Automatic hooking device and system, control method and tractor

Abstract

The invention belongs to the technical field of unmanned traction, and discloses an automatic hooking device and system, a control method and a tractor, the automatic hooking device comprises a mounting seat, a motor, a traction pin, a sensor, a manual mode button and a controller, the mounting seat comprises an upper support and a lower trailer guide connecting part, and the sensor comprises an optical sensor and a position sensor; the motor, the traction pin, the optical sensor, the manual mode button and the controller are all arranged on the upper support, the position sensor is arranged on the trailer guide connecting part, the traction pin is in transmission connection with the output end of the motor and located below the motor, and the traction pin can vertically penetrate into the trailer guide connecting part. The controller is arranged outside the bottom end face of the trailer guiding connecting part in an exposed mode and electrically connected with the motor, the sensor and the manual mode button. According to the invention, automatic hooking / unhooking is realized, an alarm can be automatically given and the action can be stopped when an accident occurs, and manual hooking / unhooking is carried out by switching a manual mode, so that the emergency guarantee capability is improved, and the requirements of safe and stable butt joint are met.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of unmanned towing technology, and particularly relates to an automatic hitching device, system, control method and towing vehicle. BACKGROUND

[0002] With the rapid development of artificial intelligence and automation technology, the application of unmanned technology in the field of logistics transportation is increasingly widespread, especially in the factory logistics scene. Unmanned upgrading has become a core trend to improve operational efficiency and reduce labor costs. As a key link in the industrial production chain, factory logistics involves high-frequency operations such as raw material transfer, component distribution, and finished product delivery. Its operating environment is relatively closed and fixed, providing a good foundation for the landing of unmanned technology. However, the current process of unmanned factory logistics is still limited by the docking link between the towing vehicle and the trailer. The traditional hitching mode has been difficult to adapt to the needs of full-process unmanned operation, becoming a bottleneck problem restricting the automation upgrade of factory logistics.

[0003] The existing trailer hitching technology has defects such as insufficient automation, poor compatibility, low docking reliability, and lack of emergency protection mechanisms, which cannot meet the needs of efficient, safe, and stable docking of unmanned towing vehicles and trailers. SUMMARY

[0004] The purpose of the present application is to provide an automatic hitching device, system, control method and towing vehicle. The present application can automatically detect vehicle status, automatically hitch / detach, and automatically alarm and stop when an accident occurs. The worker can manually switch the manual mode button to perform manual hitching / detaching. After troubleshooting, switch back to the automatic hitching mode, improve the emergency protection capability, meet the needs of safe and stable docking, and improve the work efficiency.

[0005] The specific scheme content is as follows:

[0006] An automatic hitching device, comprising a mounting seat, a motor, a towing pin, a sensor, a manual mode button and a controller, the mounting seat comprising an upper bracket and a trailer guiding connection part arranged at the lower part, the sensor comprising an optical sensor and a position sensor, the motor, the towing pin, the optical sensor, the manual mode button and the controller being arranged on the upper bracket, the position sensor being arranged on the trailer guiding connection part, the towing pin being drivingly connected to the output end of the motor and located below the motor, the towing pin being vertically penetrable in the trailer guiding connection part and exposed outside the bottom end face of the trailer guiding connection part, the controller being electrically connected to the motor, the sensor and the manual mode button respectively,

[0007] The motor is used for receiving the instruction information of the controller, driving the vertical movement of the towing pin, and realizing hitching and detaching.

[0008] The sensor is used to collect the position information of the trailer and the hitch pin and feed back to the controller.

[0009] The manual mode button is used to switch between the automatic trailer mode and the manual trailer mode and feed back to the controller.

[0010] The controller is used to receive the information sent by the sensor and the manual mode button, calculate the hitching path of the towing vehicle, send the related instructions of hitching / detaching, and realize the manual button control.

[0011] The upper support of the automatic hitching device is fixedly provided with a motor, the driving end of the motor is in transmission connection with a hitch pin, the hitch pin is vertically arranged in a mounting seat, the hitch pin can vertically move up and down under the driving of the motor, the lower part of the hitch pin can be arranged in a hitch pin mounting hole of a trailer guide connecting part, and the lower end of the hitch pin can be exposed outside the lower end surface of the trailer guide connecting part and be limited and locked. An optical sensor is further arranged on the upper support, and the optical sensor is used to collect the position information of the hitching position of the trailer and the towing vehicle. A position sensor is arranged on the trailer guide connecting part and is used to collect the position information of the hitch pin, the hitch pin mounting hole and the trailer hitch pin hole. A manual mode button is arranged on the upper support, and the manual mode button is arranged on the side surface of the upper support in the application, and the position of the manual mode button can be adjusted according to actual needs. The manual mode button is used to switch between the automatic hitching / detaching and the manual hitching / detaching and control the manual hitching / detaching work when an accident occurs during the hitching / detaching, such as sensor failure or other problems, so that the automatic hitching / detaching cannot be completed. The automatic hitching device alarms and stops working, and then the manual mode button is pressed to switch between the automatic hitching / detaching and the manual hitching / detaching. A controller is arranged on the upper support and is electrically connected with the motor, the sensor and the manual mode button, is used to receive the information collected by the sensor, calculate the path of the towing vehicle through the position information, receive the control information of the manual mode button, send instructions to the vehicle controller, and complete the hitching / detaching action. The automatic hitching device further comprises a dustproof cover, and the dustproof effect inside the device is realized.

[0012] The automatic hitching device, system and control method are combined, when an accident occurs during the hitching / detaching process and the automatic hitching / detaching cannot be completed, the automatic hitching device alarms and stops working according to the preset program, the damage of the equipment is avoided, the working efficiency of the hitching / detaching is improved, the hitching is manually performed by the working personnel through the switching of the manual mode button, the automatic mode can be switched back after the fault is eliminated, the emergency support capability of the automatic hitching device is greatly improved, the needs of safe and stable docking are met, and the working efficiency is improved.

[0013] Further, the optical sensor comprises an image sensor and a photoelectric distance sensor, and the upper support is arranged on the upper part of the mounting seat, and the front part of the upper support is provided with a sensor mounting rack, and the image sensor and the photoelectric distance sensor are arranged on the sensor mounting rack.

[0014] The upper bracket has a sensor mounting bracket at the front. Both the image sensor and the photoelectric distance sensor are mounted on the sensor mounting bracket. The front face of the dust cover has an opening. The shape and size of the sensor mounting bracket match the opening. Both the image sensor and the photoelectric distance sensor are exposed outside the opening. The sensor bracket and the front face of the dust cover fit tightly together to prevent rainwater and dust from entering the dust cover from the opening.

[0015] Furthermore, image sensors include cameras, and photoelectric ranging sensors include lidar.

[0016] This invention preferably uses a camera as the image sensor and a lidar as the photoelectric ranging sensor, enabling relatively accurate monitoring of automatic attachment / detachment. The camera, lidar, and third position sensor are mainly used to collect position information between the tractor and the front connection point of the trailer.

[0017] Furthermore, the manual mode button includes a mode switching button and a manual control button. The controller is electrically connected to the mode switching button and the manual control button respectively. The mode switching button is used to switch between automatic trailer mode and manual trailer mode, and the manual control button is used to manually control the attachment or detachment.

[0018] The mode switch button allows switching between automatic and manual modes, while the manual control button enables manual attachment / detachment. The inclusion of the manual mode button significantly enhances emergency response capabilities.

[0019] Furthermore, the back of the mounting base is provided with a tractor connecting plate, the upper bracket is set on the upper part of the tractor connecting plate, and the trailer guide connecting part is set on the lower part of the tractor connecting plate. The trailer guide connecting part includes an upper plate, a lower plate, a lower guide plate, a left side plate, and a right side plate. The upper plate and the lower plate are horizontally parallel and spaced apart, and each has a tractor pin mounting hole in the middle that matches the tractor pin. The tractor pin can be vertically inserted into the tractor pin mounting hole and is limited to the bottom surface of the lower plate. The front end of the lower guide plate is inclined downward, and the rear end of the lower guide plate is fixedly connected to the front end surface of the lower plate. The left side plate and the right side plate are fixed in a figure-eight shape to the left and right sides of the upper plate and the lower plate respectively, forming an approximately trumpet-shaped structure.

[0020] The trailer guide connector is used to connect with the trailer. Its overall structure is similar to a horn shape. The left side plate, right side plate and lower guide plate are designed to facilitate the correct insertion of the trailer's front end connection between the upper and lower plates of the trailer guide connector, and to vertically align the trailer's tow pin hole with the tow pin mounting holes on the upper and lower plates, so that the tow pin can move up and down to engage or disengage.

[0021] Furthermore, the position sensor includes a first position sensor, a second position sensor, and a third position sensor. The first position sensor is disposed on the bottom surface of the upper plate and is used to collect position information of the towing pin rising. The second position sensor is disposed on the bottom surface of the lower plate and is used to collect position information of the towing pin falling. The third sensor is disposed on the inner wall of the left side plate / right side plate / tractor connecting plate and is used to collect position information of the towing pin and the trailer towing pin hole when connected.

[0022] The first and second position sensors are installed on the bottom surfaces of the upper and lower plates, respectively, to collect the position information of the tow pin and send it to the controller for better monitoring of the tow pin engagement and disengagement status. The third position sensor can be installed on the inner wall of the left / right side plate / tractor-trailer connecting plate to collect position information at the trailer's front connection point and during the connection of the upper and lower plates, and send it to the controller. The controller combines the position information from the position sensors with that from the camera and lidar to determine the correctness of the trailer-tractor connection position, ensuring smooth automatic engagement / disengagement, preventing equipment damage, and improving work efficiency.

[0023] Furthermore, it also includes a dust cover, which is an inverted cylindrical structure that is detachably and fixedly connected to the upper bracket. The motor, traction pin, and controller are all housed inside the dust cover. The front face of the dust cover has an opening, and the sensor bracket fits tightly against the opening on the front face of the dust cover. The image sensor and photoelectric distance sensor are located outside the opening on the front face of the dust cover, and the manual mode button is exposed on the side of the dust cover.

[0024] The automatic attachment device of this invention also includes a dust cover, which is a nearly inverted cylindrical structure. The motor, traction pin, and controller are all housed within the dust cover for dust and water protection. The front face of the dust cover has an opening. The image sensor and photoelectric distance sensor are mounted on a sensor mounting bracket and exposed outside the opening on the front face of the dust cover. The sensor mounting bracket and the front face of the dust cover are tightly fitted to prevent rainwater and dust from entering through the opening. A manual mode button is exposed on the side of the dust cover, in two ways: one, the manual mode button is mounted on an upper bracket with an opening on the side of the dust cover, allowing it to be exposed; two, the manual mode button is directly mounted on the side of the dust cover, with a wire threaded through the dust cover and connected to the controller. This invention preferably mounts the manual mode button on the side of the dust cover, but it is not limited to the side; other locations are also within the scope of protection of this invention, depending on the actual application requirements.

[0025] An automatic coupling system includes the aforementioned automatic coupling device, and also includes a vehicle controller, the controller being electrically connected to the vehicle controller.

[0026] A control method for an automatic attachment system, applied to the automatic attachment system, includes an attachment method and an detachment method, the specific steps of which are as follows:

[0027] S11. Coupling Method: The vehicle controller sends a coupling command to the controller. The controller determines whether the tractor is currently in a disengaged state based on information from the sensors. If it is determined to be in a disengaged state, the coupling action continues. The controller sends a lifting command to the motor, which lifts the traction pin to its highest point and then stops. The controller calculates the tractor's movement path based on the sensor feedback and sends a reversing command to the vehicle controller to control the tractor to reverse and engage. The sensors provide position information to the controller. During the reversing coupling process, if the controller detects a missing sensor signal, it issues an alarm and sends a command to the vehicle controller to stop the tractor and proceed to step S13. If the sensor signal is normal, the next step continues.

[0028] S12. When the controller recognizes the correct position, i.e., when the trailer front end is inserted between the upper and lower plates and the trailer's tow pin hole is aligned with the tow pin mounting holes of the upper and lower plates, it sends a stop command to the vehicle controller to stop the tractor. After the controller determines that the vehicle speed is zero based on the information fed back by the sensors, it sends a command to control the motor to descend. The motor drives the tow pin downwards, passing through the tow pin mounting holes of the upper plate, the trailer, and the lower plate in sequence until it stops at the lowest point of the tow pin. After the sensor recognizes that the tow pin has reached the lowest point, the controller sends feedback to the vehicle controller that the coupling is complete. If the tractor fails to successfully couple once while reversing, the controller recalculates the movement path based on the sensor feedback and continues to couple. When the number of failed coupling attempts exceeds a preset value and / or the sensor feedback indicates that the gap between the trailer front end and the mounting seat is less than a preset value, the controller issues an alarm and sends a command to the vehicle controller to stop the tractor and proceed to the next step.

[0029] S13. The operator presses the mode conversion button and manually connects the device using the manual control button until the connection is complete. Then, the operator presses the mode conversion button again.

[0030] S21. Disengagement Method: The tractor unit stops, and the vehicle controller sends a disengagement command to the controller. The controller uses sensors to identify the current status of the towing pin and trailer. After determining that the vehicle speed is zero based on the information from the sensors, the controller sends a command to the motor to control the towing pin to rise to its highest point and then stop. After the sensors identify that the towing pin has reached its highest point, the controller sends feedback to the vehicle controller that the disengagement is complete. If the disengagement is unsuccessful, the controller continues to attempt to disengage. When the number of failures exceeds a preset value, the controller issues an alarm and stops the disengagement action, then proceeds to the next step.

[0031] S22. The operator presses the mode conversion button and manually unmounts the attachment using the manual control button until unmounting is complete. Then, the operator presses the mode conversion button again.

[0032] A tractor unit includes the aforementioned automatic coupling system, wherein a tractor unit coupling plate is fixedly connected to the rear wall of the tractor unit.

[0033] In the control method of this invention, the highest point refers to the lowest point of the traction pin being higher than the upper surface of the upper plate, and the lowest point refers to the lowest point of the traction pin being lower than the lower surface of the lower plate. When the traction pin rises to the highest point, it disengages from the trailer; when the traction pin descends to the lowest point, it engages with the trailer.

[0034] Compared with the prior art, the present invention has the following advantages:

[0035] This invention can automatically detect vehicle status, automatically engage / disengage, and automatically alarm and stop operation in case of an accident. Staff can manually switch to manual mode to engage / disengage the vehicle, and switch back to automatic engagement mode after troubleshooting. This improves emergency response capabilities, meets the needs of safe and stable docking, and increases work efficiency. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the automatic attachment device according to Embodiment 1 of the present invention.

[0037] Figure 2 This is an overall schematic diagram of the automatic attachment device according to Embodiment 2 of the present invention.

[0038] Figure 3 This is a schematic diagram of the internal structure of the automatic attachment device according to Embodiment 2 of the present invention.

[0039] Figure 4 This is a side view of the internal structure of the automatic attachment device according to Embodiment 2 of the present invention, excluding the sensor.

[0040] Figure 5 This is a schematic diagram showing the position of the traction pin and the trailer connection point of the automatic coupling device of the present invention.

[0041] In the picture:

[0042] 1. Mounting base; 1.0. Upper bracket; 1.1. Trailer guide connection; 1.11. Upper plate; 1.12. Lower plate; 1.13. Lower guide plate; 1.14. Left side plate; 1.15. Right side plate; 1.16. Towing pin mounting hole; 1.2. Sensor mounting bracket; 1.3. Tractor connecting plate; 2. Motor; 3. Towing pin; 4. Sensor; 4.1. Image sensor; 4.2. Photoelectric distance sensor; 4.3. First position sensor; 4.4. Second position sensor; 4.5. Third position sensor; 5. Manual mode button; 5.1. Mode conversion button; 5.2. Manual control button; 6. Controller; 7. Dust cover; 8. Trailer towing pin hole. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0044] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in this invention and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0045] It should be noted that the terms "front", "rear", "inner", "outer", "left", "right", etc., used in this invention to indicate the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0046] It should be noted that any symbols and or numbers present in the specification that are not marked in the accompanying drawings are not reference numerals.

[0047] The following examples are combined with Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 The present invention will be described as follows:

[0048] Example 1:

[0049] An automatic splicing device, see Figure 1As shown, the system includes a mounting base 1, a motor 2, a towing pin 3, a sensor 4, a manual mode button 5, and a controller 6. The mounting base 1 includes an upper bracket 1.0 and a trailer guide connection part 1.1 located at the lower part. The motor 2, towing pin 3, sensor 4, manual mode button 5, and controller 6 are all mounted on the upper bracket 1.0. The trailer guide connection part 1.1 is used for adapter connection with a trailer. The towing pin 3 is drivenly connected to the output end of the motor 2 and is located below the motor. The towing pin 3 can be vertically inserted into the trailer guide connection part 1.1 and protrudes from the bottom end face of the trailer guide connection part 1.1. The controller 6 is electrically connected to the motor 2, sensor 4, and manual mode button 5 respectively.

[0050] Motor 2 is used to receive command information from controller 6 and drive traction pin 3 to move vertically, realizing engagement and disengagement;

[0051] Sensor 4 is used to collect the position information of the trailer and the towing pin and feed it back to the controller 6;

[0052] The manual mode button 5 is used to switch between automatic trailer mode and manual trailer mode and provides feedback to the controller;

[0053] The controller 6 is used to receive information from the sensor 4 and the manual mode button 5, calculate the tractor coupling path, and send relevant commands for coupling / uncoupling.

[0054] The optical sensor includes an image sensor 4.1 and an electro-optical distance measuring sensor 4.2. The upper bracket 1.0 is located on the upper part of the mounting base 1, and the front of the bracket is provided with a sensor mounting frame 1.2. Both the image sensor 4.1 and the electro-optical distance measuring sensor 4.2 are mounted on the sensor mounting frame 1.2.

[0055] Image sensor 4.1 includes a camera, and photoelectric ranging sensor 4.2 includes a lidar.

[0056] The manual mode button 5 includes a mode switching button 5.1 and a manual control button 5.2. The controller 6 is electrically connected to the mode switching button 5.1 and the manual control button 5.2 respectively. The mode switching button 5.1 is used to switch between automatic trailer mode and manual trailer mode, and the manual control button 5.2 is used for manual control of attaching or detaching the trailer.

[0057] The back of the mounting base 1 is provided with a tractor connecting plate 1.3. The upper bracket 1.0 is set on the upper part of the tractor connecting plate 1.3, and the trailer guide connecting part 1.1 is set on the lower part of the tractor connecting plate. The trailer guide connecting part 1.1 includes an upper plate 1.11, a lower plate 1.12, a lower guide plate 1.13, a left side plate 1.14, and a right side plate 1.15. The upper plate 1.11 and the lower plate 1.12 are horizontally parallel and spaced apart, and each has a tractor pin mounting hole 1.16 in the middle that matches the tractor pin 3. The tractor pin 3 can be vertically inserted into the tractor pin mounting hole 1.16 and is limited to the bottom surface of the lower plate 1.12. The front end of the lower guide plate 1.13 is inclined downward, and the rear end face of the lower guide plate 1.13 is fixedly connected to the front end face of the lower plate 1.12. The left side plate 1.14 and the right side plate 1.15 are fixed in a figure-eight shape to the left and right sides of the upper plate 1.11 and the lower plate 1.12 respectively, forming an approximately trumpet-shaped structure.

[0058] Sensor 4 also includes a first position sensor 4.3, a second position sensor 4.4, and a third position sensor 4.5, see [link to documentation]. Figure 1 As shown, the first position sensor 4.3 is disposed on the bottom surface of the upper plate 1.11 to collect the position information of the traction pin 3 as it rises; the second position sensor 4.4 is disposed on the bottom surface of the lower plate 1.12 to collect the position information of the traction pin 3 as it falls; the third sensor 4.5 is disposed on the inner wall of the left side plate 1.14 / right side plate 1.15 / tractor connecting plate 1.3, see Figure 5 As shown, this is used to collect position information when the towing pin 3 and the trailer towing pin hole are connected.

[0059] Example 2:

[0060] An automatic splicing device, see Figure 2 , Figure 3 , Figure 4 As shown, the system includes a mounting base 1, a motor 2, a towing pin 3, a sensor 4, a manual mode button 5, and a controller 6. The mounting base 1 includes an upper bracket 1.0 and a trailer guide connection part 1.1 located at the lower part. The motor 2, towing pin 3, sensor 4, manual mode button 5, and controller 6 are all mounted on the upper bracket 1.0. The trailer guide connection part 1.1 is used for adapter connection with a trailer. The towing pin 3 is drivenly connected to the output end of the motor 2 and is located below the motor. The towing pin 3 can be vertically inserted into the trailer guide connection part 1.1 and protrudes from the bottom end face of the trailer guide connection part 1.1. The controller 6 is electrically connected to the motor 2, sensor 4, and manual mode button 5 respectively.

[0061] Motor 2 is used to receive command information from controller 6 and drive traction pin 3 to move vertically, realizing engagement and disengagement;

[0062] Sensor 4 is used to collect the position information of the trailer and the towing pin and feed it back to the controller 6;

[0063] The manual mode button 5 is used to switch between automatic trailer mode and manual trailer mode and provides feedback to the controller;

[0064] The controller 6 is used to receive information from the sensor 4 and the manual mode button 5, calculate the tractor coupling path, and send relevant commands for coupling / uncoupling.

[0065] The optical sensor includes an image sensor 4.1 and an electro-optical distance measuring sensor 4.2. The upper bracket 1.0 is located on the upper part of the mounting base 1, and the front of the bracket is provided with a sensor mounting frame 1.2. Both the image sensor 4.1 and the electro-optical distance measuring sensor 4.2 are mounted on the sensor mounting frame 1.2.

[0066] Image sensor 4.1 includes a camera, and photoelectric ranging sensor 4.2 includes a lidar.

[0067] The manual mode button 5 includes a mode switching button 5.1 and a manual control button 5.2. The controller 6 is electrically connected to the mode switching button 5.1 and the manual control button 5.2 respectively. The mode switching button 5.1 is used to switch between automatic trailer mode and manual trailer mode, and the manual control button 5.2 is used for manual control of attaching or detaching the trailer.

[0068] The back of the mounting base 1 is provided with a tractor connecting plate 1.3. The upper bracket 1.0 is set on the upper part of the tractor connecting plate 1.3, and the trailer guide connecting part 1.1 is set on the lower part of the tractor connecting plate. The trailer guide connecting part 1.1 includes an upper plate 1.11, a lower plate 1.12, a lower guide plate 1.13, a left side plate 1.14, and a right side plate 1.15. The upper plate 1.11 and the lower plate 1.12 are horizontally parallel and spaced apart, and each has a tractor pin mounting hole 1.16 in the middle that matches the tractor pin 3. The tractor pin 3 can be vertically inserted into the tractor pin mounting hole 1.16 and is limited to the bottom surface of the lower plate 1.12. The front end of the lower guide plate 1.13 is inclined downward, and the rear end face of the lower guide plate 1.13 is fixedly connected to the front end face of the lower plate 1.12. The left side plate 1.14 and the right side plate 1.15 are fixed in a figure-eight shape to the left and right sides of the upper plate 1.11 and the lower plate 1.12 respectively, forming an approximately trumpet-shaped structure.

[0069] Sensor 4 also includes a first position sensor 4.3, a second position sensor 4.4, and a third position sensor 4.5, see [link to documentation]. Figure 1 As shown, the first position sensor 4.3 is disposed on the bottom surface of the upper plate 1.11 to collect the position information of the traction pin 3 as it rises; the second position sensor 4.4 is disposed on the bottom surface of the lower plate 1.12 to collect the position information of the traction pin 3 as it falls; the third sensor 4.5 is disposed on the inner wall of the left side plate 1.14 / right side plate 1.15 / tractor connecting plate 1.3, see Figure 5 As shown, this is used to collect position information when the towing pin 3 and the trailer towing pin hole are connected.

[0070] It also includes a dust cover 7, which is detachably and fixedly connected to the upper bracket 1.0 of the trailer guide connection part 1.1. The motor 2, the traction pin 3 and the controller 6 are all housed in the dust cover 7. The front end face of the dust cover 7 has an opening, and the sensor 4 can be exposed outside the opening on the front end face of the dust cover 7. The manual mode button 5 can be set on the side of the dust cover 7.

[0071] Example 3:

[0072] The present invention also provides an automatic coupling system, including an automatic coupling device and a vehicle controller, wherein the controller 6 is electrically connected to the vehicle controller.

[0073] Example 4:

[0074] This invention also provides a control method for an automatic attachment system, applied to an automatic attachment system, including an attachment method and an detachment method, the specific steps of which are as follows:

[0075] S11. The coupling method includes: the vehicle controller sends a coupling command to the controller 6. The controller 6 determines whether the tractor is currently in a disengaged state based on the information fed back by the sensor 4. If it is determined to be in a disengaged state, the coupling action continues. The controller 6 sends a lifting command to the motor 2. The first position sensor 4.3, the second position sensor 4.4, and the third position sensor 4.5 feed back the position information of the traction pin 3 to the controller 6. The motor 2 lifts, driving the traction pin 3 to the highest point and then stops. The controller 6 calculates the movement path of the tractor based on the feedback information from the image sensor 4.1 and the photoelectric distance sensor 4.2, and sends a reversing command to the vehicle controller to control the tractor to reverse and couple. The image sensor 4.1 and the photoelectric distance sensor 4.2 feed back position information to the controller 6. During the reversing coupling process, if the controller detects a signal loss from the image sensor 4.1 and the photoelectric distance sensor 4.2, the controller 6 issues an alarm and sends a command to the vehicle controller to stop the tractor and proceed to step S13. If the signals from the image sensor 4.1 and the photoelectric distance sensor 4.2 are normal, the next step continues.

[0076] S12. When controller 6 detects the correct position—that is, when the trailer front connector is inserted between the upper plate 1.11 and the lower plate 1.12, and the trailer's tow pin hole 8 aligns with the tow pin mounting holes of the upper plate 1.11 and the lower plate 1.12—it sends a stop command to the vehicle controller to stop the tractor. Controller 6, after determining the vehicle speed is zero based on feedback from image sensor 4.1 and photoelectric distance sensor 4.2, executes the coupling action. Controller 6 sends a command to control motor 2 to descend. The first position sensor 4.3, the second position sensor 4.4, and the third position sensor 4.5 provide feedback to controller 6 regarding the position of the tow pin 3. Position information: Motor 2 drives the traction pin 3 downwards, passing through the upper plate traction pin mounting hole 1.16, the trailer traction pin hole 8, and the lower plate traction pin mounting hole 1.16 in sequence until the lowest point of the traction pin 3 stops. Controller 6 sends feedback to the vehicle controller that the coupling is complete. If the tractor fails to successfully engage the traction while reversing, the coupling continues. When the number of failed coupling attempts exceeds a preset value and / or the gap between the trailer front end and mounting seat 1, as indicated by image sensor 4.1, photoelectric distance sensor 4.2, and third position sensor 4.5, is less than a preset value, controller 6 issues an alarm and sends a command to the vehicle controller to stop the tractor and proceed to the next step.

[0077] S13. The operator presses the mode conversion button 5.1 and manually connects the device using the manual control button 5.2 until the connection is complete. Then, the operator presses the mode conversion button 5.1 again.

[0078] S21. Disengagement Method: The tractor unit stops, and the vehicle controller sends a disengagement command to the controller 6. The controller 6 identifies the current status of the towing pin and trailer through the sensor 4. After determining that the vehicle speed is zero based on the information fed back from the sensor 4, the controller 6 executes the disengagement action. The controller 6 sends a command to the motor 2 to control the towing pin 3 to rise. After the sensor 4 identifies that the towing pin has reached its highest position, the controller 6 sends feedback to the vehicle controller that the disengagement is complete. If the disengagement is unsuccessful, it continues to attempt to disengage. When the number of failures exceeds a preset value, the controller 6 issues an alarm and stops the disengagement action, then proceeds to the next step.

[0079] S22. The operator presses the mode conversion button 5.1 and manually unmounts the device using the manual control button 5.2 until unmounting is complete. Then, the operator presses the mode conversion button 5.1 again.

[0080] Example 5:

[0081] The present invention also provides a tractor unit including an automatic coupling system.

[0082] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic hitching device, characterized in that, The utility model relates to a trailer automatic hitching device, including mounting seat (1), motor (2), traction pin (3), sensor (4), artificial mode button (5) and controller (6), the mounting seat (1) includes upper support (1.0) and sets up in the trailer guide connecting portion (1.1) of lower part, the sensor (4) includes optical sensor and position sensor, the motor (2), traction pin (3), optical sensor, artificial mode button (5) and controller (6) are all set up on upper support (1.0), the position sensor sets up on trailer guide connecting portion (1.1), the traction pin (3) transmission is connected in the output of motor (2) and is located below the motor, the traction pin (3) can be vertically set up in trailer guide connecting portion (1.1) and is exposed and set up in the bottom end surface of trailer guide connecting portion (1.1) outside, the controller (6) is electrically connected motor (2), sensor (4) and artificial mode button (5) respectively, The motor (2) is used for receiving the instruction information of controller (6), drives the traction pin (3) vertical movement, realizes and hangs and unhooks; The sensor (4) is used for gathering the position information of trailer and traction pin and feeds back to controller (6); The artificial mode button (5) is used for the switching of automatic trailer mode and artificial trailer mode and feeds back to controller (6); The controller (6) is used for receiving the information sent by sensor (4) and artificial mode button (5), calculates the hitching path of towing vehicle, sends the relevant instruction of hitching / unhitching, realizes artificial button control.

2. The automatic hitching device according to claim 1, characterized in that The optical sensor includes image sensor (4.1) and photoelectric distance sensor (4.2), the upper support (1.0) is set up in the upper portion of mounting seat (1), and the front portion is equipped with sensor mounting bracket (1.2), the image sensor (4.1) and photoelectric distance sensor (4.2) are all set up on sensor mounting bracket (1.2).

3. The automatic hitching device according to claim 2, characterized in that The image sensor (4.1) includes a camera, and the photoelectric distance sensor (4.2) includes a laser radar.

4. The automatic hitching device according to claim 1, characterized in that The artificial mode button (5) includes mode conversion button (5.1) and manual control button (5.2), the controller (6) is electrically connected mode conversion button (5.1) and manual control button (5.2) respectively, the mode conversion button 5.1) is used for the switching of automatic trailer mode and artificial trailer mode, and the manual control button (5.2) is used for artificial control hitching or unhitching.

5. The automatic hitching device according to claim 1, characterized in that The back of the mounting seat (1) is provided with a tractor connecting plate (1.3), the upper support (1.0) is arranged on the upper part of the tractor connecting plate (1.3), and the trailer guide connecting part (1.1) is arranged on the lower part of the tractor connecting plate (1.3). The trailer guide connecting part (1.1) comprises an upper plate (1.11), a lower plate (1.12), a lower guide plate (1.13), a left side plate (1.14) and a right side plate (1.15). The upper plate (1.11) and the lower plate (1.12) are arranged in parallel and spaced apart, and the middle parts of the upper plate (1.11) and the lower plate (1.12) are provided with a draw pin mounting hole (1.16) matched with a draw pin (3). The draw pin (3) can be vertically arranged in the draw pin mounting hole (1.16) and limited on the bottom surface of the lower plate (1.12). The front end of the lower guide plate (1.13) is inclined downward, and the rear end surface of the lower guide plate (1.13) is fixedly connected to the front end surface of the lower plate (1.12). The left side plate (1.14) and the right side plate (1.15) are fixed to the left and right sides of the upper plate (1.11) and the lower plate (1.12) respectively, and form a horn-shaped structure.

6. The automatic hitching device according to claim 5, characterized in that The position sensor comprises a first position sensor (4.3), a second position sensor (4.4) and a third position sensor (4.5). The first position sensor (4.3) is arranged on the bottom surface of the upper plate (1.11) and used for collecting position information of the draw pin (3) rising. The second position sensor (4.4) is arranged on the bottom surface of the lower plate (1.12) and used for collecting position information of the draw pin (3) descending. The third sensor (4.5) is arranged on the inner wall of the left side plate (1.14) / the right side plate (1.15) / the tractor connecting plate (1.3) and used for collecting position information when the draw pin (3) is connected with the trailer draw pin hole.

7. The automatic hitching device according to claim 1, characterized in that The dust cover (7) is a reverse-closed cylindrical structure, which is detachably fixedly connected to the upper support (1.0). The motor (2), the draw pin (3) and the controller (6) are arranged in the dust cover (7). The front end surface of the dust cover (7) is provided with an opening. The sensor support is tightly attached to the opening of the front end surface of the dust cover (7). The image sensor (4.1) and the photoelectric distance sensor (4.2) are exposed outside the opening of the dust cover (7). The manual mode button (5) is exposed on the side surface of the dust cover (7).

8. An automatic hitching system, characterized in that The automatic hitching device comprises a whole vehicle controller, and the controller (6) is electrically connected to the whole vehicle controller.

9. A control method of an automatic hitching system, characterized by, The automatic hitching system comprises a hitching method and a hitching-off method. S11, the method of hitching: the vehicle controller sends a hitching instruction to the controller (6), the controller (6) determines whether the tractor is in the state of unhitching through the information fed back by the sensor (4); if it is determined that the tractor is in the state of unhitching, the controller (6) continues to perform the hitching action, sends a rising instruction to the motor (2), the motor (2) rises to drive the draw pin (3) to rise to the highest point and then stops, the controller (6) calculates the moving path of the tractor according to the feedback information of the sensor (4), and sends a reversing instruction to the vehicle controller to control the tractor to reverse and hitch, the sensor (4) feeds back the position information of the tractor and the trailer to the controller (6), in the process of reversing and hitching, if the controller identifies that the sensor (4) signal is missing, the controller (6) issues an alarm and sends an instruction to the vehicle controller to control the tractor to stop, and the step S13 is jumped to; if the sensor (4) signal is normal, the next step is continued to be performed; S12, the controller (6) identifies the correct hitching position, that is, when the front end of the trailer is inserted between the upper plate (1.11) and the lower plate (1.12), and the draw pin hole (8) of the trailer is aligned with the draw pin mounting hole (1.16) of the upper plate (1.11) and the lower plate (1.12), a parking instruction is sent to the vehicle controller to control the tractor to stop, after the controller (6) determines that the vehicle speed is zero through the feedback information of the sensor (4), the controller (6) sends an instruction to control the motor (2) to descend, the motor (2) drives the draw pin (3) to pass through the draw pin mounting hole (1.16) of the upper plate, the draw pin hole (8) of the trailer and the draw pin mounting hole (1.16) of the lower plate in sequence to the lowest point of the draw pin (3) and then stops, after the sensor identifies that the draw pin reaches the lowest point, the controller (6) feeds back to the vehicle controller that the hitching is completed; if the tractor fails to hitch once, the controller (6) re-calculates the moving path according to the feedback information of the sensor (4) to continue hitching, when the number of hitching failures is greater than a preset value and / or the gap between the front end of the trailer and the mounting seat (1) fed back by the sensor (4) is less than a preset value, the controller (6) issues an alarm and sends an instruction to the vehicle controller to control the tractor to stop, and the next step is jumped to; S13, a person presses the mode conversion button (5.1), the person manually controls the button (5.2) to artificially hitch, until the hitching is completed, and the mode conversion button (5.1) is pressed again; S21, the method of unhitching: the tractor stops, the vehicle controller sends an unhitching instruction to the controller (6), the controller (6) identifies that the current draw pin and the trailer are in the hitching state through the sensor (4), and after the controller (6) determines that the vehicle speed is zero through the feedback information of the sensor (4), the controller (6) sends an instruction to the motor (2) to control the draw pin (3) to rise, the sensor (4) identifies that the draw pin reaches the highest point and then stops, and the controller (6) feeds back to the vehicle controller that the unhitching is completed; if the unhitching is not successful, the controller (6) continues to attempt unhitching, when the number of failures is greater than a preset value, the controller (6) issues an alarm and stops the unhitching action, and the next step is jumped to; S22, the personnel presses the mode conversion button (5.1), the personnel manually controls the button (5.2) to manually unhook, until the unhooking is completed, and the mode conversion button (5.1) is pressed again.

10. A towing vehicle characterized in that The automatic hitching system comprises a tractor connecting plate (1.3) fixedly connected to the wall at the rear of the tractor.

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