Devices including deployable hitch assemblies and autonomous engagement systems incorporating the same

Patent metadata

Field	Value
Publication number	US-11505017-B2
Application number	US-201916560626-A
Country	US
Kind code	B2
Filing date	Sep 4, 2019
Priority date	Dec 27, 2018
Publication date	Nov 22, 2022
Grant date	Nov 22, 2022

Abstract

A robotic system that includes a body, a hitch assembly coupled to the body, and a sensor array coupled to the body. The robotic system includes a processor and operating logic containing programming instructions thereon that, when executed, causes the processor to detect, via the sensor array, a location of a vehicle relative to the body. The programming instructions of the operating logic further cause the processor to detect, via the sensor array, a position of a hitch receiver along the vehicle and move the body toward the vehicle to position the hitch assembly proximate to the hitch receiver. The programming instructions of the operating logic further cause the processor to move the hitch assembly relative to the body and in alignment with the hitch receiver and engage the hitch assembly to the hitch receiver to securely couple the body to the vehicle.

First claim

What is claimed is:

1. A robotic system comprising:
a towable body;
a hitch assembly coupled to the body;
a sensor array coupled to the body; and
a processor communicatively coupled to the sensor array and configured to:
detect, via the sensor array, a location of a towing vehicle relative to the body;
detect, via the sensor array, a position of a hitch receiver relative to the towing vehicle;
move the body toward the towing vehicle to position the hitch assembly proximate to the hitch receiver;
move the hitch assembly relative to the body and in alignment with the hitch receiver; and
engage the hitch assembly to the hitch receiver to securely couple the body to the towing vehicle.

2. The robotic system of claim 1 , wherein the hitch assembly comprises:
a housing;
a pair of pins disposed within the housing, wherein each pin of the pair of pins comprises a tab disposed within the housing;
a biasing mechanism disposed within the housing and coupled to the tab of each of the pins such that the biasing mechanism extends between the pair of pins, wherein the biasing mechanism biases the tabs of each of the pins laterally outward relative to the housing to thereby extend the pair of pins out from the housing; and
a cam feature disposed within the housing and coupled to the pair of pins along each of the tabs, the cam feature being translatable within the housing,
wherein:
the cam feature overcomes a bias of the biasing mechanism when a force on the cam feature causes the cam feature to translate within the housing, and
the cam feature engages and retracts the tabs laterally inward relative to the housing to thereby pull the pair of pins into the housing when the cam feature translates within the housing.

3. The robotic system of claim 1 , wherein the operating logic further contains programming instructions that cause the processor to determine a trajectory plan for the body to move along in response to the sensor array detecting the location of the towing vehicle relative to the body.

4. The robotic apparatus of claim 3 , wherein the operating logic further contains programming instructions that cause the processor to move the body toward the towing vehicle in accordance with the trajectory plan.

5. The robotic apparatus of claim 1 , wherein the operating logic further contains programming instructions that cause the processor to periodically determine whether the hitch assembly is aligned with the hitch receiver as the body moves toward the towing vehicle.

6. The robotic apparatus of claim 5 , wherein the operating logic further contains programming instructions that cause the processor to insert the hitch assembly into the hitch receiver in response to determining that the hitch assembly is aligned with the hitch receiver.

7. The robotic apparatus of claim 1 , wherein the operating logic further contains programming instructions that cause the processor to actuate a coupling mechanism of the hitch assembly to engage the hitch assembly to the hitch receiver to securely couple the body to the towing vehicle.

8. The robotic apparatus of claim 1 , wherein the operating logic further contains programming instructions that cause the processor to move the hitch assembly relative to the body in response to the hitch assembly engaging the hitch receiver to thereby raise the body relative to the towing vehicle.

9. The robotic apparatus of claim 8 , wherein the body is separated from a ground surface supporting the towing vehicle when raised relative to the towing vehicle.

10. The robotic apparatus of claim 8 , wherein the operating logic further contains programming instructions that cause the processor to actuate a locking mechanism of the hitch assembly to securely fasten a position of the hitch assembly relative to the body thereby inhibiting movement of the hitch assembly.

11. The robotic apparatus of claim 1 , wherein the operating logic further contains programming instructions that cause the processor to transition the hitch assembly from a stowed state to a hitching state in response to the robotic apparatus receiving an input to couple the body with the towing vehicle.

12. The robotic apparatus of claim 11 , wherein the hitch assembly is disposed within the body when in the stowed state and extends laterally outward from the body when in the hitching state.

13. A robotic apparatus comprising:
a towable body;
a sensor array coupled to the body and operable to detect a pose of a towing vehicle hitch receiver relative to the body;
a mobility component configured to move the body toward the towing vehicle hitch receiver in response to the sensor array detecting the pose of the towing vehicle hitch receiver; and
a hitch assembly configured to move along the body in relative alignment to the towing vehicle hitch receiver in response to the sensor array detecting the pose of the towing vehicle hitch receiver;
wherein the hitch assembly is configured to translate into and engage the towing vehicle hitch receiver thereby securely coupling the robotic apparatus to the towing vehicle hitch receiver.

14. The robotic apparatus of claim 13 , wherein the hitch assembly is further configured to transition from a retracted position disposed within the body to a deployed position extending outwardly from the body in response to the sensor array detecting the pose of the towing vehicle hitch receiver.

15. The robotic apparatus of claim 13 , further comprising a processor and operating logic containing programming instructions thereon that, when executed, causes the processor to estimate an alignment of the towing vehicle hitch receiver with the hitch assembly and direct movement of the hitch assembly in response to the sensor array detecting the pose of the towing vehicle hitch receiver.

16. The robotic apparatus of claim 15 , wherein the hitch assembly is configured to raise the body relative to the towing vehicle hitch receiver in response to engaging the towing vehicle hitch receiver such that the body is offset from a ground surface as the robotic apparatus is securely coupled to the towing vehicle hitch receiver.

17. A robotic system comprising:
a towable body;
a hitch assembly movably coupled to the movable body;
a sensor array;
a processor and operating logic containing programming instructions thereon that, when executed, causes the processor to:
detect a pose of a towing vehicle via the sensor array;
move the body to the towing vehicle in accordance with a trajectory plan determined based on the pose of the towing vehicle detected by the sensor array;
detect a pose of a hitch receiver of the towing vehicle via the sensor array;
move the hitch assembly along the body and in alignment with the hitch receiver based on the pose of the hitch receiver detected by the sensor array; and
couple the hitch assembly to the hitch receiver to secure the body to the towing vehicle.

18. The robotic system of claim 17 , wherein the operating logic containing programming instructions thereon, when executed, causes the processor to:
deploy the hitch assembly from a stowed state with the hitch assembly disposed within the body to an extended state with the hitch assembly extending outwardly from the body.

19. The robotic system of claim 17 , wherein the operating logic containing programming instructions thereon, when executed, causes the processor to:
move the hitch assembly along the body in response to the hitch assembly coupling the hitch receiver to thereby lift the body relative to the towing vehicle and suspend the body of

Assignees

• Toyota Res Inst Inc

Inventors

• Goncalves Aimee S
• Baim Paul W
• Albina Toffee
• Bondaryk Joseph

Classifications

• B62B3/001

  Steering devices · CPC title

• B60D2001/001

  specially adapted for use on vehicles other than cars · CPC title

• B62D15/02

  Steering position indicators {; Steering position determination; Steering aids} · CPC title

• B62B5/0069

  Control · CPC title

• B62D61/00

  Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern · CPC title