A trolley that couples to a tow saddle is provided. The trolley includes an upper plate and a lower plate. The upper and lower plate are secured against a rear portion of a tow saddle. One or more support bars are coupled to the upper plate. The bars provide structural support for the upper plate and deflect a chain that transits apertures in the upper plate.

A trolley that couples to a tow saddle is provided. The trolley includes an upper plate and a lower plate. The upper and lower plate are secured against a rear portion of a tow saddle. One or more support bars are coupled to the upper plate. The bars provide structural support for the upper plate and deflect a chain that transits apertures in the upper plate.

A vehicular trailering assist system includes at least one camera disposed at a trailer hitched to a hitch of a vehicle, and an electronic control unit (ECU). The ECU determines, during a first stage of a calibration maneuver of the vehicle and trailer, image coordinates of at least one ground feature point. The ECU, responsive to determining image coordinates of the at least one ground feature point, estimates orientation parameters of the camera based at least on the determined image coordinates and intrinsic camera parameters. As the vehicle and trailer travel further along the ground surface during a second stage of the calibration maneuver of the vehicle and trailer, and based on the estimated orientation parameters of the at least one camera, the vehicular trailering assist system determines misalignment of the at least one camera at the trailer.

A vehicular trailering assist system includes at least one camera disposed at a trailer hitched to a hitch of a vehicle, and an electronic control unit (ECU). The ECU determines, during a first stage of a calibration maneuver of the vehicle and trailer, image coordinates of at least one ground feature point. The ECU, responsive to determining image coordinates of the at least one ground feature point, estimates orientation parameters of the camera based at least on the determined image coordinates and intrinsic camera parameters. As the vehicle and trailer travel further along the ground surface during a second stage of the calibration maneuver of the vehicle and trailer, and based on the estimated orientation parameters of the at least one camera, the vehicular trailering assist system determines misalignment of the at least one camera at the trailer.

A fifth wheel hitch assembly is shown and described. The fifth wheel hitch system may comprise a jaw fixed about a pivot pin and a biasing member biasing the jaw to a closed position. The fifth wheel hitch assembly may also include a kingpin guide positioned opposite the jaw, where the kingpin guide is adapted to engage and retain a kingpin against the jaw.

The mounting system may be utilized for towing vehicles wherein the mounting system may selectively accommodate either a fifth wheel hitch or a gooseneck hitch. The mounting system may include a structural frame member including at least one rail capable of being connected to a vehicle frame, wherein the rail includes at least one socket. The socket may be engaged with a receiving member, wherein the receiving member may be engaged with a leg of a fifth wheel hitch. A mid rail may be connected to the rails and may include a hitch ball socket that is capable of engagement with a hitch. Also provided is an underbed hitch mounting system having at least one socket and receiving member exposed above a bed of a vehicle. The system includes trim and ring brackets configured to cover the exposed socket and receiving members along the bed of the vehicle.

Embodiments relate to autonomous operation of a mobile robot, which can include use of a receiver hitch, a tow arm, and a trained model. Embodiments include use of sensors and identifiers to facilitate autonomous operation based solely on receiver hitch data. The receiver hitch data can allow the robot to autonomously position itself and orient the tow arm for proper alignment with the receiver hitch. Receiver hitch data can also be used to autonomously increase a field of view for the robot. Additional sensor data can allow the robot to detect a ledge or similar obstacle and avoid steering towards or over the ledge.

Embodiments relate to autonomous operation of a mobile robot, which can include use of a receiver hitch, a tow arm, and a trained model. Embodiments include use of sensors and identifiers to facilitate autonomous operation based solely on receiver hitch data. The receiver hitch data can allow the robot to autonomously position itself and orient the tow arm for proper alignment with the receiver hitch. Receiver hitch data can also be used to autonomously increase a field of view for the robot. Additional sensor data can allow the robot to detect a ledge or similar obstacle and avoid steering towards or over the ledge.

Embodiments relate to a robotic system having a plurality of sensors attached to a robot. The system includes an identifier attached to a receiver hitch of a cart. The identifier includes information related to a cart with which the identifier is attached. At least one sensor of the plurality of sensors is configured to detect the identifier and transmit sensor data to a computing unit of the robot. The computing unit of the robot operates the robot and/or the plurality of sensors based on the cart information. Some embodiments include a facility sensor attached to a facility. The facility sensor is configured to detect presence or absence of a cart.

A subframe attachment system for a vehicle includes a front brace, a rear brace assembly, and tethers. The front brace extends in a transverse direction of the vehicle and is configured to be mounted to a pair of longitudinal rails of a main frame of the vehicle. The front brace includes front mounting apertures configured to be accessible from the cargo bed. The rear brace assembly is spaced apart from the front brace and extends in the transverse direction of the vehicle. The rear brace assembly is configured to be mounted to the main frame and includes rear mounting apertures configured to be accessible from the cargo bed. The tethers include a first end rotatably coupled to the rear brace assembly and a second end configured to be mounted to respective longitudinal rails of the pair of longitudinal rails.