CN112829530A - Device and method for measuring angle between automobile and trailer - Google Patents
Device and method for measuring angle between automobile and trailer Download PDFInfo
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- CN112829530A CN112829530A CN201911155935.6A CN201911155935A CN112829530A CN 112829530 A CN112829530 A CN 112829530A CN 201911155935 A CN201911155935 A CN 201911155935A CN 112829530 A CN112829530 A CN 112829530A
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- trailer
- sensor
- truss
- automobile
- measuring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/248—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for measuring, indicating or displaying the weight
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
Abstract
The invention discloses a device for measuring an angle between an automobile and a trailer and a measuring method thereof, wherein the device comprises a position measuring sensor and a truss, the position measuring sensor is arranged on an automobile frame, the truss is fixed on the lower side surface of a trailer bottom plate and is formed by fixedly splicing two sections of semicircular spiral ribs, the shape of the truss is a circular structure which is formed by two semicircular spiral ribs which are symmetrical along the longitudinal central plane of a trailer body when the truss is upward seen from the direction vertical to the vehicle supporting plane, and the circle center of the circular structure is the central axis of a traction pin; and when the vehicle is seen from the right front and backwards, the rotation directions of the two sections of the spiral ribs are opposite, the heights of the spiral ribs are half of the spiral pitches of the spiral ribs, and a measuring probe of the position measuring sensor is over against the middle point of the intersection line of the lower edge curved surface of the truss and the longitudinal central plane of the vehicle. The device and the measuring method thereof are simple and easy to implement, have accurate results, and can provide data support for trailer running form when the automobile train turns and parks.
Description
Technical Field
The invention belongs to the technical field of vehicle included angle measurement, and particularly relates to a device and a method for measuring an angle between an automobile and a trailer.
Background
In the working conditions of automobile train steering, backing and the like, the running track of the trailer has important influence on the driving safety. The steering degree and the track of the main vehicle can be measured and estimated by the steering wheel rotating angle, however, the steering condition of the trailer has not been measured intuitively and accurately. In the actual driving process, the driver does not have the corner information of the trailer, and the track of the trailer is estimated according to the driving experience. The running track of the trailer can be measured by the included angle between the main vehicle and the trailer under the condition that the turning angle of the main vehicle is known, and the information is input to help accurately grasp the running state of the trailer, so that the parameter has important significance for new hands or unmanned driving situations.
Chinese invention patent ZL201811609617.8 discloses a method for detecting the yaw angle of a tractor and a trailer, which comprises the steps of arranging a detection plate on the front side surface of the trailer, wherein the front side surface of the detection plate faces the rear side surface of the tractor, the front side surface of the detection plate is provided with a plurality of characteristic patterns, and a camera which can shoot at least one characteristic pattern on the detection plate is arranged on the rear side surface of the tractor at any yaw angle; in the driving process of the vehicle, the camera shoots characteristic patterns on the detection plate, and at least four characteristic points are extracted from each shot characteristic pattern; and calculating a current transformation matrix between the tractor and the trailer according to the coordinates of all the characteristic points in the camera coordinate system and the coordinates in the world coordinate system, and further calculating the yaw angle of the tractor and the trailer. However, the detection method has high requirements on the performance of the related camera, the working performance is greatly influenced by the environment, the algorithm is complex, the development cost is high, and the method is not beneficial to practical application and batch production.
Chinese patent ZL201910154820.9 discloses a device and a method for measuring and calculating an included angle between a truck head and a trailer of a truck based on rotary encoders, wherein a first rotary encoder and a second rotary encoder are respectively arranged on the truck head and the trailer and form a linear mapping relation with the center of a rotating shaft, when the angle of the trailer relative to the truck head changes, a control module receives the output level of a photoelectric detection array to control a driving motor to rotate correspondingly, so that the current angles of the first rotary encoder and the second rotary encoder can be obtained in real time under the condition that the first rotary encoder and the second rotary encoder always realize mutual tracking, and the included angle between the truck head and the trailer is calculated by combining a deviation constant. The angle detection assembly related in the patent of the invention comprises a rotary encoder, a laser, a photoelectric detection array and other various electronic components, and has higher cost; and the interaction and detection relation among all components are complex, the requirements on the precision and the installation of parts are high, and the stability in the working process is poor.
Disclosure of Invention
The invention is realized by the following technical scheme:
the invention provides a device for measuring an angle between an automobile and a trailer, which comprises a position measuring sensor and a truss, wherein the position measuring sensor is arranged on an automobile frame, a wiring end of the position measuring sensor is also connected with a sensor wiring harness, a circle of connecting column is uniformly fixed at the upper end of the truss, the upper end of the connecting column is fixed on the surface of the lower side of a bottom plate of the trailer, the truss is formed by fixedly splicing two sections of semi-circular spiral ribs, and the overall shape of the truss is as follows: viewed from the direction vertical to the vehicle supporting plane, the vehicle trailer is a circular structure consisting of two semicircular annular spiral ribs which are symmetrical along the longitudinal central plane of the trailer body, and the circular center of the circular structure is the central axis of a towing pin connected between the automobile and the trailer; and when the vehicle is seen from the front and back, the rotation directions of the two sections of the spiral ribs are opposite, the heights of the spiral ribs are half of the spiral pitches of the spiral ribs, the spiral ribs are in butt joint with the spiral pitches, and the measuring probes of the position measuring sensors are opposite to the middle point of the intersection line of the lower edge curved surface of the truss and the longitudinal central plane of the vehicle.
Optionally, still include the sensor mounting panel, the sensor mounting panel is fixed in between the wall of car frame both sides through the fastener, just the sensor mounting panel sets up along car frame width direction, fastener fixedly connected with sensor fixed bolster is passed through at sensor mounting panel middle part, just the position measurement sensor passes through the connecting piece to be fixed on the sensor fixed bolster.
Optionally, a set of sensor harness fixing hooks is further fixed on the sensor mounting plate through fasteners, and the sensor harness is hung on the sensor harness fixing hooks and extends to the outer side of the measuring device to be led to the vehicle controller end.
Optionally, the sensor wire harness is bound on the sensor wire harness fixing hook through a wire harness fixing tie.
Optionally, the fastener is composed of a bolt and a matching nut.
Optionally, the connecting piece is a locking screw, and corresponding screw holes are formed in the position measuring sensor and the sensor fixing bracket, so that the locking screw is screwed into the corresponding screw hole in a rotating manner to realize fixed connection.
The invention provides a method for measuring the angle between an automobile and a trailer, which comprises the following steps:
s1, a truss is fixedly installed on the lower side surface of the bottom plate of the trailer through a circle of connecting column, wherein the truss is formed by fixedly splicing two sections of semicircular spiral ribs, and the overall shape of the truss is as follows: viewed from the direction vertical to the vehicle supporting plane, the vehicle trailer is a circular structure consisting of two semicircular annular spiral ribs which are symmetrical along the longitudinal central plane of the trailer body, and the circular center of the circular structure is the central axis of a towing pin connected between the automobile and the trailer; when the vehicle is seen from the front and back, the rotation directions of the two sections of spiral ribs are opposite, the heights of the spiral ribs are half of the spiral pitches of the spiral ribs, and the spiral ribs are in butt joint with each other end to end;
s2, fixedly mounting a position measuring sensor between two side walls of the automobile frame, wherein a measuring probe of the position measuring sensor is over against the middle point of the intersection line of the lower edge curved surface of the truss and the longitudinal central plane of the automobile;
s3, when the included angle between the automobile and the trailer is zero, the lowest end of the truss is vertically aligned with the measuring probe of the position measuring sensor, after the measurement is started, the trailer drives the truss to relatively rotate with the automobile along the traction pin, and at the moment, the position measuring sensor measures the vertical distance variation between the truss and the truss in real time;
s4, calculating the variation of the included angle between the automobile and the hanging workshop according to the measured variation of the vertical distance between the position measuring sensor and the truss:
in the formula:
dh is the vertical distance variation infinitesimal between the trailer and the truss measured by the position measuring sensor when the trailer rotates relative to the automobile;
d theta is a rotation angle change infinitesimal of the trailer relative to the automobile;
t is the pitch of the helical structure in which the helical ribs of the truss are located.
Optionally, the measurement range of the included angle of the measurement method is that the trailer is 180 degrees respectively in the left direction and the right direction relative to the automobile.
Compared with the prior art, the invention has the following beneficial technical effects:
(1) the device for measuring the angle between the automobile and the trailer during turning has simple structure and low cost;
(2) the method for measuring the included angle between the automobile and the trailer is simple and easy to implement and accurate in result;
(3) the method for measuring the included angle between the automobile and the trailer is convenient for taking and unloading the trailer, and does not influence the existing operation habit of a driver;
(4) the invention can provide trailer running state data support for the automobile train under the working conditions of steering, backing, intelligent driving and the like, and has important practical significance and potential value on the driving safety and the operating stability of the vehicle.
Drawings
FIG. 1 is a schematic view of the principle of a spiral movement;
FIG. 2 is a schematic three-dimensional structure of the device for measuring the included angle between a vehicle and a trailer according to the present invention;
FIG. 3 is a schematic front view of the angle measuring device of the present invention;
FIG. 4 is a schematic bottom view of the device for measuring the angle between a vehicle and a trailer of the present invention;
FIG. 5 is a schematic diagram of a right side view of the vehicle-trailer angle measuring device of the present invention;
FIG. 6 is a schematic view of a portion of the structure of the present invention showing the attachment of the vehicle frame to the position measuring sensor;
FIG. 7 is a schematic illustration of a disassembled structure of the sensor mounting plate of the present invention coupled to a position measuring sensor;
fig. 8 and 9 are schematic diagrams of the measurement of the angle between the vehicle and the trailer according to the invention.
Description of the reference numerals
The device comprises a position measuring sensor 1, a connecting piece 2, a sensor fixing support 3, a fastener 4, a sensor mounting plate 5, an automobile frame 6, a sensor wire harness 7, a wire harness 8, a sensor wire harness 9, a sensor wire harness fixing hook 11, a truss 12, a trailer bottom plate 13, a traction pin 13 and a connecting column 14.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a detailed description of the present invention will be given below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention, and the described embodiments are merely a subset of the embodiments of the present invention, rather than a complete embodiment. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
For the convenient contained angle between measuring car and the trailer, need turn into the position variation volume of convenient monitoring with contained angle variation volume, for this reason the introduction has the rotation angle of linear correlation and the motion between the translation distance, and helical motion just accords with the demand:
as shown in fig. 1, a motion resulting from rotation about an axis a and movement in a direction a proportional to the rotation angle is referred to as a spiral motion.
Wherein the axis a is called a helical axis; if it is
Is the rotation angle (helix angle) and ω is the feed (translation distance), then:
the scale factor p (≠ 0), referred to as the helix parameter.
In order to enable the whole measuring process to meet the above spiral motion mode, a device for measuring the angle between an automobile and a trailer during turning is designed as shown in fig. 2-7, and comprises a position measuring sensor 1 and a truss 11, wherein the position measuring sensor 1 is installed on an automobile frame 6, a sensor wire harness 7 is further connected to a terminal of the position measuring sensor 1, a circle of connecting column 14 is uniformly fixed at the upper end of the truss 11, the upper end of the connecting column 14 is fixed on the lower side surface of a trailer bottom plate 12, the truss 11 is formed by fixedly splicing two sections of semicircular spiral ribs, and the overall shape of the truss 11 is as follows: viewed from the direction vertical to the vehicle supporting plane, the circular structure is formed by two semicircular annular spiral ribs which are symmetrical along the longitudinal central plane of the trailer body, and the circular center of the circular structure is the central axis of a towing pin 13 connected between the automobile and the trailer; and when the vehicle is seen from the front and back, the rotation directions of the two sections of the spiral ribs are opposite, the heights of the spiral ribs are half of the spiral pitches of the spiral ribs, the spiral ribs are in butt joint with the spiral pitches, and a measuring probe of the position measuring sensor 1 is over against the middle point of the intersection line of the lower edge curved surface of the truss 11 and the longitudinal central plane of the vehicle. (the interaction between the position measuring sensor 1 and the truss 11 is the non-mechanical connection and force action, but the disconnected detection and sensing action.) among them, the cross section of the connecting column 14 for fixedly connecting the truss 11 and the lower surface of the trailer bottom plate 12 can be circular, square or rectangular, and the fixing mode of the connecting column 14 and the lower surface of the trailer bottom plate 12 can be welding, riveting, bonding, hanging, magnetic attraction, screw connection, and the like, which can realize the fixed connection.
Furthermore, the measuring device can also comprise a sensor mounting plate 5, wherein the sensor mounting plate 5 is fixed between two side walls of an automobile frame 6 through a fastener 4, the sensor mounting plate 5 is arranged along the width direction of the automobile frame 6, the middle part of the sensor mounting plate 5 is fixedly connected with a sensor fixing support 3 through the fastener 4, and the position measuring sensor 1 is fixed on the sensor fixing support 3 through a connecting piece 2;
specifically, the fastening piece 4 can be composed of a bolt and a matched nut, and the fastening piece 4 composed of the bolt and the matched nut can conveniently realize the disassembly and the assembly of the parts to be fastened;
in order to facilitate the installation and the disassembly of the position measuring sensor 1, the connecting piece 2 can be a locking screw, and corresponding screw holes are formed in the position measuring sensor 1 and the sensor fixing bracket 3, so that the locking screw is screwed into the corresponding screw holes in a rotating manner to realize the fixed connection.
The mutual matching and assembling mode of the sensor mounting plate 5, the sensor fixing support 3 and the fastener 4 can well realize the accurate positioning and mounting of the position measuring sensor 1, but the mounting mode of the position measuring sensor 1 does not need to take special mounting plates, and the inherent structures of vehicles such as a frame cross beam, a tail beam and a sleeving support can be selected and realized through certain remanufacturing.
Furthermore, in order to conveniently guide and fix the sensor wiring harness 7, a group of sensor wiring harness fixing hooks 9 are fixed on the sensor mounting plate 5 through fasteners 4, and the sensor wiring harness 7 is hung on the sensor wiring harness fixing hooks 9 and extends to the outer side of the measuring device to be led to a vehicle controller end;
specifically, in order to stably fix the sensor harness 7 on the sensor harness fixing hook 9, the sensor harness 7 is bound on the sensor harness fixing hook 9 through the harness fixing tie 8.
The method for measuring the angle between the automobile and the trailer by using the measuring device comprises the following steps:
s1, a truss is fixedly installed on the lower side surface of the bottom plate of the trailer through a circle of connecting column, wherein the truss is formed by fixedly splicing two sections of semicircular spiral ribs, and the overall shape of the truss is as follows: viewed from the direction vertical to the vehicle supporting plane, the vehicle trailer is a circular structure consisting of two semicircular annular spiral ribs which are symmetrical along the longitudinal central plane of the trailer body, and the circular center of the circular structure is the central axis of a towing pin connected between the automobile and the trailer; when the vehicle is seen from the front and back, the rotation directions of the two sections of spiral ribs are opposite, the heights of the spiral ribs are half of the spiral pitches of the spiral ribs, and the spiral ribs are in butt joint with each other end to end;
s2, fixedly mounting a position measuring sensor between two side walls of the automobile frame, wherein a measuring probe of the position measuring sensor is over against the middle point of the intersection line of the lower edge curved surface of the truss and the longitudinal central plane of the automobile;
s3, when the included angle between the automobile and the trailer is zero, the lowest end of the truss is vertically aligned with the measuring probe of the position measuring sensor, after the measurement is started, the trailer drives the truss to relatively rotate with the automobile along the traction pin, and at the moment, the position measuring sensor measures the vertical distance variation between the truss and the truss in real time;
s4, calculating the variation of the included angle between the automobile and the hanging workshop according to the measured variation of the vertical distance between the position measuring sensor and the truss:
in the formula:
dh is the vertical distance variation infinitesimal between the trailer and the truss measured by the position measuring sensor when the trailer rotates relative to the automobile;
d theta is a rotation angle change infinitesimal of the trailer relative to the automobile;
t is the pitch of the helical structure in which the helical ribs of the truss are located.
The angle measurement range of the above-described measurement method may preferably be 180 ° for each of the left and right directions of the trailer relative to the vehicle.
The derivation principle of the calculation formula of the included angle variation between the automobile and the trailer is as follows:
as shown in fig. 8-9, since the interaction between the position measuring sensor 1 and the truss 11 is the non-mechanical connection and force behavior, but the disconnected detection and sensing, and when the included angle is measured, the trailer drives the truss to rotate along the towing pin and the automobile relatively, the motion track of the detection point on the truss right opposite to the position measuring sensor 1 is just a spiral motion, and thus the equation of the spiral motion track is satisfied, that is, the linear relationship between the rotation angle and the translation distance is formed;
namely, the following conditions are met:
when the detection point on the truss opposite to the position measurement sensor 1 moves 180 degrees, the vertical distance change value formed by the detection point is exactly equal to
I.e. half the pitch of the helical structure; that is, the change of the detection distance from the lowest point to the highest point of the truss 11 corresponds to the change of the included angle of the automobile relative to the trailer from 0 degree to 180 degrees, and finally the following results are obtained:
the embodiments given above are preferable examples for implementing the present invention, and the present invention is not limited to the above-described embodiments. Any non-essential addition and replacement made by the technical characteristics of the technical scheme of the invention by a person skilled in the art belong to the protection scope of the invention.
Claims (8)
1. A device for measuring an angle between a vehicle and a trailer, characterized in that: including position measurement sensor (1) and truss (11), install on automobile frame (6) position measurement sensor (1), just the wiring end of position measurement sensor (1) still is connected with sensor pencil (7), truss (11) upper end is even to be fixed with round spliced pole (14), spliced pole (14) upper end is fixed at trailer bottom plate (12) downside surface, truss (11) comprise two sections fixed concatenations of semicircle annular spiral rib, just truss (11) whole shape does: viewed from the direction vertical to the vehicle supporting plane, the vehicle trailer is a circular structure consisting of two semicircular annular spiral ribs which are symmetrical along the longitudinal central plane of the trailer body, and the circular center of the circular structure is the central axis of a towing pin (13) connected between the automobile and the trailer; and when the vehicle is seen from the front and back, the rotation directions of the two sections of spiral ribs are opposite, the heights of the spiral ribs are half of the spiral pitches of the spiral ribs, the spiral ribs are in butt joint with the spiral pitches end to end, and a measuring probe of the position measuring sensor (1) is over against the middle point of the intersection line of the lower edge curved surface of the truss (11) and the longitudinal central plane of the vehicle.
2. A device for measuring the angle between a vehicle and a trailer according to claim 1, characterized in that: still include sensor mounting panel (5), sensor mounting panel (5) are fixed in between automobile frame (6) both sides wall through fastener (4), just sensor mounting panel (5) set up along automobile frame (6) width direction, fastener (4) fixedly connected with sensor fixed bolster (3) are passed through at sensor mounting panel (5) middle part, just position measurement sensor (1) is fixed on sensor fixed bolster (3) through connecting piece (2).
3. A device for measuring the angle between a vehicle and a trailer according to claim 2, characterized in that: still be fixed with a set of sensor pencil fixed hook (9) through fastener (4) on sensor mounting panel (5), just sensor pencil (7) are hung on sensor pencil fixed hook (9) and are extended to the measuring device outside and lead to vehicle controller end.
4. A device for measuring the angle between a vehicle and a trailer according to claim 3, characterized in that: the sensor wire harness (7) is bound on the sensor wire harness fixing hook (9) through a wire harness fixing binding belt (8).
5. A device for measuring the angle between a vehicle and a trailer according to claim 3, characterized in that: the fastener (4) consists of a bolt and a matched nut.
6. A device for measuring the angle between a vehicle and a trailer according to claim 2, characterized in that: the connecting piece (2) is a locking screw, and corresponding screw holes are formed in the position measuring sensor (1) and the sensor fixing support (3), so that the locking screw is screwed into the corresponding screw holes in a rotating mode to achieve fixed connection.
7. A method for measuring an angle between an automobile and a trailer is characterized in that: the method comprises the following steps:
s1, a truss is fixedly installed on the lower side surface of the bottom plate of the trailer through a circle of connecting column, wherein the truss is formed by fixedly splicing two sections of semicircular spiral ribs, and the overall shape of the truss is as follows: viewed from the direction vertical to the vehicle supporting plane, the vehicle trailer is a circular structure consisting of two semicircular annular spiral ribs which are symmetrical along the longitudinal central plane of the trailer body, and the circular center of the circular structure is the central axis of a towing pin connected between the automobile and the trailer; when the vehicle is seen from the front and back, the rotation directions of the two sections of spiral ribs are opposite, the heights of the spiral ribs are half of the spiral pitches of the spiral ribs, and the spiral ribs are in butt joint with each other end to end;
s2, fixedly mounting a position measuring sensor between two side walls of the automobile frame, wherein a measuring probe of the position measuring sensor is over against the middle point of the intersection line of the lower edge curved surface of the truss and the longitudinal central plane of the automobile;
s3, when the included angle between the automobile and the trailer is zero, the lowest end of the truss is vertically aligned with the measuring probe of the position measuring sensor, after the measurement is started, the trailer drives the truss to relatively rotate with the automobile along the traction pin, and at the moment, the position measuring sensor measures the vertical distance variation between the truss and the truss in real time;
s4, measuring the vertical distance variation between the sensor and the truss according to the measured position, and calculating the included angle variation between the automobile and the trailerChemical quantity:
in the formula:
dh is the vertical distance variation infinitesimal between the trailer and the truss measured by the position measuring sensor when the trailer rotates relative to the automobile;
d theta is a rotation angle change infinitesimal of the trailer relative to the automobile;
t is the pitch of the helical structure in which the helical ribs of the truss are located.
8. A method of measuring an angle between a vehicle and a trailer according to claim 7, wherein: the included angle measuring range of the measuring method is that the trailer is 180 degrees respectively relative to the left direction and the right direction of the automobile.
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| CN201911155935.6A CN112829530B (en) | 2019-11-22 | 2019-11-22 | Device and method for measuring angle between automobile and trailer |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113716287A (en) * | 2021-09-22 | 2021-11-30 | 宁夏天地西北煤机有限公司 | Truss included angle measuring and calculating method and aligning method for movable multi-section truss belt conveyor |
| CN115265456A (en) * | 2022-09-29 | 2022-11-01 | 南京华擎交通科技有限公司 | Device and method for acquiring workshop included angle by automobile train |
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| CN115265456A (en) * | 2022-09-29 | 2022-11-01 | 南京华擎交通科技有限公司 | Device and method for acquiring workshop included angle by automobile train |
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| CN112829530B (en) | 2022-09-27 |
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