This disclosure relates to systems and methods of towing, hitching, and connecting devices. In particular, this disclosure relates to tow devices, hitches, and connections for towing item containers behind vehicles, both autonomous and manually guided.

Connected tractor and trailer identifications and the order of hook-up of multiple trailers to a tractor is are determined by identifying trailer VINs using a PLC system and eliminating Bluetooth signals that do not broadcast trailer VINs that match the PLC system. A tractor-based Bluetooth trailer order and a trailer-based Bluetooth trailer order utilizing RSSI value strengths are determined. The trailer order is set if the tractor-based Bluetooth trailer order matches the trailer-based Bluetooth order. If the order does not match, a RSSI value weighting process is used to choose between the tractor-based order and the trailer-based order.

A materials handling vehicle comprising a path validation tool and a drive unit, steering unit, localization module, and navigation module that cooperate to navigate the vehicle along a warehouse travel path. The tool comprises warehouse layout data, a proposed travel path, vehicle kinematics, and a dynamic vehicle boundary that approximates the vehicle physical periphery. The tool executes path validation logic to determine vehicle pose along the proposed travel path, update the dynamic vehicle boundary to account for changes in vehicle speed and steering angle, determine whether the dynamic vehicle boundary is likely to intersect obstacles represented in the layout data based on the determined vehicle pose at candidate positions along the proposed travel path, determine a degree of potential impingement at the candidate positions by referring to the dynamic vehicle boundary and obstacle data, and modify the proposed travel path to mitigate the degree of potential impingement.

A drive assist device installed in a tractor vehicle having a connection portion to be connected to a vehicle to be towed, includes: an image acquisition unit which acquires an image taken from a camera that shoots a scene in a shooting range including the connection portion; a position detection unit which detects a position of a counterpart connection portion, to be connected to the connection portion, of the vehicle to be towed; a predicted line generation unit which generates a predicted course line that the connection portion is expected to follow based on a steering angle of the tractor vehicle; a deviation calculation unit which calculates a deviation between the counterpart connection portion and the predicted course line as defined herein; a support image generation unit which generates a support image as defined herein; and an image synthesis unit which generates a synthesized image as defined herein.

A method and apparatus for assisting in removing a wheels-on-ground type daughter cart from a mother cart, and a mother cart incorporating such a method and apparatus, utilize a daughter cart ejector apparatus mounted on a mother cart and having a selectively actuatable ejector element for urging the daughter cart to move out of engagement with the mother cart in an unloading direction. The ejector element is configured and operatively connected to bear against the daughter cart and apply force in a manner that assists in initiating movement of the daughter cart in the unloading direction and reorienting casters supporting the daughter cart on an underlying surface from a rolling orientation that is generally parallel to a transport direction of the mother cart, to a rolling orientation that is generally transverse to the transport direction and parallel to the unloading direction.

A tow configuration may include a tow vehicle and first and second trailers. The intermediate trailer hitch angle with the tow vehicle is controlled with one objective being to improve the off-tracking performance of the other trailer. The hitch angle may be controlled through steerable wheels at the intermediate trailer or through wheel differential steering at the intermediate trailer.

The present invention relates to a conveying device for conveying objects, in particular workpieces. Here, it is provided for the conveying device to comprise one or more stations to which the objects are transportable by means of vehicles, and/or at which the objects are dischargeable and/or receivable.

A materials handling vehicle comprising a path validation tool and a drive unit, steering unit, localization module, and navigation module that cooperate to navigate the vehicle along a warehouse travel path. The tool comprises warehouse layout data, a proposed travel path, vehicle kinematics, and a dynamic vehicle boundary that approximates the vehicle physical periphery. The tool executes path validation logic to determine vehicle pose along the proposed travel path, update the dynamic vehicle boundary to account for changes in vehicle speed and steering angle, determine whether the dynamic vehicle boundary is likely to intersect obstacles represented in the layout data based on the determined vehicle pose at candidate positions along the proposed travel path, determine a degree of potential impingement at the candidate positions by referring to the dynamic vehicle boundary and obstacle data, and modify the proposed travel path to mitigate the degree of potential impingement.

A steering control unit and to a method of controlling the steering of a multi-unit vehicle is provided, the vehicle having a plurality of vehicle parts movably connected to one another and a plurality of steerable axle units. A first axle control unit is in conjunction with a first steerable axle unit and at least one second axle control unit is in conjunction with at least one second steerable axle unit. The steering control system has a central control module that is connected to the axle control units via a common data line for exchange of steering angle data. The axle control units have data interfaces for communication via the data line. The data interfaces transfer mutually identical data formats, whereby the steering control system is set up in a modular manner with a variable number of axle control units that can be integrated.

The present invention relates to a conveying device for conveying objects, in particular workpieces. Here, it is provided for the conveying device to comprise a partitioning floor that has a penetration region, in particular a penetration slot, through which one or more receiving elements extend and/or are guidable for the purpose of receiving at least one object.