US 12,242,267 B2
Systems and methods for automated operation and handling of autonomous trucks and trailers hauled thereby
Andrew F. Smith, Bend, OR (US); Lawrence S. Klein, Bend, OR (US); Stephen A. Langenderfer, Bend, OR (US); Martin E. Sotola, Boulder, CO (US); Vikas Bahl, Highlands Ranch, CO (US); Mark H. Rosenblum, Denver, CO (US); Peter James, Denver, CO (US); Dale Dee Rowley, Highlands Ranch, CO (US); Matthew S. Johannes, Arvada, CO (US); Gary Michael Seminara, Golden, CO (US); and Jeremy M. Nett, Littleton, CO (US)
Assigned to Outrider Technologies, Inc., Brighton, CO (US)
Filed by Outrider Technologies, Inc., Brighton, CO (US)
Filed on Sep. 11, 2023, as Appl. No. 18/244,657.
Application 18/244,657 is a continuation of application No. 17/409,623, filed on Aug. 23, 2021, granted, now 11,755,013.
Application 17/409,623 is a continuation of application No. 16/282,279, filed on Feb. 21, 2019, granted, now 11,099,560, issued on Aug. 24, 2021.
Claims priority of provisional application 62/715,757, filed on Aug. 7, 2018.
Claims priority of provisional application 62/681,044, filed on Jun. 5, 2018.
Claims priority of provisional application 62/633,185, filed on Feb. 21, 2018.
Prior Publication US 2023/0418289 A1, Dec. 28, 2023
Int. Cl. G05D 1/00 (2024.01); B25J 9/16 (2006.01); B60D 1/01 (2006.01); B60D 1/26 (2006.01); B60D 1/62 (2006.01); B60D 1/64 (2006.01); B60L 53/36 (2019.01); B60L 58/12 (2019.01); B60R 1/00 (2022.01); B60R 25/04 (2013.01); B60R 25/102 (2013.01); B60R 25/23 (2013.01); B60R 25/25 (2013.01); B62D 13/06 (2006.01); B62D 15/02 (2006.01); B62D 33/02 (2006.01); B62D 53/08 (2006.01); B62D 53/12 (2006.01); B65G 69/00 (2006.01); E05B 81/54 (2014.01); E05C 17/02 (2006.01); G05D 1/247 (2024.01); G05D 1/249 (2024.01); G05D 1/661 (2024.01); G05D 1/81 (2024.01); B62D 63/08 (2006.01)
CPC G05D 1/0061 (2013.01) [B25J 9/1679 (2013.01); B60D 1/015 (2013.01); B60D 1/26 (2013.01); B60D 1/62 (2013.01); B60D 1/64 (2013.01); B60L 53/36 (2019.02); B60L 58/12 (2019.02); B60R 1/003 (2013.01); B60R 25/04 (2013.01); B60R 25/102 (2013.01); B60R 25/23 (2013.01); B60R 25/25 (2013.01); B62D 13/06 (2013.01); B62D 15/0285 (2013.01); B62D 33/0222 (2013.01); B62D 53/0821 (2013.01); B62D 53/12 (2013.01); B65G 69/005 (2013.01); E05B 81/54 (2013.01); E05C 17/02 (2013.01); G05D 1/0088 (2013.01); G05D 1/0225 (2013.01); G05D 1/0231 (2013.01); G05D 1/0276 (2013.01); G05D 1/247 (2024.01); G05D 1/249 (2024.01); G05D 1/661 (2024.01); G05D 1/81 (2024.01); B60L 2200/36 (2013.01); B62D 63/08 (2013.01); E05Y 2900/516 (2013.01); E05Y 2900/531 (2013.01)] 46 Claims
OG exemplary drawing
 
1. A method for connecting service lines between a truck and trailer comprising the steps of:
controlling a robotic manipulator, tied to a processor, mounted on the truck, the robotic manipulator including an end effector that removably engages a first connector arrangement tied to a service line on the truck adapted to engage a second connector arrangement tied to a service line on the trailer;
acquiring images of the second connector arrangement with a camera assembly associated with the robotic manipulator and communicating with the processor;
moving the robotic manipulator to align the first connector arrangement with the second connector arrangement based upon pose or position information derived from the acquired images by the processor;
moving the robotic manipulator to join the first connector arrangement to the second connector arrangement so as to complete a service line circuit between the truck and the trailer; and
disengaging the end effector from the first connector arrangement and withdrawing the robotic manipulator therefrom.