WO2019156623A1 - Towing vehicle and towed vehicle connection assembly - Google Patents
Towing vehicle and towed vehicle connection assembly Download PDFInfo
- Publication number
- WO2019156623A1 WO2019156623A1 PCT/SG2018/050223 SG2018050223W WO2019156623A1 WO 2019156623 A1 WO2019156623 A1 WO 2019156623A1 SG 2018050223 W SG2018050223 W SG 2018050223W WO 2019156623 A1 WO2019156623 A1 WO 2019156623A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- towed vehicle
- towing vehicle
- vehicle
- towed
- towing
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/36—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for facilitating connection, e.g. hitch catchers, visual guide means, signalling aids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/58—Auxiliary devices
- B60D1/62—Auxiliary devices involving supply lines, electric circuits, or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D2001/001—Traction couplings; Hitches; Draw-gear; Towing devices specially adapted for use on vehicles other than cars
- B60D2001/005—Traction couplings; Hitches; Draw-gear; Towing devices specially adapted for use on vehicles other than cars for carts, scooters, or the like
Definitions
- This invention relates to towing vehicles and towed vehicles such as towed vehicles used at airports and other places for the transportation of cargo.
- each towed vehicle such as a cargo trailer currently carries a portable Unit Load Device (U LD) of payload up to 1 .5 to 2 tonnes.
- U LD Unit Load Device
- towed vehicles such as heavy pallet dollys are able to carry increased load of up to 4 U LD, i.e. 8 tonnes per towed vehicle, it creates strain on manual labour to handle the increased payloads and to link up the towing vehicles and towed vehicles.
- the tow bar is held in a substantially vertical position by a latch on a towed vehicle.
- the process of moving a tow bar on the towed vehicle from 80 degrees to the horizontal plane to a horizontal position in orderto release the two front wheels, and hooking or unlatching a safety latch of a towed vehicle are at present manual tasks that are not able to be automated in the current state of the art.
- the present invention attempts to overcome at least in part some of the aforementioned disadvantages and to provide for alternative solutions that are safe, simple and reliable to operate, and increases productivity and quality assurance.
- a towing vehicle for use with a towed vehicle comprising:- a main body;
- connection assembly mounted on the platform, the connection assembly comprising one or more guiding members configured to releasably receive one or more corresponding connectors of the towed vehicle;
- a lifting means configured for lifting the platform in a direction such that the one or more guiding members are aligned for receiving the one or more corresponding connectors of the towed vehicle.
- the lifting of the platform releases the towed vehicle from its braking position.
- the lifting means includes hydraulic actuators for moving the platform in an upward or downward direction.
- the lifting means includes electrical actuators for moving the platform in an upward or downward direction.
- the towing vehicle is an autonomous unmanned vehicle.
- the towing vehicle is controlled by a detachable wired controller or a wireless remote controller.
- the towed vehicle is a cargo trailer comprising a tow bar pivotable about a main frame of the towed vehicle, wherein when the tow bar is in a substantially vertical position, the towed vehicle is in a braking position.
- the platform comprises a pair of substantially horizontal support members.
- each of the one or more of guiding members comprise a recess, and the recess is substantially squarish in shape.
- the recess is substantially complementary in shape with the one or more corresponding connectors on the towed vehicle.
- each of the one or more guiding members comprises an abutting member that faces the rear of the main body, wherein the abutting member has a height that is greater than the one or more guiding members.
- the towed vehicle for use with a towing vehicle above, wherein the towed vehicle comprises one or more connectors configured to be releasably received by one or more corresponding guiding members present in the towing vehicle.
- the towed vehicle is one of a cargo trailer, container trailer, pallet dolley, baggage trolley, baggage dolley, ground power unit or air start unit.
- the cargo trailer, container trailer, pallet dolley, baggage trolley, baggage dolley, ground power unit or air start unit carries a portable Unit Load Device.
- the towed vehicle comprises a tow bar pivotable about a main frame of the towed vehicle, wherein when the tow bar is in a substantially vertical position, the towed vehicle is in a braking position.
- F igure 1 illustrates a perspective view of a towing vehicle according to an embodiment of the present disclosure.
- F igure 2 illustrates a top view of a towed vehicle according to an embodiment.
- F igure 3A illustrates a partial side view of the towed vehicle when in operation according to an embodiment.
- F igure 3B illustrates a partial side view of the towed vehicle when in operation according to an embodiment.
- F igure 4 illustrates a perspective view of a connection assembly according to an embodiment.
- F igure 5A illustrates a top view of a bracket according to an embodiment.
- F igure 5B illustrates a perspective view of the bracket according to an embodiment.
- F igure 5C illustrates a rear view of the bracket according to an embodiment.
- F igure 5D illustrates a front view of the bracket according to an embodiment.
- any property described herein for a specific device may also hold for any device described herein. It will be understood that any property described herein for a specific method may also hold for any method described herein. F urthermore, it will be understood that for any device or method described herein, not necessarily all the components or steps described must be enclosed in the device or method, but only some (but not all) components or steps may be enclosed.
- Coupled “ or :connected “ herein may be understood as electrically coupled or as mechanically coupled, for example attached or fixed, or just in contact without any fixation, and it will be understood that both direct coupling or indirect coupling (in other words, coupling without direct contact) may be provided.
- a towing vehicle 10 as depicted in F igure 1 for towing a towed vehicle.
- the towed vehicle may be a cart or a trailer for transporting tangible goods such as baggage, packages, retail goods or other items.
- the cart or trailer is capable of holding and transporting a container carrying a Unit Load Device (U LD).
- U LD Unit Load Device
- S uch containers can contain items such as baggage or items for delivery to an intended destination.
- the towing vehicle 10 is an unmanned autonomous ground vehicle.
- the autonomous vehicle is designed to be capable of operating autonomously (for example navigating and driving) on paved roadways that are ordinarily used for aircraft or motor vehicle traffic.
- paved roadways include streets, roads, highways, tunnels, airport runways and roads, etc.
- the autonomous vehicle is also designed to be capable of operating autonomously in a closed environment that may include human passenger traffic. These includes shopping malls, airport arrival and departure halls, warehouse facilities, commercial or industrial areas.
- the towing vehicle 10 includes a main body 1 6 and a supporting frame 17.
- the main body 1 6 comprises essential components of an autonomous vehicle which can include a computer control system.
- the computer control system has a perception module, a navigation module, a communications module and a power source.
- the towing vehicle 10 may include a plurality of sensors for realizing environment mapping, accurate localization, obstacle avoidance, autonomous navigation, lane tracking and reverse docking.
- These sensors may include at least a LIDAR (Light Detection and Ranging) unit, an IMU (Inertial Measurement Unit), at least one wheel encoder sensorfor each of the front and rearwheels, a radar unit a light sensor, a G P S unit, and/or an optical image sensor which work in concert with one another to provide a three dimensional view of an environment surrounding the towing vehicle.
- the physical dimensions of the towing vehicle 10 are preferably 1317mm (L) x 790mm (W) x 1 092mm (H).
- the control system includes a controller unit which may be understood as any kind of a logic implementing entity, which may be special purpose circuitry or a processor executing software stored in a memory, firmware, or any combination thereof.
- a controller unit may be a hard-wired logic circuit or a programmable logic circuit such as a programmable processor, e.g. a microprocessor (e.g. a C omplex Instruction S et C omputer (CIS C) processor or a Reduced Instruction S et C omputer (RIS C) processor).
- the controller unit may also be a processor executing software, e.g. any kind of computer program, e.g. a computer program using a virtual machine code such as e.g. J ava.
- the control system therefore directs and executes the implementation of the modules of the towing vehicle as described in this specification. Any other kind of implementation of the respective functions which will be described in more detail below may also be understood as a controller in accordance with an alternative embodiment.
- the towing vehicle 10 has a navigation module that is capable of autonomously driving the vehicle to an intended destination.
- the navigation module further includes a G PS unit and a map building module.
- the map building module includes the integration of other maps, in addition to the conventional navigational maps, which may contain specific information about traffic or roadway infrastructure features. F or example, location of obstacles within a closed environment location of speed bumps or potholes, location of pedestrian crossings, high density human traffic areas, location of escalators or stairs or doors, etc.
- the map building module provides an accurate environment mapping achieved by a mapping algorithm by fusing data obtained from the wheel encoder sensors, the IMU and the LIDAR units. By integrating the linear velocity, angular velocity and linear acceleration obtained, an accurate location of the towing vehicle can be obtained.
- the computer control system is communicatively coupled to a remote wireless controller that is operated by a human orto a cloud-based or dedicated server through wireless network to be remotely controlled for autonomously navigating of the towing vehicle to a destination specified by the network server.
- the specific coordinates of the destination can be configured by a user on the wireless controller or server or input directly on the towing vehicle itself.
- the towing vehicle 10 has a communication module that may comprise a radio communications unit such as a receiver, transmitter, transceiver (for example, cellular radio transceiver) and/or antenna.
- the radio communications unit may operate via any suitable radio link such as a cellular network, WiF i, satellite, or combinations thereof.
- the towing vehicle can be remotely operated by a user by a remote wireless controller or a detachable wired controller.
- the control system has a perception module for detecting objects in its surroundings.
- the perception module includes associated computer hardware and software, sensors, detectors and emitters for example, a LIDAR unit a radar unit, optical image units, light sensors, etc..
- the perception module collates image information and data from these units for processing the image information through its computer hardware and software.
- the perception module may use any of various types of sensors, including photodetectors (for example, in a camera or LIDAR), radar receiver, or sonar receiver.
- the perception module uses a photodetector, such as an optical image sensor in a camera or photodiodes in a LIDAR .
- the towing vehicle 10 may be propelled by any suitable power source, including conventional power sources such as gasoline or diesel, or alternative power sources such as battery-electric, natural gas, fuel cell, hybrid-electric, etc., or any combination thereof.
- the vehicle may be powered by range limited power sources, such as by electricity accumulator units, for example batteries or capacitors.
- the vehicle may be hybrid-electric powered, for example, electrically- powered in combination with a fuel engine.
- the towing vehicle is propelled by one or more motors, which can be electric or fuel powered. However, the vehicle should have sufficient power to maintain a reasonable speed that is capable of carrying the weight of the towed vehicle and its contents.
- the towing vehicle 10 comprises a platform coupled to the main body of the towing vehicle 10.
- the platform comprises a pair of elongated support members 12a, 12b extending substantially horizontally from the rear of the main body.
- a connection assembly 1 1 is mounted on the platform and includes a guiding member 1 9a, 19b on each support member 12a, 12b.
- E ach guiding member includes at least two walls that protrude vertically from each support member and is configured for guiding the placement of a corresponding connector 21 a, 21 b that is located on a towed vehicle.
- E ach guiding member comprises at least one recess 13a, 13b, each recess 13 being substantially complementary in shape to a corresponding connector 21 a, 21 b located on a towed vehicle 20, such thatthe towing vehicle may be connected to a towed vehicle by connection of the recesses located on the support members of the towing vehicle to the connectors 21 located on the towed vehicle.
- the physical dimensions of the brackets are preferably 192mm(L) x 142mm(W) x 180mm(H) comprising recesses of physical dimensions 1 62mm(L) x 125mm(W) x 70mm (H) to ensure a connection as depicted in F igures 3B and 3C .
- the physical dimensions of the recesses are varied to connect with different connectors of different physical dimensions for different trailer and vehicle types and load bearing weight.
- the platform may have a singular elongate support member having a guiding member for guiding the placement of the corresponding connector of the towed vehicle.
- the guiding members 19 are mounted on the support members by secure means such as screws 28 and screw-holes 29.
- the guiding members are secured to the support members at different positions along the length of the support members 12 for connection with different trailer and vehicle types and load bearing weight such as container trailer, pallet dolley, heavy pallet dolley, baggage trolley etc..
- the guiding members are positioned along the horizontal plane of the support members to be closer to the rear surface of the towing vehicle, such distance being shorter than the length of the tow bar on the towed vehicle for ease of control of the towed vehicle by the towing vehicle, and where the tow bar, in the substantially vertical position, does not contact the rear surface of the towing vehicle.
- each guiding member is designed not to stay within the maximum vertical lift range of the towing vehicle, while positioned below the towed vehicle during the connection of the recesses and the connectors before the towed vehicle is lifted.
- the height 30 of the guiding member allows for a snug connection between the recesses and connectors by providing guidance to an operator controlling the towing vehicle remotely or from a distance for positioning the connectors of the towed vehicle so that the connectors of the towed vehicle will fit snugly within the recesses of the towing vehicle as the platform is lifted.
- the height of the guiding member is designed to be positioned just below the chassis main frame of the towed vehicle to prevent the connectors from being dislodged when the towing vehicle tows the towed vehicle over uneven ground or humps.
- E ach guiding member further comprises of an abutting member 31 of a height which is greater that the height of the guiding members 30 to further ensure a snug connection between the recesses and connectors by preventing the connectors from moving forward such as to be dislodged from the recesses.
- the towing vehicle 10 further comprises lifting means 14 for moving the platform in an upward direction to releasably connect the recesses 13 located on the support members of the towing vehicle with the connectors 21 located on the towed vehicle to ensure a snug connection between the recesses and the connectors.
- the lifting means will move the platform in a downward direction to release the connection of the recesses 13 located on the support members of the towing vehicle with the connectors 21 located on the towed vehicle once the towed vehicle has reached its intended destination.
- the lifting means for moving the platform in the upward and downward direction may be moved by means of actuators, for example, hydraulic and/or electrical actuators which are controlled by control system of the towing vehicle.
- the recesses and the connectors are substantially squarish in shape to ensure a snug connection as depicted in F igures 5A, 5B, 5C and 5D.
- a handle 1 5 on the supporting frame of the towing vehicle for manual towing of the towing vehicle 10.
- the handle 15 is positioned at between 0 to 90 degrees (0 degrees and 90 degrees inclusive) to the horizontal plane of the top surface of the towing vehicle for manual towing of the towing vehicle or for manual transportation of the towing vehicle.
- the towing vehicle 10 has a light beacon 15 that flashes while it is moving from location to location. This may be useful to increase the conspicuousness of the vehicle and to proactively alert human or motor traffic to avoid accidents.
- the light beacon is positioned on the top of the main body or the supporting frame.
- F lashing lights may be produced in a suitable manner, including electrically-produced (for example, as a pulsing or burst-like flash) or mechanically-produced (for example, as a rotating light beam or reflective shield).
- the type and intensity of the flashing lights can be configured and controlled by the operator remotely in the circumstances or scenario as desired.
- Padding 22 is preferably placed on the inward-facing surface 17 of the towing vehicle that may come into contact with a tow bar 23 of the towed vehicle 20, or alternatively on the tow bar to provide cushioning and to minimize physical impact when the tow bar of the towed vehicle 20 comes into contact with the inward-facing surface 17 of the towing vehicle, particularly when the towed vehicle is towed by the towing vehicle.
- the top surface of the towing vehicle comprises of a recess 18 as depicted in F igure 1 .
- a towed vehicle 20 comprising a main frame and at least two connectors 21 a, 21 b located at the front end of the towed vehicle as depicted in F igure 2, each connector being substantially complementary in shape to a corresponding recess 13 of a guiding member of a towing vehicle, such that the towed vehicle may be connected to the towing vehicle by connection of the recesses 13 located on the guiding members 12 of the towing vehicle to the connectors 21 located on the towed vehicle 20.
- the front end of the main frame of the towed vehicle 20 comprises a tow bar 23 and an attachment ring 26 located at the tip of the tow bar as depicted in F igure 3.
- E ach towed vehicle is linked to other towed vehicles via a plurality of interconnecting tow bars.
- the tow bar is pivotably connected to the main frame of the towed vehicle via a hinge 25 comprising of pivoting pins 24a, 24b.
- the towed vehicle includes a braking mechanism (not shown) that is adapted to abut the wheels of the towed vehicle in a manner known in the art.
- the braking mechanism includes an actuatorarm operably coupled to a wheel chalk that abuts the wheels of the towed vehicle when actuated.
- the tow bar 23 is operably coupled to the actuator arm such that an upward movement of the tow bar 23 from its horizontal position to a substantially vertical position will activate the braking mechanism and cause actuation of the actuator arm to lock the towed vehicle in a stationary position.
- a downward movement of the tow bar from its substantially vertical position to a substantially horizontal position will deactivate the braking mechanism and release the brakes of the towed vehicle and allow it to move.
- the tow bar 23 is manually rotatable from a horizontal position to a substantially vertical position of 80 degrees to the horizontal plane.
- the positioning of the tow bar at a substantially vertical position of -15 or 80 degrees to the horizontal plane functions as brakes for the towed vehicle, thereby bringing the towed vehicle to a stationery position.
- the tow bar is locked atthe substantially vertical position of 80 degrees to the horizontal plane by a latch 27 as depicted in F igure 3.
- a latch 27 as depicted in F igure 3.
- At the maximum elevation of the tow bar at a substantially vertical position of 80 degrees to the horizontal plane there is a gap of 2 to 4 centimeters between the tow bar and the rear surface of the towing vehicle to prevent physical contact.
- the towing vehicle is first positioned below the main frame of the towed vehicle so as to align the guiding members located on the towing vehicle with the connectors located on the towed vehicle (as shown in F igure 3A).
- a lifting means of the towing vehicle then proceeds to lift in an upward direction the main body and the platform which in turns lift the guiding members of the towing vehicle to engage with the connectors located on the towed vehicle to ensure a snug connection between the recesses and the connectors.
- the present invention has the following advantages:-
- the present invention ensures a snug connection between the towing vehicle and the towed vehicle which allows the towing vehicle to lift the front two wheels of the towed vehicle and to drag the towed vehicle. 2.
- the connection assembly of the present invention allows the towed vehicle to be moved even when the tow bar is at a substantially vertical position and the braking mechanism of the towed vehicle is still engaged.
- connection assembly of the towing vehicle increases the stability and predictability in movement of the towing vehicle and towed vehicles, eliminating swaying movement when turning at junctions or curves.
- the present invention eliminates the need for manual labour to connect the towed vehicle to the towing vehicle, creating the foundation for autonomous unmanned systems to engage and disengage the towed vehicle completely on its own, and enables the towing of larger payload towed vehicle i.e. towed vehicle that could take multiple U LD, such as a pallet dolly (which is able to support two AKE ) and heavy pallet dolly (which is able to support four AKE ).
- the towing vehicle can be used to connect with tow trailers of higher load bearing weightage such as container trailers, pallet dollys, baggage trolleys, ground power unit air start unit by modifying such vehicles to be fitted with the connectors as described above.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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SG10201801037T | 2018-02-07 | ||
SG10201801037T | 2018-02-07 |
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WO2019156623A1 true WO2019156623A1 (en) | 2019-08-15 |
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PCT/SG2018/050223 WO2019156623A1 (en) | 2018-02-07 | 2018-05-04 | Towing vehicle and towed vehicle connection assembly |
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0235094A1 (en) * | 1986-02-25 | 1987-09-02 | PIANELLI & TRAVERSA S.a.s. | Coupling device for carriages, particularly carriages for transport systems for industrial plants |
JPH1024838A (en) * | 1996-07-09 | 1998-01-27 | Unisia Jecs Corp | Coupling/uncoupling unit for automated guided vehicle |
US20150077557A1 (en) * | 2013-09-16 | 2015-03-19 | Deere & Company | Vehicle auto-motion control system |
WO2016195596A1 (en) * | 2015-05-29 | 2016-12-08 | Ctrlworks Pte Ltd | Method and apparatus for coupling an automated load transporter to a moveable load |
-
2018
- 2018-05-04 WO PCT/SG2018/050223 patent/WO2019156623A1/en active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0235094A1 (en) * | 1986-02-25 | 1987-09-02 | PIANELLI & TRAVERSA S.a.s. | Coupling device for carriages, particularly carriages for transport systems for industrial plants |
JPH1024838A (en) * | 1996-07-09 | 1998-01-27 | Unisia Jecs Corp | Coupling/uncoupling unit for automated guided vehicle |
US20150077557A1 (en) * | 2013-09-16 | 2015-03-19 | Deere & Company | Vehicle auto-motion control system |
WO2016195596A1 (en) * | 2015-05-29 | 2016-12-08 | Ctrlworks Pte Ltd | Method and apparatus for coupling an automated load transporter to a moveable load |
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