Kingpin-Coupled Trailer Angle Sensing for Autonomous Yard Reversing
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Solution Overview
Problem
Autonomous tractors face challenges in accurately determining the position and orientation of articulated trailers, as they lack sensors to measure the angle between the tractor and trailer, which is crucial for safe and precise maneuvering, especially in automated yards where trailers from different manufacturers may require human intervention for sensor installation.
Innovation Solution
Implementing a trailer angle encoder system that includes an arm coupled with a flange beneath the tractor's fifth wheel and an optical encoder, or a magnetically coupled mechanism, to determine the angle between the tractor and trailer, along with using LIDAR to capture a point cloud and convert it into coordinate form for accurate angle calculation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensors are installed on trailers to determine angle and position, then measurement precision is improved, but device complexity and ease of operation worsen due to requiring human intervention for sensor installation on each trailer
Solution Approach 1:
The patent introduces an intermediary optical encoder system mounted on the autonomous tractor that mechanically couples with the trailer's kingpin. This mediator measures the angle between tractor and trailer without requiring permanent sensor installation on the trailer itself, thus maintaining measurement precision while avoiding the operational complexity of sensor installation and removal on each trailer
Solution Approach 2:
The patent replaces electronic sensor-based measurement systems with a mechanical coupling system using an optical encoder. The mechanical coupler attaches to the trailer's kingpin and the optical encoder mechanically tracks the angle through the fifth wheel assembly, providing accurate angle measurement without requiring complex electronic sensors to be installed on each trailer
2Reliability
If additional sensors are added to autonomous tractors to detect obstacles and humans, then safety is improved, but device complexity increases
Solution Approach 1:
The patent makes the existing optical encoder system multi-functional by programming it to serve both as an angle measurement device for trailer positioning and as an obstacle detection system. The same optical encoder that measures tractor-trailer angle also detects humans and obstacles in the tractor's path, thus improving safety without adding separate sensor systems
Solution Approach 2:
The patent combines the angle measurement function and obstacle detection function into a single optical encoder system. By merging these two functions into one device, the system improves safety through comprehensive monitoring while avoiding the device complexity that would result from installing separate sensors for each function
3Measurement precision
If manual intervention is required to attach sensors to each trailer, then adaptability to different manufacturers' trailers is reduced, but measurement precision can be maintained through direct sensor attachment
Solution Approach 1:
The patent uses the trailer's existing kingpin as an intermediary attachment point that is universal across different trailer manufacturers. The optical encoder system on the tractor couples with this standard component rather than requiring manufacturer-specific sensors, thus maintaining measurement precision while achieving broad adaptability to different trailer types
Solution Approach 2:
The patent creates a universal measurement system by designing the optical encoder to interface with the standard kingpin-fifth wheel assembly that is common across different trailer manufacturers. This universal approach eliminates the need for manual sensor installation on each trailer while maintaining accurate angle measurement through the standardized mechanical coupling
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables the autonomous tractor to accurately and safely reverse articulated trailers into designated locations by providing precise knowledge of the trailer's back end, enhancing safety and efficiency in automated yard operations.
Implementation Method 1
an optical encoder positioned at a first end of the arm and having a rotatable shaft with a mechanical coupler
Implementation Method 2
or a magnetically coupled mechanism, to determine the angle between the tractor and trailer
Implementation Method 3
along with using LIDAR to capture a point cloud and convert it into coordinate form for accurate angle calculation
Data Source
AI summary
Systems and methods determine an angle of an articulated trailer relative to a tractor that the trailer is hitched to. An encoder is positioned beneath a fifth-wheel of a tractor to couples with a kingpin of the trailer when the trailer is hitched to the tractor. The coupler has a rotating shaft that may include pins that physically interact with the kingpin and/or may include a magnet that magnetically attaches to the kingpin. A clearance and cleaning block may be positioned on the spring plate to interact with a bottom surface of a kingpin of the trailer during hitching of the trailer to the tractor. A LIDAR attached to the tractor may detect a front end of the trailer to determine the trailer angle relative to the tractor.