US 11,865,732 B2
Integrated robotic system and method for autonomous vehicle maintenance
Romano Patrick, Atlanta, GA (US); Shiraj Sen, Niskayuna, NY (US); Arpit Jain, Niskayuna, NY (US); Huan Tan, Niskayuna, NY (US); Yonatan Gefen, Niskayuna, NY (US); Shuai Li, Troy, NY (US); Shubao Liu, College Park, MD (US); Pramod Sharma, Seattle, WA (US); Balajee Kannan, Niskayuna, NY (US); Viktor Holovashchenko, Niskayuna, NY (US); Douglas Forman, Niskayuna, NY (US); John Michael Lizzi, Niskayuna, NY (US); Charles Burton Theurer, Niskayuna, NY (US); Omar Al Assad, Niskayuna, NY (US); Ghulam Ali Baloch, Niskayuna, NY (US); Frederick Wilson Wheeler, Niskayuna, NY (US); and Tai-Peng Tian, Niskayuna, NY (US)
Assigned to Transportation IP Holdings, LLC, Norwalk, CT (US)
Filed by Transportation IP Holdings, LLC, Norwalk, CT (US)
Filed on Apr. 30, 2021, as Appl. No. 17/246,009.
Application 17/246,009 is a continuation of application No. 16/240,237, filed on Jan. 4, 2019, granted, now 11,020,859.
Application 16/240,237 is a continuation in part of application No. 15/885,289, filed on Jan. 31, 2018, granted, now 10,252,424, issued on Apr. 9, 2019.
Application 15/885,289 is a continuation in part of application No. 15/292,605, filed on Oct. 13, 2016, abandoned.
Application 15/292,605 is a continuation in part of application No. 15/058,560, filed on Mar. 2, 2016, granted, now 10,272,573, issued on Apr. 30, 2019.
Application 15/885,289 is a continuation of application No. 14/702,014, filed on May 1, 2015, granted, now 9,889,566, issued on Feb. 13, 2018.
Claims priority of provisional application 62/342,510, filed on May 27, 2016.
Claims priority of provisional application 62/269,377, filed on Dec. 18, 2015.
Claims priority of provisional application 62/269,425, filed on Dec. 18, 2015.
Claims priority of provisional application 62/269,481, filed on Dec. 18, 2015.
Claims priority of provisional application 62/269,523, filed on Dec. 18, 2015.
Prior Publication US 2021/0252712 A1, Aug. 19, 2021
Int. Cl. B25J 9/06 (2006.01); B25J 9/16 (2006.01); B25J 5/00 (2006.01); B25J 19/02 (2006.01); B25J 13/08 (2006.01); G05D 1/00 (2006.01)
CPC B25J 9/1697 (2013.01) [B25J 5/007 (2013.01); B25J 9/06 (2013.01); B25J 13/084 (2013.01); B25J 19/023 (2013.01); G05D 1/00 (2013.01); G05B 2219/39391 (2013.01); G05B 2219/40298 (2013.01); G05B 2219/40323 (2013.01); G05B 2219/42263 (2013.01); Y10S 901/09 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robotic system comprising:
a controller configured to obtain image data from one or more sensors, the controller also configured to determine a location and a pose of a vehicle component based on the image data, the controller configured to determine a model of an external environment of the robotic system based on the image data, the controller configured to determine a mapping of a location of the robotic system in the model of the external environment, the model of the external environment providing locations of objects external to the robotic system relative to the location of the robotic system and grades of a surface on which the robotic system is configured to travel,
the controller configured to determine tasks to be performed by components of the robotic system to perform maintenance on the vehicle component,
the controller configured to determine a sequence of movements of the components of the robotic system based at least in part on the tasks to be performed and the locations of the objects external to the robotic system relative to the location of the robotic system and the grades of the surface on which the robotic system is configured to travel,
the controller configured to communicate control signals to the components of the robotic system to move the components based on the sequence of movements of the components to perform the tasks.