EP3164276A1 - Dispositif et procédé de détection d'un angle de pivotement entre un véhicule et une remorque - Google Patents

Dispositif et procédé de détection d'un angle de pivotement entre un véhicule et une remorque

Info

Publication number
EP3164276A1
EP3164276A1 EP15729369.7A EP15729369A EP3164276A1 EP 3164276 A1 EP3164276 A1 EP 3164276A1 EP 15729369 A EP15729369 A EP 15729369A EP 3164276 A1 EP3164276 A1 EP 3164276A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
trailer
receiver
transmitter
swivel angle
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.)
Ceased
Application number
EP15729369.7A
Other languages
German (de)
English (en)
Inventor
Michael Burkhart
Thomas RÖSCH
Georges HALSDORF
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZF Friedrichshafen AG
Original Assignee
ZF Friedrichshafen AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by ZF Friedrichshafen AG filed Critical ZF Friedrichshafen AG
Publication of EP3164276A1 publication Critical patent/EP3164276A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • B60D1/30—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for sway control ; Sway alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/01—Traction couplings or hitches characterised by their type
    • B60D1/06—Ball-and-socket hitches
    • 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
    • B60D1/245—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for facilitating push back or parking of trailers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/58—Auxiliary devices
    • B60D1/62—Auxiliary devices involving supply lines, electric circuits or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D13/00—Steering specially adapted for trailers
    • B62D13/06—Steering specially adapted for trailers for backing a normally drawn trailer
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction

Definitions

  • the invention relates to a swivel angle detecting device for detecting a swivel angle between a vehicle and a trailer device coupled to the vehicle.
  • the invention also relates to a method for determining such a swivel angle, as well as a transmitter, a receiver and an evaluation device for such Schwenkwinkeler terminatesvor- direction.
  • Such a device is known from DE 101 22 562 C1.
  • the swivel angle is determined by means of two ultrasonic transceivers.
  • the device has a sensor device, by means of which a relative position of a device-side coupling element to a vehicle-side coupling element can be determined.
  • the sensor device is in particular magnetic sensors, ultrasonic sensors, laser sensors, radar sensors and / or GPS sensors.
  • an RFID element may be provided on a trailer hitch and further RFID elements on a trailer. As a result, the trailer hitch can be approached accurately.
  • the object of the invention is to enable a better detection of a swivel angle between a vehicle and a trailer device coupled to the vehicle.
  • a swivel angle detection device for detecting a
  • Swing angle between a vehicle and a vehicle coupled to the vehicle th trailer device proposed.
  • This has at least one transmitter, which is designed to generate an electromagnetic field, as well as a receiver, which is designed to detect a field strength of the electromagnetic field.
  • the transmitter and receiver are arranged to each other on the vehicle and trailer device such that a change in the pivot angle causes a dependent therefrom change in the field detected by the receiver field strength.
  • an evaluation device for determining the swivel angle is provided on the basis of the field strength detected by the receiver.
  • the swivel angle can be determined in a simple and effective manner.
  • the receiver and transmitter are arranged so that the field strength of the transmitter changes in the detection range of the receiver at a swivel angle change, for example, square or linear. This can be done in particular by a pivot angle-dependent shielding of the transmitter or the receiver, and / or by a pivot angle-dependent change in distance between the receiver and transmitter.
  • the determination of the swivel angle in the evaluation device takes place in particular on the basis of trigonometric calculations, on the basis of stored characteristic diagrams or on the basis of stored test series results. The determination of the swivel angle based on the field strength can therefore be carried out analytically or empirically.
  • the swivel angle detection device is designed to execute a swivel angle between a vehicle longitudinal axis of the vehicle and a trailer longitudinal axis of the trailer device coupled to the vehicle.
  • the transmitter and the receiver may both be arranged on one of these longitudinal axes, or alternatively one of the receiver and the transmitter may be arranged on a longitudinal axis and the other of the receiver and the transmitter may be arranged apart from the respective other longitudinal axis.
  • one of the receiver and the transmitter is disposed on the vehicle while the other of the transmitter and the receiver is disposed on the trailer device.
  • the swivel angle detection device may comprise a coupling with a pivot axis about which the trailer device is pivotable relative to the vehicle by the swivel angle.
  • the coupling may be Therefore, for example, a fifth wheel or a Rockinger coupling or a ball coupling.
  • the pivoting angle is zero when the vehicle longitudinal axis and the trailer longitudinal axis are parallel to each other. This may be the case in particular when the vehicle and the trailer device are traveling straight ahead.
  • the swivel angle can therefore be a curve swivel angle between the vehicle or vehicle longitudinal axis and trailer device or trailer longitudinal axis, as can occur when cornering.
  • the swivel angle may also be an inclination angle between the vehicle or vehicle longitudinal axis and the trailer device or trailer longitudinal axis, as may occur, for example, in an off-road drive or an ascent and descent.
  • the trailer device is in particular a rigid drawbar trailer, the steering drawbar trailer or a semi-trailer.
  • the coupling for coupling the trailer device may also be a device interface, in particular for agricultural or forestry equipment, such as a field rail or a three-point linkage.
  • the trailer device can also be a working device, in particular a agricultural or forestry implement.
  • the trailer device may thus be, for example, a plow or a mower bar or a stone collector or a plow blade etc.
  • the vehicle is a tractor, such as a passenger car, truck, tractor, etc.
  • the vehicle itself may be adapted to be attached to a tractor.
  • the vehicle may therefore also be, for example, a dolly.
  • the swivel angle detection device has at least two transmitters.
  • the first transmitter is arranged in the region of a high edge of a first side of the vehicle or of the trailer device, for example on a driver side.
  • the second transmitter is then arranged in the region of a high edge of a second side opposite the first side of the vehicle or the trailer device, for example on a passenger side.
  • the receiver is then arranged on the vehicle longitudinal axis or the trailer longitudinal axis, in particular on that of the vehicle or trailer device on which the transmitters are not provided. This also makes it possible to further improve the detection of the swivel angle.
  • At least two receivers may be provided, wherein the first is arranged in the region of a high edge of a first side of the vehicle or the trailer device, such as on a driver's side. And wherein the second receiver is disposed in the region of a high edge of a side of the vehicle or the trailer device opposite to the first side, such as a passenger side.
  • the transmitter is arranged on the vehicle longitudinal axis or the trailer longitudinal axis, in particular on that of the vehicle or trailer device on which the receivers are not provided. Also by these measures, the detection of the swivel angle can be improved.
  • the transmitter is arranged on a vehicle longitudinal axis and trailer longitudinal axis and the receiver is arranged on the other of the vehicle longitudinal axis and trailer longitudinal axis. This also allows a particularly good detection of the pivot angle can be effected.
  • the transmitters is preferably a Bluetooth, RFID, WLAN or NFC transmitter, that is to say transmitters which are commercially customary in the IT industry.
  • RFID means Radio Frequency Identification
  • WLAN means Wireless Local Area Network
  • NFC Near Field Communication
  • BLE Bluetooth Low Energy
  • the receiver is designed, in particular, to be able to detect the electromagnetic field emitted by the transmitter or the transmitters in each case, or to be able to detect its field strength.
  • the above types of transmitters have been found to be particularly suitable for the present application.
  • the invention also relates to a transmitter, a receiver and an evaluation device, which are designed especially for the Schwenkwinkelerfas- device described here or for use therein.
  • the method for determining a swivel angle between a vehicle and a trailer device coupled to the vehicle provides that an electromagnetic field is generated by a transmitter, the field strength of which is detected by a receiver, with the transmitter and receiver arranged on each other on the vehicle and on the trailer device are that a change in the pivot angle leads to a dependent change in the field detected by the receiver field strength. From the detected field strength of the swivel angle is then determined.
  • the swivel angle between the vehicle and the trailer device is determined wirelessly. It is therefore no extra wiring between the transmitter and the receiver necessary.
  • Fig. 3 a tractor with a coupled thereto implement.
  • Fig. 1 shows a swivel angle detecting device for detecting a
  • the vehicle 1 is a vehicle a truck and in the trailer device 2 to a semi-trailer.
  • the swivel angle ⁇ is located between a vehicle longitudinal axis L1 of the vehicle 1 and a trailer longitudinal axis L2 of the trailer device 2.
  • a clutch 3 is provided, in the example shown, a fifth wheel.
  • the coupling 3 has a pivot axis, which is perpendicular to the plane of the drawing, about which vehicle 1 and trailer device 2 can be pivoted against each other by the pivot angle ⁇ .
  • the swivel angle ⁇ is zero when the vehicle 1 and the trailer device 2 travel straight ahead. When cornering, the swivel angle ⁇ increases depending on the driven curve radius.
  • the swivel-angle detection device has at least one receiver 4, which is arranged fixedly on the vehicle 1, and via a first and a second transmitter 5, 5 ', which are arranged fixedly on the trailer device 2.
  • Each of the transmitters 5, 5 ' is designed to emit an electromagnetic field F.
  • the receiver 4 is designed to detect a field strength of the respective electromagnetic field F within its detection range, in particular to an antenna of the receiver 4.
  • the transmitters 5 and the receiver 4 are arranged on the vehicle 1 and trailer device 2 in such a way that a change in the swivel angle ⁇ causes a change of the field strength of the electromagnetic fields F detected by the receiver 4.
  • the field strength of the electric fields F decreases with increasing distance from the respective transmitter 5.
  • the transmitters 5 are therefore arranged on the trailer device 2 so that their position relative to the position of the receiver 4 the vehicle 1 as a function of the pivot angle ⁇ changed. In the pivoting of vehicle 1 and trailer device 2 (left-hand curve) shown in FIG. 1, the distance A1 from the receiver 4 to the transmitter 5 'is thereby reduced.
  • the distance A2 between the receiver 4 and transmitter 5 is increased.
  • the distances A1 and A2 are identical.
  • those of the receiver 4 received field strengths of the fields F identical.
  • the field strength of the field F detected by the receiver 4, which the sensor 5 'emits is stronger than the field strength of the field F, which the sensor 5 emits.
  • the pivoting angle ⁇ increases, the field strength of the electromagnetic fields received by the receiver 4 changes accordingly.
  • the field strengths detected by the receiver 4 are transmitted to the evaluation device 6. This determines the swing angle a. This can be done for example by trigonometric formulas, by maps or test series results. The determination of the swivel angle ⁇ therefore preferably takes place analytically or empirically.
  • the receiver 4 is arranged in the region of the vehicle longitudinal axis L1.
  • the transmitters 5, 5 'are arranged outside the trailer longitudinal axis L2, in detail in the region of a high edge on each side of the trailer device.
  • the receiver 4 is arranged in particular on a rear side of a cab wall, while the transmitters 5, 5 'are arranged in the region of the respective high edge on a front side of the trailer device 2. It can be provided that one of the transmitters 5, 5 'is omitted. It can also be provided that the receiver 4 is arranged on the trailer device 2, for example in the region of one of the vertical edges at which the transmitters 5, 5 'are now located or in the region of the trailer longitudinal axis L2.
  • the transmitters 5, 5 ' are arranged on the vehicle 1, in particular in the region of the vehicle longitudinal axis L1 or in the region of the vertical edges of a driver's cab of the vehicle 1. It is also possible that two receivers 4 are provided, which are arranged in place of the transmitters 5, 5 'in FIG. 1, in which case a transmitter may be provided, which is arranged instead of the receiver 4 in FIG. In Fig. 1 exemplary further positions for receiver and / or transmitter are indicated by boxes. Other positions are also possible. It may also be possible that the panning angle-dependent change in the field strength of the fields F is effected by the fact that the receiver 4 is shielded from the electromagnetic fields F as a function of the pivoting angle. As a result, the field strength detected by it likewise changes depending on the pivoting angle.
  • Fig. 2 shows a plan view of a vehicle 1 to which a hitch trailer is coupled as a trailer device 2.
  • a pivoting angle detection device is provided in order to determine one of the pivoting angles cd, ⁇ 2, a3.
  • Cd is a swivel angle between the vehicle longitudinal axis L1 of the vehicle 1 and the longitudinal axis LD of a fifth wheel of the trailer device 2.
  • the swivel angle o2 is a swivel angle between the fifth wheel longitudinal axis LD and the trailer longitudinal axis L2 of the trailer device 2
  • Swivel angle a3 is a swivel angle between the vehicle longitudinal axis L1 and the trailer longitudinal axis L2.
  • the vehicle 1 and / or the fifth wheel 7 and / or the trailer device 2 is analogous to the embodiment of FIG. 1 with at least one receiver 4 and at least one transmitter 5, 5 'equipped.
  • the field strength detected by the receiver (s) 4 is forwarded to an evaluation device 6, which determines the swivel angle cd, ⁇ 2, a3 on the basis of the respective field strength.
  • FIG. 3 shows a configuration of the invention in which a swivel angle ⁇ 4, a5 between a vehicle longitudinal axis L1 of a vehicle and an implement longitudinal axis L3, L4 of a trailer device 2, 2 'designed as an implement is determined.
  • the vehicle 1 may in particular be a agricultural or forestry vehicle, such as a tractor or a wooden back.
  • the vehicle 1 has two clutches 3, 3 ', each for coupling a trailer device 2, 2' to the vehicle 1.
  • the coupling 3, 3 'according to FIG. 3 is, for example, in each case an acker rail or a three-point power lift.
  • trailer devices by means of the clutches 3, 3 ' can be coupled to the vehicle 1, such as a rigid drawbar trailer or a drawbar trailer.
  • the coupled by means of the front clutch 3 'trailer device 2' is performed in Fig. 3 by way of example as a dozer blade.
  • the coupled by means of the rear coupling 3 trailer device 2 is exemplified in Fig. 3 as a plow executed. It is clear that other types of trailer devices 2, 2 'may be coupled to the vehicle 1 as well.
  • the plow blade 2 'and the plow 2 each have a working tool longitudinal axis L3, L4.
  • the essential parts of the trailer devices 2, 2 ' are made pivotable relative to the vehicle 1 in order to adapt them to the respective working conditions.
  • the respective pivot angle ⁇ 4, A5 changes depending on the pivot position of the respective trailer device 2, 2 '.
  • a swivel angle detection device is provided according to FIG. This can be carried out analogously to FIG. 1 or FIG. 2.
  • the field strength received by the receiver 4 changes.
  • the detected field strength is forwarded to an evaluation device 6, within which the swivel angle a4 is determined.
  • the transmitter 5 is provided by way of example. This also emits an electromagnetic field F.
  • the transmitter 5 is arranged on the implement longitudinal axis L4 of the plow 2.
  • two receivers 4, 4 ' are provided at a distance from the vehicle longitudinal axis L1.
  • the field strength of the electromagnetic field F radiated by the transmitter 5 changes as detected by the receivers 4, 4 '.
  • the receivers 4, 4' transmit the respectively detected field strength to the evaluation device 6, where the swivel angle a5 is subsequently determined therefrom , Also in FIG. 3, the positions of the receivers 4, 4 'and transmitters 5, 5' can be interchanged with each other.
  • a receiver 4 may be provided, in which case then on the vehicle 1, in particular in the region of the clutch 3, 3', instead of the receiver 4, 4 'then one Transmitter is provided.
  • Other suitable positions for transmitters 5, 5 'and receivers 4, 4' can also be used.
  • one of transmitter and receiver on the vehicle should be arranged in a fixed position, in each case the other of the transmitter and receiver is then arranged stationarily on the trailer device.
  • any number of further transmitters 5, 5 'or receivers 4, 4' can be provided at suitable points of the vehicle 1 or the trailer device 2, 2 '.
  • the transmitters 5, 5 ' are, in particular, Bluetooth, RFID, WLAN or NFC transmitters.
  • the transmitters 5, 5 'and / or the receivers 4, 4' are in particular coupled to the energy supply to the respective electrical system of the vehicle 1 or the trailer device 2. Alternatively, they may each be battery-powered or have an electric generator for their own generation of the electrical energy required for operation (energy harvesting).
  • L3, L4 implement longitudinal axis

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)

Abstract

L'invention concerne un dispositif de détection d'angle de pivotement et un procédé de détection d'un angle de pivotement (a) entre un véhicule (1) et une remorque (2, 2') attelée au véhicule (1). Selon l'invention, il est prévu un émetteur (5, 5') qui est conçu pour générer un champ électromagnétique (F), et un récepteur (4, 4') qui est conçu pour détecter l'intensité du champ électromagnétique (F). L'émetteur (5, 5') et le récepteur (4, 4') sont disposés l'un par rapport à l'autre sur le véhicule (1) et la remorque (2) de telle sorte qu'e une variation de l'angle de pivotement (a) provoque une variation de l'intensité du champ, détectée par le récepteur (4, 4'), en fonction dudit angle de pivotement. En outre, il est prévu un moyen d'évaluation (6) servant à déterminer l'angle de pivotement (a) sur la base de l'intensité détectée du champ. L'invention concerne également un émetteur (5, 5') prévu à cet effet, un récepteur (4, 4') et un moyen d'évaluation (6).
EP15729369.7A 2014-07-02 2015-06-02 Dispositif et procédé de détection d'un angle de pivotement entre un véhicule et une remorque Ceased EP3164276A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014212821.8A DE102014212821A1 (de) 2014-07-02 2014-07-02 Vorrichtung und Verfahren zur Erfassung eines Schwenkwinkels zwischen einem Fahrzeug und einer Anhängervorrichtung
PCT/EP2015/062215 WO2016000893A1 (fr) 2014-07-02 2015-06-02 Dispositif et procédé de détection d'un angle de pivotement entre un véhicule et une remorque

Publications (1)

Publication Number Publication Date
EP3164276A1 true EP3164276A1 (fr) 2017-05-10

Family

ID=53404504

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15729369.7A Ceased EP3164276A1 (fr) 2014-07-02 2015-06-02 Dispositif et procédé de détection d'un angle de pivotement entre un véhicule et une remorque

Country Status (7)

Country Link
US (1) US10414221B2 (fr)
EP (1) EP3164276A1 (fr)
JP (1) JP6603677B2 (fr)
CN (1) CN106536234B (fr)
BR (1) BR112016028825A2 (fr)
DE (1) DE102014212821A1 (fr)
WO (1) WO2016000893A1 (fr)

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US10863335B2 (en) * 2016-03-04 2020-12-08 Magna Electronics Inc. Vehicle trailer angle detection system using short range communication devices
US9738125B1 (en) 2016-05-17 2017-08-22 Horizon Global Americas Inc. Communication device, system, and method for active control of external vehicle components
EP3251878A1 (fr) 2016-05-30 2017-12-06 VBG Group AB (Publ) Couplage de remorque avec un capteur angulaire magnétique
DE102016218603A1 (de) 2016-09-27 2018-03-29 Jost-Werke Deutschland Gmbh Vorrichtung zur Positionserkennung eines ersten oder zweiten miteinander zu kuppelnden Fahrzeugs
EP3468218B1 (fr) * 2016-10-12 2021-11-24 Kubota Corporation Système de communication pour une machine de travail
CH713154A2 (de) 2016-11-23 2018-05-31 Scharmueller Gmbh & Co Kg Vorrichtung zur Messung eines Knickwinkels und Fahrzeug.
DE102018208526A1 (de) 2018-05-29 2019-12-05 Continental Automotive Gmbh Verfahren und Vorrichtung zur Bestimmung von Fahrzeugparametern
DE102019106275A1 (de) * 2019-03-12 2020-09-17 Wabco Gmbh Erfassungssystem und Verfahren zum Ermitteln eines Knickwinkels zwischen zwei Teilfahrzeugen eines Fahrzeug-Gespanns sowie Fahrzeug- Gespann
DE102020202593A1 (de) 2020-02-28 2021-09-02 Robert Bosch Gesellschaft mit beschränkter Haftung System und Verfahren zum Betreiben eines Gespanns mit einem Zugfahrzeug und einem Anhänger sowie Computerprogrammprodukt
JP7423166B2 (ja) * 2021-03-18 2024-01-29 日本フルハーフ株式会社 連結トラック
DE102023001659A1 (de) * 2023-04-24 2024-10-24 Jost-Werke Deutschland Gmbh Fahrzeugkupplungssystem mit drahtloser Sender-Empfänger-Einheit
GB202402607D0 (en) 2024-02-23 2024-04-10 Agco Int Gmbh A vehicle with an operator control providing haptic feedback for indicating a potential collision

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Also Published As

Publication number Publication date
US10414221B2 (en) 2019-09-17
JP2017528357A (ja) 2017-09-28
US20170136839A1 (en) 2017-05-18
CN106536234B (zh) 2019-06-25
CN106536234A (zh) 2017-03-22
WO2016000893A1 (fr) 2016-01-07
JP6603677B2 (ja) 2019-11-06
BR112016028825A2 (pt) 2017-08-22
DE102014212821A1 (de) 2016-01-07

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