ASI Logistics and sensor manufacturer Sick have jointly solved the problem of autonomous reversing to approach trailers – one of the final steps towards fully autonomous shunting operations. ASI uses a robust Vehicle Automation Kit, while Sick supplies the 2D LiDAR sensors.
Autonomous Solutions, Inc. (ASI) provides remote monitoring, teleoperation and fully automated solutions to customers worldwide in the logistics, mining, agriculture, automotive, public administration and manufacturing sectors from its headquarters and a 100-hectare test site in northern Utah.
Aaron Rothmeyer, Product Manager at Sick in the USA: “Sick’s long-standing experience with optical devices is evident in everything from sophisticated sensors to individual components. Finally, Sick is also significantly involved in the creation and updating of global safety standards.”
Kingpin in sight
For autonomous coupling to function correctly, several technical details must be known. The autonomous vehicles must know the position and height of the trailer's kingpin, which they reverse towards. The kingpin is the device under the trailer that connects to the tractor unit's fifth wheel coupling and secures the trailer to the tractor. The tractor unit must be able to control the kingpin connection and must be able to autonomously engage the trailer.
Photos: Sick
ASI Logistics uses a state-of-the-art automated guided vehicle (AGV) to control its autonomous shunting vehicles. Inside the AGV is the tractor unit's Vehicle Control Unit (VCU). The VCU controls all of the vehicle's functions when it is in autonomous mode. High-quality data transmission from the sensors to the VCU is key to autonomous maneuvering into trailers. ASI uses two 2D LiDAR sensors: the LMS1000 for the kingpin position and the TIM551 for the kingpin height.
When reversing, the two 2D LiDAR sensors detect the location of the trailer's kingpin and transmit this data to the tractor unit's VCU. The VCU then controls the throttle, brakes, steering, and fifth wheel coupling to reverse the trailer until a secure connection is established with the kingpin. Once the coupling is complete, the sensors indicate that the tractor unit is securely coupled, allowing the robot arm to connect the necessary cables and proceed with the rest of the process.
The entire process is carried out using ASI's Mobius software, the command and control software for autonomous vehicles, which, according to the manufacturer, has already completed millions of test hours. Mobius displays vehicle movements in real time, the vehicle status, kingpin reports, and robot arm control – all from a single operating unit that can be located on-site or anywhere else in the world.
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