Method and system for automatically hooking tractor and trailer, automatic unhooking method and tractor automatically hooked with trailer

Abstract

The invention provides a method and a system for automatically hooking a tractor and a trailer, an automatic unhooking method and the tractor automatically hooked with the trailer. The automatic hitching method for the tractor and the trailer comprises the steps that a sensing assembly senses the environment to obtain environment data; generating a driving track from the tractor to the trailer based on the environmental data; instructing the tractor to run along the running track until the trailer head of the trailer is placed on a traction shovel of the tractor; the traction shovel is instructed to be lifted upwards, so that the traction head can be transferred to a traction seat of the tractor from the traction shovel; sensing a first center distance between the center of the through hole of the towing head of the trailer and the center of the towing bolt of the towing vehicle, and providing the first center distance to the controller; instructing the tractor to travel in a direction towards the trailer to shorten the first center distance until the first center distance returns to zero; a traction bolt of the tractor is commanded to fall through the through hole.

Description

Technical Field

[0001] The present invention relates to a method and system for automatically coupling a tractor to a trailer, which can automatically couple a tractor to a trailer without a tractor driver and a trailer operator. The present invention also relates to a method for automatically detaching a tractor from a trailer and automatically coupling a tractor to a trailer. The present invention belongs to the field of tractors for airport cargo terminals. Background Art

[0002] In airport cargo terminals, trailers are often used for cargo transshipment, that is, guiding cargo from a loading location to a target location. A trailer usually includes a tractor leading in front and a trailer loaded with cargo.

[0003] Trailers currently rely on manual operation for cargo loading, unloading and transshipment, which is inefficient, error-prone and affected by operator fatigue.

[0004] Manually coupling a tractor to a trailer is a challenging and time-consuming task that typically requires the coordination of a tractor driver and a trailer operator. To couple the tractor to the trailer, the driver may need to coordinate multiple forward and reverse maneuvers to ensure that the trailer's tow head is aligned with the tractor's towing assembly. Most of the time during this process, the driver cannot directly see the tractor's towing assembly and must rely on experience to infer their relative positions.

[0005] In the case of a trailer operator, the driver needs to communicate frequently and cooperate with the trailer operator to complete this task. In the case of no trailer operator, the driver may need to stop and get off the vehicle several times to confirm the alignment and record the need for subsequent adjustments. Summary of the invention

[0006] In view of the above problems in the prior art, the inventor provides a system and method for automatically coupling a tractor and a trailer, so as to automatically couple the tractor and the trailer.

[0007] The present invention provides a method for automatically coupling a tractor and a trailer. In a first example of the method, the method includes: a first step, a sensing component senses the environment to obtain environmental data; a second step, a controller generates a driving trajectory from the tractor to the trailer based on the environmental data; a third step, the controller instructs the tractor to travel along the driving trajectory until the towing head of the trailer is placed on the towing shovel of the tractor; a fourth step, the controller instructs the towing shovel to lift upward so that the towing head can be transferred from the towing shovel to the towing seat of the tractor; a fifth step, the sensing component senses a first center distance between the center of the through hole of the towing head of the trailer and the center of the towing bolt of the tractor, and provides the first center distance to the controller; a sixth step, the controller instructs the tractor to travel in a direction toward the trailer to shorten the first center distance until the first center distance returns to zero; a seventh step, the controller instructs the towing bolt of the tractor to fall to pass through the through hole.

[0008] According to the above structure, the tractor achieves precise positioning and docking through the camera and distance sensor of the perception component, which greatly reduces the complexity and error of manual operation. At the same time, the application of electric and hydraulic auxiliary hooking devices makes the hooking and unhooking process easier and faster, avoiding the physical burden of the operator.

[0009] In the second example of the method, the first example is optionally included, and after the second step, the method further includes: determining whether a valid driving trajectory is generated, wherein if the determination is yes, proceeding to the third step; wherein if the determination is no, the method further includes: an eighth step, wherein the tractor travels a first distance in a direction away from the trailer, and then continues with the first step.

[0010] According to the above configuration, the perception component can be allowed to perceive the environment again and the controller can regenerate the driving trajectory. A longer distance and re-planning the driving trajectory can effectively solve the problem of failure in generating the driving trajectory.

[0011] In a third example of the method, optionally including one or more of the first and second examples, after the fourth step, the method further includes: determining whether the traction shovel is lifted to a position that enables the towing head to be transferred from the traction shovel to the fifth step of the traction seat of the tractor, wherein if the determination is yes, the method further includes: in a ninth step, the tractor drives a second distance in a direction away from the trailer, and continues with the first step.

[0012] According to the above-mentioned structure, the hooking process can be restarted, which can effectively solve the problem that the traction shovel is blocked and cannot be lifted to a high position.

[0013] In a fourth example of the method, which optionally includes one or more of the first to third examples, before the sixth step, the method further includes: the controller instructs the towing hitch to drop; and during the execution of the sixth step, after the towing head is transferred to the towing seat of the towing vehicle, the method further includes: the controller instructs the towing hitch to lift, and then continues with the sixth step.

[0014] According to the above configuration, the pre-drop of the towing bolt can block the travel of the towing head, thereby preventing the towing vehicle from over-reversing during the sixth step so that the through hole of the towing head moves beyond the position where the towing bolt is to drop.

[0015] In a fifth example of the method, optionally including one or more of the first to fourth examples, the method further includes: during the sixth step, after the towing head is transferred to the fifth wheel of the tractor, the method further includes: lowering the traction shovel so that the traction shovel does not interfere with the trailer, and then continuing with the sixth step.

[0016] According to the above-mentioned structure, the drag shovel is lowered from the high position to the middle position of the drag shovel. At the middle position, the drag shovel can be prevented from interfering with the inclined connection part that may exist in some types of trailers.

[0017] In a sixth example of the method, which optionally includes one or more of the first to fifth examples, after lowering the traction shovel, the method further includes: determining whether the position of the towing head is still resting on the tensile seat, wherein if the determination is yes, continuing with the sixth step; wherein if the determination is no, the method further includes: a ninth step, wherein the tractor drives a second distance in a direction away from the trailer, and continuing with the first step.

[0018] According to the above-mentioned structure, it can be used to determine whether the towing head has slipped off the lower seat part, so that the tractor needs to return to the predetermined position and restart the first step of the method.

[0019] In a seventh example of the method, which optionally includes one or more of the first to sixth examples, after determining whether the position of the towing head is still resting on the fifth wheel, the method further includes: determining whether the position of the traction shovel is lowered so that the traction shovel does not interfere with the trailer, wherein if the determination is yes, the method proceeds to the sixth step; wherein if the determination is no, the method proceeds to the ninth step, the tractor travels a second distance in a direction away from the trailer, and the method proceeds to the first step.

[0020] According to the above-mentioned structure, it is possible to determine whether the towing head is stuck on the towing shovel, so that the towing vehicle needs to return to the predetermined position and restart the first step of the method.

[0021] In the eighth example of the method, one or more of the first to seventh examples may be optionally included. After the seventh step, the method further includes: determining whether the towing hitch has fallen, wherein if the determination is yes, the method is completed; wherein if the determination is no, the method further includes: a ninth step, wherein the towing vehicle drives a second distance in a direction away from the trailer, and continues the first step.

[0022] According to the above configuration, it can be used to determine whether the towing hitch cannot smoothly penetrate the through hole of the towing head, so that the towing vehicle needs to return to the predetermined position and restart the first step of the method.

[0023] The present invention provides a method for automatically uncoupling a tractor from a trailer, wherein the method for automatically uncoupling a tractor from a trailer is performed after the tractor and the trailer are coupled by the method for automatically coupling a tractor and a trailer according to any one of claims 1 to 3, and comprises the following steps: in a tenth step, a controller instructs the towing hitch to lift; in an eleventh step, the controller instructs the tractor to travel in a direction away from the trailer until the towing head of the trailer is detached from the towing seat of the tractor.

[0024] According to the above-mentioned structure, the detachment process can be made easier and faster, avoiding the physical burden of the operator.

[0025] In the second example of the method, the first example may be optionally included, and after the tenth step, the method further includes: the controller determines whether the towing hitch is lifted, wherein if the judgment is yes, the eleventh step is continued; wherein if the judgment is no, the method further includes the step of the tractor driving a third distance in a direction away from the trailer, and continuing the tenth step.

[0026] According to the above configuration, the vertical movement of the traction pin can be achieved even when the traction pin is difficult to move vertically.

[0027] In a third example of the method, optionally including one or more of the first example and the second example, before the eleventh step, the method further includes: lifting the traction shovel of the tractor so that the towing head can be transferred from the traction seat of the tractor to the traction shovel.

[0028] According to the above-mentioned structure, the towing head can be transferred from the fifth wheel to the towing blade.

[0029] In a fourth example of the method, optionally including one or more of the first to third examples, after the eleventh step, the method further includes:

[0030] In the twelfth step, the sensing component senses the second center distance between the center of the through hole of the towing head and the center of the traction shovel, and provides the second center distance to the controller; in the thirteenth step, the controller instructs the tractor to travel in a direction away from the trailer to shorten the second center distance until the second center distance returns to zero; in the fourteenth step, the traction shovel is lowered to a low position close to the ground; in the fifteenth step, the controller instructs the tractor to travel in a direction away from the trailer until the towing head is separated from the traction shovel.

[0031] According to the above-mentioned structure, it is possible to avoid damage that may be caused by the towing head falling from the fifth wheel to the ground.

[0032] The present invention provides a tractor for automatically hooking up a trailer, wherein the tractor comprises: an on-board controller, an on-board sensing component, the sensing component senses the environment to obtain environmental data and sends the environmental data to the controller, a traction component, the traction component comprises: a traction seat, the traction seat is used to receive a towing head of a trailer, a traction bolt, the traction bolt can be lifted and lowered in a vertical direction and can pass through a through hole of the towing head, and a traction shovel, the traction shovel can be lifted and lowered in a vertical direction, the traction shovel is below the traction seat, the traction shovel is used to place the towing head, and the traction component follows the instructions of the controller to lift and lower the traction bolt and / or the traction shovel.

[0033] According to the structure as described above, the hooking and unhooking process is made easier and faster, and the physical burden on the operator is avoided.

[0034] In the second example of the tractor, optionally including the first example, the tractor further includes: the perception component includes a first camera aimed at the environment behind the tractor and a first ranging sensor.

[0035] In a third example of the tractor, one or more of the first and second examples may be optionally included, and the tractor further includes: the perception component includes a second camera aimed at the fifth wheel of the tractor component and a second ranging sensor.

[0036] In a fourth example of the tractor, optionally including one or more of the first to third examples, the tractor further includes: the sensing component is installed on the roof of the rear wall of the tractor and / or on the rear wall of the tractor.

[0037] According to the above-mentioned construction, the vehicle is installed on the roof to obtain a wider field of view and is closer to its target, that is, the fifth wheel of the towing assembly, to obtain a better image clarity of the fifth wheel.

[0038] The present invention provides a system for automatically coupling a tractor and a trailer, wherein the system comprises: a controller, a sensing component, the sensing component senses the environment to obtain environmental data, and sends the environmental data to the controller, a trailer, the trailer comprises a towing head, a tractor, the tractor comprises a towing component, the towing component comprises: a towing seat, the towing seat is used to receive the towing head of the trailer, a towing bolt, the towing bolt can be lifted and lowered in the vertical direction and can pass through the through hole of the towing head, and a towing shovel, the towing shovel can be lifted and lowered in the vertical direction, the towing shovel is below the towing seat, the towing shovel is used to place the towing head, and the towing component follows the instructions of the controller to lift and lower the towing bolt and / or the towing shovel.

[0039] According to the above-mentioned structure, the detachment process can be made easier and faster, avoiding the physical burden of the operator.

[0040] The invention is used to automatically connect a tractor with a trailer to transfer cargo in an airport cargo terminal. The tractor and trailer towing head can automatically connect and disconnect. In a working scene with people, the introduction of this technology can also reduce the pressure of the driver's reverse connection work and partially reduce the labor.

[0041] The tractor uses the camera and distance sensor of the perception component to achieve precise positioning and docking, greatly reducing the complexity and error of manual operation. At the same time, the application of electric and hydraulic auxiliary hooking devices makes the hooking and unhooking process easier and faster, avoiding the physical burden of the operator.

[0042] The airport cargo terminal uses a system for automatic connection between tractors and trailers, which focuses on intelligence, automation and high safety. It has greatly improved the efficiency and safety of cargo transportation and provided a solid guarantee for modern logistics. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to describe the implementation of the above and other features of the present invention, a more particular description of the invention briefly described above will be presented with reference to the exemplary embodiments of the invention shown in the accompanying drawings. It will be understood that these drawings only depict exemplary embodiments of the invention and should not be considered as limiting the scope thereof. The invention will be described and explained through the use of the accompanying drawings and with additional features and details. In the drawings:

[0044] Figure 1 is a rear view of a tractor according to an embodiment of the present invention;

[0045] Figure 2a is a side rear perspective view of a tractor according to an embodiment of the present invention, wherein a towing head of a trailer is shown;

[0046] Figure 2b is a side view of a towing head of a trailer according to the prior art;

[0047] Figure 3 is a flow chart of a method for automatically coupling a tractor and a trailer according to an embodiment of the present invention;

[0048] Figure 4 is a flow chart of another method for automatically coupling a tractor and a trailer according to an embodiment of the present invention;

[0049] Figure 5 is a flow chart of a method for automatically uncoupling a tractor and a trailer according to an embodiment of the present invention; and

[0050] Figure 6 4 is a flow chart of another method for automatically decoupling a tractor from a trailer according to an embodiment of the present invention.

[0051] The drawings are roughly drawn to scale, however, the dimensions in the drawings are only schematic and not necessarily drawn strictly to scale, but are intended to provide a clearer description. In other embodiments, other relative dimensions may be used.

[0052] Here and throughout the following, identical features appearing in different figures are denoted by identical or similar reference numerals.

[0053] List of reference numerals:

[0054] 10 Tractor

[0055] 11 Back wall

[0056] 12 Traction components

[0057] 121 Fifth Wheel

[0058] 1211 Theravada

[0059] 1212 lower seat

[0060] 1212a lower seat ramp

[0061] 122 Traction bolt

[0062] 123 Drag shovel

[0063] 1231 Shovel baffle

[0064] 1232 Shovel ramp

[0065] 20 Trailer

[0066] 21 Trailer

[0067] 22 inclined connection

[0068] 40 Perception Components

[0069] 41 First Camera

[0070] 42 Second Camera

[0071] 43 First distance measuring sensor

[0072] 44 Second distance sensor DETAILED DESCRIPTION

[0073] First, the present invention mainly relates to the technology related to the connection between a tractor and a trailer in the field of tractors at airport cargo terminals. In particular, the present invention relates to the field of tractors, but is not limited to such tractors, and can also be applied to manually driven tractors, and the tractors can be modified to have some of the features of the present invention.

[0074] As used herein, the terms "hook up" and "unhook up" are intended to describe the connection and disconnection of the towing head of the trailer with the towing assembly of the tractor.

[0075] Directional terms used herein, such as "top", "bottom", "upper", "lower", are used to assist in describing the present invention according to the orientation of the embodiments shown in the drawings. Unless otherwise specified, such as "horizontal direction", "direction of gravity", etc., directional terms are not absolute up, down, horizontal, vertical, etc., and should not be interpreted as limiting the present invention to any particular direction.

[0076] As used herein, the terms "comprising," "having," "including," and variations thereof are intended to serve as open-ended transitional phrases, terms or words requiring the presence of specified elements / steps and also allowing for the presence of other elements / steps.

[0077] In the present invention, unless explicitly stated to the contrary, the terms "first", "second", etc. are not intended to indicate any difference in order, position, quantity or importance, but are merely used as labels to distinguish different positions and components, to distinguish one element, component, region and / or position from another element, component, region and / or position.

[0078] In a non-limiting example, the system 1 for automatically coupling a tractor and a trailer of the present invention comprises a tractor 10, a trailer 20, a controller and a sensing component 40. The controller receives information and sends instructions after processing. The sensing component 40 senses the environment to obtain environmental data and sends the environmental data to the controller. The tractor 10 comprises a traction component 12 for coupling and uncoupling the towing head 21 of the vehicle 20.

[0079] In a non-limiting example, the controller and the sensing component 40 may be mounted on a vehicle. It is understood that the controller does not have to be mounted on a vehicle, but may be a controller installed in an airport local area network or in the cloud. It is understood that the sensing component 40 does not have to be mounted on a vehicle, but may be a sensing component 40 installed at a predetermined location in the airport.

[0080] The present invention will be further described below in conjunction with preferred embodiments and the accompanying drawings. More details are elaborated in the following description to facilitate a full understanding of the present invention. However, the present invention can obviously be implemented in a variety of other ways different from the description herein. Those skilled in the art can make similar generalizations and deductions based on actual application situations without violating the connotation of the present invention. Therefore, the scope of protection of the present invention should not be limited by the content of this preferred embodiment.

[0081] Figure 1 A rear view of a tractor 10 according to an embodiment of the present invention is schematically shown. Figure 2a A side rear perspective view of a tractor 10 according to an embodiment of the present invention is schematically shown, wherein a towing head 21 of a trailer 20 is shown. Figure 2b A side view of a towing head 21 of a trailer 20 according to the prior art is schematically shown.

[0082] In the preferred embodiment shown in the figure, the towing assembly 12 is arranged at the rear wall 11 of the tractor 10. The towing assembly 12 includes a towing seat 121, a towing bolt 122 and a towing shovel 123. The towing seat 121 has a split design, including an upper seat 1211 and a lower seat 1212, and a receiving space for receiving the towing head 21 of the trailer 20 is provided between the upper seat 1211 and the lower seat 1212. Considering the round head sheet shape of the towing head of the standard trailer currently used in the airport, the receiving space between the upper seat 1211 and the lower seat 1212 is also designed as a sheet-shaped space.

[0083] In the illustrated embodiment, the bolt body of the towing bolt 122 is cylindrical, can be lifted and lowered in the vertical direction, and can pass through the through hole of the towing head 21 to hook the towing head 21 to the fifth wheel 121 .

[0084] The traction bolt 122 has a traction bolt lifting mechanism at the top, and a hydraulic mechanism (not shown) drives the traction bolt 122 through a connecting rod as shown in the figure to lift and drop the traction bolt 122. It can be understood that the form of the traction bolt lifting mechanism is not limited to this, but can be any hydraulic, mechanical, electromechanical form, and the position is not limited to this, but can be installed in any suitable position.

[0085] In the illustrated embodiment, the traction shovel 123 can be lifted and lowered in the vertical direction. The traction shovel 123 is additionally provided with a vehicle-mounted traction shovel lifting mechanism. The traction shovel 123 is below the traction seat 121, and the traction shovel 123 is at least partially matched with the towing head 21. The traction shovel 123 is used to support the towing head 21 to lift the towing head 21, and to support and block the towing head 21 when it falls.

[0086] The drag shovel lifting mechanism is arranged on the side of the drag shovel 123 close to the tractor 10, and the stepper motor (not shown) drives the drag shovel 123 through the pair of lifting rods penetrating the upper seat 1211 and the lower seat 1212 of the drag seat as shown in the figure, so as to lift and lower the drag shovel 123. It can be understood that the form of the drag shovel lifting mechanism is not limited to this, but can be any mechanical, hydraulic, electromechanical form, and the position is not limited to this, but can be installed in any suitable position.

[0087] In the illustrated embodiment, the perception component 40 may include a first camera 41, which is aimed at the rear of the tractor 10 and is responsible for identifying the target (i.e., the towing head 21 of the trailer 20) when it is far away and sensing surrounding obstacles.

[0088] The perception component 40 may include a second camera 42 , which is aimed at the traction seat 121 of the traction component 12 and is responsible for identifying the target when it is close and judging the connection status of the towing head 21 .

[0089] Optionally, the sensing component 40 may further include a first ranging sensor 43 and a second ranging sensor 44, such as but not limited to a laser radar. The first ranging sensor 43 may be aimed at the rear of the tractor 10, and is responsible for the auxiliary sensing and ranging of the target and surrounding obstacles when the target is far away, and the second ranging sensor 44 may be aimed at the traction seat 121 of the traction component 12, and is responsible for the auxiliary sensing and ranging when the target is close.

[0090] In the illustrated embodiment, the components of the sensing assembly 40 may be selectively mounted on the roof of the rear wall 11 of the tractor 10 and / or on the rear wall 11 of the tractor 10. For example, the first camera 41 and the first distance measuring sensor 43 may be mounted on the roof to obtain a wider field of view. For example, the second camera 42 may be mounted on the rear wall 11 of the tractor 10 so as to be closer to its target, i.e., the fifth wheel 121 of the tractor assembly 12, to obtain a better image clarity of the fifth wheel 121. It is understood that the position of the sensing assembly 40 is not limited thereto, but may be mounted at any suitable position.

[0091] In the illustrated embodiment, the lower seat portion 1212 of the fifth wheel 121 of the towing assembly 12 may further include the following features to facilitate the towing head 21 of the trailer 20 to be coupled to the towing assembly 12 of the tractor 10 .

[0092] The rearward (i.e., toward the trailer 20) edge of the lower seat 1212 of the traction seat 121 may have a downwardly inclined lower seat ramp 1212a and a gradually decreasing thickness therein, thereby facilitating the movement of the towing head 21 from the traction shovel 123 to the lower seat 1212 of the traction seat 121. This movement will be described in detail in the method of coupling a tractor to a trailer below.

[0093] The edges of the traction shovel 123 facing both sides at least partially have a shovel baffle 1231 extending upward to prevent the towing head 21 from sliding out of its limited range, thereby assisting the towing head 21 to stay in place.

[0094] The rearward edge of the traction shovel 123 has a Y-shape. The Y-shaped flared shape makes it easy for the towing head 21 to enter the range of the traction shovel 123, and the Y-shaped notch is easy to clamp the non-landing points on both sides of the arc-shaped towing head 21 that has landed on the ground from both sides.

[0095] The rearward edge of the drag shovel 123 has a downwardly inclined shovel ramp 1232, which facilitates the transfer of the towing head 21 from the ground to the drag shovel 123, and this movement will be described in detail in the method of coupling the tractor to the trailer below.

[0096] Figure 3 The flowchart of the method for automatically coupling the tractor 10 with the trailer 20 is schematically shown.

[0097] In the preparatory stage before the method starts, the tractor 10 is optionally pre-positioned, including the tractor 10 being parked at a predetermined position in front of the trailer 20 to be attached. The pre-positioning of the tractor 10 can rely on GPS navigation, sensing ground lines, or directly driving to a fixed predetermined position, etc., as long as the predetermined position is at a certain distance in front of the trailer 20 to be attached. In a preferred embodiment, the certain distance is 1.5m.

[0098] In a preferred embodiment, the initial position of the traction shovel 123 of the tractor 10 is maintained at a low position of the traction shovel close to the ground, that is, after the tractor 10 and the trailer 20 have completed the task, the low position is used to disconnect the towing head 21 of the trailer 20 from the traction shovel 123 of the tractor 10. In addition, the low position is also used to shovel up the towing head 21 of the trailer 20 close to the ground again in the subsequent steps. In a preferred embodiment, the low position is about 10 cm from the ground, which belongs to the first gear position of the stepper motor control position.

[0099] Then the method starts. At step 303, the perception component 40 perceives the environment to obtain environmental data, including positioning the towing head 21 of the trailer 20 and possible obstacles in the surrounding environment, and collecting the relative position data of the towing head 21 and environmental obstacles and the tractor 10 as environmental data.

[0100] Subsequently, at step 305 , the controller generates a driving trajectory from the tractor 10 to the trailer 20 based on the environmental data. Specifically, the controller receives the relative position data of the perception component 40 and calculates a driving trajectory that enables the tractor 10 to avoid environmental obstacles (if any) and approach the trailer 20.

[0101] Then, at step 307 , the controller instructs the tractor 10 to travel along the driving track to approach the towing head 21 of the trailer 20 until the towing head 21 is lifted up by the towing shovel 123 of the towing assembly 12 of the tractor 10 and rests on the towing shovel 123 .

[0102] Then, at step 309, the controller instructs the traction shovel 123 to be lifted upward to a high position, which allows the towing head to be transferred from the traction shovel 123 to the drawbar 121 while the tractor 10 continues to reverse, that is, while traveling in the direction of the trailer 20. Specifically, the high position of the traction shovel 123 is flush with the lower seat 1212 of the drawbar 121 of the tractor 10, allowing the towing head 21 to be smoothly transferred from the traction shovel 123 to the lower seat 1212 of the drawbar 121. In a preferred embodiment, the high position is about 80 cm from the ground, which belongs to the sixth position of the stepper motor control position.

[0103] Then, at step 311 , the sensing component 40 senses a first center distance between the center of the through hole of the towing head 21 and the center of the towing bolt 122 , and provides the first center distance to the controller.

[0104] Then, at step 313, the controller instructs the tractor 10 to slowly reverse to shorten the first center distance, that is, to drive in the direction toward the trailer until the first center distance returns to zero, at which time the through hole of the towing head 21 is aligned with the position where the towing bolt 122 is to fall, and the through hole of the towing head 21 can allow the towing bolt 122 to fall and pass through.

[0105] Preferably, before step 313, for example but not limited to during or before and after steps 307, 309, 311, the method optionally instructs the controller to pre-drop the towing bolt 122 at step 3131 to block the travel of the towing head 21 and prevent the tractor 10 from over-reversing during step 313 so that the through hole of the towing head 21 moves beyond the position where the towing bolt 122 is to drop.

[0106] Additionally, during step 313, after the towing head 21 is transferred to the lower seat 1212 of the fifth wheel 121 due to the reversing of the tractor 10, the controller may command the towing bolt 122 to be lifted at step 3132 to remove the obstruction to the travel of the towing head 21. The tractor 10 is then commanded to reverse, that is, to travel in the direction toward the trailer 20 to shorten the first center distance. At step 313, the tractor 10 is then commanded to reverse to shorten the first center distance, and when the first center distance returns to zero, step 313 ends.

[0107] Figure 2bThe schematic diagram shows a side view of a towing head 21 of a trailer 20 of some models according to the prior art, and an inclined connection portion 22 for fixedly connecting the towing head 21 to the trailer body of the trailer 20 is provided below the towing head 21. The high position of the towing shovel 123 may interfere with the inclined connection portion 22, blocking the normal towing travel of the tractor 10 and the trailer 20 after they are combined into a trailer, specifically, blocking the trailer from turning at a large angle.

[0108] During step 313, after the towing head 21 is transferred to the lower seat 1212 of the traction seat 121 due to the reversing of the tractor 10, the traction shovel 123 is optionally lowered from the high position to the middle position of the traction shovel at step 3133, where the interference between the traction shovel 123 and the inclined connection part 22 that may exist in some types of trailers 20 can be avoided. In a preferred embodiment, the high position is about 80 cm from the ground, which belongs to the sixth position of the stepper motor control position, and the middle position is about 40 cm from the ground, which belongs to the third position of the stepper motor control position. Then at step 313, the tractor 10 is continuously instructed to reverse to shorten the first center distance, and when the first center distance returns to zero, step 313 ends.

[0109] Then, at step 315 , after the tractor 10 has finished reversing, the towing bolt 122 drops down to pass through the through hole of the towing head 21 , so that the hitch is completed.

[0110] Figure 4 A flow chart of another method for automatically coupling the tractor 10 to the trailer 20 is schematically shown, wherein the method further includes a step of retrying after each failure that may occur during the process of coupling the trailer 20 to the tractor 10 .

[0111] Additionally after step 305 , at step 305 a , the controller determines whether a valid driving trajectory is generated.

[0112] If the judgment is no at step 305a, then continue at step 401, the tractor 10 moves forward a shorter first distance, that is, drives a shorter first distance in the direction away from the trailer 20, and then continues to step 303. In a preferred embodiment, the first distance is about 0.2m, that is, drives a shorter distance forward, allowing the perception component to perceive the environment again and the controller to generate the driving trajectory again. The general reason for the judgment of no at step 305a is that the driving trajectory generation failed, that is, there is no valid form trajectory. The reasons may be 1) the relative posture difference is large, resulting in the failure to successfully generate the driving trajectory, and 2) there are obstacles in the environment near the generated driving trajectory and it is difficult for the tractor to bypass the obstacles to reach the target object. Therefore, a longer distance and re-planning the driving trajectory can effectively solve this problem.

[0113] If the answer is yes at step 305 a , the process proceeds to step 307 .

[0114] Additionally after step 309 , at step 309 a , the controller determines whether the drag shovel 123 is lifted to the high position.

[0115] If the result of the judgment at step 309a is no, the process continues at step 402, where the tractor 10 moves forward a longer second distance, that is, travels a longer second distance in a direction away from the trailer 20, specifically, is able to roughly return to the predetermined position of the tractor 10, and then continues at step 303. In a preferred embodiment, the second distance is about 1.5 m. The general reason for the judgment at step 309a being no is that the traction shovel 123 reverses too much when shoveling the towing head 21, causing the towing head 21 to rest on the traction shovel 123 for too long, and the towing head 21 resting on the traction shovel 123 is sandwiched between the traction shovel 123 and the lower seat 1212 of the towing seat 121, preventing the traction shovel 123 from being lifted to a high position. Therefore, the process restarts. Figure 3 The hooking process can effectively solve this problem.

[0116] If the answer is yes at step 309 a , the process proceeds to step 311 .

[0117] In addition, after step 3133 , at step 3133 a , it is determined whether the position of the towing head 21 is normal, that is, whether it is still placed on the lower seat 1212 of the fifth wheel 121 .

[0118] If the determination result is no at step 3133a, the process continues at step 402, where the tractor 10 moves forward a second distance, that is, it is approximately able to return to the predetermined position of the tractor 10. The general reason for the determination result being no at step 3133a is that the towing head 21 slides off the lower seat 1212.

[0119] If the answer is yes at step 3133a, the process proceeds to step 313 to instruct the tractor to reverse to shorten the first center distance.

[0120] Preferably, after step 3133a, in addition, at step 3133b, it is determined whether the position of the traction shovel 123 is normal, that is, whether it has dropped to the middle position.

[0121] If the result of the determination in step 3133b is no, the process continues in step 402, and the tractor 10 moves forward a second distance, that is, it can roughly return to the predetermined position of the tractor 10. The general reason for the determination in step 3133b being no is that the towing head 21 is stuck on the traction shovel 123, which may be due to the fact that the reversing angle is not smooth enough, resulting in the towing head 21 entering the shovel baffle 1231 of the traction shovel 123 too far, and the friction is too large to be separated.

[0122] If the answer is yes at step 3133b, the process proceeds to step 313 to instruct the tractor to reverse to shorten the first center distance.

[0123] In addition, after step 315 , at step 315 a , it is determined whether the pulling bolt 122 has fallen.

[0124] If the result of the determination in step 315a is negative, the process continues in step 402, where the tractor 10 moves forward a second distance, that is, it is able to substantially return to the predetermined position of the tractor 10. The general reason for the determination in step 315a being negative is that the traction bolt 122 cannot smoothly pass through the through hole of the towing head 21, which may be due to an error in the process of shortening the first center distance, resulting in the first center distance not actually returning to zero.

[0125] If the answer is yes at step 315a, the hooking is completed.

[0126] Figure 5 The flowchart schematically shows a method for automatically disconnecting the tractor 10 from the trailer 20 .

[0127] At step 501 , the controller instructs the towing bolt 122 to be lifted to allow unlocking, thereby removing the obstruction to the towing head 21 .

[0128] Then at step 503 , the controller instructs the tractor 10 to move forward until the towing head 21 of the trailer 20 is detached from the fifth wheel 121 of the tractor 10 , and then the detachment is completed.

[0129] Figure 6 The flowchart schematically shows another method for automatically uncoupling the tractor 10 from the trailer 20 .

[0130] Additionally after step 501 , at step 501 a , the controller determines whether the drawbar 122 is lifted to allow unlocking.

[0131] If the judgment is no at step 501a, then continue at step 601, the tractor 10 retreats a third distance, that is, a shorter distance closer to the trailer 20, and then continue to step 501. In a preferred embodiment, the third distance is about 1 cm, that is, retreats a shorter distance. The general reason for the judgment of no at step 501a is that the towing head 21 of the trailer 20 applies a large pulling force to the towing bolt 122, resulting in a large friction force at the abutment between the towing head 21 and the towing bolt 122, making it difficult for the towing bolt to move up and down. Then continue to step 501, instructing the towing bolt 122 to lift.

[0132] If the answer is yes at step 501 a , proceed to step 503 .

[0133] Then, at step 503 , the controller instructs the tractor 10 to move forward until the towing head 21 of the trailer 20 is detached from the fifth wheel 121 of the tractor 10 .

[0134] In a preferred embodiment, if Figure 6 As shown, before step 503, for example but not limited to at the same time or after step 501, the method further includes step 5031, lifting the drag shovel 123 to a high position, the high position of the drag shovel 123 is flush with the lower seat 1212 of the traction seat 121 of the tractor 10, and the towing head 21 can be transferred from the traction seat 121 to the drag shovel 123. Then continue with step 503.

[0135] In a preferred embodiment, in order to avoid possible damage to the towing head 21 caused by falling from the fifth wheel to the ground, the method may further include the following steps after step 503 .

[0136] Then at step 505 , the sensing component 40 senses a second center distance between the center of the through hole of the towing head 21 and the center of the drag shovel 123 , and provides the second center distance to the controller.

[0137] Then at step 507 , the controller instructs the tractor 10 to move forward slowly to shorten the second center distance until the second center distance returns to zero, at which time the towing head 21 is separated from the fifth wheel 121 of the tractor 10 and rests on the traction shovel 123 .

[0138] Then at step 509 , the traction shovel 123 is lowered to a low position close to the ground. Therefore, compared with the damage caused by falling directly from a high position, falling from a low position to the ground can effectively extend the service life of the towing head 21 .

[0139] Then at step 511 , the controller instructs the tractor 10 to move forward until the towing head 21 is detached from the towing shovel 123 , and then the detachment is completed.

[0140] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution of the present invention is clearly and completely described above in combination with the specific embodiments of the present invention and the accompanying drawings.

[0141] It should be understood that the steps shown above in conjunction with the preferred embodiments are illustrative, and those skilled in the art may add or delete corresponding steps, and may adjust the execution order of one or some of the steps, or replace one or more of the steps with similar steps.

[0142] Although various embodiments have been described above, it should be understood that the embodiments described are part of the embodiments of the present invention, rather than all embodiments, and they are presented in an exemplary rather than limiting manner. It is obvious to those skilled in the relevant art that the disclosed subject matter can be implemented in other specific forms without losing its spirit and essential features.

[0143] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention. The present disclosure also includes various modifications and modifications within the equivalent scope. In addition, various combinations and methods, further including only one element, more than one or less than one other combinations and methods also belong to the scope and scope of thought of the present disclosure.

Claims

1. A method for automatically coupling a tractor to a trailer, characterized in that: The method comprises the following steps: In the first step (303), the sensing component senses the environment to obtain environmental data; In a second step (305), a controller generates a driving trajectory from the tractor to the trailer based on the environmental data; In the third step (307), the controller instructs the tractor to travel along the driving track until the towing head of the trailer rests on the towing shovel of the tractor; In the fourth step (309), the controller instructs the traction shovel to lift upward so that the towing head can be transferred from the traction shovel to the traction seat of the tractor; In a fifth step (311), the sensing component senses a first center distance between the center of the through hole of the towing head of the trailer and the center of the towing hitch of the tractor, and provides the first center distance to the controller; In a sixth step (313), the controller instructs the tractor to travel in a direction toward the trailer to shorten the first center distance until the first center distance returns to zero; In the seventh step (315), the controller instructs the traction bolt of the traction vehicle to drop down to pass through the through hole.

2. The method for automatically coupling a tractor and a trailer according to claim 1, characterized in that: After the second step (305), the method further comprises: determining whether a valid driving trajectory is generated, If the answer is yes, proceed to the third step (307); If the answer is no, the method further includes: an eighth step (401), wherein the tractor travels a first distance in a direction away from the trailer, and then continues with the first step (303).

3. The method for automatically coupling a tractor and a trailer according to claim 1, characterized in that: After the fourth step (309), the method further includes: determining whether the drag shovel is lifted to a position that enables the towing head to be transferred from the drag shovel to the fifth wheel of the tractor, If the answer is yes, proceed to the fifth step (311); If the answer is no, the method further includes: a ninth step (402), wherein the tractor travels a second distance in a direction away from the trailer, and continues with the first step (303).

4. The method for automatically coupling a tractor and a trailer according to claim 1, characterized in that: Before the sixth step (313), the method further includes: the controller instructing the traction bolt to fall; and During the execution of the sixth step (313), after the towing head is transferred to the fifth wheel of the tractor, the method further comprises: the controller instructs the towing hitch to be lifted, and then continues the sixth step (313).

5. The method for automatically coupling a tractor and a trailer according to claim 1, characterized in that: During the sixth step (313), after the towing head is transferred to the fifth wheel of the tractor, the method further comprises: lowering the traction shovel so that the traction shovel does not interfere with the trailer, and then continuing the sixth step (313).

6. The method for automatically coupling a tractor and a trailer according to claim 5, characterized in that: After lowering the traction shovel, the method further includes: determining whether the position of the towing head is still on the traction seat, If the answer is yes, proceed to step 6 (313); If the answer is no, the method further includes: a ninth step (402), wherein the tractor travels a second distance in a direction away from the trailer, and continues with the first step (303).

7. The method for automatically coupling a tractor and a trailer according to claim 6, characterized in that: After determining whether the position of the towing head is still on the fifth wheel, the method further includes: determining whether the position of the traction shovel is lowered so that the traction shovel does not interfere with the trailer, If the answer is yes, proceed to step 6 (313); If the answer is no, the method proceeds to the ninth step (402), wherein the tractor travels a second distance in a direction away from the trailer, and continues with the first step (303).

8. The method for automatically coupling a tractor and a trailer according to claim 1, characterized in that: After the seventh step (315), the method further includes: determining whether the traction bolt has fallen, If the judgment is yes, the method is completed; If the answer is no, the method further includes: a ninth step (402), wherein the tractor travels a second distance in a direction away from the trailer, and continues with the first step (303).

9. A method for automatically disconnecting a tractor from a trailer, characterized in that: The method for automatically disconnecting a tractor from a trailer is performed after the tractor and the trailer are connected by the method for automatically connecting a tractor and a trailer according to any one of claims 1 to 8, and comprises the following steps: In the tenth step (501), the controller instructs the traction bolt to lift. In the eleventh step (503), the controller instructs the tractor to travel in a direction away from the trailer until the towing head of the trailer is detached from the fifth wheel of the tractor.

10. The method for automatically disconnecting a tractor from a trailer according to claim 9, characterized in that: After the tenth step (501), the method further includes: the controller determines whether the traction bolt is lifted, If the answer is yes, proceed to step 11 (503); If the answer is no, the method further includes step 601, wherein the tractor travels a third distance in a direction away from the trailer, and continues with the tenth step (501).

11. The method for automatically disconnecting a tractor from a trailer according to claim 9, characterized in that: Before the eleventh step (503), the method further includes: lifting the drag shovel of the tractor so that the towing head can be transferred from the fifth wheel of the tractor to the drag shovel.

12. The method for automatically disconnecting a tractor from a trailer according to claim 9, characterized in that: After the eleventh step (503), the method further comprises: In a twelfth step (505), the sensing component senses a second center distance between the center of the through hole of the towing head and the center of the drag shovel, and provides the second center distance to the controller; In the thirteenth step (507), the controller instructs the tractor to travel in a direction away from the trailer to shorten the second center distance until the second center distance returns to zero; The fourteenth step (509) is to lower the drag shovel to a low position close to the ground. In the fifteenth step (511), the controller instructs the tractor to travel in a direction away from the trailer until the towing head is separated from the towing shovel.

13. A tractor automatically coupled to a trailer, characterized in that: The tractor (10) comprises: On-board controller, A vehicle-mounted sensing component (40) senses the environment to obtain environmental data and sends the environmental data to the controller. A traction assembly (12), the traction assembly (12) comprising: A traction seat (121), wherein the traction seat (121) is used to receive a towing head (21) of a trailer (20), a traction bolt (122) which can be lifted and lowered in a vertical direction and can pass through a through hole of the towing head (21); and a traction shovel (123), the traction shovel (123) being able to be lifted and lowered in a vertical direction, the traction shovel (123) being below the traction seat (121), the traction shovel (123) being used to place the towing head (21), and The traction component (12) follows the instructions of the controller to lift and lower the traction bolt and / or the traction shovel.

14. The tractor according to claim 13, characterized in that: The sensing component (40) comprises a first camera (41) directed at the environment behind the tractor (10) and a first distance measuring sensor (43).

15. The tractor according to claim 14, characterized in that: The sensing component (40) comprises a second camera (42) aimed at the traction seat (121) of the traction component (12) and a second distance measuring sensor (44).

16. The tractor according to claim 13, characterized in that: The sensing component (40) is installed on the roof of the rear wall (11) of the tractor (10) and / or on the rear wall (11) of the tractor (10).

17. A system for automatically coupling a tractor and a trailer, characterized in that: The system comprises: Controller, a sensing component (40), wherein the sensing component (40) senses the environment to obtain environmental data and sends the environmental data to the controller, A trailer (20), wherein the trailer (20) comprises a towing head (21), A tractor (10), the tractor (10) comprising a traction assembly (12), the traction assembly (12) comprising: A traction seat (121), wherein the traction seat (121) is used to receive a towing head (21) of a trailer (20), a traction bolt (122) which can be lifted and lowered in a vertical direction and can pass through a through hole of the towing head (21); and a traction shovel (123), the traction shovel (123) being able to be lifted and lowered in a vertical direction, the traction shovel (123) being below the traction seat (121), the traction shovel (123) being used to place the towing head (21), and The traction component (12) follows the instructions of the controller to lift and lower the traction bolt and / or the traction shovel.

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