Kingpin-Coupled Trailer Angle Encoder for Autonomous Yard Maneuvering
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Solution Overview
Problem
Autonomous yard vehicles face challenges in safely maneuvering trailers due to the lack of sensors on articulated trailers, which can lead to accidents if obstacles are not detected, and require human intervention for sensor installation, introducing additional safety concerns.
Innovation Solution
The implementation of a trailer angle encoder system that determines the angle between the tractor and trailer using optical encoders and LIDAR, allowing the autonomous tractor to accurately position the trailer by calculating the location of the trailer's back end based on the tractor's orientation, length, and angle, enabling safe and precise maneuvering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If sensors are installed on trailers to detect obstacles and improve safety, then safety is improved, but human intervention is required for sensor installation which introduces additional safety concerns and reduces efficiency
Solution Approach 1:
The system uses the trailer's existing fifth wheel and kingpin components to perform the sensing function. The optical encoder is integrated into the hitch mechanism itself, allowing the trailer to provide its own positioning information without requiring external sensors or human installation. The fifth wheel assembly serves dual purposes: mechanical connection and angular position sensing.
Solution Approach 2:
The patent introduces an optical encoder as an intermediary device that translates the mechanical connection between fifth wheel and kingpin into measurable angular position data. This intermediary component enables the autonomous tractor to indirectly sense trailer position through the existing mechanical interface without requiring direct sensor installation on the trailer body.
2Reliability
If additional sensors are added to autonomous tractors to detect obstacles, then safety is improved, but device complexity increases
Solution Approach 1:
The fifth wheel assembly is designed to serve multiple functions: mechanical connection between tractor and trailer, articulation mechanism for angle changes, and angular position sensing through the integrated optical encoder. This multi-functionality eliminates the need for separate obstacle detection sensors while maintaining safety through accurate position awareness.
Solution Approach 2:
The optical encoder provides continuous feedback on the relative angular position between the fifth wheel and kingpin. This feedback mechanism allows the autonomous tractor to understand trailer orientation and position in real-time, enabling safe maneuvering without requiring additional external sensors to detect obstacles.
3Measurement precision
If manual sensor installation on trailers is required, then measurement precision can be improved, but productivity decreases due to additional intervention steps
Solution Approach 1:
The patent merges the trailer positioning sensing function with the existing mechanical hitch components. The optical encoder is integrated into the fifth wheel assembly, combining the articulation mechanism and position sensing into a single unified system. This eliminates separate sensor installation steps while maintaining precise position measurement capability.
Solution Approach 2:
The optical encoder is pre-integrated into the fifth wheel assembly during manufacturing, so that when the trailer is hitched to the autonomous tractor, the sensing capability is already in place and immediately functional. This preliminary integration eliminates the need for post-manufacturing sensor installation and calibration steps.
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
This solution enhances safety and efficiency by allowing autonomous tractors to accurately reverse and position trailers without human intervention, reducing the risk of accidents and streamlining the loading and unloading process in automated yards.
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
using a LIDAR to determine a position and/or location and/or orientation of the back end of the articulated trailer
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 optical 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 optical 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.