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.
本发明提供了一种牵引车与挂车自动挂接的方法和系统、自动脱挂的方法、与挂车自动挂接的牵引车。牵引车与挂车自动挂接的方法,该方法包括:感知组件对环境进行感知以获得环境数据;基于环境数据生成从牵引车到挂车的行驶轨迹;指令牵引车沿着行驶轨迹行驶,直到挂车的拖挂头搁置在牵引车的牵引铲上;指令牵引铲向上提升,以使拖挂头能够从牵引铲转移到牵引车的牵引座上;对挂车的拖挂头的通孔的中心与牵引车的牵引栓的中心之间的第一中心距离进行感知,并且将该第一中心距离提供给控制器;指令牵引车在朝向挂车的方向上行驶以缩短第一中心距离,直到第一中心距离归零;指令牵引车的牵引栓落下以穿过通孔。
Method and system for automatically hooking tractor and trailer, automatic unhooking method and tractor automatically hooked with trailer
牵引车与挂车自动挂接的方法和系统、自动脱挂的方法、与挂车自动挂接的牵引车
2025-05-09
Patent
Electronic Resource
Chinese
IPC: | B60D Fahrzeugverbindungen , VEHICLE CONNECTIONS |
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