US 11,656,626 B2
Autonomous truck loading for mining and construction applications
Alberto Daniel Lacaze, Potomac, MD (US); and Karl Nicholas Murphy, Cocoa Beach, FL (US)
Assigned to ROBOTIC RESEARCH OPCO, LLC, Clarksburg, MD (US)
Filed by Robotic Research OpCo, LLC, Clarksburg, MD (US)
Filed on Nov. 7, 2019, as Appl. No. 16/676,544.
Claims priority of provisional application 62/759,963, filed on Nov. 12, 2018.
Prior Publication US 2020/0180924 A1, Jun. 11, 2020
Int. Cl. G05D 1/02 (2020.01); B66F 9/06 (2006.01); B66F 9/075 (2006.01); B60W 60/00 (2020.01); E21F 5/02 (2006.01); E02F 9/26 (2006.01)
CPC G05D 1/0219 (2013.01) [B60W 60/0011 (2020.02); B60W 60/0027 (2020.02); B66F 9/063 (2013.01); B66F 9/0755 (2013.01); G05D 1/0212 (2013.01); G05D 1/0251 (2013.01); E02F 9/261 (2013.01); E21F 5/02 (2013.01); G05D 1/0257 (2013.01); G05D 2201/0202 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A system comprising:
an autonomous truck with a drive-by-wire kit;
one or more sensors configured to detect features in an environment surrounding the autonomous truck and/or one or more loaders;
a database storing a plurality of elementary behaviors for various phases of a process of loading the autonomous truck by the one or more loaders, the stored elementary behaviors comprising (i) a plurality of predetermined maneuvers for the autonomous truck, (ii) a plurality of sensing behaviors; and (iii) a plurality of logic behaviors; and
a controller operatively coupled to the drive-by-wire kit, the database, and the one or more sensors,
wherein the controller is operable to execute stored instructions to:
receive, via a user interface, a selection by an operator of a first one of the stored elementary behaviors from the database;
receive, via the user interface, a selection by the operator of a second one of the stored elementary behaviors from the database;
assemble together at least the first selected elementary behavior and the second selected elementary behavior to form an operation script for loading of the autonomous truck by the one or more loaders; and
control, via the drive-by-wire kit, the autonomous truck to perform the operation script for loading,
wherein the first selected elementary behavior comprises a sensing behavior that causes the controller to: determine a status of loading or of the surrounding environment, or to detect movement of the autonomous truck and/or the one or more loaders, based on signals from the one or more sensors.