公开(公告)号：WO2023043676A1

公开(公告)日：2023-03-23

申请号：PCT/US2022/043082

申请日：2022-09-09

Applicant: CROWN EQUIPMENT CORPORATION

Inventor： GILLILAND, Kevin ,  WIETHOLTER, Adam ,  GROVER, Michael

IPC: B60D1/04 ,  B60D1/62 ,  B60D1/36

Abstract: A materials handling vehicle comprising a hitch system, and a drive mechanism. The hitch system comprises a hitch and a hitch controller. The hitch comprises a latch, one or more sensors, an actuator, and a receiving member. The latch is positionable between open and closed positions. The actuator is positionable between retracted, intermediate, and extended positions. The receiving member is configured to lead a cart hook to engage the latch when in the closed position. The one or more sensors are configured to detect a position of the latch and a presence of the cart hook received within the receiving member. The hitch controller is configured to position the actuator in one of the retracted position, the intermediate position, and the extended position, and to position the latch in one of the open position and the closed position in response to signals received from the one or more sensors.

公开(公告)号：WO2023043675A1

公开(公告)日：2023-03-23

申请号：PCT/US2022/043076

申请日：2022-09-09

Applicant: CROWN EQUIPMENT CORPORATION

Inventor： GILLILAND, Kevin ,  WIETHOLTER, Adam ,  GROVER, Michael

IPC: B60D1/04 ,  B60D1/36

Abstract: A materials handling vehicle comprising a hitch, and a drive mechanism. The hitch comprises a latch and a receiving member. The latch is positionable between open and closed positions. The receiving member comprises a pair of inwardly curved side scoops and a central incline member provided between the pair of inwardly curved side scoops, each inwardly curved side scoop having an upper surface, a lower surface opposite the upper surface, an inner surface, an outer surface opposite the inner surface, a rear surface, and a front surface opposite the rear surface. The rear and upper surfaces of the pair of inwardly curved side scoops define an open rear end of the receiving member, the upper surface being sloped at the open rear end. The central incline member and the upper surface of the pair of inwardly curved side scoops cooperate to lead a cart hook to engage the latch.

公开(公告)号：WO2022271978A1

公开(公告)日：2022-12-29

申请号：PCT/US2022/034773

申请日：2022-06-23

Applicant: OUTRIDER TECHNOLOGIES, INC.

Inventor： RECORD, Jonathan ,  GRABBE, Robert ,  KLEIN, Lawrence ,  HENNING, Floyd

IPC: B62D15/02 ,  B62D53/06 ,  B60D1/01 ,  B60D1/28 ,  B62D53/10 ,  B60D1/36 ,  B60R1/003 ,  B60R2300/105 ,  G01S17/931

Abstract: 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.

公开(公告)号：WO2022187442A1

公开(公告)日：2022-09-09

申请号：PCT/US2022/018643

申请日：2022-03-03

Applicant: REDDEN, Milton J.

Inventor： REDDEN, Milton J.

IPC: B60D1/02 ,  B60D1/00 ,  B60D1/01 ,  B60D1/14 ,  B60D1/243 ,  B60D1/28 ,  B60D1/36 ,  B60D1/52

Abstract: The present invention provides an articulated safety hitch which is a more secure and flexible replacement for the conventional hitch and ball towing systems long used in light to heavy duty towing, thus improving safety, longevity, strength, serviceability, and ease of manufacture. Instead of a single ball typically used in conventional hitch and ball towing systems, the inventive articulated safety hitch can move in all directions with wide bearing separation and without binding up or slipping off. In addition, the inventive articulated safety hitch is simple to build and uses readily available, off-the-shelf components as wearable items, such as existing trailer tongues and ball coupler designs.

公开(公告)号：WO2021247559A1

公开(公告)日：2021-12-09

申请号：PCT/US2021/035231

申请日：2021-06-01

Applicant: PACCAR INC. ,  DELIZO, Stan ,  HAN, Yen-Lin ,  CROSS, Benjamin M. ,  HART, Trevor R. ,  NOORFESHAN, Sahm ,  VAN VALKENBURGH, Owen F.

Inventor： DELIZO, Stan ,  HAN, Yen-Lin ,  CROSS, Benjamin M. ,  HART, Trevor R. ,  NOORFESHAN, Sahm ,  VAN VALKENBURGH, Owen F.

IPC: B60D1/38 ,  B60D1/00 ,  B60D1/01 ,  B60D1/04 ,  B60D1/24 ,  B60D1/36 ,  B60D1/62 ,  B25J15/0028 ,  B25J9/1612 ,  B25J9/163 ,  B25J9/1664 ,  B25J9/1679 ,  B25J9/1697 ,  B60D1/64 ,  B62D53/125 ,  F16L33/28 ,  F16L37/002

Abstract: The present technology describes systems and methods for power coupling of a tractor-trailer system. The technology may include a robotic arm, an end effector, a coupling tool, and a tool resting rack. An electrical outlet on a trailer may be coupled with a tool under control of the end effector and positioning of the robotic arm. The end effector may include a housing, a motor, a clutch, and a drive shaft. A tool coupled to the end effector may include an electro-mechanical (EM) coupler. The EM coupler may include a housing, an electric plug, a lid lifter, a lead screw, and a servomotor.

公开(公告)号：WO2021219353A1

公开(公告)日：2021-11-04

申请号：PCT/EP2021/059397

申请日：2021-04-12

Applicant: ZF FRIEDRICHSHAFEN AG

Inventor： JAGER, Gabriela ,  HELLER, Carolin

IPC: B60D1/62 ,  B60D1/36 ,  B60D1/06 ,  B60R1/00 ,  G05D1/02

Abstract: Steuereinheit (118), die dazu eingerichtet ist, ein Höhenprofil auf Basis von Sensordaten zu erfassen (S2) und eine Positionskorrektur (Δh) für einen Kupplungskopf (101) eines Fahrzeugs (100) und/oder für ein Kupplungsauge (201) eines Anhängers auf Grundlage des Höhenprofils und auf Grundlage eines Fahrzeugmodells des Fahrzeugs (100) zu bestimmen (S6).

公开(公告)号：WO2021123990A1

公开(公告)日：2021-06-24

申请号：PCT/IB2020/061370

申请日：2020-12-02

Applicant: JOST-WERKE DEUTSCHLAND GMBH

Inventor： GITZEN, Stephan ,  MÜLLER, Mark ,  SAUPE, Swen

IPC: B60R11/04 ,  B60R1/00 ,  B62D53/08 ,  B60D1/36 ,  B60D1/62 ,  B60D1/015 ,  B60R2011/004 ,  B60R2300/808 ,  B62D53/0807

Abstract: Es wird eine Sattelkupplung mit einer Kupplungsplatte (10) und einer Kamera (30) beschrieben, wobei die Kupplungsplatte (10) mittels von Lagerelementen (20) an einem Zugfahrzeug abgestützt ist, einen zentrisch angeordneten Verschlussbereich (11) zur Aufnahme eines Königszapfens (41), eine den Verschlussbereich (11) seitlich zumindest teilweise umgebende Stützfläche (12) zur Auflage eines Aufliegers (40) sowie eine von dem Verschlussbereich (11) radial verlaufende Einfahröffnung (13) aufweist, welche in einem konisch aufgeweiteten Abschnitt (13a) beidseitig von Einfahrhörnern (14a, 14b) begrenzt ist. Der Erfindung lag die Aufgabe zugrunde, die Kamera (30) in einer Position im Bereich der Sattelkupplung mit möglichst geringem Verschmutzungs- und Beschädigungsrisiko anzubringen. Die Aufgabe wird erfindungsgemäß dadurch gelöst, dass die Kamera (30) an einem der Einfahrhörner (14a) angeordnet ist.

公开(公告)号：WO2021108802A1

公开(公告)日：2021-06-03

申请号：PCT/US2020/070811

申请日：2020-11-22

Applicant: CONTINENTAL AUTOMOTIVE SYSTEMS, INC.

Inventor： YU, Xin ,  BERKEMEIER, Matthew Donald ,  VERMA, Dhiren

IPC: B60D1/36 ,  B60R1/00 ,  B60D1/62 ,  B62D13/00

Abstract: A system for locating a coupler of a trailer includes at least one camera positioned on a rear portion of a tow vehicle. A coupler detector module is constructed and arranged 1) to receive images of the coupler from the at least one camera and 2) to determining a two-dimensional (2D) pixel position of the coupler. A camera motion estimator module is constructed and arranged 1) to receive images from the at least one camera and data regarding motion of the tow vehicle and 2) determine a pose of the camera including a three-dimensional (3D) position and heading of the at least one camera. A coupler estimator module is constructed and arranged 1) to receive the pose of the camera and the 2D pixel position of the coupler and based thereon, 2) to determine an estimated 3D position of the coupler in real world coordinates.

公开(公告)号：WO2019217586A1

公开(公告)日：2019-11-14

申请号：PCT/US2019/031378

申请日：2019-05-08

Applicant: CONTINENTAL AUTOMOTIVE SYSTEMS, INC.

Inventor： BYNUM, Danny ,  BERKEMEIER, Matthew Donald ,  YU, Xin ,  VERMA, Dhiren

IPC: B60D1/36 ,  B60R1/00 ,  G05D1/02 ,  G06T7/246 ,  G06K9/62 ,  B60D1/62 ,  G01C11/00 ,  G01C21/16 ,  G05D1/00

Abstract: A method for tracking a trailer coupler (212) positioned behind a tow vehicle (100) is provided. The method includes receiving one or more images (143) from a camera (142) positioned on a back portion of the tow vehicle (100). The method also includes determining a trailer coupler position within the one or more images. The trailer coupler position associated with the trailer coupler (212). Additionally, the method includes receiving vehicle sensor data (141) from one or more vehicle sensors. The method includes determining vehicle motion data based on the received vehicle sensor data (141). The method also includes determining an updated coupler position based on the trailer coupler position and the vehicle motion data.

公开(公告)号：WO2019213306A1

公开(公告)日：2019-11-07

申请号：PCT/US2019/030260

申请日：2019-05-01

Applicant: CONTINENTAL AUTOMOTIVE SYSTEMS, INC.

Inventor： RAMIREZ LLANOS, Eduardo Jose

IPC: B60D1/36 ,  B60D1/62 ,  B60R1/00 ,  G06T7/277 ,  G01C11/16 ,  G01C11/28 ,  G01C11/00 ,  G01C21/16 ,  G06K9/32 ,  G01C11/06 ,  G06T17/00

Abstract: A method for detecting and localizing a trailer coupler (212) of a trailer (200) is provided. The method includes receiving images (143) from a camera (142) positioned on a back portion of a tow vehicle (100) and determining a region of interest (300) within the images (143). The region of interest (300) includes a representation of the trailer coupler (212). The method includes determining a camera plane (310) and a road plane (320). In addition, the method includes determining a three-dimensional point cloud representing objects inside the region of interest (300) and within the camera plane (310) and the road plane (320). The method also includes receiving sensor data from a sensor system (140) and determining a coupler location of the trailer coupler based on the 3D point cloud and the sensor data. The method also includes sending instructions to a drive system (110) causing the tow vehicle (100) to autonomously drive along a path in a rearward direction towards the coupler location.