US 11,913,188 B2
Automated tool access to a manhole through automated manhole cover removal using self-driving vehicle
Jonathan R. Borden, Holladay, UT (US); and Eric Russell Petersen, Holladay, UT (US)
Assigned to R.H. BORDEN AND COMPANY, LLC, South Jordan, UT (US)
Filed by R.H. BORDEN AND COMPANY, LLC, South Jordan, UT (US)
Filed on Feb. 11, 2021, as Appl. No. 17/174,061.
Prior Publication US 2022/0251797 A1, Aug. 11, 2022
Int. Cl. E02D 29/14 (2006.01); B60W 60/00 (2020.01); G01C 21/26 (2006.01)
CPC E02D 29/1445 (2013.01) [B60W 60/001 (2020.02); G01C 21/26 (2013.01); B60W 2300/17 (2013.01); B60W 2554/80 (2020.02)] 11 Claims
OG exemplary drawing
 
1. A method performed by a self-driving vehicle for finding a manhole, exposing the manhole by removing a manhole cover of the manhole, temporarily placing a tool with respect to the exposed manhole, and then thereafter covering the exposed manhole cover back up, the method comprising:
an act of self-driving over a road to the manhole on the road so as to position the self-driving vehicle in a position with respect to the manhole;
while the self-driving vehicle is in the position with respect to the manhole, an act of automatically removing the manhole cover of the manhole using a mechanism attached to the self-driving vehicle, the manhole becoming thereby an exposed manhole due to removal of the manhole cover;
while the manhole is exposed due to the removal of the manhole, an act of positioning a tool above or within the exposed manhole using a tool handling mechanism attached to the self-driving vehicle, and an act of removing the tool from above or from within the exposed manhole using the tool handling mechanism; and
after the act of removing the tool from above or from within the exposed manhole, an act of automatically putting back the manhole cover on the exposed manhole using a mechanism attached to the self-driving vehicle.