A Tractor Collaborative Height Adjustment Method and a Tractor Collaborative Height Adjustment System

Abstract

The present invention relates to the technical field of tractors, and in particular to a method and system for collaborative height adjustment of a tractor. The method for collaborative height adjustment of a tractor includes the following steps: During driving, it is judged whether the vehicle speed is less than a preset vehicle speed V0. When the vehicle speed is less than the preset vehicle speed V0, manual adjustment of the heights of the tractor and the trailer is allowed. When the vehicle speed is greater than or equal to the preset vehicle speed V0, the autonomous return mode is activated, that is, it is judged whether the current preset height is the low-pass height Hl. When the current preset height is the low-pass height Hl, it is judged whether the heights of the tractor and the trailer are the low-pass height Hl. Otherwise, the heights of the tractor and the trailer are automatically adjusted to the low-pass height Hl, that is, height calibration is performed. When the current preset height is not the low-pass height Hl, it is judged whether the heights of the tractor and the trailer are the normal-pass height Hn. Otherwise, the heights of the tractor and the trailer are automatically adjusted to the normal-pass height Hn to ensure the normal driving of the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of tractors, and in particular to a method and a system for collaborative height adjustment of a tractor. Background Art

[0002] Due to the presence of height limit bars, cross deceleration belts, etc. on the road, it is necessary to adjust the chassis height of the vehicle in real time to meet the requirements of different road sections. The existing height adjustment for trailers is to control the lifting and lowering of the trailer axle through pneumatic, hydraulic or manual mechanical assistance. Its limitation is that the vehicle must be in a parked state to adjust, and manual adjustment is required by observing the load and height status manually, with very large limitations.

[0003] Therefore, there is an urgent need for a method and a system for collaborative height adjustment of a tractor to solve the above problems. Summary of the Invention

[0004] An object of the present invention is to provide a method for collaborative height adjustment of a tractor, which can realize the automatic collaborative height adjustment of the tractor and the trailer in the driving state.

[0005] To achieve this purpose, the present invention adopts the following technical solutions:

[0006] A method for collaborative height adjustment of a tractor includes the following steps:

[0007] In the driving state, determine whether the vehicle speed is less than a preset vehicle speed V0;

[0008] When the vehicle speed is less than the preset vehicle speed V0, manual adjustment of the height of the tractor and the trailer is allowed. When the vehicle speed is greater than or equal to the preset vehicle speed V0, manual adjustment of the height of the tractor and the trailer is not allowed, and it is determined whether the current preset height is the low-pass height Hl;

[0009] When the current preset height is the low-pass height Hl, determine whether the height of the tractor and the trailer is the low-pass height Hl. Otherwise, automatically adjust the height of both the tractor and the trailer to the low-pass height Hl;

[0010] When the current preset height is not the low-pass height Hl, determine whether the height of the tractor and the trailer is the normal-pass height Hn. Otherwise, automatically adjust the height of both the tractor and the trailer to the normal-pass height Hn.

[0011] As a preferred solution of the method for collaborative height adjustment of a tractor, each adjustment process is timed, and when the time used exceeds a preset time T0, the system reports a fault.

[0012] As a preferred solution of a tractor collaborative height adjustment method, when manually adjusting the heights of the tractor and the trailer, the heights of both the tractor and the trailer shall not be greater than the upper limit height Hmax and shall not be less than the lower limit height Hmin.

[0013] As a preferred solution of a tractor collaborative height adjustment method, it further includes calibrating the heights of the tractor and the trailer so that the heights of the tractor and the trailer can accurately reach the low passing height Hl or the normal passing height Hn.

[0014] As a preferred solution of a tractor collaborative height adjustment method, it further includes, during driving or parking, determining whether the difference between the left height and the right height of the tractor is greater than a preset adjustment difference Hd. If so, adjusting the left height or the right height of the tractor so that the difference between the left height and the right height of the tractor is less than or equal to a preset ideal difference Hi.

[0015] As a preferred solution of a tractor collaborative height adjustment method, it further includes, during driving or parking, determining whether the difference between the left height and the right height of the trailer is greater than a preset adjustment difference Hd. If so, adjusting the left height or the right height of the trailer so that the difference between the left height and the right height of the trailer is less than or equal to a preset ideal difference Hi.

[0016] Another object of the present invention is to provide a tractor collaborative height adjustment system, which can realize the automatic collaborative height adjustment of the tractor and the trailer during driving.

[0017] To achieve this purpose, the present invention adopts the following technical solutions:

[0018] A tractor collaborative height adjustment system applies the above-mentioned tractor collaborative height adjustment method to control the heights of the tractor and the trailer. The tractor collaborative height adjustment system includes:

[0019] An input component, which is used to input a manual instruction;

[0020] A tractor adjustment component, which is used to adjust the height of the tractor;

[0021] An ECAS controller, which is communicatively connected to both the input component and the tractor adjustment component, so that the ECAS controller can obtain an adjustment instruction according to the manual instruction according to the tractor collaborative height adjustment method and control the tractor adjustment component to adjust the height of the tractor according to the adjustment instruction;

[0022] A trailer adjustment component, which is used to adjust the height of the trailer;

[0023] An EBS controller, which is communicatively connected to the ECAS controller and the trailer adjustment assembly, so that the EBS controller can control the trailer adjustment assembly to adjust the height of the trailer according to the adjustment instruction.

[0024] As a preferred solution of a tractor collaborative height adjustment system, it further includes a tractor height sensor and a trailer height sensor. The tractor height sensor is used to detect the real-time height of the tractor, and the trailer height sensor is used to detect the real-time height of the trailer.

[0025] As a preferred solution of a tractor collaborative height adjustment system, the input assembly includes a first input member and a second input member. The first input member can continuously adjust the current preset height of the tractor and the trailer, and the second input member can set the current preset height to a low-pass height Hl or a normal-pass height Hn.

[0026] As a preferred solution of a tractor collaborative height adjustment system, the tractor adjustment assembly includes a tractor air source, a tractor airbag group, and a tractor valve module. The tractor valve module can control the on-off of the tractor airbag group and the tractor air source.

[0027] As a preferred solution of a tractor collaborative height adjustment system, the tractor airbag group includes a left front airbag, a left rear airbag, a right front airbag, and a right rear airbag. The tractor valve module can separately control the on-off of the left front airbag, the left rear airbag, the right front airbag, and the right rear airbag with the tractor air source respectively.

[0028] As a preferred solution of a tractor collaborative height adjustment system, the trailer adjustment assembly includes a trailer air source, a trailer airbag group, and a trailer valve module. The trailer valve module is used to control the on-off of the trailer airbag group and the trailer air source.

[0029] As a preferred solution of a tractor collaborative height adjustment system, the trailer airbag group includes a left airbag and a right airbag. The trailer valve module can separately control the on-off of the left airbag and the right airbag with the trailer air source respectively.

[0030] Advantages of the present invention:

[0031] The present invention provides a method for coordinated height adjustment of a tractor, including the following steps: During driving, it is judged whether the vehicle speed is less than a preset vehicle speed V0. When the vehicle speed is less than the preset vehicle speed V0, manual adjustment of the heights of the tractor and the trailer is allowed. At this time, it can be considered that the vehicle needs to pass through special sections such as speed bumps, and the vehicle speed is relatively low, so the heights of the tractor and the trailer can be manually adjusted. When the vehicle speed is greater than or equal to the preset vehicle speed V0, it can be considered that the vehicle is in a normal driving state at this time. In order to prevent the heights of the tractor and the trailer from being too high, which increases wind resistance and fuel consumption, or being too low, which poses a risk of chassis wear of the tractor and the trailer, manual adjustment of the heights of the tractor and the trailer is not allowed at this time, and the automatic return mode is activated. Specifically, it is judged whether the current preset height is the low-pass height Hl, and the low-pass height Hl is applicable to the vehicle passing through a height limit pole section or a basement, etc. When the current preset height is the low-pass height Hl, it is judged whether the heights of the tractor and the trailer are the low-pass height Hl, otherwise the heights of the tractor and the trailer are automatically adjusted to the low-pass height Hl, that is, the height is calibrated. When the current preset height is not the low-pass height Hl, it is judged whether the heights of the tractor and the trailer are the normal passing height Hn, otherwise the heights of the tractor and the trailer are automatically adjusted to the normal passing height Hn to ensure the normal driving of the vehicle. It can be known that the method for coordinated height adjustment of the tractor can realize the height monitoring and adjustment of the tractor and the trailer during driving, prevent the driving safety from being affected due to the driver forgetting to return, and ensure the safe and normal driving of the vehicle.

[0032] The present invention also provides a system for coordinated height adjustment of a tractor, which applies the above method for coordinated height adjustment of a tractor to control the heights of the tractor and the trailer. The system for coordinated height adjustment of a tractor includes an input component, a tractor adjustment component, an ECAS controller, a trailer adjustment component, and an EBS controller. Among them, the input component is used to input a manual instruction, the tractor adjustment component is used to adjust the height of the tractor, and the ECAS controller is communicatively connected to both the input component and the tractor adjustment component, so that the ECAS controller can obtain an adjustment instruction according to the manual instruction according to the method for coordinated height adjustment of a tractor, and control the tractor adjustment component to adjust the height of the tractor according to the adjustment instruction. The trailer adjustment component is used to adjust the height of the trailer, and the EBS controller is communicatively connected to both the ECAS controller and the trailer adjustment component, so that the EBS controller can control the trailer adjustment component to adjust the height of the trailer according to the adjustment instruction. Description of the Drawings

[0033] Figure 1 is a schematic flow chart of the method for coordinated height adjustment of a tractor provided by an embodiment of the present invention;

[0034] Figure 2 is a schematic structural diagram of the system for coordinated height adjustment of a tractor provided by an embodiment of the present invention.

[0035] In the figure:

[0036] 1. ECAS controller; 2. EBS controller; 3. Main vehicle height sensor; 4. Trailer height sensor; 5. First input component; 6. Second input component; 7. Main vehicle air source;

[0037] 8. Main vehicle airbag group; 81. Left front airbag; 82. Left rear airbag; 83. Right front airbag; 84. Right rear airbag;

[0038] 9. Main vehicle valve module; 10. Trailer air source;

[0039] 11. Trailer airbag group; 111. Left airbag; 112. Right airbag;

[0040] 12. Trailer valve module;

[0041] 13. Vehicle CAN network. Detailed implementation manners

[0042] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and implementation manners. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. In addition, it should be noted that for the convenience of description, only the parts related to the present invention are shown in the accompanying drawings, rather than all of them.

[0043] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0044] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include that the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "above", and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or only means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "below", and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or only means that the horizontal height of the first feature is less than that of the second feature.

[0045] The existing height adjustment for trailers is to control the lifting and lowering of the trailer axle through pneumatic, hydraulic or manual mechanical assistance. Its limitation is that the vehicle must be in a parked state to adjust, and manual adjustment requires manual observation of the load and height status, with very large limitations.

[0046] Therefore, this embodiment provides a method for coordinated height adjustment of a tractor, which can realize the coordinated height automatic adjustment of the tractor and the trailer under the driving state.

[0047] As Figure 1 shown, the method for coordinated height adjustment of the tractor includes the following steps:

[0048] First, calibrate the heights of the tractor and the trailer so that the tractor and the trailer can accurately reach the low passing height Hl and the normal passing height Hn.

[0049] When the coordinated height adjustment mode is turned on, under the driving state, the system will automatically judge whether the vehicle speed is less than the preset vehicle speed V0.

[0050] When the vehicle speed is less than the preset vehicle speed V0, manual adjustment of the heights of the tractor and the trailer is allowed. At this time, it can be considered that the vehicle needs to pass through special sections such as speed bumps, and the vehicle speed is low, so the heights of the tractor and the trailer can be manually adjusted.

[0051] When the vehicle speed is greater than or equal to the preset vehicle speed V0, at this time, it can be considered that the vehicle is in a normal driving state. In order to prevent the heights of the tractor and the trailer from being too high, which increases wind resistance and fuel consumption, or the heights of the tractor and the trailer from being too low, which poses a risk of chassis wear of the tractor and the trailer, manual adjustment of the heights of the tractor and the trailer is not allowed at this time, and the automatic return mode is turned on.

[0052] Specifically, the automatic return mode includes judging whether the current preset height is the low passing height Hl. The low passing height Hl is applicable to the vehicle passing through a height limit rod section or a basement, etc.

[0053] When the current preset height is the low passing height Hl, judge whether the heights of the tractor and the trailer are the low passing height Hl. Otherwise, automatically adjust the heights of the tractor and the trailer to the low passing height Hl, that is, perform height calibration. If the current heights of the tractor and the trailer are already the low passing height Hl, no adjustment is made.

[0054] When the current preset height is not the low passing height Hl, judge whether the current heights of the tractor and the trailer are the normal passing height Hn. Otherwise, automatically adjust the heights of the tractor and the trailer to the normal passing height Hn to ensure the normal driving of the vehicle. If the current heights of the tractor and the trailer are already the normal passing height Hn, no adjustment is made.

[0055] It is known that the tractor collaborative height adjustment method can achieve height monitoring and adjustment of the tractor and trailer during driving, preventing driving safety from being affected or fuel consumption from increasing due to the driver forgetting to return to the original position, and ensuring the safe and normal driving of the vehicle.

[0056] Preferably, each adjustment process is timed. When the time used exceeds the preset duration T0, it is considered that there is insufficient air source, air leakage or other faults in the system. At this time, the fault is displayed through the alarm system so that the driver can understand in time and avoid passing through sections with height restrictions or high platforms that have requirements for the vehicle height before the vehicle is adjusted.

[0057] Preferably, when manually adjusting the heights of the tractor and the trailer, the heights of both the tractor and the trailer shall not be greater than the upper limit height Hmax and shall not be less than the lower limit height Hmin. Specifically, when the vehicle needs to pass through a cross deceleration strip, drive onto a ferry, or needs repair and maintenance, the vehicle requires a greater ground clearance. When the normal passing height Hn cannot adapt to the above situations, the heights of the tractor and the trailer need to be increased. The upper limit height Hmax is the highest limit of the manually adjusted height set from a safety perspective. When the vehicle passes through some special sections and the low passing height Hl cannot be satisfied and the ground clearance needs to be further reduced, it can be manually adjusted. The lower limit height Hmin is the lowest limit of the manually adjusted height set from a safety perspective.

[0058] To provide the function of preventing the tractor from tipping over at the same time, preferably, the tractor collaborative height adjustment method further includes judging whether the difference between the left height and the right height of the tractor is greater than the preset adjustment difference Hd during driving or parking. If so, adjust the left height or the right height of the tractor so that the difference between the left height and the right height of the tractor is less than or equal to the preset ideal difference Hi.

[0059] Similarly, to prevent the trailer from tipping over, preferably, the tractor collaborative height adjustment method further includes judging whether the difference between the left height and the right height of the trailer is greater than the preset adjustment difference Hd during driving or parking. If so, adjust the left height or the right height of the trailer so that the difference between the left height and the right height of the trailer is less than or equal to the preset ideal difference Hi.

[0060] This embodiment also provides a tractor collaborative height adjustment system, which applies the above-mentioned tractor collaborative height adjustment method to jointly control the heights of the tractor and the trailer.

[0061] As Figure 2 shown, the tractor collaborative height adjustment system includes an input component, a tractor adjustment component, an ECAS controller 1, a trailer adjustment component and an EBS controller 2. Among them, the input component is used to input manual instructions, the tractor adjustment component is used to adjust the height of the tractor, and the trailer adjustment component is used to adjust the height of the trailer.

[0062] The ECAS (electronically controlled air suspension) controller 1 is communicatively connected to both the input component and the tractor unit adjustment component. When the coordinated height adjustment mode is enabled, when the vehicle is in the parked state or the vehicle speed is less than the preset vehicle speed V0, the ECAS controller 1 can, according to the manual instruction, obtain the adjustment instruction according to the tractor unit coordinated height adjustment method, and control the tractor unit adjustment component to adjust the height of the tractor unit according to the adjustment instruction. When the vehicle speed is greater than or equal to the preset vehicle speed V0, the ECAS controller 1 will activate the automatic return mode and detect and adjust the height of the tractor unit according to the above-mentioned tractor unit coordinated height adjustment method.

[0063] Preferably, the ECAS controller 1 is electrically connected to the vehicle CAN (Controller Area Network) network 13 to achieve the collection of vehicle information such as the vehicle speed.

[0064] The EBS (Electronic Brake Systems) controller 2 is communicatively connected to both the ECAS controller 1 and the trailer adjustment component. The EBS controller 2 can interact with the ECAS controller 1. When the coordinated height adjustment mode is enabled, if the ECAS controller 1 determines that manual adjustment is allowed, the EBS controller 2 will also control the trailer adjustment component to adjust the height of the trailer according to the adjustment instruction. If the ECAS controller 1 determines that manual adjustment is not allowed and detects and adjusts the height of the tractor unit according to the above-mentioned tractor unit coordinated height adjustment method, the EBS controller 2 will also detect and adjust the height of the trailer according to the above-mentioned tractor unit coordinated height adjustment method.

[0065] To achieve the detection of the heights of the tractor unit and the trailer, preferably, the tractor unit coordinated height adjustment system further includes a tractor unit height sensor 3 and a trailer height sensor 4. The tractor unit height sensor 3 is used to detect the real-time height of the tractor unit, and the trailer height sensor 4 is used to detect the real-time height of the trailer. The tractor unit height sensor 3 is electrically connected to the ECAS controller 1, and the trailer height sensor 4 is electrically connected to the EBS controller 2.

[0066] Preferably, the input component includes a first input member 5 and a second input member 6. The first input member 5 can continuously adjust the current preset heights of the tractor unit and the trailer, and a remote control can be selected as the first input member 5. The second input member 6 can set the current preset height to the low-pass height Hl or the normal-pass height Hn, and a rocker switch can be selected as the second input member 6 to achieve the quick setting of the low-pass height Hl or the normal-pass height Hn.

[0067] Preferably, the main vehicle adjustment assembly includes a main vehicle air source 7, a main vehicle airbag group 8, and a main vehicle valve module 9. The main vehicle valve module 9 can control the on / off of the main vehicle airbag group 8 and the main vehicle air source 7. When the main vehicle air source 7 inflates the main vehicle airbag group 8, the height of the main vehicle can be increased. The main vehicle valve module 9 is also provided with a pressure relief hole to reduce the height of the main vehicle.

[0068] In order to adjust the front left, rear left, front right, and rear right of the main vehicle separately, preferably, the main vehicle airbag group 8 includes a front left airbag 81, a rear left airbag 82, a front right airbag 83, and a rear right airbag 84. The main vehicle valve module 9 can independently control the on / off of the front left airbag 81, the rear left airbag 82, the front right airbag 83, and the rear right airbag 84 respectively with the main vehicle air source 7, and can deflate the front left airbag 81, the rear left airbag 82, the front right airbag 83, and the rear right airbag 84 respectively.

[0069] Preferably, the trailer adjustment assembly includes a trailer air source 10, a trailer airbag group 11, and a trailer valve module 12. The trailer valve module 12 is used to control the on / off of the trailer airbag group 11 and the trailer air source 10. When the trailer air source 10 inflates the trailer airbag group 11, the height of the trailer can be increased. The trailer valve module 12 is also provided with a pressure relief hole to reduce the height of the trailer.

[0070] In order to adjust the left height and the right height of the trailer separately, preferably, the trailer airbag group 11 includes a left airbag 111 and a right airbag 112. The trailer valve module 12 can independently control the on / off of the left airbag 111 and the right airbag 112 respectively with the trailer air source 10, and can deflate the left airbag 111 and the right airbag 112 respectively.

[0071] Obviously, the above embodiments of the present invention are merely examples for clearly explaining the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A method for collaborative height adjustment of a tractor, characterized in that, It includes the following steps: During driving, determine whether the vehicle speed is less than the preset vehicle speed V0; When the vehicle speed is less than the preset vehicle speed V0, allow manual adjustment of the heights of the tractor and the trailer. When the vehicle speed is greater than or equal to the preset vehicle speed V0, do not allow manual adjustment of the heights of the tractor and the trailer, and determine whether the current preset height is the low-pass height Hl; When the current preset height is the low-pass height Hl, determine whether the heights of the tractor and the trailer are the low-pass height Hl. Otherwise, automatically adjust the heights of the tractor and the trailer to the low-pass height Hl. The low-pass height Hl is applicable to the vehicle passing through the height-limiting pole section or the basement; When the current preset height is not the low-pass height Hl, determine whether the heights of the tractor and the trailer are the normal-pass height Hn. Otherwise, automatically adjust the heights of the tractor and the trailer to the normal-pass height Hn; It also includes calibrating the heights of the tractor and the trailer so that the heights of the tractor and the trailer can accurately reach the low-pass height Hl or the normal-pass height Hn; It also includes, during driving or parking, determining whether the difference between the left height and the right height of the tractor is greater than the preset adjustment difference Hd. If so, adjust the left height or the right height of the tractor so that the difference between the left height and the right height of the tractor is less than or equal to the preset ideal difference Hi; It also includes, during driving or parking, determining whether the difference between the left height and the right height of the trailer is greater than the preset adjustment difference Hd. If so, adjust the left height or the right height of the trailer so that the difference between the left height and the right height of the trailer is less than or equal to the preset ideal difference Hi.

2. The tractor collaborative height adjustment method according to claim 1, wherein Each adjustment process is timed. When the time used exceeds the preset duration T0, the system reports a fault.

3. The tractor collaborative height adjustment method according to claim 1, wherein When manually adjusting the heights of the tractor and the trailer, the heights of the tractor and the trailer cannot be greater than the upper limit height Hmax and cannot be less than the lower limit height Hmin.

4. A tractor collaborative height adjustment system, characterized in that, Apply the tractor collaborative height adjustment method according to any one of claims 1-3 to control the heights of the tractor and the trailer. The tractor collaborative height adjustment system includes: An input component for inputting a manual instruction; A tractor adjustment component for adjusting the height of the tractor; An ECAS controller (1) communicatively connected to the input component and the tractor adjustment component respectively, so that the ECAS controller (1) can obtain an adjustment instruction according to the manual instruction according to the tractor collaborative height adjustment method and control the tractor adjustment component to adjust the height of the tractor according to the adjustment instruction; A trailer adjustment component for adjusting the height of the trailer; An EBS controller (2) communicatively connected to the ECAS controller (1) and the trailer adjustment component respectively, so that the EBS controller (2) can control the trailer adjustment component to adjust the height of the trailer according to the adjustment instruction.

5. The tractor collaborative height adjustment system according to claim 4, wherein, It further includes a master vehicle height sensor (3) and a trailer height sensor (4). The master vehicle height sensor (3) is used to detect the real-time height of the master vehicle, and the trailer height sensor (4) is used to detect the real-time height of the trailer.

6. The tractor collaborative height adjustment system according to claim 4, wherein The input component includes a first input member (5) and a second input member (6). The first input member (5) can continuously adjust the current preset height of the master vehicle and the trailer, and the second input member (6) can set the current preset height to the low-pass height Hl or the normal-pass height Hn.

7. The tractor collaborative height adjustment system according to claim 4, characterized in that The master vehicle adjustment component includes a master vehicle air source (7), a master vehicle airbag group (8), and a master vehicle valve module (9). The master vehicle valve module (9) can control the on / off of the master vehicle airbag group (8) and the master vehicle air source (7).

8. The tractor collaborative height adjustment system according to claim 7, characterized in that, The master vehicle airbag group (8) includes a left front airbag (81), a left rear airbag (82), a right front airbag (83), and a right rear airbag (84). The master vehicle valve module (9) can independently control the on / off of the left front airbag (81), the left rear airbag (82), the right front airbag (83), and the right rear airbag (84) respectively with the master vehicle air source (7).

9. The tractor collaborative height adjustment system according to claim 4, characterized in that The trailer adjustment component includes a trailer air source (10), a trailer airbag group (11), and a trailer valve module (12). The trailer valve module (12) is used to control the on / off of the trailer airbag group (11) and the trailer air source (10).

10. The tractor collaborative height adjustment system according to claim 9, wherein, The trailer airbag group (11) includes a left airbag (111) and a right airbag (112). The trailer valve module (12) can independently control the on / off of the left airbag (111) and the right airbag (112) respectively with the trailer air source (10).

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