CN111637852A - System and method for measuring articulation angle of full-trailer automobile train - Google Patents
System and method for measuring articulation angle of full-trailer automobile train Download PDFInfo
- Publication number
- CN111637852A CN111637852A CN202010447284.4A CN202010447284A CN111637852A CN 111637852 A CN111637852 A CN 111637852A CN 202010447284 A CN202010447284 A CN 202010447284A CN 111637852 A CN111637852 A CN 111637852A
- Authority
- CN
- China
- Prior art keywords
- trailer
- laser range
- tractor
- measuring
- laser
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a system and a method for measuring a hinge angle of a full-trailer automobile train. The measuring system comprises a tractor, a trailer, at least one laser range finder, a reflecting plate, a data acquisition instrument and a data analyzer, wherein the tractor is connected with the trailer; the laser range finder is arranged at the front end of the trailer, and the reflecting plate is arranged at the rear end of the tractor; or at least one laser range finder is arranged at the rear end of the tractor, and the reflecting plate is arranged at the front end of the trailer; the laser range finder, the data acquisition instrument and the data analyzer are connected in sequence. The system has simple structure, does not need to change vehicles, is convenient to install, can realize real-time measurement of the hinge angle of the train without being restricted by the hinge mechanism of the train under the road state, and can analyze the transverse stability of the train.
Description
Technical Field
The invention relates to the field of road tests of whole automobiles, in particular to a system and a method for measuring a hinge angle of a full-trailer automobile train.
Background
With the development of automobile transportation industry and the continuous increase of freight volume, the load capacity of automobiles is continuously increased, and because the development of automobiles is limited by the total mass of the automobiles and axle load quality regulations, the most effective way for improving the quality of automobiles is to carry out trailer transportation and develop automobile trains. A light train is a combination of a motor tractor (passenger car class M1 or pickup truck class N1) and a trailer, the tractor and trailer being connected and interacting by an articulated structure (comprising a trailer head (pin) at the rear of the vehicle to which the tractor is mounted and a trailer at the front of the trailer), the articulation angle being the angle between the longitudinal axis of the tractor and the longitudinal axis of the trailer. In the running process of the automobile train, the size and the change rate of the hinge angle can directly reflect the transverse stability of the automobile train, and instability phenomena such as folding of the tractor and the trailer and the like can be caused due to the overlarge hinge angle. The GB/T29121-2012 transverse stability test for trains of passenger vehicles and passenger vehicles on roads clearly specifies that the articulation angle of the trains of the passenger vehicles is measured in real time in the test process, so that a device and a method for measuring the articulation angle in real time, which are suitable for the road test of light trains, are needed to be researched.
The existing techniques for measuring the hinge angle are classified into the following two categories: (1) contact angle measurement sensor: such as a rotary potentiometer. (2) A non-contact sensor: such as vision sensors and electromagnetic induction sensors. Contact angle measurement sensor generally need install the articulated mounting department between tractor and trailer, and when the train went, articulated department had great rocking and striking, and great just cause the sensor to damage easily to measuring result influence. Meanwhile, the device is limited by installation, is not beneficial to multi-combination train test, and has poor convenience in actual use. Non-contact angle measurement sensors, such as those disclosed in CN 108761481a and CN106225723A, all provide point cloud or image information generated by using return signals from a trailer, and angle parameters are obtained through processing and analysis; the patent publication CN 102582686a proposes to calculate an angle parameter using the travel track and speed information obtained from GPS signals on the tractor and trailer, respectively. The non-contact angle measuring device solves the problem that a contact angle measuring sensor is poor in convenience, however, corresponding testing cost is not optimistic due to high-precision equipment and a system for processing complex information, meanwhile, requirements of a GPS and an image signal on testing environment are high, complex information processing depends on system data processing capacity, and the non-contact angle measuring device is not very suitable for testing with real-time monitoring requirements.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
The invention aims to provide a system and a method for measuring the articulation angle of a full-trailer automobile train, which aim to solve the problems of inconvenient use, high requirement on test environment, incapability of monitoring in real time and high cost in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the invention provides a system for measuring the articulation angle of a full-trailer train, which comprises a tractor, a trailer, at least one laser range finder, a reflecting plate, a data acquisition instrument and a data analyzer, wherein the tractor is connected with the trailer;
the laser range finder is arranged at the front end of the trailer, and the reflecting plate is arranged at the rear end of the tractor; the laser range finder is used for emitting laser to the reflecting plate perpendicular to the front end face of the trailer and measuring the distance which the laser passes from the front end face of the trailer to the reflecting plate;
or at least one laser range finder is arranged at the rear end of the tractor, and the reflecting plate is arranged at the front end of the trailer; the laser range finder is used for emitting laser to the reflecting plate perpendicular to the rear end face of the tractor and measuring the distance which the laser passes from the rear end face of the tractor to the reflecting plate;
the laser range finder, the data acquisition instrument and the data analyzer are connected in sequence.
As a further preferred technical solution, the laser range finder includes a transmitting end, and the transmitting end is disposed on a front end surface of the trailer or a rear end surface of the tractor;
or the transmitting end is arranged on the outer side of the front end face of the trailer or the outer side of the rear end face of the tractor;
or the transmitting end is arranged on the inner side of the front end face of the trailer or the inner side of the rear end face of the tractor.
As a further preferred technical scheme, the thickness of the reflecting plate is 2-8 mm.
As a further preferable technical scheme, the number of the laser range finders is one, the laser range finders are arranged at the front end of the trailer, and the center point of the transmitting end of each laser range finder is located in a longitudinal symmetrical plane of the trailer;
or, the number of the laser range finders is one, the laser range finders are arranged at the rear end of the tractor, and the central point of the transmitting end of each laser range finder is located on the longitudinal symmetrical plane of the tractor.
As a further preferable technical scheme, the number of the laser range finders is two, the two laser range finders are both arranged at the front end of the trailer, and the central points of the transmitting ends of the two laser range finders are respectively positioned on two parallel surfaces of a longitudinal symmetrical surface of the trailer;
or, the number of the laser range finders is two, the two laser range finders are arranged at the rear end of the tractor, and the central points of the transmitting ends of the two laser range finders are respectively positioned on two parallel surfaces of the longitudinal symmetrical surface of the tractor.
As a further preferable technical solution, the laser range finder comprises a Banner LE550 type range finder;
preferably, the data acquisition instrument comprises a DEWE-43 type data acquisition instrument;
preferably, the data analyser comprises a computer.
In a second aspect, the invention provides a method for measuring the articulation angle of a full-trailer automobile train, which is implemented by adopting the system for measuring the articulation angle of the full-trailer automobile train.
As a further preferred technical solution, the method comprises the steps of:
(a) installing each device according to the measuring system, wherein one laser range finder is arranged at the front end of the trailer, and the central point of the transmitting end of the laser range finder is positioned in the longitudinal symmetrical plane of the trailer;
(b) measuring a distance L between a center point of a transmitting end of the laser range finder and a center point of the hinge device1And the distance M between the center point of the hinge device and the reflecting plate, wherein the hinge device is used for realizing the hinge connection of the tractor and the trailer;
(c) opening the laser range finder, and measuring to obtain the distance H which is passed by the laser from the front end face of the trailer to the reflecting plate1；
(d) According to the formula
The articulation angle θ is calculated.
As a further preferred technical solution, the method comprises the steps of:
(a) installing each device according to the measuring system, wherein one laser range finder is arranged at the rear end of the tractor, and the central point of the transmitting end of the laser range finder is positioned in the longitudinal symmetrical plane of the tractor;
(b) measuring a distance L between a center point of a transmitting end of the laser range finder and a center point of the hinge device1And the distance M between the center point of the hinge device and the reflecting plate, wherein the hinge device is used for realizing the hinge connection of the tractor and the trailer;
(c) opening the laser range finder, and measuring to obtain laser reaching the reverse side from the rear end face of the tractorDistance H traveled by the shooting plate2；
(d) According to the formula
The articulation angle θ is calculated.
As a further preferred technical solution, the method comprises the steps of:
(a) installing each device according to the measuring system, wherein the number of the laser range finders is two, the two laser range finders are both arranged at the front end of the trailer, and the central points of the transmitting ends of the two laser range finders are respectively positioned on two parallel surfaces of a longitudinal symmetrical surface of the trailer;
(b) measuring the horizontal distance L between the central points of the transmitting ends of the two laser range finders2；
(c) Opening the two laser range finders, and respectively measuring the distance H between the two beams of laser reaching the reflecting plate from the front end face of the trailer3And H4；
(d) According to the formula
Calculating to obtain an articulation angle theta;
or, the method comprises the steps of:
(a) installing each device according to the measuring system, wherein the number of the laser range finders is two, the two laser range finders are both arranged at the rear end of the tractor, and the central points of the transmitting ends of the two laser range finders are respectively positioned on two parallel surfaces of a longitudinal symmetrical surface of the tractor;
(b) measuring the horizontal distance L between the central points of the transmitting ends of the two laser range finders2；
(c) Opening the two laser range finders, and respectively measuring the distances H from the rear end face of the tractor to the reflecting plate5And H6；
(d) According to the formula
The articulation angle θ is calculated.
Compared with the prior art, the invention has the beneficial effects that:
the system for measuring the articulation angle of the fully-trailer automobile train mainly adopts the laser range finder to measure the articulation angle between the tractor and the trailer, and the laser range finder is arranged at the front end of the trailer or the rear end of the tractor instead of the articulation part of the tractor and the trailer, so that the accuracy of a measuring result can be prevented from being influenced by factors such as shaking of the articulation part, meanwhile, the laser range finder is prevented from being damaged, and the use convenience is good; and the laser range finder is common equipment, and is with low costs, and stability is high, and it is low to the test environment requirement, therefore can realize the laser range finder transmission laser and the real-time measurement of the distance between the reflecting plate, and the whole train of hanging car is at the in-process of marcing, and the change of articulated angle between tractor and trailer can directly be reflected to the change of above distance, through data acquisition and the calculation of data analysis appearance of data acquisition appearance, can obtain real-time articulated angle.
The system has a simple structure, does not need to change vehicles, is convenient to install, can realize real-time measurement of the hinge angle of the train without being restricted by the hinge mechanism of the train under a road state, and can analyze the transverse stability of the train.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a system for measuring an articulation angle of an all-trailer train provided in embodiment 1 of the present invention;
fig. 2 is a schematic structural diagram of a system for measuring an articulation angle of an all-trailer train provided in embodiment 2 of the present invention;
fig. 3 is a schematic structural diagram of a system for measuring an articulation angle of an all-trailer train provided in embodiment 3 of the present invention;
fig. 4 is a schematic structural diagram of a system for measuring an articulation angle of an all-trailer train according to embodiment 4 of the present invention.
Icon: 1-laser range finder; 2-a reflector plate; 3-a data acquisition instrument; 4-a data analyzer; 5-a tractor; 6-trailer.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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 be noted that the terms "center", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as meaning either a fixed connection, a detachable connection, or an integral connection; 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.
According to one aspect of the invention, in at least one embodiment, a system for measuring the articulation angle of an all-trailer train is provided, comprising a tractor, a trailer, at least one laser range finder, a reflecting plate, a data acquisition instrument and a data analyzer, wherein the tractor is connected with the trailer;
the laser range finder is arranged at the front end of the trailer, and the reflecting plate is arranged at the rear end of the tractor; the laser range finder is used for emitting laser to the reflecting plate perpendicular to the front end face of the trailer and measuring the distance which the laser passes from the front end face of the trailer to the reflecting plate;
or at least one laser range finder is arranged at the rear end of the tractor, and the reflecting plate is arranged at the front end of the trailer; the laser range finder is used for emitting laser to the reflecting plate perpendicular to the rear end face of the tractor and measuring the distance which the laser passes from the rear end face of the tractor to the reflecting plate;
the laser range finder, the data acquisition instrument and the data analyzer are connected in sequence.
The system for measuring the articulation angle of the fully-trailer train mainly adopts the laser range finder to measure the articulation angle between the tractor and the trailer, and the laser range finder is arranged at the front end of the trailer or the rear end of the tractor instead of the articulation part of the tractor and the trailer, so that the influence of factors such as shaking of the articulation part on the accuracy of a measurement result can be avoided, meanwhile, the laser range finder is prevented from being damaged, and the use convenience is good; and the laser range finder is common equipment, and is with low costs, and stability is high, and it is low to the test environment requirement, therefore can realize the laser range finder transmission laser and the real-time measurement of the distance between the reflecting plate, and the whole train of hanging car is at the in-process of marcing, and the change of articulated angle between tractor and trailer can directly be reflected to the change of above distance, through data acquisition and the calculation of data analysis appearance of data acquisition appearance, can obtain real-time articulated angle.
The system has a simple structure, does not need to change vehicles, is convenient to install, can realize real-time measurement of the hinge angle of the train without being restricted by the hinge mechanism of the train under a road state, and can analyze the transverse stability of the train.
It should be noted that:
the above-mentioned "fully-trailer train" refers to a train in which the front end of the trailer is connected to the rear end of the tractor, and the tractor only provides forward pulling force to drag the trailer, but does not bear the downward weight of the trailer.
The "articulation angle" refers to the angle between the longitudinal axis of the tractor and the longitudinal axis of the trailer in a motor vehicle train, which is an acute angle. The longitudinal axis of the tractor refers to an axis perpendicular to the front end face and the rear end face of the tractor; the longitudinal axis of the trailer refers to an axis perpendicular to the front and rear faces of the trailer.
The "reflection plate" refers to a plate material that can reflect laser light.
In a preferred embodiment, the laser distance measuring device comprises a transmitting end, wherein the transmitting end is arranged on the front end face of the trailer or the rear end face of the tractor;
or the transmitting end is arranged on the outer side of the front end face of the trailer or the outer side of the rear end face of the tractor;
or the transmitting end is arranged on the inner side of the front end face of the trailer or the inner side of the rear end face of the tractor.
When the transmitting end of the laser range finder is arranged on the front end face of the trailer or the rear end face of the tractor, the distance from the transmitting end to the reflecting plate is the distance to be measured, and the distance measurement is simpler and more convenient. If the transmitting end is not arranged on the front end face of the trailer or the rear end face of the tractor, namely the transmitting end has a certain distance with the front end face of the trailer or the rear end face of the tractor, the required distance is the distance between the laser from the transmitting end to the reflecting plate minus or plus the distance between the transmitting end and the front end face of the trailer or the rear end face of the tractor. For example, the emitting end protrudes a certain distance a (i.e., is disposed outside of the front end face of the trailer), and the required distance is the distance + a from the emitting end to the reflector plate; for another example, the transmitting end is embedded in the front end of the trailer (i.e., is disposed inside the front end surface of the trailer), the distance from the front end surface of the trailer is b, and the required distance is the distance-b from the transmitting end to the reflector plate, which makes the measurement of the above two distances relatively complicated. In practical application, the flexible selection can be carried out according to the requirements of vehicles, measurement and the like.
In a preferred embodiment, the thickness of the reflector plate is 2 to 8 mm. The distance which the laser range finder should measure should be the distance from the front end face of the trailer to the rear end face of the tractor or the distance from the rear end face of the tractor to the front end face of the trailer, and the measured distance in the actual test process does not contain the thickness of the reflecting plate (or the size calculated by performing triangular calculation according to the thickness), so a certain error exists, the larger the thickness of the reflecting plate is, the larger the error is, and experiments show that when the thickness of the reflecting plate is in the above range, the obtained error is in a reasonable range and does not bring substantial adverse effects to the calculation result of the final hinge angle.
In a preferred embodiment, the number of the laser range finders is one, the laser range finder is arranged at the front end of the trailer, and the center point of the transmitting end of the laser range finder is located in the longitudinal symmetry plane of the trailer.
The "longitudinal symmetry plane" is a vertical plane on which the longitudinal axis of the trailer is located, the vertical plane being a plane perpendicular to the horizontal plane.
The "center point" mentioned above refers to a laser emission initiation point of the emission end.
Preferably, the number of the laser range finders is one, the laser range finders are arranged at the rear end of the tractor, and the central point of the transmitting end of each laser range finder is located on the longitudinal symmetrical plane of the tractor.
In the preferred embodiment, the laser range finder is one and is arranged at the front end of the trailer or the rear end of the tractor, and in the actual measurement process, the distance that the laser passes from the front end surface of the trailer to the reflecting plate or the distance that the laser passes from the rear end surface of the tractor to the reflecting plate is measured, so that the change of the hinge angle between the tractor and the trailer is reflected.
In a preferred embodiment, there are two laser range finders, two laser range finders are both arranged at the front end of the trailer, and the central points of the transmitting ends of the two laser range finders are respectively located on two parallel planes of the longitudinal symmetric plane of the trailer.
Preferably, the number of the laser range finders is two, the two laser range finders are arranged at the rear end of the tractor, and the central points of the transmitting ends of the two laser range finders are respectively positioned on two parallel surfaces of the longitudinal symmetrical surface of the tractor.
Laser range finder is two among this preferred embodiment, all sets up in the front end of trailer or the rear end of tractor, and in the actual measurement process, measure two bundles of laser and arrive the distance that the reflecting plate passed through or two bundles of laser arrive the distance that the reflecting plate passed through from the rear end face of tractor respectively from the preceding terminal surface of trailer respectively to reflect the change of articulated angle between tractor and the trailer.
It should be noted that: when the number of the laser range finders is more than two, different laser testers can be of the same type or different types.
In a preferred embodiment, the laser distance meter comprises a Banner LE550 distance meter.
Preferably, the data acquisition instrument comprises a DEWE-43 type data acquisition instrument.
Preferably, the data analyser comprises a computer. The computer has strong data processing capability, can realize the whole-course real-time calculation of the articulation angle in the advancing process of the full-trailer train, and further analyzes the transverse stability of the train.
According to another aspect of the invention, a method for measuring the articulation angle of the all-trailer automobile train is provided, and the articulation angle is measured by adopting the system for measuring the articulation angle of the all-trailer automobile train. The measuring method adopts the measuring system to measure the articulation angle, is convenient and quick, has high accuracy, can obtain the real-time articulation angle, and can analyze the transverse stability of the train according to the real-time articulation angle.
In a preferred embodiment, such as shown in FIG. 1, the method comprises the steps of:
(a) installing each device according to the measuring system, wherein one laser range finder is arranged at the front end of the trailer, and the central point of the transmitting end of the laser range finder is positioned in the longitudinal symmetrical plane of the trailer;
(b) measuring a distance L between a center point of a transmitting end of the laser range finder and a center point of the hinge device1And the distance M between the center point of the hinge device and the reflecting plate, wherein the hinge device is used for realizing the hinge connection of the tractor and the trailer;
(c) opening the laser range finder, and measuring to obtain the distance H which is passed by the laser from the front end face of the trailer to the reflecting plate1；
(d) According to the formula
The articulation angle θ is calculated.
In a preferred embodiment, such as shown in FIG. 2, the method comprises the steps of:
(a) installing each device according to the measuring system, wherein one laser range finder is arranged at the rear end of the tractor, and the central point of the transmitting end of the laser range finder is positioned in the longitudinal symmetrical plane of the tractor;
(b) measuring a distance L between a center point of a transmitting end of the laser range finder and a center point of the hinge device1And the distance M between the center point of the hinge device and the reflecting plate, wherein the hinge device is used for realizing the hinge connection of the tractor and the trailer;
(c) opening the laser range finder, and measuring to obtain the distance H that the laser reaches the reflecting plate from the rear end face of the tractor2；
(d) According to the formula
The articulation angle θ is calculated.
In the two preferred embodiments, the hinge angle is measured by only one laser range finder, the number of devices required to be installed is minimum, and L is obtained by measuring before the laser range finder is opened1And M, opening the laser range finder again to obtain H1Or H2Finally, the articulation angle can be calculated according to a specific formula, andthe formula is simple, the calculation is direct, and complicated processes such as judgment are not needed.
In a preferred embodiment, such as shown in FIG. 3, the method comprises the steps of:
(a) installing each device according to the measuring system, wherein the number of the laser range finders is two, the two laser range finders are both arranged at the front end of the trailer, and the central points of the transmitting ends of the two laser range finders are respectively positioned on two parallel surfaces of a longitudinal symmetrical surface of the trailer;
(b) measuring the horizontal distance L between the central points of the transmitting ends of the two laser range finders2；
(c) Opening the two laser range finders, and respectively measuring the distance H between the two beams of laser reaching the reflecting plate from the front end face of the trailer3And H4；
(d) According to the formula
The articulation angle θ is calculated.
It should be noted that, since the two laser rangefinders may be installed at different heights, the step (c) measures the horizontal distance between the center points of the emitting ends of the two laser rangefinders, rather than the vertical distance or the linear distance.
In a preferred embodiment, such as shown in FIG. 4, the method comprises the steps of:
(a) installing each device according to the measuring system, wherein the number of the laser range finders is two, the two laser range finders are both arranged at the rear end of the tractor, and the central points of the transmitting ends of the two laser range finders are respectively positioned on two parallel surfaces of a longitudinal symmetrical surface of the tractor;
(b) measuring the horizontal distance L between the central points of the transmitting ends of the two laser range finders2；
(c) Opening the two laser range finders, and respectively measuring the distances H from the rear end face of the tractor to the reflecting plate5And H6；
(d) According to the formula
The articulation angle θ is calculated.
In the two preferred embodiments, two laser range finders are adopted for measuring the hinge angle, and before the laser range finders are opened, L is obtained through measurement2Then the laser range finder is turned on to measure H3And H4Or H5And H6And finally, the articulation angle can be calculated according to a specific formula, and the formula is simple and can be directly calculated without complex processes such as judgment and the like.
Example 1
As shown in fig. 1, the embodiment provides a system for measuring an articulation angle of a fully-trailer train, which comprises a tractor 5, a trailer 6, a laser distance meter 1, a reflecting plate 2, a data acquisition instrument 3 and a data analyzer 4, wherein the tractor 5 is connected with the trailer 6; the thickness of the reflecting plate 2 is 2 mm;
the laser range finder 1 is arranged at the front end of the trailer 6, the laser range finder 1 comprises a transmitting end, the transmitting end is arranged on the front end face of the trailer 6, and the central point of the transmitting end of the laser range finder 1 is positioned in the longitudinal symmetrical plane of the trailer 6; the reflecting plate 2 is arranged at the rear end of the tractor 5; the laser range finder 1 is configured to emit laser light toward the reflector 2 perpendicularly to the front end surface of the trailer 6 and measure the distance the laser light travels from the front end surface of the trailer 6 to the reflector 2.
The measurement system in the embodiment is adopted to measure the articulation angle of the full-trailer train:
(a) installing each device according to the measuring system;
(b) measuring the distance L between the center point of the transmitting end of the laser rangefinder 1 and the center point of the hinge1And the distance M between the center point of the hinge device and the reflecting plate 2, wherein the hinge device is used for realizing the hinge connection of the tractor 5 and the trailer 6;
(c) the laser distance measuring instrument 1 is turned on, and the distance H which is passed by the laser to reach the reflecting plate 2 from the front end face of the trailer 6 is measured1；
(d) According to the formula
The articulation angle θ is calculated.
Example 2
As shown in fig. 2, the embodiment provides a system for measuring the articulation angle of a fully-trailer train, which comprises a tractor 5, a trailer 6, a laser distance meter 1, a reflecting plate 2, a data acquisition instrument 3 and a data analyzer 4, wherein the tractor 5 is connected with the trailer 6; the thickness of the reflecting plate 2 is 4 mm;
the laser range finder 1 is arranged at the rear end of the tractor 5, the laser range finder 1 comprises a transmitting end, the transmitting end is arranged at the rear end face of the tractor 5, and the central point of the transmitting end of the laser range finder 1 is positioned on the longitudinal symmetrical plane of the tractor 5; the reflecting plate 2 is arranged at the rear end of the trailer 6; the laser range finder 1 is configured to emit laser light to the reflective plate 2 perpendicular to the rear end surface of the truck 5 and measure a distance that the laser light travels from the rear end surface of the truck 5 to the reflective plate 2.
The measurement system in the embodiment is adopted to measure the articulation angle of the full-trailer train:
(a) installing each device according to the measuring system;
(b) measuring the distance L between the center point of the transmitting end of the laser rangefinder 1 and the center point of the hinge1And the distance M between the center point of the hinge device and the reflecting plate 2, wherein the hinge device is used for realizing the hinge connection of the tractor 5 and the trailer 6;
(c) the laser range finder 1 is turned on, and the distance H which is passed by the laser from the rear end face of the tractor 5 to the reflecting plate 2 is measured2；
(d) According to the formula
The articulation angle θ is calculated.
Example 3
As shown in fig. 3, the embodiment provides a system for measuring an articulation angle of a fully-trailer train, which includes a tractor 5, a trailer 6, two laser distance meters 1, a reflecting plate 2, a data acquisition instrument 3 and a data analyzer 4, wherein the tractor 5 is connected with the trailer 6; the thickness of the reflecting plate 2 is 6 mm;
the two laser range finders 1 are both arranged at the front end of the trailer 6, each laser range finder 1 comprises a transmitting end, the transmitting ends are arranged on the front end surface of the trailer 6, and the central points of the transmitting ends of the two laser range finders 1 are respectively positioned on two parallel surfaces of a longitudinal symmetrical surface of the trailer 6; the reflecting plate 2 is arranged at the rear end of the tractor 5; the laser range finder 1 is configured to emit laser light toward the reflector 2 perpendicularly to the front end surface of the trailer 6 and measure the distance the laser light travels from the front end surface of the trailer 6 to the reflector 2.
The measurement system in the embodiment is adopted to measure the articulation angle of the full-trailer train:
(a) installing each device according to the measuring system;
(b) measuring the horizontal distance L between the center points of the transmitting ends of two laser rangefinders 12；
(c) Two laser range finders 1 are opened, and the distances H of two beams of laser from the front end face of the trailer 6 to the reflecting plate 2 are respectively measured3And H4；
(d) According to the formula
The articulation angle θ is calculated.
Example 4
As shown in fig. 4, the embodiment provides a system for measuring an articulation angle of a fully-trailer train, which includes a tractor 5, a trailer 6, two laser distance meters 1, a reflecting plate 2, a data acquisition instrument 3 and a data analyzer 4, wherein the tractor 5 is connected with the trailer 6; the thickness of the reflecting plate 2 is 8 mm;
the two laser range finders 1 are both arranged at the rear end of the tractor 5, each laser range finder 1 comprises a transmitting end, the transmitting ends are arranged on the rear end surface of the tractor 5, and the central points of the transmitting ends of the two laser range finders 1 are respectively positioned on two parallel surfaces of a longitudinal symmetrical surface of the tractor 5; the reflecting plate 2 is arranged at the front end of the trailer 6; the laser range finder 1 is configured to emit laser light to the reflective plate 2 perpendicular to the rear end surface of the truck 5 and measure a distance that the laser light travels from the rear end surface of the truck 5 to the reflective plate 2.
The measurement system in the embodiment is adopted to measure the articulation angle of the full-trailer train:
(a) installing each device according to the measuring system;
(b) measuring the horizontal distance L between the center points of the transmitting ends of two laser rangefinders 12；
(c) Two laser range finders 1 are opened, and the distances H of two beams of laser from the rear end surface of the tractor 5 to the reflecting plate 2 are respectively measured5And H6；
(d) According to the formula
The articulation angle θ is calculated.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention.
Claims (10)
1. The system for measuring the articulation angle of the fully-trailer train is characterized by comprising a tractor, a trailer, at least one laser range finder, a reflecting plate, a data acquisition instrument and a data analyzer, wherein the tractor is connected with the trailer;
the laser range finder is arranged at the front end of the trailer, and the reflecting plate is arranged at the rear end of the tractor; the laser range finder is used for emitting laser to the reflecting plate perpendicular to the front end face of the trailer and measuring the distance which the laser passes from the front end face of the trailer to the reflecting plate;
or at least one laser range finder is arranged at the rear end of the tractor, and the reflecting plate is arranged at the front end of the trailer; the laser range finder is used for emitting laser to the reflecting plate perpendicular to the rear end face of the tractor and measuring the distance which the laser passes from the rear end face of the tractor to the reflecting plate;
the laser range finder, the data acquisition instrument and the data analyzer are connected in sequence.
2. The system for measuring articulation angle of an all-trailer train as claimed in claim 1, wherein said laser range finder comprises a transmitting end, said transmitting end being disposed on a front end face of said trailer or a rear end face of said tractor;
or the transmitting end is arranged on the outer side of the front end face of the trailer or the outer side of the rear end face of the tractor;
or the transmitting end is arranged on the inner side of the front end face of the trailer or the inner side of the rear end face of the tractor.
3. The system of claim 1, wherein the reflector plate has a thickness of 2-8 mm.
4. The system for measuring the articulation angle of an all-trailer train according to any one of claims 1 to 3, wherein the number of the laser range finders is one, the laser range finders are arranged at the front end of the trailer, and the center point of the transmitting end of the laser range finder is positioned in the longitudinal symmetry plane of the trailer;
or, the number of the laser range finders is one, the laser range finders are arranged at the rear end of the tractor, and the central point of the transmitting end of each laser range finder is located on the longitudinal symmetrical plane of the tractor.
5. The system for measuring the articulation angle of the whole trailer train according to any one of claims 1 to 3, wherein the number of the laser range finders is two, the two laser range finders are both arranged at the front end of the trailer, and the center points of the transmitting ends of the two laser range finders are respectively positioned on two parallel planes of a longitudinal symmetry plane of the trailer;
or, the number of the laser range finders is two, the two laser range finders are arranged at the rear end of the tractor, and the central points of the transmitting ends of the two laser range finders are respectively positioned on two parallel surfaces of the longitudinal symmetrical surface of the tractor.
6. The system for measuring articulated angle of an all-trailer train as claimed in any one of claims 1 to 3, wherein the laser rangefinder comprises a Banner LE550 rangefinder;
preferably, the data acquisition instrument comprises a DEWE-43 type data acquisition instrument;
preferably, the data analyser comprises a computer.
7. A method for measuring the articulation angle of an all-trailer automobile train, which is characterized in that the measurement system of the articulation angle of the all-trailer automobile train as claimed in any one of claims 1 to 6 is adopted to measure the articulation angle.
8. The method of measuring an articulation angle of an all-trailer motor train according to claim 7, wherein said method comprises the steps of:
(a) installing each device according to the measuring system, wherein one laser range finder is arranged at the front end of the trailer, and the central point of the transmitting end of the laser range finder is positioned in the longitudinal symmetrical plane of the trailer;
(b) measuring a distance L between a center point of a transmitting end of the laser range finder and a center point of the hinge device1And the distance M between the center point of the hinge device and the reflecting plate, wherein the hinge device is used for realizing the hinge connection of the tractor and the trailer;
(c) opening the laser range finder, and measuring to obtain the distance H which is passed by the laser from the front end face of the trailer to the reflecting plate1；
(d) According to the formula
The articulation angle θ is calculated.
9. The method of measuring an articulation angle of an all-trailer motor train according to claim 7, wherein said method comprises the steps of:
(a) installing each device according to the measuring system, wherein one laser range finder is arranged at the rear end of the tractor, and the central point of the transmitting end of the laser range finder is positioned in the longitudinal symmetrical plane of the tractor;
(b) measuring a distance L between a center point of a transmitting end of the laser range finder and a center point of the hinge device1And the distance M between the center point of the hinge device and the reflecting plate, wherein the hinge device is used for realizing the hinge connection of the tractor and the trailer;
(c) opening the laser range finder, and measuring to obtain the distance H that the laser reaches the reflecting plate from the rear end face of the tractor2；
(d) According to the formula
The articulation angle θ is calculated.
10. The method of measuring an articulation angle of an all-trailer motor train according to claim 7, wherein said method comprises the steps of:
(a) installing each device according to the measuring system, wherein the number of the laser range finders is two, the two laser range finders are both arranged at the front end of the trailer, and the central points of the transmitting ends of the two laser range finders are respectively positioned on two parallel surfaces of a longitudinal symmetrical surface of the trailer;
(b) measuring the horizontal distance L between the central points of the transmitting ends of the two laser range finders2；
(c) Opening the two laser range finders, and respectively measuring to obtain two beams of laser reaching the reverse side from the front end face of the trailerDistance H traveled by the shooting plate3And H4；
(d) According to the formula
Calculating to obtain an articulation angle theta;
or, the method comprises the steps of:
(a) installing each device according to the measuring system, wherein the number of the laser range finders is two, the two laser range finders are both arranged at the rear end of the tractor, and the central points of the transmitting ends of the two laser range finders are respectively positioned on two parallel surfaces of a longitudinal symmetrical surface of the tractor;
(b) measuring the horizontal distance L between the central points of the transmitting ends of the two laser range finders2；
(c) Opening the two laser range finders, and respectively measuring the distances H from the rear end face of the tractor to the reflecting plate5And H6；
(d) According to the formula
The articulation angle θ is calculated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010447284.4A CN111637852B (en) | 2020-05-27 | 2020-05-27 | System and method for measuring articulation angle of full-trailer automobile train |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010447284.4A CN111637852B (en) | 2020-05-27 | 2020-05-27 | System and method for measuring articulation angle of full-trailer automobile train |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111637852A true CN111637852A (en) | 2020-09-08 |
| CN111637852B CN111637852B (en) | 2023-03-21 |
Family
ID=72329451
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010447284.4A Active CN111637852B (en) | 2020-05-27 | 2020-05-27 | System and method for measuring articulation angle of full-trailer automobile train |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111637852B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112389437A (en) * | 2021-01-21 | 2021-02-23 | 北京主线科技有限公司 | Device and method for measuring and calculating included angle between head and trailer of automatic driving truck |
| CN113212552A (en) * | 2021-05-12 | 2021-08-06 | 王春元 | Device and method for obtaining included angle between tractor and trailer and traction transportation equipment |
| CN113945185A (en) * | 2021-09-30 | 2022-01-18 | 清智汽车科技(苏州)有限公司 | Articulation angle measuring device, vehicle and vehicle articulation angle measuring method |
| CN117657295A (en) * | 2024-02-02 | 2024-03-08 | 盛视科技股份有限公司 | Trailer steering angle detection method and detection system |
Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3068820B1 (en) * | 1999-02-17 | 2000-07-24 | 住友金属工業株式会社 | Measuring device for stopping position of moving object and crane control device using the same |
| JP2002114176A (en) * | 2000-10-11 | 2002-04-16 | Isuzu Motors Ltd | Trailer connecting angle detecting device |
| JP2002120775A (en) * | 2000-10-19 | 2002-04-23 | Isuzu Motors Ltd | Trailer connecting angle detection device |
| JP2002145133A (en) * | 2000-11-10 | 2002-05-22 | Isuzu Motors Ltd | Trailer connection angle detector |
| EP1359387A2 (en) * | 2002-04-30 | 2003-11-05 | Dana Corporation | Device for measuring universal joint operating angles in a drive train system |
| US20030218736A1 (en) * | 2002-04-02 | 2003-11-27 | Torsten Gogolla | Optical lateral distance hand-held measuring device |
| US20050094159A1 (en) * | 2003-10-29 | 2005-05-05 | Wen-Wei Su | Angle detecting sensor and vehicular controlling system using the same |
| DE102006007805A1 (en) * | 2006-02-17 | 2007-08-30 | Daimlerchrysler Ag | Trailer angle determining method for use between tow vehicle and trailer, involves determining trailer angle based on edge points and object points with less distance to sensor and in acknowledgement to position of towing bar pivot point |
| US20070216134A1 (en) * | 2006-02-10 | 2007-09-20 | Padula Santo A | Trailer steering system for a tractor/trailer combination |
| CN102582686A (en) * | 2012-01-18 | 2012-07-18 | 吉林大学 | Truck combination hinge angle measuring and controlling system |
| CN105247590A (en) * | 2012-09-05 | 2016-01-13 | 威伯科有限责任公司 | Method for operating a trailer vehicle or a truck having the system |
| WO2016023769A2 (en) * | 2014-08-15 | 2016-02-18 | Continental Teves Ag & Co. Ohg | Resolution increase in the rotational speed signal between rotational speed pulses |
| CN106225723A (en) * | 2016-07-25 | 2016-12-14 | 浙江零跑科技有限公司 | A kind of many trains splice angle measuring method based on backsight binocular camera |
| US20160368336A1 (en) * | 2015-06-19 | 2016-12-22 | Paccar Inc | Use of laser scanner for autonomous truck operation |
| CN107433905A (en) * | 2016-05-27 | 2017-12-05 | 通用汽车环球科技运作有限责任公司 | For with the towing vehicle for looking around visual field imaging device and the system and method for trailer |
| CN108749923A (en) * | 2018-04-04 | 2018-11-06 | 北京图森未来科技有限公司 | A kind of vehicle |
| CN109109852A (en) * | 2018-09-18 | 2019-01-01 | 中国汽车技术研究中心有限公司 | A kind of portable trailer air-pressure brake response time parameter measuring device |
| WO2019202317A1 (en) * | 2018-04-17 | 2019-10-24 | Cambridge Enterprise Limited | Method and system of articulation angle measurement |
| CN110378201A (en) * | 2019-06-05 | 2019-10-25 | 浙江零跑科技有限公司 | A kind of hinged angle measuring method of multiple row vehicle based on side ring view fisheye camera input |
| WO2020011505A2 (en) * | 2018-07-12 | 2020-01-16 | Wabco Gmbh | Estimation of the trailer position relative to truck position and articulation angel between truck and trailer using an electromagnetic or optical sensor |
| CN110850431A (en) * | 2019-11-25 | 2020-02-28 | 盟识(上海)科技有限公司 | System and method for measuring trailer deflection angle |
-
2020
- 2020-05-27 CN CN202010447284.4A patent/CN111637852B/en active Active
Patent Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3068820B1 (en) * | 1999-02-17 | 2000-07-24 | 住友金属工業株式会社 | Measuring device for stopping position of moving object and crane control device using the same |
| JP2002114176A (en) * | 2000-10-11 | 2002-04-16 | Isuzu Motors Ltd | Trailer connecting angle detecting device |
| JP2002120775A (en) * | 2000-10-19 | 2002-04-23 | Isuzu Motors Ltd | Trailer connecting angle detection device |
| JP2002145133A (en) * | 2000-11-10 | 2002-05-22 | Isuzu Motors Ltd | Trailer connection angle detector |
| US20030218736A1 (en) * | 2002-04-02 | 2003-11-27 | Torsten Gogolla | Optical lateral distance hand-held measuring device |
| EP1359387A2 (en) * | 2002-04-30 | 2003-11-05 | Dana Corporation | Device for measuring universal joint operating angles in a drive train system |
| US20050094159A1 (en) * | 2003-10-29 | 2005-05-05 | Wen-Wei Su | Angle detecting sensor and vehicular controlling system using the same |
| US20070216134A1 (en) * | 2006-02-10 | 2007-09-20 | Padula Santo A | Trailer steering system for a tractor/trailer combination |
| DE102006007805A1 (en) * | 2006-02-17 | 2007-08-30 | Daimlerchrysler Ag | Trailer angle determining method for use between tow vehicle and trailer, involves determining trailer angle based on edge points and object points with less distance to sensor and in acknowledgement to position of towing bar pivot point |
| CN102582686A (en) * | 2012-01-18 | 2012-07-18 | 吉林大学 | Truck combination hinge angle measuring and controlling system |
| CN105247590A (en) * | 2012-09-05 | 2016-01-13 | 威伯科有限责任公司 | Method for operating a trailer vehicle or a truck having the system |
| WO2016023769A2 (en) * | 2014-08-15 | 2016-02-18 | Continental Teves Ag & Co. Ohg | Resolution increase in the rotational speed signal between rotational speed pulses |
| US20160368336A1 (en) * | 2015-06-19 | 2016-12-22 | Paccar Inc | Use of laser scanner for autonomous truck operation |
| CN107433905A (en) * | 2016-05-27 | 2017-12-05 | 通用汽车环球科技运作有限责任公司 | For with the towing vehicle for looking around visual field imaging device and the system and method for trailer |
| CN106225723A (en) * | 2016-07-25 | 2016-12-14 | 浙江零跑科技有限公司 | A kind of many trains splice angle measuring method based on backsight binocular camera |
| CN108749923A (en) * | 2018-04-04 | 2018-11-06 | 北京图森未来科技有限公司 | A kind of vehicle |
| WO2019202317A1 (en) * | 2018-04-17 | 2019-10-24 | Cambridge Enterprise Limited | Method and system of articulation angle measurement |
| WO2020011505A2 (en) * | 2018-07-12 | 2020-01-16 | Wabco Gmbh | Estimation of the trailer position relative to truck position and articulation angel between truck and trailer using an electromagnetic or optical sensor |
| CN109109852A (en) * | 2018-09-18 | 2019-01-01 | 中国汽车技术研究中心有限公司 | A kind of portable trailer air-pressure brake response time parameter measuring device |
| CN110378201A (en) * | 2019-06-05 | 2019-10-25 | 浙江零跑科技有限公司 | A kind of hinged angle measuring method of multiple row vehicle based on side ring view fisheye camera input |
| CN110850431A (en) * | 2019-11-25 | 2020-02-28 | 盟识(上海)科技有限公司 | System and method for measuring trailer deflection angle |
Non-Patent Citations (1)
| Title |
|---|
| 常胜等: "四轮转向半挂汽车列车行驶稳定性仿真研究", 《计算机仿真》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112389437A (en) * | 2021-01-21 | 2021-02-23 | 北京主线科技有限公司 | Device and method for measuring and calculating included angle between head and trailer of automatic driving truck |
| CN112389437B (en) * | 2021-01-21 | 2021-04-13 | 北京主线科技有限公司 | Device and method for measuring and calculating included angle between head and trailer of automatic driving truck |
| CN113212552A (en) * | 2021-05-12 | 2021-08-06 | 王春元 | Device and method for obtaining included angle between tractor and trailer and traction transportation equipment |
| CN113945185A (en) * | 2021-09-30 | 2022-01-18 | 清智汽车科技(苏州)有限公司 | Articulation angle measuring device, vehicle and vehicle articulation angle measuring method |
| CN113945185B (en) * | 2021-09-30 | 2022-07-05 | 清智汽车科技(苏州)有限公司 | Articulation angle measuring device, vehicle and vehicle articulation angle measuring method |
| CN117657295A (en) * | 2024-02-02 | 2024-03-08 | 盛视科技股份有限公司 | Trailer steering angle detection method and detection system |
| CN117657295B (en) * | 2024-02-02 | 2024-05-28 | 盛视科技股份有限公司 | Trailer steering angle detection method and detection system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111637852B (en) | 2023-03-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111637852B (en) | System and method for measuring articulation angle of full-trailer automobile train | |
| CN205068772U (en) | Light curtain laser traffic condition survey system | |
| CN201261472Y (en) | Vehicle mounted on-line detection device of subway third rail | |
| CN104050811A (en) | Laser motor vehicle model classification system and method | |
| CN103223955B (en) | A kind of detection method of vehicle gauge and device | |
| CN103115581A (en) | Multifunctional rail measuring system and method thereof | |
| CN2853543Y (en) | Instrument for measuring contact net static whole parameter | |
| CN106125076A (en) | A kind of Anticollision Radar method for early warning being applied to urban transportation and device | |
| CN103593979A (en) | Method for classifying moving vehicles by tracking vehicle position parameter | |
| CN104751643B (en) | Accurate speed measurement method and system of large laser spot | |
| CN201269748Y (en) | Full-automatic apparatus for measuring vehicle contour dimension according to moving vehicle image | |
| CN106767694A (en) | A kind of subway digitizes gauge dynamic detection system and detection method | |
| US9684064B2 (en) | Apparatus and method for determining a vehicle feature | |
| CN110027593A (en) | A kind of full-automatic unmanned driving's rail vehicle safe-guard system | |
| HRP20040527A2 (en) | Method and device for the geometric measurement and speed determination of vehicles | |
| CN101251380A (en) | Follow-up type push planeness measuring apparatus | |
| CN102004246A (en) | Fault diagnosis and reading speed correction method of antenna included angle deviation of train vehicle-mounted radar speed sensor and | |
| CN105423924A (en) | Noise barrier on-line measurement method and system | |
| CN107990831A (en) | Vehicle length measuring device and vehicle outer contour measuring system | |
| CN201530980U (en) | Pavement flatness checking device | |
| CN110363988B (en) | System and method for calculating vehicle passing efficiency at intersection | |
| CN204202883U (en) | A kind of camera for wheel of vehicle location and the whole check system of wheel alignment | |
| CN104005324A (en) | Pavement texture information detection system | |
| CN209356210U (en) | The braking distance measuring device of motor vehicles in field based on global position system | |
| CN112810664B (en) | Online real-time measurement system and method for track line curvature |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |