Methods and apparatus for an active convertor dolly
The disclosure is directed at an apparatus for an active converter dolly for use in a tractor-trailer configuration. In one aspect, the apparatus includes a system to connect a first trailer towed behind a towing vehicle to a second trailer. The apparatus further includes a kinetic energy recovery device for translating the mechanical motions or actions of the dolly into electricity or electrical energy so that this energy can be used to charge a battery or to power other functionality for either the dolly or the tractor-trailer. The active dolly may also operate to assist in shunting the tractor-trailer. The active dolly is operable in a number of modes to increase vehicle performance and efficiency.
1. An active converter dolly, comprising:
a frame, comprising:
a connecting portion for connecting to a towing vehicle;
a trailer connector for connecting to a trailer;
wherein, while the towing vehicle is connected to the connecting portion, and the trailer is connected to the trailer connector, a towing configuration is established;
a wheel rotatably coupled to the frame;
a motor operably coupled to the wheel;
a sensor system; and
a controller configured to receive: (i) towing vehicle information of the towing vehicle, and (ii) data from the sensor system;
wherein:
the wheel, the motor, the sensor system, and the controller are co-operatively configured such that, while the towing vehicle information of the towing vehicle and the data from the sensor system are received by the controller:
the motor is operable, via the controller, for applying a motive rotational force to the wheel, based on:
the towing vehicle information; and
the data from the sensor system.
2. The active converter dolly of claim 1 , wherein:
the towing vehicle information includes information relating to a maximum towing capacity of the towing vehicle, such that the motive rotational force that is applied to the wheel by the motor is based on the maximum towing capacity of the towing vehicle.
3. The active converter dolly of claim 2 , wherein:
the sensor system comprises:
a first force sensor configured to sense a towing force that is applied, to the active converter dolly, by the towing vehicle that is connected to the active converter dolly via the connecting portion; and
a second force sensor configured to sense a trailer force that is applied, to the active converter dolly, by the trailer that is connected to the active converter dolly via the trailer connector; and
the data from the sensor system includes the towing force data and the trailer force data.
4. The active converter dolly of claim 3 , wherein:
the motor, the wheel, the sensor system, and the controller are co-operatively configured such that, while: (i) the trailer connector is connected to the trailer, and the connecting portion is connected to the towing vehicle, such that the towing configuration is established, (ii) the towing configuration is supported on a reaction surface, (iii) the towing force is being applied to the active converter dolly, (iv) the trailer force is being applied to the active converter dolly, and (v) the motive rotational force is being applied by the motor to the wheel of the active converter dolly:
the towing force and the motive rotational force co-operate to overcome the trailer force, such that displacement of the towing configuration, across the reaction surface, is effectible.
5. The active converter dolly of claim 4 , wherein:
the motive rotational force that is applied to the wheel by the motor is based on the difference between the towing force and the trailer force.
6. The active converter dolly of claim 4 , wherein:
the motive rotational force that is applied to the wheel by the motor is such that the towing force applied by the towing vehicle to the active converter dolly is less than the maximum towing capacity of the towing vehicle.
7. The active converter dolly of claim 1 , wherein:
the sensor system comprises:
a first position sensor configured to sense a towing vehicle position of the towing vehicle, relative to the active converter dolly, that is connected to the active converter dolly via the connecting portion; and
a second position sensor configured to sense a trailer position of the trailer, relative to the active converter dolly, that is connected to the active converter dolly via the trailer connector; and
the data from the sensor system includes the towing vehicle position data and the trailer position data.
8. The active converter dolly of claim 1 , wherein:
the sensor system comprises:
an inertial measurement unit configured to sense: (i) motion of the active converter dolly, (ii) a position of the active converter dolly, and (iii) an orientation of the active converter dolly; and
the data from the sensor system includes the motion data, the position data, and the orientation data.
9. The active converter dolly of claim 1 , wherein:
the sensor system comprises:
an accelerometer configured to sense linear acceleration of the active converter dolly;
a gyroscope configured to sense angular acceleration of the active converter dolly; and
the data from the sensor system includes the linear acceleration data and the angular acceleration data.
10. The active converter dolly of claim 1 , wherein:
the controller is configured to receive the towing vehicle information from the towing vehicle.
11. An active converter dolly, comprising:
a frame, comprising:
a connecting portion for connecting to a towing vehicle;
a trailer connector for connecting to a trailer;
wherein, while the towing vehicle is connected to the connecting portion, and the trailer is connected to the trailer connector, a towing configuration is established;
a wheel rotatably coupled to the frame;
a motor operably coupled to the wheel;
a sensor system, comprising:
a first force sensor configured to sense a towing force that is applied, to the active converter dolly, by the towing vehicle that is connected to the active converter dolly via the connecting portion; and
a second force sensor configured to sense a trailer force that is applied, to the active converter dolly, by the trailer that is connected to the active converter dolly via the trailer connector; and
a controller configured to receive the towing force data and the trailer force data from the sensor system;
wherein:
the wheel, the motor, the sensor system, and the controller are co-operatively configured such that, while the towing force data and the trailer force data are received by the controller:
the motor is operable, via the controller, for applying a motive rotational force to the wheel, based on the towing force data and the trailer force data.
12. The active converter dolly of claim 11 , wherein:
the motor, the wheel, the sensor system, and the controller are co-operatively configured such that, while: (i) the trailer connector is connected to the trailer, and the connecting portion is connected to the towing vehicle, such that the towing configuration is established, (ii) the towing configuration is supported on a reaction surface, (iii) the towing force is being applied to the active converter dolly, (iv) the trailer force is being applied to the active converter dolly, and (v) the motive rotational force is being applied by the motor to the wheel of the active converter dolly:
the towing force and the motive rotational force co-operate to overcome the trailer force, such that displacement of the towing configuration, across the reaction surface, is effectible.
13. The active converter dolly of claim 12 , wherein:
the motive rotational force that is applied to the wheel by the motor is based on the difference between the towing force and the trailer force.
14. The active converter dolly of claim 12 , wherein:
the motive rotational force that is applied to the wheel by the motor is such that the towing force applied by the towing vehicle to the active converter dolly is less than a maximum towing capacity of the towing vehicle.
15. An active converter dolly, comprising:
a frame, comprising:
a connecting portion for connecting to a towing vehicle;
a trailer connector for connecting to a trailer;
a pair of wheels rotatably coupled to the frame;
an energy storing device for storing electrical energy;
a pair of drive configurations, each one of the drive configurations, independently, being operably coupled to a respective one of the wheels in the pair of wheels and to the energy storing device, such that each drive configuration is operable in:
a drive mode for applying a motive rotational force to its respective wheel; and
a generator mode for applying a regenerative braking force to its respective wheel for converting mechanical energy generated by rotation of the wheel to electrical energy wherein the generated electrical energy is stored on the energy-storing device; and
a controller for selectively activating the drive mode or the generator mode of each drive configuration.
16. The active converter dolly of claim 15 , wherein the wheels, the drive configurations, and the controller are cooperatively configured such that while the towing vehicle is connected to the dolly, and the trailer is connected to the dolly:
acceleration of the towing vehicle relative to the dolly effects activation of the drive mode of at least one of the drive configurations; and; and
deceleration of the towing vehicle relative to the dolly effects activation of the generator mode of at least one of the drive configurations.
17. The active converter dolly of claim 15 , further comprising:
a first force sensor configured to sense a towing force that is applied, to the active converter dolly, by the towing vehicle that is connected to the active converter dolly via the connecting portion; and
a second force sensor configured to sense a trailer force that is applied, to the active converter dolly, by the trailer that is connected to the active converter dolly via the trailer connector;
wherein, for each one of the drive configurations, independently, the selective activation of the the drive mode or the generator mode of the drive configuration is based on the towing force data from the first force sensor and the trailer force data from the second force sensor.
18. The active converter dolly as claimed in claim 15 , wherein each one of the drive configurations is independently controlled by the controller.
19. An active converter dolly, comprising:
a frame, comprising:
a connecting portion for connecting to a towing vehicle;
a trailer connector for connecting to a trailer;
wherein, while the towing vehicle is connected to the connecting portion, and the trailer is connected to the trailer connector, a towing configuration is established;
a pair of wheels rotatably coupled to the frame, the pair of wheels defining a first wheel and a second wheel;
a pair of drive configurations, each one of the drive configurations, independently, being operably coupled to a respective one of the wheels of the pair of wheels, such that each drive configuration is operable for applying a motive rotational force to its respective wheel;
a sensor system configured to detect a low-stability condition of the towing configuration; and
a controller configured to adjust the motive rotational force applied to at least one of the first wheel and the second wheel while the low-stability condition is detected.
20. The active converter dolly of claim 19 , wherein the controller is configured to adjust the motive rotational force applied to each one of the first wheel and the second wheel while the low-stability condition is detected.
21. The active converter dolly of claim 19 , wherein each of the drive configurations is independently controlled by the controller.
22. The active converter dolly of claim 19 , wherein:
the sensor system comprises:
a first force sensor configured to sense a towing force that is applied, to the active converter dolly, by the towing vehicle that is connected to the active converter dolly via the connecting portion; and
a second force sensor configured to sense a trailer force that is applied, to the active converter dolly, by the trailer that is connected to the active converter dolly via the trailer connector; and
detecting the low-stability condition is based on the towing force data and the trailer force data.
23. The active converter dolly of claim 19 , wherein:
the sensor system comprises:
a first position sensor configured to sense a towing vehicle position of the towing vehicle, relative to the active converter dolly, that is connected to the active converter dolly via the connecting portion; and
a second position sensor configured to sense a trailer position of the trailer, relative to the active converter dolly, that is connected to the active converter dolly via the trailer connector; and
detecting the low-stability condition is based on the towing vehicle position data and the trailer position data.
24. The active converter dolly of claim 19 , wherein:
the sensor system comprises:
an inertial measurement unit configured to sense: (i) motion of the active converter dolly, (ii) a position of the active converter dolly, and (iii) an orientation of the active converter dolly; and
detecting the low-stability condition is based on the motion data, the position data, and the orientation data.
25. The active converter dolly of claim 19 , wherein:
the sensor system comprises:
an accelerometer configured to sense linear acceleration of the active converter dolly;
a gyroscope configured to sense angular acceleration of the active converter dolly; and
detecting the low-stability condition is based at least in part on the linear acceleration data and the angular acceleration data.
26. The active converter dolly of claim 19 , wherein:
each drive configuration is operable for applying a braking force to its respective wheel;
wherein the controller is further configured to adjust the braking force applied to at least one of the first wheel and the second wheel while the low-stability condition is detected.
27. The active converter dolly of claim 26 , wherein the controller is configured to adjust the braking force applied to each one of the first wheel and the second wheel while the low-stability condition is detected.
28. An active converter dolly, comprising:
a frame, comprising:
a connecting portion for connecting to a towing vehicle;
a trailer connector for connecting to a trailer;
wherein, while the towing vehicle is connected to the connecting portion, and the trailer is connected to the trailer connector, a towing configuration is established;
a first wheel rotatably coupled to the frame and disposed on a first side of the frame;
a second wheel rotatably coupled to the frame and disposed on a second side of the frame that is opposite the first side;
a first drive configuration;
a second drive configuration;
a sensor system configured to detect a low-stability condition of the towing configuration; and
a controller;
wherein:
the first drive configuration and the first wheel are co-operatively configured such that a motive rotational force is applicable to the first wheel by the first drive configuration;
the second drive configuration and the second wheel are co-operatively configured such that a motive rotational force is applicable to the second wheel by the second drive configuration;
the controller, the sensor system, the first drive configuration, the second drive configuration, the first wheel, and the second wheel are co-operatively configured for effecting application of a differential motive rotational force to the first and second wheels in response to the detection of the low-stability condition.
29. The active converter dolly of claim 28 , wherein each one of the drive configurations is independently controlled by the controller.
30. The active converter dolly of claim 28 , wherein:
the sensor system comprises:
a first force sensor configured to sense a towing force that is applied, to the active converter dolly, by the towing vehicle that is connected to the active converter dolly via the connecting portion; and
a second force sensor configured to sense a trailer force that is applied, to the active converter dolly, by the trailer that is connected to the active converter dolly via the trailer connector; and
detecting the low-stability condition is based on the towing force data and the trailer force data.
31. The active converter dolly of claim 28 , wherein:
the sensor system comprises:
a first position sensor configured to sense a towing vehicle position of the towing vehicle, relative to the active converter dolly, that is connected to the active converter dolly via the connecting portion; and
a second position sensor configured to sense a trailer position of the trailer, relative to the active converter dolly, that is connected to the active converter dolly via the trailer connector; and
detecting the low-stability condition is based on the towing vehicle position data and the trailer position data.
32. The active converter dolly of claim 28 , wherein:
the sensor system comprises:
an inertial measurement unit configured to sense: (i) motion of the active converter dolly, (ii) a position of the active converter dolly, and (iii) an orientation of the active converter dolly; and
detecting the low-stability condition is based on the motion data, the position data, and the orientation data.
33. The active converter dolly of claim 28 , wherein:
the sensor system comprises:
an accelerometer configured to sense linear acceleration of the active converter dolly;
a gyroscope configured to sense angular acceleration of the active converter dolly; and
detecting the low-stability condition is based on the linear acceleration data and the angular acceleration data.
34. The active converter dolly of claim 28 , wherein:
the first drive configuration and the first wheel are further co-operatively configured such that a braking force is applicable to the first wheel by the first drive configuration;
the second drive configuration and the second wheel are further co-operatively configured such that a braking force is applicable to the second wheel by the second drive configuration;
the controller, the sensor system, the first drive configuration, the second drive configuration, the first wheel, and the second wheel are co-operatively configured for effecting application of a differential braking force to the first and second wheels in response to the detection of the low-stability condition.