Trailer Angle Encoder Coupling for Autonomous Yard Maneuvering
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Solution Overview
Problem
Autonomous tractor systems lack accurate methods to determine the angle and position of articulated trailers, which is crucial for safe and precise maneuvering, especially in automated yards where human intervention is not feasible.
Innovation Solution
The implementation of a trailer angle encoder system that includes an optical encoder and a LIDAR-based method to calculate the angle between the tractor and trailer, using a mechanical coupler and magnetically coupled components to determine the trailer's orientation and position relative to the tractor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If sensors are added to the autonomous tractor for detecting obstacles, then safety is improved, but device complexity increases
Solution Approach 1:
The patent combines multiple sensing functions into a single integrated sensor system. The sensor array includes both obstacle detection capabilities and trailer angle measurement capabilities in one unified system, eliminating the need for separate sensors for each function and thereby reducing overall device complexity while maintaining comprehensive safety monitoring
Solution Approach 2:
The sensor system is designed to perform multiple functions simultaneously: detecting obstacles in the tractor's path, measuring the angle between the tractor and trailer, and providing positional information. This multi-functional approach improves safety without proportionally increasing device complexity, as one sensor system accomplishes what would otherwise require multiple separate systems
2Measurement precision
If a trailer angle encoder system is implemented, then measurement precision of trailer angle is improved, but device complexity increases
Solution Approach 1:
The patent introduces a mechanical linkage system that acts as an intermediary between the trailer's fifth wheel and the optical encoder. This mechanical coupling transmits the trailer's angular position to the encoder without requiring direct electronic sensing on the trailer itself, achieving precise measurement while keeping the system relatively simple through mechanical means
Solution Approach 2:
The system replaces complex electronic sensing arrangements with a combination of simple mechanical linkage and optical encoding. The mechanical coupling provides reliable physical connection for angle transmission, while the optical encoder provides precise digital measurement, together achieving high measurement precision without the complexity of purely electronic or purely mechanical systems
3Measurement precision
If human intervention is required for sensor installation on trailers, then measurement precision is maintained, but productivity decreases
Solution Approach 1:
The sensor system is designed to be self-installing through the mechanical coupling mechanism. As the trailer is backed into position against the autonomous tractor, the mechanical linkage automatically engages with the trailer's fifth wheel, and the optical encoder automatically establishes the mechanical coupling. This self-service installation eliminates the need for manual sensor installation while maintaining measurement precision, thereby significantly improving productivity
4Reliability
If additional sensors are added to the autonomous tractor, then reliability is improved, but loss of time in system setup increases
Solution Approach 1:
The sensor system and mechanical coupling are pre-configured and integrated into the autonomous tractor before operation. The optical encoder, mechanical linkage, and mounting structures are all prepared in advance as a complete assembly. When a trailer needs to be measured, the system is already ready to automatically couple and begin measurements immediately, eliminating time-consuming setup procedures while maintaining comprehensive safety monitoring capabilities
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 accurate and safe reverse maneuvering of articulated trailers into designated locations by providing the autonomous tractor with precise knowledge of the trailer's orientation and position, enhancing safety and operational efficiency 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
a magnet positioned at a second end of the arm, the magnet to magnetically couple with a bottom surface of a kingpin when the tractor is hitched to the trailer
Implementation Method 3
A LIDAR-based method to calculate the angle between the tractor and 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 the 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 cleaning block is positioned interact with a bottom surface of a kingpin of the trailer during hitching of the trailer to the tractor. The trailer angle encoder may be automatically deployed when the kingpin is locked in the fifth-wheel. A LIDAR attached to the tractor may detect a front end of the trailer to determine the trailer angle relative to the tractor.