Commercial vehicle pneumoelectric integrated intelligent saddle control system and method

Abstract

The invention relates to a pneumoelectric integrated intelligent saddle control system and method for a commercial vehicle. The pneumoelectric integrated intelligent saddle control system comprises a main hanging saddle bearing system used for bearing and dragging the weight of a trailer; the saddle unlocking and locking system is used for executing unlocking and locking actions before and after butt joint of the main vehicle and the trailer; the pneumoelectric integrated docking system is used for guiding, docking and locking gas circuits and circuits of the main vehicle and the trailer; the docking detector control system is used for controlling the main vehicle and the trailer to be automatically docked when the main vehicle and the trailer are docked; the information prompting system is used for guiding a docking process and prompting a docking result; automatic butt joint of gas circuits and circuits of a main vehicle and a trailer is achieved, meanwhile, automatic unlocking and locking of a saddle system can be achieved, the convenience of hanging operation of the tractor is effectively improved, and a foundation is laid for unmanned driving technology application.

Description

Technical Field

[0001] This invention relates to the field of commercial vehicle technology, and in particular to a pneumatic-electric integrated intelligent saddle control system and method for commercial vehicles. Background Technology

[0002] The tractor unit's saddle is used to support and tow the trailer system and is a core component of the tractor. Currently, the saddle system and the main-trailer pneumatic-electric docking system are two independent mechanisms. When docking the main-trailer, the driver and passengers need to manually unlock the main vehicle's saddle lock pin through the saddle handle, then reverse to dock. After docking, the saddle handle must be manually operated to lock it, and the main-trailer connection cable and the main-trailer pneumatic connection spiral pipe must be connected from the vehicle. The operation process is complex and requires the driver and passengers to frequently get on and off the vehicle. As the gap between the main and trailer gradually decreases, the operating space for pneumatic-electric docking becomes smaller and smaller, thus affecting the convenience of operation for the driver and passengers. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing a gas-electric integrated intelligent saddle control system and method for commercial vehicles.

[0004] This invention is achieved using the following technical solution:

[0005] A commercial vehicle pneumatic-electric integrated intelligent saddle control system includes:

[0006] Main trailer saddle load-bearing system: used to support and tow the weight of the trailer;

[0007] Saddle unlocking and locking system: used for unlocking and locking actions before and after docking the tractor and trailer;

[0008] Pneumatic-electric integrated docking system: used for guiding, docking, and locking the pneumatic and electrical circuits of the main vehicle and trailer;

[0009] The docking detection machine control system is used to control the automatic docking of the tractor and trailer during the docking process.

[0010] Information prompting system: Used to guide the docking process and prompt the docking results.

[0011] Preferably, the main saddle support system includes a saddle support, a saddle body, and a saddle docking guide mechanism. The saddle body is provided with the saddle support at both ends, and the saddle body is connected to the frame through the saddle support. The saddle body is provided with the saddle docking guide mechanism, which has a "V" shaped structure.

[0012] Preferably, the saddle unlocking and locking system includes a saddle locking cylinder, a saddle handle, a locking pin, a locking hook, a force transmission mechanism, and a return spring. The return spring includes return spring A, return spring B, and return spring C. One end of the saddle locking cylinder is connected to the saddle body, and the other end is connected to the saddle handle. One end of the saddle handle is connected to the locking pin through the force transmission mechanism. A return spring A is connected between the saddle handle and the force transmission mechanism. The other end of the saddle handle is connected to the saddle body through the return spring B. The locking hook is connected to the saddle body through a rotating shaft and is also connected to the saddle body through the return spring C.

[0013] Preferably, the pneumatic-electric integrated docking system includes a male docking device, a female docking device, and a docking guide mechanism. The male docking device is fixedly connected to the saddle body via a bearing, and the female docking device is fixedly connected to the trailer towing pin. Both the male and female docking devices are provided with pneumatic and electrical connection interfaces. The male and female docking devices are respectively connected to the main vehicle's pneumatic and electrical circuits and the trailer's pneumatic and electrical circuits via the pneumatic and electrical connection interfaces. The male docking device is provided with a docking guide mechanism and a docking locking mechanism on both sides. The docking locking mechanism includes a docking locking cylinder and a locking switch. The docking locking switch is provided at the power output end of the docking locking cylinder. The male docking device is also provided with a limit post.

[0014] Preferably, the docking detection and control system includes a traction pin positioning sensor, a saddle handle positioning sensor, a docking lock positioning sensor, a saddle load status sensor, and a main-mounted coupling angle sensor. The traction pin positioning sensor is located on the saddle body and at the locking hook; the saddle handle positioning sensor is located on the saddle body and at the saddle handle; the docking lock positioning sensor is located on the male end docking device; the saddle load status sensor is located on the saddle body; and the main-mounted coupling angle sensor is located between the male end docking device and the saddle body.

[0015] Preferably, the docking detection and control system further includes a saddle cylinder solenoid valve, a docking lock solenoid valve, a saddle controller, and an operating switch. The saddle cylinder solenoid valve is located on the saddle body and is connected to the saddle lock cylinder via an air pipeline and to the saddle controller via an electrical harness. The docking lock solenoid valve is located on the saddle body, with one end connected to the docking lock cylinder via an air pipeline and the other end connected to the saddle controller via an electrical harness. The saddle controller is located in the driver's cab. The docking operating switch is located in the driver's cab and includes a hook-up button and a hook-down button.

[0016] Preferably, the saddle cylinder solenoid valve is a two-position five-way solenoid valve, and the docking lock-up solenoid valve is a two-position three-way solenoid valve.

[0017] Preferably, the information prompting system includes a docking prompting instrument and status indicator lights. The docking prompting instrument is equipped with prompting voice, status icons and status indicator lights. The traction pin positioning sensor, saddle handle positioning sensor, docking lock positioning sensor, saddle load status sensor, main trailer angle sensor, coupling button and uncoupling button are all equipped with the status indicator lights.

[0018] A pneumatic-electric integrated intelligent saddle control method for commercial vehicles, applied to any of the aforementioned intelligent saddle control systems for commercial vehicles, includes a coupling control method. The coupling control method is as follows: when the tractor and trailer are in a separated state and coupling is required, the driver triggers the coupling button of the docking operation switch inside the driver's cab. The saddle controller first detects the status of the towing pin position sensor, saddle handle position sensor, docking lock position sensor, and saddle load status sensor. If it detects that the current vehicle is in a coupling state, the coupling command is not executed, and the status indicator light of the coupling button flashes. If it detects that the current tractor and trailer are in a non-coupling state, the saddle controller first controls the saddle cylinder solenoid valve to release air. Under the control of the saddle cylinder solenoid valve, the saddle locking cylinder pushes the saddle handle to complete the unlocking action. The instrument panel provides voice and status icon prompts to the driver to perform reverse coupling. During coupling, the trailer towing pin and the female coupling device are guided by the saddle coupling guide mechanism and the coupling guide mechanism to dock with the male coupling device. During coupling, the male and female coupling devices are first inserted into each other. At this time, the coupling lock position sensor signal is positive, the coupling lock solenoid valve is vented, and the lock switch is pushed to complete the locking action. During the locking process, the tractor unit drives the saddle body to continue moving towards the trailer towing pin until the trailer towing pin enters the locking hook and approaches the towing pin position sensor. At this time, the saddle controller controls the saddle cylinder solenoid valve to be energized, the saddle lock cylinder is reset, and the saddle handle is reset until the saddle handle position sensor signal is positive. The instrument panel prompts that coupling is complete, and the coupling button status icon is lit.

[0019] Preferably, the system also includes a coupling / uncoupling control method, which is as follows: When the tractor and trailer are in a coupled state and a coupling / uncoupling operation is required, the driver triggers the coupling / uncoupling button of the docking operation switch in the cab. The saddle controller first detects the status of the traction pin position sensor, saddle handle position sensor, docking lock position sensor, and saddle load status sensor. If it detects that the current vehicle is in a coupled / uncoupling state, no action is taken, and the coupling / uncoupling status indicator flashes. If it detects that the current vehicle and trailer are in a coupled state, the saddle controller first controls the docking lock solenoid valve to cut off the air supply, and the lock switch unlocks. At this time, the male and female docking terminals separate. When the solenoid valve of the saddle cylinder is energized, it controls the saddle locking cylinder to unlock the saddle handle. Under the action of the force transmission mechanism, the saddle handle drives the locking pin to unlock. When the saddle handle position sensor detects that the saddle handle is in the unlocked state, the docking indicator prompts the driver to engage / disengage the vehicle. The vehicle moves forward. When the towing pin position sensor, the saddle handle position sensor, the docking locking position sensor are all negative, and the saddle load status sensor does not detect the trailer load, it indicates that the tractor and trailer have separated and the engagement / disengagement action has been completed. At this time, the solenoid valve of the saddle cylinder is energized, which drives the saddle locking cylinder to reset and enter the dormant state, completing the engagement / disengagement operation.

[0020] Compared with the prior art, the present invention has the following beneficial technical effects:

[0021] The system utilizes a main saddle-mounted system to support and tow the trailer's weight; a saddle unlocking and locking system to perform unlocking and locking actions before and after docking; a pneumatic-electric integrated docking system to guide, dock, and lock the pneumatic and electrical circuits of the main vehicle and trailer; a docking detection and control system to automatically dock the main vehicle and trailer during docking; and an information prompting system to guide the docking process and indicate the docking result. This achieves automatic docking of the pneumatic and electrical circuits of the main vehicle and trailer, while also enabling automatic unlocking and locking of the saddle system. This effectively improves the convenience of tractor-trailer docking operations and lays the foundation for the application of unmanned driving technology. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the saddle body of the present invention;

[0023] Figure 2 This is a schematic diagram of the saddle unlocking and locking system of the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of the gas-electric integrated docking system of the present invention. Figure 1 ;

[0025] Figure 4 This is a schematic diagram of the structure of the gas-electric integrated docking system of the present invention. Figure 2 ;

[0026] Figure 5 This is a schematic diagram of the structure of the saddle-mounted cylinder solenoid valve of the present invention;

[0027] Figure 6 This is a schematic diagram of the structure of the locking solenoid valve of the present invention;

[0028] Figure 7 This is a framework diagram of the commercial vehicle pneumatic-electric integrated intelligent saddle control system of the present invention;

[0029] Figure 8 This is a flowchart of the hanging control method of the present invention;

[0030] Figure 9 This is a flowchart of the detachment control method of the present invention.

[0031] Figure Labels

[0032] 1. Saddle support; 2. Saddle body; 3. Saddle docking guide mechanism; 4. Return spring A; 41. Return spring B; 42. Return spring C; 5. Saddle handle; 6. Saddle handle position sensor; 7. Force transmission mechanism; 8. Traction pin position sensor; 9. Saddle locking cylinder; 10. Locking hook; 11. Saddle load status sensor; 12. Locking pin; 13. Docking locking cylinder; 14. Male end connector; 15. Docking guide mechanism; 16. Trailer traction pin; 17. Female end connector; 18. Limiting post; 19. Locking switch; 20. Bearing; 21. Docking locking position sensor; 22. Main trailer angle sensor. Detailed Implementation

[0033] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only 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 should fall within the scope of protection of this invention.

[0034] like Figures 1-3 As shown, a commercial vehicle pneumatic-electric integrated intelligent saddle control system includes:

[0035] Main trailer saddle load-bearing system: used to support and tow the weight of the trailer;

[0036] Saddle unlocking and locking system: used for unlocking and locking actions before and after docking the tractor and trailer;

[0037] Pneumatic-electric integrated docking system: used for guiding, docking, and locking the pneumatic and electrical circuits of the main vehicle and trailer;

[0038] The docking detection machine control system is used to control the automatic docking of the tractor and trailer during the docking process.

[0039] Information prompting system: Used to guide the docking process and prompt the docking results.

[0040] The main saddle support system includes a saddle support 1, a saddle body 2, and a saddle docking guide mechanism 3. The saddle body 2 has saddle supports 1 at both ends and is connected to the frame through the saddle supports 1. The saddle body 2 is equipped with a saddle docking guide mechanism 3, which has a "V" shaped structure.

[0041] The saddle unlocking and locking system includes a saddle locking cylinder 9, a saddle handle 5, a locking pin 12, a locking hook 10, a force transmission mechanism 7, and a return spring. The return spring includes a return spring A4, a return spring B41, and a return spring C42. One end of the saddle locking cylinder 9 is connected to the saddle body 2, and the other end of the saddle locking cylinder 9 is connected to the saddle handle 5. One end of the saddle handle 5 is connected to the locking pin 12 through the force transmission mechanism 7. A return spring A4 is connected between the saddle handle 5 and the force transmission mechanism 7. The other end of the saddle handle 5 is connected to the saddle body 2 through the return spring B41. The locking hook 10 is connected to the saddle body 2 through a rotating shaft, and the locking hook 10 is also connected to the saddle body 2 through the return spring C42.

[0042] One end of the saddle locking cylinder 9 is connected to the saddle body 2, and the other end is connected to the saddle handle 5. The saddle locking cylinder 9 adopts a double-cylinder structure. One end of the saddle handle 5 is connected to the locking pin 12 through the force transmission mechanism 7, and the other end is connected to the saddle body 2 through the return spring A4. The locking pin 12 is connected to the saddle handle 5 through the force transmission mechanism 7 and is used to lock and unlock the traction pin. The locking hook 10 is connected to the saddle body 2 through a rotating shaft and is unlocked through the return spring C42. When the traction pin enters the locking hook 10 and the saddle needs to be locked, the locking end of the saddle locking cylinder 9 is vented. The saddle locking cylinder 9 and the return spring B41 pull the saddle handle 5 back. The saddle handle 5 drives the locking pin 12 to lock through the force transmission mechanism 7, completing the saddle locking action. When the tractor and trailer need to be separated and the saddle needs to be unlocked, the unlocking end of the saddle locking cylinder 9 is vented, and the saddle locking cylinder 9 pushes the saddle handle 5 forward. The saddle handle 5 drives the locking pin 12 to complete the unlocking through the force transmission mechanism 7. The locking hook 10 rotates around the pivot under the action of the return spring C42 to realize the saddle unlocking action.

[0043] The gas-electric integrated docking system includes a male docking device 14, a female docking device 17, and a docking guide mechanism 15. The male docking device 14 is fixedly connected to the saddle body 2 via a bearing 20, and the female docking device 17 is fixedly connected to the trailer towing pin 16. Both the male docking device 14 and the female docking device 17 are provided with air and electrical connection interfaces. The male docking device 14 and the female docking device 17 are connected to the air and electrical circuits of the main vehicle and the trailer respectively via air and electrical connection interfaces. The male docking device 14 is provided with a docking guide mechanism 15 and a docking locking mechanism on both sides. The docking locking mechanism includes a docking locking cylinder 13 and a locking switch 19. The power output end of the docking locking cylinder 13 is provided with a docking locking switch 19. The male docking device 14 is also provided with a limit post 18.

[0044] The docking detection and control system includes a traction pin positioning sensor 8, a saddle handle positioning sensor 6, a docking lock positioning sensor 21, a saddle load status sensor 11, and a main hook angle sensor 22. The traction pin positioning sensor 8 is located on the saddle body 2 and at the locking hook 10; the saddle handle positioning sensor 6 is located on the saddle body 2 and at the saddle handle 5; the docking lock positioning sensor 21 is located on the male end docking device 14; the saddle load status sensor 11 is located on the saddle body 2; and the main hook angle sensor 22 is located between the male end docking device 14 and the saddle body 2.

[0045] like Figure 4 As shown, the main hanger angle sensor 22 is installed at the bearing 20 of the male connector 14. The main hanger angle sensor 22 is fixedly connected to the saddle body 2, and the measuring arm is locked to the bearing 20 of the male connector 14. When the male connector 14 rotates around the saddle body 2, the bearing 20 drives the measuring arm of the main hanger angle sensor 22 to rotate. The main hanger angle sensor 22 outputs the current angle between the main hanger and the male hanger according to the rotation angle of the measuring arm, and transmits the angle to the automatic parking controller through the saddle controller to provide the main hanger angle information for the unmanned automatic parking system.

[0046] like Figure 7 As shown, the docking detection and control system also includes a saddle cylinder solenoid valve, a docking lock solenoid valve, a saddle controller, and an operating switch. The saddle cylinder solenoid valve is located on the saddle body 2 and is connected to the saddle lock cylinder 9 via an air pipeline and to the saddle controller via an electrical harness. The docking lock solenoid valve is located on the saddle body 2, with one end connected to the docking lock cylinder 13 via an air pipeline and the other end connected to the saddle controller via an electrical harness. The saddle controller is located in the driver's cab. The docking operating switch is located in the driver's cab and includes a hook-up button and a hook-down button.

[0047] The saddle cylinder solenoid valve is a two-position five-way solenoid valve, and the docking lock-up solenoid valve is a two-position three-way solenoid valve.

[0048] like Figure 5 As shown, the saddle cylinder solenoid valve is a two-position five-way solenoid valve. When the saddle needs to be locked, the locking end of the saddle cylinder solenoid valve is energized for 1 second, and air is supplied through port A of the locking end of the saddle cylinder solenoid valve. At the same time, the unlocking end air port B is connected to the exhaust port S to exhaust air, thereby realizing the locking action. When the saddle needs to be unlocked, the unlocking end of the saddle cylinder solenoid valve is energized for 1 second, and air is supplied through port B of the unlocking end of the saddle cylinder solenoid valve. At the same time, the locking end air port A is connected to the exhaust port R to exhaust air, thereby realizing the unlocking action.

[0049] The docking locking solenoid valve is a continuously closed solenoid valve. When the docking locking solenoid valve is energized, the docking locking cylinder 13 is connected to the air circuit, pushing the locking switch 19 to lock. When the docking locking solenoid valve is de-energized, the air circuit of the docking locking cylinder 13 is disconnected, and the locking switch 19 is unlocked.

[0050] like Figure 6 As shown, the docking locking solenoid valve is a two-position three-way solenoid valve. When the male docking device 14 and the female docking device 17 need to be locked, the docking locking solenoid valve is energized, and the air inlet P of the docking locking solenoid valve is connected to the air port A of the locking end. The air pressure pushes the docking locking cylinder 13 and drives the locking switch 19 to complete the locking action of the male docking device 14 and the female docking device 17. When the male docking device 14 and the female docking device 17 need to be unlocked, the docking locking solenoid valve is de-energized, the air port A of the locking end is connected to the exhaust port R, the docking locking cylinder 13 exhausts air, and the locking switch 19 resets and unlocks, realizing the unlocking action of the male docking device 14 and the female docking device 17.

[0051] The information prompting system includes a docking prompt instrument and status indicator lights. The docking prompt instrument is equipped with prompt voice, status icons and status indicator lights. The towing pin position sensor 8, saddle handle position sensor 6, docking lock position sensor 21, saddle load status sensor 11, main hanger angle sensor 22, and hook-up and hook-up buttons are all equipped with status indicator lights.

[0052] like Figure 8As shown, a commercial vehicle pneumatic-electric integrated intelligent saddle control method is applied to any of the above-described commercial vehicle intelligent saddle control systems, including a coupling control method. The coupling control method is as follows: When the tractor and trailer are in a separated state and coupling is required, the driver triggers the coupling button of the docking operation switch inside the driver's cab. The saddle controller first detects the status of the towing pin position sensor 8, the saddle handle position sensor 6, the docking lock position sensor 21, and the saddle load status sensor 11. If it detects that the current vehicle is in a coupling state, the coupling command is not executed, and the status indicator light of the coupling button flashes for 3 seconds. If it detects that the current tractor and trailer are in a non-coupling state, the saddle controller first controls the saddle cylinder solenoid valve to release air. Under the control of the saddle cylinder solenoid valve, the saddle locking cylinder 9 pushes the saddle handle 5 to complete the unlocking action. At this time, the docking indication instrument displays the result. Voice prompts and status icons guide the driver to perform reverse docking. During docking, the trailer towing pin 16 and the female docking device 17 are guided by the saddle docking guide mechanism 3 and the docking guide mechanism 15 to dock with the male docking device 14. During docking, the male docking device 14 and the female docking device 17 are first inserted into each other. At this time, the docking lock position sensor 21 signal is positive, the docking lock solenoid valve is vented, and the lock switch 19 is pushed to complete the locking action. During the locking process, the main vehicle drives the saddle body 2 to continue moving towards the trailer towing pin 16 until the trailer towing pin 16 enters the locking hook 10 and approaches the towing pin position sensor 8. At this time, the saddle controller controls the saddle cylinder solenoid valve to be energized, the saddle lock cylinder 9 is reset, and the saddle handle 5 is reset until the saddle handle position sensor 6 signal is positive. The instrument indicates that the docking is complete, and the status icon of the docking button is lit.

[0053] like Figure 9As shown, it also includes a coupling / uncoupling control method. The coupling / uncoupling control method is as follows: When the tractor and trailer are in a coupled state and coupling / uncoupling operation is required, the driver triggers the coupling / uncoupling button on the docking operation switch in the cab. The saddle controller first detects the status of the traction pin position sensor 8, the saddle handle position sensor 6, the docking lock position sensor 21, and the saddle load status sensor 11. If it detects that the current vehicle is in a coupled / uncoupling state, no action is taken, and the coupling / uncoupling status indicator flashes for 3 seconds. If it detects that the current vehicle and trailer are in a coupled state, the saddle controller first controls the docking lock solenoid valve to cut off the air supply, and the lock switch 19 unlocks. At this time, the male docking device 14 and the female docking device 17 separate, and then the saddle... When the cylinder solenoid valve is energized, the saddle cylinder solenoid valve controls the saddle locking cylinder 9 to unlock the saddle handle 5. Under the action of the force transmission mechanism 7, the saddle handle 5 drives the locking pin 12 to complete the unlocking. When the saddle handle position sensor 6 detects that the saddle handle 5 is in the unlocked state, the docking indicator prompts the driver to perform the vehicle coupling / uncoupling operation. The vehicle moves forward. When the towing pin position sensor 8 is negative, the saddle handle position sensor 6 is negative, the docking locking position sensor 21 is negative, and the saddle load status sensor 11 does not detect the trailer load, it indicates that the tractor and trailer have separated and the coupling / uncoupling action has been completed. At this time, the saddle cylinder solenoid valve locking end is energized, driving the saddle locking cylinder 9 to reset and enter the dormant state, completing the coupling / uncoupling operation.

Claims

1. A commercial vehicle pneumatic-electric integrated intelligent saddle control system, characterized in that, include: Main trailer saddle load-bearing system: used to support and tow the weight of the trailer; Saddle unlocking and locking system: used for unlocking and locking actions before and after docking the tractor and trailer; Pneumatic-electric integrated docking system: used for guiding, docking, and locking the pneumatic and electrical circuits of the main vehicle and trailer; The docking detection machine control system is used to control the automatic docking of the tractor and trailer during the docking process. Information prompting system: Used to guide the docking process and prompt the docking results.

2. The commercial vehicle pneumatic-electric integrated intelligent saddle control system according to claim 1, characterized in that, The main saddle support system includes a saddle support (1), a saddle body (2), and a saddle docking guide mechanism (3). The saddle body (2) has the saddle support (1) at both ends. The saddle body (2) is connected to the frame through the saddle support (1). The saddle body (2) is provided with the saddle docking guide mechanism (3), which has a "V" shaped structure.

3. The commercial vehicle pneumatic-electric integrated intelligent saddle control system according to claim 2, characterized in that, The saddle unlocking and locking system includes a saddle locking cylinder (9), a saddle handle (5), a locking pin (12), a locking hook (10), a force transmission mechanism (7), and a return spring. The return spring includes a return spring A (4), a return spring B (41), and a return spring C (42). One end of the saddle locking cylinder (9) is connected to the saddle body (2), and the other end of the saddle locking cylinder (9) is connected to the saddle handle (5). One end of the saddle handle (5) is connected to the locking pin (12) through the force transmission mechanism (7). A return spring A (4) is connected between the saddle handle (5) and the force transmission mechanism (7). The other end of the saddle handle (5) is connected to the saddle body (2) through the return spring B (41). The locking hook (10) is connected to the saddle body (2) through a rotating shaft. The locking hook (10) is also connected to the saddle body (2) through the return spring C (42).

4. The commercial vehicle pneumatic-electric integrated intelligent saddle control system according to claim 3, characterized in that, The gas-electric integrated docking system includes a male docking device (14), a female docking device (17), and a docking guide mechanism (15). The male docking device (14) is fixedly connected to the saddle body (2) via a bearing (20). The female docking device (17) is fixedly connected to the trailer towing pin (16). Both the male docking device (14) and the female docking device (17) are provided with air and electrical connection interfaces. The male docking device (14) and the female docking device (17) are connected to the main vehicle air and electrical circuit and the trailer air and electrical circuit respectively via air and electrical connection interfaces. The male docking device (14) is provided with a docking guide mechanism (15) and a docking locking mechanism on both sides. The docking locking mechanism includes a docking locking cylinder (13) and a locking switch (19). The docking locking switch (19) is provided at the power output end of the docking locking cylinder (13). The male docking device (14) is also provided with a limit post (18).

5. The commercial vehicle pneumatic-electric integrated intelligent saddle control system according to claim 4, characterized in that, The docking detection and control system includes a traction pin positioning sensor (8), a saddle handle positioning sensor (6), a docking lock positioning sensor (21), a saddle load status sensor (11), and a main hook angle sensor (22). The traction pin positioning sensor (8) is located on the saddle body (2) and at the locking hook (10). The saddle handle positioning sensor (6) is located on the saddle body (2) and at the saddle handle (5). The docking lock positioning sensor (21) is located on the male end docking device (14). The saddle load status sensor (11) is located on the saddle body (2). The main hook angle sensor (22) is located between the male end docking device (14) and the saddle body (2).

6. The commercial vehicle pneumatic-electric integrated intelligent saddle control system according to claim 5, characterized in that, The docking detection and control system also includes a saddle cylinder solenoid valve, a docking lock solenoid valve, a saddle controller, and an operating switch. The saddle cylinder solenoid valve is located on the saddle body (2). The saddle cylinder solenoid valve is connected to the saddle lock cylinder (9) through an air pipeline and to the saddle controller through an electrical harness. The docking lock solenoid valve is located on the saddle body (2). One end of the docking lock solenoid valve is connected to the docking lock cylinder (13) through an air pipeline, and the other end is connected to the saddle controller through an electrical harness. The saddle controller is located in the driver's cab. The docking operating switch is located in the driver's cab and includes a hook-up button and a hook-down button.

7. The commercial vehicle pneumatic-electric integrated intelligent saddle control system according to claim 6, characterized in that, The saddle cylinder solenoid valve is a two-position five-way solenoid valve, and the docking lock-up solenoid valve is a two-position three-way solenoid valve.

8. The commercial vehicle pneumatic-electric integrated intelligent saddle control system according to claim 7, characterized in that, The information prompting system includes a docking prompting instrument and a status indicator. The docking prompting instrument is equipped with a prompting voice, a status icon and the status indicator. The traction pin positioning sensor (8), the saddle handle positioning sensor (6), the docking lock positioning sensor (21), the saddle load status sensor (11), the main hanger angle sensor (22), the hook-up button and the hook-up button are all equipped with the status indicator.

9. A method for controlling a commercial vehicle's pneumatic-electric integrated intelligent saddle, applied to the intelligent saddle control system for commercial vehicles as described in any one of claims 1-8, characterized in that, The method includes a coupling control method, which is as follows: When the main vehicle and trailer are in a separated state and coupling is required, the driver triggers the coupling button of the docking operation switch in the driver's cab. The saddle controller first detects the status of the towing pin position sensor (8), saddle handle position sensor (6), docking lock position sensor (21), and saddle load status sensor (11). If it is detected that the current vehicle is in a coupling state, the coupling command is not executed, and the status indicator light of the coupling button flashes for 3 seconds. If it is detected that the current main vehicle and trailer are in a non-coupling state, the saddle controller first controls the saddle cylinder solenoid valve to vent, and the saddle locking cylinder (9) pushes the saddle handle (5) to complete the unlocking action under the control of the saddle cylinder solenoid valve. At this time, the docking prompt instrument prompts the driver to reverse and couple the trailer through voice and status icons. During the coupling process, the trailer towing pin (1) 6) Under the guidance of the saddle docking guide mechanism (3) and the docking guide mechanism (15), the female docking device (17) docks with the male docking device (14). During docking, the male docking device (14) and the female docking device (17) are first inserted into each other. At this time, the docking lock position sensor (21) signal is positive, the docking lock solenoid valve is vented, and the lock switch (19) is pushed to complete the locking action. During the locking process, the main vehicle drives the saddle body (2) to continue moving towards the trailer traction pin (16) until the trailer traction pin (16) enters the locking hook (10) and approaches the traction pin position sensor (8). At this time, the saddle controller controls the saddle cylinder solenoid valve to be energized, the saddle locking cylinder (9) is reset, and the saddle handle (5) is reset until the saddle handle position sensor (6) signal is positive. The instrument indicates that the docking is completed, and the status icon of the docking button is lit.

10. The commercial vehicle pneumatic-electric integrated intelligent saddle control method according to claim 9, characterized in that, It also includes a coupling / uncoupling control method, which is as follows: when the main vehicle and trailer are in a coupled state and coupling / uncoupling operation is required, the driver triggers the coupling / uncoupling button of the docking operation switch in the cab. The saddle controller first detects the status of the traction pin position sensor (8), saddle handle position sensor (6), docking lock position sensor (21), and saddle load status sensor (11). If it is detected that the current vehicle is in a coupled / uncoupling state, no action is performed and the coupling / uncoupling status indicator flashes for 3 seconds. If it is detected that the current vehicle is in a coupled / uncoupling state, the saddle controller first controls the docking lock solenoid valve to cut off the air supply and the lock switch (19) to unlock. At this time, the male docking device (14) and the female docking device (17) are separated, and then the saddle cylinder solenoid valve is released. When the lock end is energized, the saddle cylinder solenoid valve controls the saddle locking cylinder (9) to unlock the saddle handle (5). Under the action of the force transmission mechanism (7), the saddle handle (5) drives the locking pin (12) to complete the unlocking. When the saddle handle position sensor (6) detects that the saddle handle (5) is in the unlocked state, the docking prompt instrument prompts the driver to perform the vehicle coupling / uncoupling. The vehicle moves forward. When the traction pin position sensor (8), the saddle handle position sensor (6), the docking lock position sensor (21), and the saddle load status sensor (11) do not detect the trailer load, it indicates that the main vehicle and the trailer have been separated and the coupling / uncoupling action has been completed. At this time, the lock end of the saddle cylinder solenoid valve is energized, which drives the saddle locking cylinder (9) to reset and enter the dormant state, completing the coupling / uncoupling operation.

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