Robotic Gladhand Coupling for Misaligned Autonomous Trailers
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Solution Overview
Problem
The trucking industry relies on manual processes for connecting and disconnecting trailers to trucks, despite various automation attempts, and there are challenges in reliably facilitating connections between airlines on autonomous vehicles (AV) trucks and native or modified gladhands, which can vary in placement and type.
Innovation Solution
A system and method using a robot manipulator arm with an end effector assembly that navigates to the gladhand using machine vision and engages it with a hinged gladhand/wedge capture assembly and pressurized clamping connection plate, accommodating different geometries through passive or active compliance elements, and includes a hinge assembly for movement between locked and unlocked configurations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual processes are used for connecting and disconnecting trailers to trucks, then the driver can perform the operations, but the labor intensity and time consumption increase significantly
Solution Approach 1:
The system enables automated self-service connection and disconnection of trailers through a robotic arm that autonomously performs coupling operations. The robot navigates to the trailer, engages the fifth wheel with the kingpin, and connects pneumatic and electrical lines without human intervention, allowing the truck to service itself rather than requiring manual driver labor for these repetitive tasks
Solution Approach 2:
The patent replaces the manual mechanical operations of connecting trailers with an automated robotic system. The robotic arm uses sensors, computer vision, and automated actuators to perform the coupling sequence that previously required manual driver actions, substituting human-operated mechanical processes with automated electromechanical systems
2Extent of automation
If automated systems are implemented for connecting trailers, then labor is reduced, but the system complexity and reliability challenges increase
Solution Approach 1:
The automated connection system incorporates multiple sensors and detection mechanisms that provide real-time feedback during the coupling process. The system monitors the position of the robotic arm, the engagement status of the fifth wheel and kingpin, and the connection status of pneumatic and electrical lines, allowing for verification and correction of connection status to ensure reliable automated operation
Solution Approach 2:
The system performs preliminary actions by pre-positioning the robotic arm and pre-aligning connection components before the actual coupling occurs. The robot navigates to the trailer and prepares the connection interface in advance, ensuring proper alignment and reducing the risk of connection failures during the automated process
3Device complexity
If a fixed connection system is used, then the structure is simple, but it cannot accommodate varying gladhand types and misalignments
Solution Approach 1:
The connection system incorporates dynamic elements including a robotic arm with multiple degrees of freedom that can adapt its position and orientation. The system dynamically adjusts the connection approach based on detected gladhand positions and types, allowing the rigid connection components to be reached and engaged through flexible robotic motion rather than requiring a fixed rigid structure
Solution Approach 2:
The automated connection system is designed with universal capability to handle multiple types of gladhands and connection configurations. The robotic arm can adapt its end effector and approach strategy to accommodate different trailer and truck configurations, making the system versatile across various connection standards and geometries
4Manufacturing precision
If precise alignment is required for connection, then the connection accuracy is high, but the system cannot tolerate misalignments between truck and trailer
Solution Approach 1:
The system uses dynamic robotic positioning to achieve precise connection alignment despite initial misalignments. The robotic arm compensates for position and orientation differences between the truck and trailer through real-time sensor feedback and adaptive motion control, maintaining high connection precision while tolerating varying initial conditions
Data Source
AI summary
This invention provides a system and method for reliably interconnecting a native gladhand on a trailer with an AV truck, in which the gladhand can vary in placement and type on the trailer front. A visually guided robot manipulator arm accesses the trailer front. The arm includes an end effector assembly that is arranged to visually navigate to the gladhand and engage the gladhand by latching onto a gladhand using a connection tool that includes a hinged gladhand/wedge capture assembly and a pressurized clamping connection plate that selectively engages the trailer gladhand seal. The capture assembly is arranged to accommodate different gladhand geometries in latching thereonto. The connection tool includes a hinge that is spring-loaded in both a locked and unlocked bistable state, and sensors monitor the state. The system can include passive or active compliance elements that accommodate moderate misalignment between the engaged gladhand and the robotic arm/connection tool.