The invention relates to a drilling rig with a drilling tower, a base structure, on which the drilling tower is arranged, and at least three support units being part of the base structure, each support unit having at least one wheel rotatable around a horizontal wheel axis, wherein at least one of the support units comprises a vertical steering axis, around which the at least one wheel can be turned by a steering drive. The invention further relates to a method for moving such a mobile drilling rig.

A trailer reverse assist (TRA) system for a tow vehicle aids in reversing an attached trailer. The TRA system includes a processor circuit; at least one camera to obtain images of the trailer; and vehicle dynamic sensors to obtain vehicle dynamics data from the vehicle. The processor circuit, while the TRA system is in a standby, non-active state and while the vehicle is in Drive and traveling forward at a speed above a threshold speed: learns parameters and/or image features of an attached trailer based on data from the at least one camera and the vehicle dynamic sensors; causes the learned parameters and/or image features of the attached trailer to be stored in a database; and informs the driver via the infotainment system that the TRA system can be activated.

A trailer reverse assist (TRA) system for a tow vehicle aids in reversing an attached trailer. The TRA system includes a processor circuit; at least one camera to obtain images of the trailer; and vehicle dynamic sensors to obtain vehicle dynamics data from the vehicle. The processor circuit, while the TRA system is in a standby, non-active state and while the vehicle is in Drive and traveling forward at a speed above a threshold speed: learns parameters and/or image features of an attached trailer based on data from the at least one camera and the vehicle dynamic sensors; causes the learned parameters and/or image features of the attached trailer to be stored in a database; and informs the driver via the infotainment system that the TRA system can be activated.

A method for determining an orientation of a trailer, the trailer being configured to be coupled to a towing vehicle, includes detecting a relation of movements of at least two wheels of the trailer, upon moving the trailer, with at least one sensor arranged at the trailer for detecting a respective state of the at least two wheels. The method further includes calculating an orientation of a coupling device of the trailer based on the relation of the at least two wheels.

The present invention relates to a method for determining a turning radius of a trailer attached to a towing vehicle and moved by the latter, comprising a computing unit, which is connected to a measuring sensor system, which transmits sensor data about current movements of the trailer to the computing unit, and which sensor data is considered by the computing unit for the determination of the turning radius. The invention also relates to a trailer, which is equipped with a device, which uses a method of this type.

The present invention relates to a method for determining a turning radius of a trailer attached to a towing vehicle and moved by the latter, comprising a computing unit, which is connected to a measuring sensor system, which transmits sensor data about current movements of the trailer to the computing unit, and which sensor data is considered by the computing unit for the determination of the turning radius. The invention also relates to a trailer, which is equipped with a device, which uses a method of this type.

A system for assisting in aligning a vehicle for hitching with a trailer includes a steering system including a set of vehicle steered wheels and a controller. The controller checks the system for a plurality of pre-maneuver conditions and communicates to a driver the need to correct at least one of the pre-maneuver conditions. When all pre-maneuver conditions are met, the controller executes an automated hitching maneuver that includes controlling the steered wheels of the steering system in backing the vehicle toward the trailer.

A system for assisting in aligning a vehicle for hitching with a trailer includes a steering system including a set of vehicle steered wheels and a controller. The controller checks the system for a plurality of pre-maneuver conditions and communicates to a driver the need to correct at least one of the pre-maneuver conditions. When all pre-maneuver conditions are met, the controller executes an automated hitching maneuver that includes controlling the steered wheels of the steering system in backing the vehicle toward the trailer.

The turning radius of a differentially steered vehicle towing a trailer is controlled when turning so that its turning radius is greater than a minimum allowable turning radius. The turning radius may be autonomously adjusted using a controller to monitor the instantaneous rotational speed differential between the driven wheels and increase or decrease the relative speed between the wheels when the instantaneous rotational speed differential exceeds a threshold rotational speed differential, indicating a turn which is too tight. Alternately, the turning radius may be controlled by the vehicle's operator, who receives a signal from the controller indicating that the vehicle's turning radius is less than the minimum allowable. The operator may then take action to enlarge the turning radius using manual controls.

A method for displaying an environment of a vehicle having a coupled trailer. The method includes: recording a sequence of vehicle camera images using at least three vehicle cameras; recording a sequence of trailer camera images using the trailer camera; acquiring odometry data of the vehicle; ascertaining the trailer angle; storing items of image information about the close range of the vehicle; adjusting the position of the stored items of image information as a function of the detected odometry data; and displaying an environment model from a virtual observational perspective, preprocessed current vehicle and trailer camera images being projected onto a projection area of the environment model and being joined. For partial areas of the environment of the vehicle that are not represented, the stored items of information are projected onto the projection area according to their position and are joined to the vehicle and trailer camera images.