS technology and Laser Trimming Technology are used, it is biggish in output electric current
In the case of, input and output pressure difference also can very little.
Further, the host further includes alarm module；The host-processor is also used to when leading angle is more than
When preset early warning angle, alarm signal is sent to alarm module；The alarm module is actuated for reporting after receiving alarm signal
It is alert.As shown in figure 8, the alarm module of the present embodiment is realized using buzzer U11, the alarms such as combined aural and visual alarm dress can also be used
Set realization.
In the present embodiment, the alarm module includes buzzer U11, the 24th resistance R24, the 5th diode D5,
Eight triode Q8, the 26th resistance R26 and the 29th resistance R29；The cathode of the 5th diode D5 passes through the 20th
Four resistance R24 are electrically connected with host power supply module, anode is electrically connected with the collector of the 8th triode Q8, the buzzer U11
Two pins be electrically connected respectively with the anode and cathode of the 5th diode D5, the base stage of the 8th triode Q8 passes through second
16 resistance R26 are electrically connected with 9 feet of host-processor, emitter is grounded, the base stage and the 20th of the 8th triode Q8
The binding site of six resistance R26 is grounded by the 29th resistance R29.
The present embodiment is in real-time process, firstly, carrying out position correction by initial information of the host to main vehicle and trailer；
Then, the position of slave locating module real-time detection trailer and trailer location information is sent to slave processor, slave processing
Trailer location information is sent to host-processor by device, meanwhile, the position of the main vehicle of host locating module real-time detection and by main vehicle
Location information is sent to host-processor, and host-processor is to trailer location information, main vehicle location information and initial position message
Processing is compared, obtain trailer and main vehicle works as leading angle；Finally, host-processor will be sent to angle instruction when leading angle
Module, so that angle indicating module, which is shown, works as leading angle information between trailer and main vehicle, it is thus achieved that showing main vehicle and extension
The effect of current angle value between vehicle is conducive to user and refers to.In addition, being installed between the host and slave of the present embodiment very square
Just, it is conducive to user's use and later maintenance.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (8)
1. central axle trailer turns to angle control system, it is characterised in that: including the host of main vehicle is arranged in and is arranged in trailer
On slave；
The slave includes slave locating module, slave processor, slave data transmit-receive module and slave power module:
The slave locating module, for detecting the position of trailer and trailer location information being sent to slave processor；
Then trailer is positioned by slave data transmit-receive module and is believed for receiving trailer location information by the slave processor
Breath is sent to host；
The slave power module, for providing power supply to slave locating module, slave processor and slave data transmit-receive module；
The host includes host locating module, host-processor, host data transceiver module, angle indicating module and host electricity
Source module:
The host locating module, for detecting the position of main vehicle and main vehicle location information being sent to host-processor；
The host-processor receives the trailer from slave data transmit-receive module by host data transceiver module and positions letter
Breath, and the main vehicle location information from host locating module is received, then trailer location information and main vehicle location information are carried out
Processing to obtain trailer with main vehicle when leading angle data, then will be sent to angle indicating module when leading angle data；
The angle indicating module works as leading angle data for receiving, and then leading angle information is worked as in display；
The host power supply module, for being received and dispatched to host locating module, host-processor, angle indicating module and host data
Module provides power supply.
2. central axle trailer according to claim 1 turns to angle control system, it is characterised in that: the host further includes
Alarm module；The host-processor is also used to send alarm signal to report when leading angle is more than preset early warning angle
Alert module；The alarm module is actuated for alarming after receiving alarm signal.
3. central axle trailer according to claim 2 turns to angle control system, it is characterised in that: the host-processor
The single-chip microcontroller of model STM32F030F4P6 is all made of with slave processor.
4. central axle trailer according to claim 3 turns to angle control system, it is characterised in that: the alarm module packet
Include buzzer (U11), the 24th resistance (R24), the 5th diode (D5), the 8th triode (Q8), the 26th resistance
(R26) and the 29th resistance (R29)；The cathode of 5th diode (D5) passes through the 24th resistance (R24) and host
Power module electrical connection, anode are electrically connected with the collector of the 8th triode (Q8), two pins point of the buzzer (U11)
It is not electrically connected with the anode and cathode of the 5th diode (D5), the base stage of the 8th triode (Q8) passes through the 26th resistance
(R26) it is electrically connected with 9 feet of host-processor, emitter ground connection, the base stage of the 8th triode (Q8) and the 26th electricity
The binding site for hindering (R26) is grounded by the 29th resistance (R29).
5. central axle trailer according to claim 3 turns to angle control system, it is characterised in that: the host data is received
Generating module includes the first triode (Q1), the second triode (Q2), third transistor (Q3), the 4th triode (Q4), the 5th electricity
Hinder (R5), the 7th resistance (R7), the 8th resistance (R8), the 9th resistance (R9), third diode (D3), twelfth resistor (R12),
Thirteenth resistor (R13), the 14th resistance (R14), the 15th resistance (R15) and the 16th resistance (R16)；One or three pole
The emitter of pipe (Q1) passes sequentially through the 5th resistance (R5) and the 7th resistance (R7) is electrically connected with the anode of third diode (D3),
The emitter of first triode (Q1) is electrically connected with the binding site of the 5th resistance (R5) with host power supply module, and described first
The collector of triode (Q1) passes sequentially through the emitter of the 9th resistance (R9) and the 8th resistance (R8) and the second triode (Q2)
Electrical connection, the base stage of first triode (Q1) are electrically connected with the binding site of the 5th resistance (R5) and the 7th resistance (R7)；Institute
The collector for stating the second triode (Q2) is electrically connected with the binding site of the 9th resistance (R9) and the 8th resistance (R8), and the described 2nd 3
The collector of pole pipe (Q2) is electrically connected by twelfth resistor (R12) with third transistor (Q3) emitter, the two or three pole
The collector of pipe (Q2) is electrically connected with the binding site of twelfth resistor (R12) with 18 feet of host-processor；Three or three pole
The base stage of pipe (Q3) is electrically connected by the 14th resistance (R14) with 17 feet of host-processor, the third transistor (Q3)
Collector passes sequentially through the 15th resistance (R15) and the 16th resistance (R16) is electrically connected with the emitter of the 4th triode (Q4)；
The emitter of 4th triode (Q4) and the binding site of the 16th resistance (R16) are grounded, the 4th triode (Q4)
Base stage is electrically connected with the binding site of the 15th resistance (R15) and the 16th resistance (R16), the current collection of the 4th triode (Q4)
Pole is electrically connected by thirteenth resistor (R13) with the cathode of third diode (D3), the cathode of the third diode (D3) and
The binding site of thirteenth resistor (R13) is electrically connected with slave data transmit-receive module.
6. central axle trailer according to claim 3 turns to angle control system, it is characterised in that: the angle indicates mould
Block includes shift register (U1), the first charactron (LED1), the second charactron (LED2), the 12nd capacitor (C12), the 18th
Resistance (R18), the 6th triode (Q6), the 25th resistance (R25), the 7th triode (Q7), the 33rd resistance (R33),
5th triode (Q5) and the 27th resistance (R27)；
10 feet, 11 feet, 12 feet and 14 feet of the shift register (U1) respectively with 12 feet of host-processor, 11 feet, 10 feet
It is electrically connected with 13 feet；16 feet of the shift register (U1) are grounded by the 12nd capacitor (C12), the shift register
(U1) 16 feet are electrically connected with the binding site of the 12nd capacitor (C12) with host power supply module；The shift register (U1)
13 feet are grounded by the 18th resistance (R18)；
1 foot to 7 feet of the shift register (U1) is electrically connected with 1 foot of the first charactron (LED1) and 7 feet respectively, and described
The base stage of six triodes (Q6) be electrically connected by the 25th resistance (R25) with 8 feet of host-processor, base stage and the first number
The 8 feet electrical connection of pipe (LED1), emitter are electrically connected with host power supply module；1 foot to 7 feet of the shift register (U1) is also
It is electrically connected respectively with 7 feet of the second charactron (LED2), 6 feet, 4 feet, 1 foot, 3 feet, 8 feet and 9 feet, the 7th triode (Q7)
Base stage be electrically connected with 2 feet of host-processor by the 33rd resistance (R33), collector and the second charactron (LED2)
The electrical connection of 10 feet, emitter are electrically connected with host power supply module, and the base stage of the 5th triode (Q5) passes through the 27th electricity
(R27) is electrically connected with 3 feet of host-processor, collector is electrically connected with 5 feet of the second charactron (LED2) for resistance, emitter and master
Electromechanical source module electrical connection.
7. central axle trailer according to claim 1 or 2 turns to angle control system, it is characterised in that: the slave is fixed
Position module and host locating module are all made of geomagnetic sensor.
8. central axle trailer according to claim 7 turns to angle control system, it is characterised in that: the geomagnetic sensor
Using the geomagnetic sensor of model LSM303DLH.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910176961.0A CN109747712B (en) | 2019-03-08 | 2019-03-08 | Steering included angle control system of central shaft trailer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910176961.0A CN109747712B (en) | 2019-03-08 | 2019-03-08 | Steering included angle control system of central shaft trailer |
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| CN109747712A true CN109747712A (en) | 2019-05-14 |
| CN109747712B CN109747712B (en) | 2021-01-08 |
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| CN201910176961.0A Expired - Fee Related CN109747712B (en) | 2019-03-08 | 2019-03-08 | Steering included angle control system of central shaft trailer |
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|---|---|
| CN109747712B (en) | 2021-01-08 |
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