Automated hitch for automated vehicle

Patent metadata

Field	Value
Publication number	US-11708252-B2
Application number	US-202016931956-A
Country	US
Kind code	B2
Filing date	Jul 17, 2020
Priority date	Jul 19, 2019
Publication date	Jul 25, 2023
Grant date	Jul 25, 2023

Abstract

Systems and methods for towing, hitching, and connecting devices are described. An autonomous guided vehicle includes an automated hitch capable of connecting to a variety of types of containers.

First claim

What is claimed is:

1. An automatic hitching system comprising:
a frame configured to couple to an automated guided vehicle (AGV), wherein the frame comprises:
a shaft;
a hitch comprising a first aperture that is configured to interface with a connection feature of an item container, a hitch pocket bounded by a peripheral wall, a target, and a second aperture disposed posteriorly relative to the first aperture and within a v-shaped groove, wherein the hitch is coupled to an end of the shaft;
a lateral actuator configured to move the hitch laterally;
a vertical actuator configured to vertically maneuver the shaft; and
a sensor configured to sense a surrounding of the automatic hitching system, a location of the item container, and a location of the connection feature of the item container relative to the hitch;

a control system in communication with the lateral actuator, the vertical actuator, and the sensor, wherein the control system receives and interprets sensor inputs from the sensor, wherein the control system generates commands based on the interpreted sensor inputs to control the lateral actuator and the vertical actuator to maneuver the hitch, and wherein the control system generates commands based on the interpreted sensor inputs to operate the automated guided vehicle.

2. The automatic hitching system of claim 1 , wherein the lateral actuator is configured to rotate the hitch about an axis.

3. The automatic hitching system of claim 1 , wherein the automatic hitching system is configured to be retrofitted on the AGV.

4. An automatic hitching system comprising:
a hitch comprising a first aperture configured to interface with a connection feature of an item container;
a vertical actuator configured to maneuver the hitch vertically;
a sensor configured to sense a location of the item container and a location of the connection feature of the item container; and
a control system comprising a controller, processor, and memory system, wherein the processor is connected to the memory system comprising instructions that, when executed by the processor, cause the system to:
receive sensor input from the sensor indicative of a surrounding of the automatic hitching system, the location of the item container, and the location of the connection feature;
interpret the sensor input to determine a hitch operation and/or an automated guided vehicle (AGV) operation, wherein the hitch operation comprises directing the vertical actuator to maneuver the hitch, and wherein the AGV operation comprises directing movements of an AGV;
generate, via the controller, commands configured to cause the vertical actuator and/or the AGV to effectuate the hitch operation and/or AGV operation;
alert the AGV that the hitch has coupled to the connection feature of the item container;
monitor the location of the item container and/or the connection feature relative to the AGV to determine whether the item container is coupled to the AGV;
in response to determining that the item container is coupled to the AGV, continue monitoring the location of the item container relative to the AGV; and
in response to determining that the item container is not coupled to the AGV, alert the AGV.

5. The automatic hitching system of claim 4 , wherein the instructions, when executed by the processor, cause the automatic hitching system to:
identify the item container or connection feature;
determine the location of the item container, and the location of the connection feature, relative to the hitch; and
determine a path from a current location of the AGV to a hitching position proximate the connection feature of the item container and/or item container.

6. The automatic hitching system of claim 5 , wherein the instructions, when executed by the processor, cause the automatic hitching system to:
command the AGV to traverse the determined path from the current location of the AGV to the hitching position proximate the connection feature of the item container and/or item container;
monitor the surrounding of the automatic hitching system, the location of the item container, and/or the location of the connection feature relative to the AGV as the AGV traverses the determined path;
determine whether the determined path needs to be altered based on the monitored surrounding of the automatic hitching system, the location of the item container, and/or the location of the connection feature, relative to the AGV; and
in response to determining that the determined path needs to be altered, determine a new AGV path from the current location of the AGV to the hitching position proximate the connection feature of the item container and/or item container.

7. The automatic hitching system of claim 4 , wherein the instructions, when executed by the processor, cause the automatic hitching system to:
maneuver the AGV to position the first aperture of the hitch beneath the connection feature of the item container;
vertically maneuver the hitch to place the connection feature within the first aperture;
determine that the connection feature is positioned within the first aperture; and
in response to determining that the connection feature is positioned within the first aperture, alert the AGV that the hitch has successfully coupled with the connection feature.

8. The automatic hitching system of claim 4 , wherein the hitch further comprises a hitch pocket that is bounded by a peripheral wall, a target, and a second aperture disposed posteriorly relative to the first aperture and within a v-shaped groove.

9. The automatic hitching system of claim 8 , wherein the instructions, when executed by the processor cause the automatic hitching system to:
maneuver the AGV to position the target of the hitch below the connection feature of the item container;
vertically maneuver the hitch such that the connection feature is proximate the target of the hitch;
determine whether the connection feature is sized for the first aperture or second aperture;
in response to determining that the connection feature is sized for the first aperture, maneuver the AGV forward such that the connection feature is forward of the v-shaped groove, vertically maneuver the hitch to apply an upward preload on the connection feature with the hitch, and maneuver the AGV forward such that the connection feature is guided by the peripheral wall to the first aperture; and
in response to determining that the connection feature is sized for the second aperture, vertically maneuver the hitch to apply an upward preload on the connection feature with the hitch, maneuver the AGV forward such that the connection feature is placed in the v-shaped groove and guided therein to the second aperture.

10. The automatic hitching system of claim 4 , further comprising a rotational actuator configured to rotate the hitch, wherein the instructions, when executed by the processor, are configured to cause the automatic hitching system to:
interpret the sensor input to determine an additional hitch operation, wherein the additional hitch operation is configured to direct the rotational actuator to maneuver the hitch; and
generate, via the controller, commands configured to cause the rotational actuator to effectuate the additional hitch operation.

11. The automatic hitching system of claim 10 , wherein the instructions, when executed by the processor, cause the automatic hitching system to:
determine the location of the connection feature relative to the hitch;
determine whether the hitch needs to be rotated to align the hitch with the connection feature of the item container based on the location of the connection feature relative to the hitch;
in response to determining tha

Assignees

• United States Postal Service

Inventors

• Houston Edward F
• Shiu Leung Man
• Goldberg Michael Joseph
• Bittenbender Mark David
• Mcconnell William Patrick

Classifications

• B60D1/07

  Multi-hitch devices, i.e. comprising several hitches of the same or of a different type; Hitch-adaptors, i.e. for converting hitches from one type to another · CPC title

• B66F9/24

  Electrical devices or systems · CPC title

• B66F9/07504 Primary

  Accessories, e.g. for towing, charging, locking · CPC title

• B60D1/363

  Hitch guiding or catching elements, e.g. V-shaped plates partially surrounding a coupling member for guiding the other coupling member · CPC title

• B66F9/063 Primary

  Automatically guided · CPC title