Systems and methods for determining an articulated trailer angle
Systems and methods determine an angle of an articulated trailer relative to a tractor that the trailer is hitched to. An optical encoder is positioned beneath a fifth-wheel of a tractor to couples with a kingpin of the trailer when the trailer is hitched to the tractor. The optical coupler has a rotating shaft that may include pins that physically interact with the kingpin and/or may include a magnet that magnetically attaches to the kingpin. A clearance and cleaning block may be positioned on the spring plate to interact with a bottom surface of a kingpin of the trailer during hitching of the trailer to the tractor. A LIDAR attached to the tractor may detect a front end of the trailer to determine the trailer angle relative to the tractor.
1. A trailer angle encoder for determining an angle between a tractor and a trailer coupled thereto, comprising:
a spring plate for coupling at a first end with an underside of a fifth-wheel of the tractor;
an optical encoder attached to the spring plate;
a magnet mounted to a rotatable shaft of the optical encoder;
and a clearance and cleaning block positioned on the spring plate to interact with a bottom surface of a kingpin of the trailer during hitching of the tractor to the trailer;
wherein the magnet magnetically couples with the bottom surface of the kingpin when the tractor is hitched to the trailer.
2. The trailer angle encoder of claim 1 , wherein the spring plate positions the magnet beneath the kingpin.
3. The trailer angle encoder of claim 1 , further comprising a two-axis positioning table mounted to the spring plate and having a platform that supports the optical encoder.
4. The trailer angle encoder of claim 3 , the platform providing limited two-axis movement of the optical encoder and the magnet relative to the fifth-wheel.
5. The trailer angle encoder of claim 3 , further comprising a bearing supported by the platform and coupled with the rotatable shaft of the optical encoder.
6. The trailer angle encoder of claim 3 , the two-axis positioning table further comprising at least two springs to cause the platform to return to a nominal laterally central position when the magnet is not magnetically coupled with the kingpin.
7. The trailer angle encoder of claim 1 , the clearance and cleaning block having a height greater than a height of a top surface of the magnet and causing the kingpin to depress the clearance and cleaning block during hitching of the tractor to the trailer such that the spring plate is flexed downwards to prevent the kingpin contacting the side of the magnet.
8. The trailer angle encoder of claim 7 , the clearance and cleaning block being positioned to stop interaction of the magnet with the kingpin prior to capture of the kingpin by the fifth-wheel.
9. The trailer angle encoder of claim 1 , wherein the interaction of the clearance and cleaning block with the bottom surface of the kingpin wipes dirt from the bottom of the kingpin.