SYSTEMS TO AUTOMATICALLY CONNECT AT LEAST ONE SERVICE LINE ON A TRUCK TO A TRAILER, TO OPERATE AN AU

专利摘要:
a system and method for operating an autonomous vehicle (av) terminal tractor is provided. a processor facilitates the autonomous movement of the av terminal tractor, and the connection and disconnection of trailers. a plurality of sensors are interconnected with the processor which senses terrain / objects and assists in automatically connecting / disconnecting trailers. a server, interconnected, wirelessly with the processor, which tracks the movement of the truck around and determines locations for connection and disconnection of the trailer. a door station unlocks / opens the trailer's rear doors when adjacent to the trailer, securing them in an open position by means of clamps, etc. the system computes a trailer height, and / or if the trailer's support structure on the ground is on the ground and interoperates with the fifth wheel to change the height, and if the docking is secure, allowing a user to take manual control, and ideal charge time (s). reverse / safety sensors, automatic support, and intermodal container setup are also provided.
公开号:BR112020017038A2
申请号:R112020017038-0
申请日:2019-02-21
公开日:2020-12-15
发明作者:Andrew F. Smith；Gary Seminara；Jeremy M. Nett；Lawrence S. Klein；Stephen A. Langenderfer；Martin E. Sotola；Vikas Bahl；Mark H. Rosenblum；Peter James；Dale Rowley；Matthew S. Johannes
申请人:Outrider Technologies, Inc.；
IPC主号:

专利说明:

[001] [001] This invention relates to autonomous vehicles and, more particularly, autonomous trucks and trailers for them, for example, used to tow cargo around a shipping facility, a production facility or yard, or to transport cargo to in and out of a shipping facility, facility or production yard. BACKGROUND OF THE INVENTION
[002] [002] Trucks are an essential part of modern commerce. These trucks transport materials and finished goods across the continent in their large interior spaces. Such goods are loaded and unloaded at various facilities that may include manufacturers, ports, distributors, retailers and end users. Large long-haul trucks (OTR) typically consist of a tractor or cab unit and a separate detachable trailer that is removably interconnected to the cab via a hitch system consisting of a so-called fifth wheel and a kingpin. More particularly, the trailer contains a kingpin along its lower front and the cab contains a fifth wheel, which consists of a cushion and receiving slot for the kingpin. When connected, the kingpin mounts in the slot of the fifth wheel in a way that allows pivoting
[003] [003] In the era of modern road transport, the connection of such electrical and pneumatic lines, the raising and lowering of the support structure on the ground, the operation of the rear overhead doors associated with trailers, and vehicle inspections have been tasks that typically have performed manually by a driver. For example, when connecting a trailer to the cab, after having maneuvered the trailer in reverse so as to couple the truck's fifth wheel to the trailer kingpin, these operations all require a driver to then leave his cab. More particularly, a driver has to operate the support structure on the ground to loosen the kingpin in full engagement with the fifth wheel, climb on the back of the cab chassis to manually hold a set of hoses and extensible cables (which carry air and electrical power) from the rear of the cab, and attach them to a corresponding set at the related connections in front of the trailer body. This process is reversed during decoupling of the cab trailer. That is, the operator has to climb up and disconnect the hoses / cables, placing them in a suitable location, and then operate down the support structure on the floor to lift the king pin out of engagement with the fifth wheel. Considering that the trailer must be unloaded (for example after going back with it
[004] [004] Additional challenges in road transport refer to intermodal operations, where terminal tractors are used to transport containers between various modes of transport. More particularly, containers have to be moved between railway cars and trailers in a railway yard in a particular order and orientation (facing from front to back, with doors at the rear). Similarly, order and orientation are a concern in shipyard operations where containers are removed from a ship.
[005] [005] A wide range of solutions has been proposed over the years to automate one or more of the aforementioned processes, thereby reducing the manpower required by the driver. However, regardless of the extent to which such solutions have emerged in theory, the road transport industry still relies on the above-described manual approach (s) to connect and disconnect a trailer to / from a tractor / truck cabin.
[006] [006] With the advent of autonomous vehicles, it is desirable to provide additional automation for a variety of functions that were provided
[007] [007] This invention overcomes the disadvantages of the prior art by providing systems and methods for connecting and disconnecting truck cab trailers (tractors) that enhance the general automation of the process and reduce the need for human intervention in it. These systems and methods are particularly desirable for use in an autonomous road transport environment, such as a shipping yard, port, manufacturing center, distribution center and / or general storage complex, where the operational range and routes adopted by vehicles transport are limited and a high density is moved in, out and around the facility. Such trailers typically originate and are dispatched to locations using long-distance cabs or trucks (which can be powered by diesel, gasoline, compressed gas from other fuels based on internal combustion, and / or electricity in a hybrid sail-load arrangement and / or fuel / electricity). Cabs or trucks at the facility (called “terminal tractors”) can be powered by electricity or another desirable fuel source (for example, internal combustion) - which can be, but is not limited to, clean burning fuel, in several implementations.
[008] [008] In order to facilitate substantially autonomous operation of terminal tractors (referred to here as "autonomous vehicle", or "AV" terminal tractors), as well as other AV trucks and transport vehicles, several systems are automated. The systems and methods here address such automation. As a non-limiting example, the coupling operation, including the connection of the brake / electric service to a trailer by the truck is automated. In addition, the unlocking and opening of the tow doors (for example, articulation) is automatic. The identification of trailers in a yard and navigation in relation to such trailers is
[009] [009] In one embodiment, the connection of at least the pneumatic emergency brake lines is facilitated by an interlocking connection structure consisting of a tapered or tapered guide structure mounted in the cab located at the distal end of a manipulator or extension and a base connector located on the front / wall face of the trailer body having a corresponding receptacle modeled and arranged to center and be registered with the cab guide structure so that, when fully engaged, the air connection between the cab and the trailer is completed and (at least) the emergency brakes can be applied through the pressure delivered by the cab. In an additional embodiment, the guide structure mounted in the cab can be adapted to include one or more electrical connectors that engage to close the power circuit between the cab and the trailer. The connection arrangement can also be adapted to interconnect the service brake lines between the cab and the trailer. The connection to the trailer can be provided using a mounting plate that is removably (or permanently) attached to the front of the trailer when it enters the installation using (for example) clamps that engage the slots at the base of the trailer. Alternatively, an interengaging fabric (for example, hook and loop, 3M Dual-Lock ™, fasteners, foil or magnetic buttons, etc., can be used to removably secure the connection plate. The plate includes the base connector and a hose with a fitting (for example, an air hose coupling) adapted for
[0010] [0010] In another mode, a pneumatically or hydraulically extendable arm (telescopic) is affixed behind the cab of the terminal tractor in a linear actuator that allows lateral movement. In addition, a second smaller pneumatic / hydraulic piston is attached to the base and the bottom of the larger arm, allowing the arm to lift and lower. At the end of the arm is a vertical pivot or wrist (for vertical alignment) with an electrically operated grip device or hand, which can retain (and retrieve) a coupling device that is deployed on the trailer in a correspondingly shaped receiving receptacle. The coupling device also has one (or more) laterally mounted air hose (s) that deliver air pressure from the terminal tractor for connection to the trailer. An integrated power line (and communications) is paired with the air hose, which allows the activation of a collar (lock) in a standard hose fitting alongside the coupling device to the receiving receptacle. In addition, the electrical power that is delivered through the coupling device could also supply power to the towing systems (as described herein). In order to assist autonomous arm reach and alignment, a camera and laser distance measurement device are also mounted on the grip or hand mechanism. Once the hand delivers the coupling device (with associated air hose and electrical connection) to the receiving receptacle and a positive air connection is detected, the handle release is triggered and the coupling remains with the receiving receptacle, at the as the arm is retracted to the cab for the purpose of releasing the trailer. The receiving receptacle on the trailer can be mounted in a preferred available location on the front face of the trailer by using a tape or sheet of interengaging fabric - such as industrial grade hook and loop material and / or Dual-Lock ™ resealable fasteners, or similar (for example, sheets
[0011] [0011] In another mode, in place of the extendable arm and secondary piston, two additional linear actuators are mounted, in a cross formation on the base linear actuator, which is now arranged in the orientation along the length of the truck frame. This results in the ability of the three linear actuators to move, in common agreement, in the dimensions of the orthogonal X, Y and Z axes. The linear actuator that is mounted crosswise on the vertical linear actuator still retains the electrically actuated handle or hand device, as described herein.
[0012] [0012] A system and method for operating an autonomous vehicle (AV) terminal tractor in a yard environment is provided. A processor facilitates the autonomous movement of the AV terminal tractor, with substantially no human user control inputs on the truck's internal controls, and connection and disconnection of trailers in the yard. A plurality of sensors are interconnected with the processor that senses the terrain and objects in the yard and assists in automatically connecting and disconnecting the trailers. A server (and / or yard management system (YMS)) is wirelessly interconnected with the processor, and tracks the movement of the AV terminal tractor around the yard. It determines locations for connecting and disconnecting the trailers. Illustratively, a connection mechanism connects a service line between one of the trailers and the AV terminal tractor when the AV terminal tractor and trailer are engaged (connected) and disconnects the service line when the AV terminal tractor and trailer are not engaged (disconnected). The service line can comprise at least one of an electrical line, a pneumatic line
[0013] [0013] In one embodiment, a system and method for automatically connecting at least one service line on a truck to a trailer is provided. A receiver on the trailer is permanently or temporarily attached to it. The receiver is interconnected with at least one between a pneumatic line and an electrical line. A coupling is manipulated by an end effector from a robotic manipulator to find and engage the receiver when the trailer is placed in proximity, or engaged, with the truck. A processor, in response to a position of the receiver, moves the manipulator to align and engage the coupling with the receiver in order to complete a circuit between the truck and the trailer. The end effector can be mounted on at least one of (a) a structural frame that moves along at least two orthogonal geometric axes and having an arm extending backwards, (b) a robot arm of multiple degrees of freedom, and (c) a linear actuated arm with pivot joints to allow simultaneous back extension and height adjustment. The arm driven by linear actuator can be mounted on a laterally movable base on the truck chassis.
[0014] [0014] In one embodiment, a modernization kit for the trailer is provided, which includes a set of Y connector for at least one of a pneumatic line of the trailer and an electric line of the trailer, the set of connector Y connects both to a conventional service connector for the receiver. The Y connector assembly can be operationally connected to a ventilation mechanism that selectively allows one of the coupling and the conventional service connector to vent. The conventional service connector may comprise an air hose coupling.
[0015] [0015] In one embodiment, a system and method for operating an autonomous truck in relation to a trailer is provided. A vehicle-based processor communicates with a pull test process that, when the truck is engaged in the trailer, automatically determines whether the trailer is engaged by applying driving power to the truck and determining the load on the truck thereby.
[0016] [0016] In one embodiment, a system and method for maneuvering a trailer with a truck in a manner that is free of service connections between a truck's pneumatic brake system and a trailer brake system are provided. A pressurized air tube is removably attached to the trailer and connected to the trailer's brake system. The arrangement includes a valve, in line with the pipe, which is triggered based on a signal from the truck to release the brake system. Illustratively, the truck is an autonomous truck, and the signal is transmitted wirelessly by a truck controller. More particularly the truck may be an AV terminal tractor, and the pipe may be adapted to be attached to the trailer upon delivery of the trailer to a yard, (for example) by an OTR truck.
[0017] [0017] In one embodiment, a system and method for locating an air hose coupling connector on a front face of a trailer comprises a coarse sensing system that acquires at least one of a 2D and a 3D image of the front face, and looks for imaging resources related to air hose coupling. The coarse sensing system locates features having a different texture or color than the surrounding image features after identifying edges of the trailer's front face in the image. The coarse sensing system may include a sensor located in a cab or chassis on an AV terminal tractor. A fine sensing system, located on an end effector of a fine manipulator, can be moved in a coarse motion operation to a location adjacent to a location on the front face containing candidate air hose coupling features. The fine sensing system can include a plurality of 2D and / or 3D image forming sensors. The fine manipulator may comprise a multi-axis robotic arm mounted on a coarse multi-axis motion mechanism
[0018] [0018] In one embodiment, a system and method for attaching a truck-based pneumatic line connector to an air hose coupling on a trailer using a manipulator with an end effector that selectively engages and releases the connector includes a set of tightness that selectively overlaps an annular seal on the air hose coupling, and that tightens the connector on the annular seal in a sealed way. The clamping assembly can be at least one of a driven clamp and a spring loaded clamp. Illustratively, the spring loaded clamp is normally closed and is opened by a
[0019] [0019] In one embodiment, a system and method for attaching a truck-based pneumatic line connector to an air hose coupling on a trailer, using a manipulator with an end effector that selectively engages and releases the connector, includes a probe member containing a pressure port, which inserts, and is housed in an annular seal of the air hose coupling based on a movement of placing the end effector. The probe member may comprise one of (a) a frustoconical plug that is releasably fitted to the annular seal, and (b) an inflatable plug that selectively engages a cavity in the air hose coupling under the annular seal and it is inflated to get stuck in it. The frustoconical plug includes a circumferential splinter to assist in retention against the annular seal.
[0020] [0020] In one embodiment, a system and method for attaching a truck-based pneumatic line connector to a trailer air hose coupling on a trailer, using a manipulator with an end effector that selectively engages and releases the connector, it comprises another air hose coupling which is attached to the tow air hose coupling in a substantially conventional manner. The other air hose coupling includes a quick disconnect (universal) fitting that selectively receives the end effector connector. A corresponding opposite gender fitting is loaded by the end effector to selectively connect and disconnect the universal fitting.
[0021] [0021] In another embodiment, a system and method for determining a trailer's relative angle to a truck in
[0022] [0022] In one embodiment, a system and method for determining a relative location of a trailer kingpin with respect to a truck in a confrontational relationship, in which the truck is trying to move backwards to engage the trailer, is provided. A spatial sensing device is located to face the truck backwards. The sensing device is oriented to sense the space below
[0023] [0023] In one embodiment, a system for interconnecting an air line between an autonomous truck and a trailer can include an adapter that is mounted with respect to an air line on the side of the trailer and directs pressurized air through it, the adapter having at least one air hose coupling connection in it, and a manipulator that loads and moves a connection tool for and against engagement with the adapter, the connection tool being interconnected with an air line on the side of the truck to deliver pressurized air to the adapter when attached to it and the manipulator being arranged to selectively release from the tool when the tool is attached to the adapter. Illustratively, the adapter may include an air hose coupling connection that engages an air hose coupling connection attached to the air line on the trailer side and the adapter may include a quick disconnect fitting that engages an actionable quick disconnect on the tool. The quick disconnect can be triggered by at least one of the
[0024] [0024] The description of the invention below refers to the accompanying drawings, of which: Fig. 1 is a diagram showing an aerial view of an exemplary shipping facility with locations for storing, loading and unloading trailers used in combination with the arrangements AV terminal tractor provided in accordance with a system and method for maneuvering trailers in a yard; Fig. 2 is a perspective view of a fuel driven AV terminal tractor for use in association with the system and method here; Fig. 3 is a rear perspective view of an electrically driven AV terminal tractor for use in association with the system and
[0025] [0025] Fig. 1 shows an aerial view of an exemplary shipping facility 100, in which long-distance trucks (OTR) (tractor trailers) deliver goods loaded on trailers from remote locations and retrieve trailers for return to such locations (or somewhere - such as a storage depot). In a standard operating procedure, the OTR transporter arrives with a trailer at a destination watchtower (or similar facility entry checkpoint) 110. The guard / attendant enters the trailer information (trailer number or information embedded in the trailer) scanning the QR code (ID) on the system, which would typically include: connection location of the manufacturer / model / trailer year, etc.) on the installation's software system, which is part of a server or other 120 computing system, located externally, or totally or partially in the construction complex of facility 122 and 124. Complex 122, 124 includes perimeter loading docks (located on one or more sides of the building), associated portals and cargo doors (typically elevated), and floor storage, all arranged in a manner familiar to those versed in the technique of transportation, logistics, and the like.
[0026] [0026] By means of a simplified operational example, after the arrival of the OTR truck, the guard / attendant would then direct the driver to deliver the trailer to a specific listed parking space in a designated concentration area 130 - shown here containing a large trailer arrangements parked side-by-side 132, arranged in a manner appropriate to the overall layout of the installation. Trailer and parked status data is usually updated in the company's integrated yard management system (YMS), which can reside on server 120 or somewhere.
[0027] [0027] Once the driver has released the trailer in the
[0028] [0028] At some point later, the trailer (that is, loaded) in the concentration area 130 is hitched to a terminal tractor / tractor, which, in the present application, is arranged as an autonomous vehicle (AV). Thus, when the trailer is designated to be unloaded, the AV terminal tractor is dispatched to its demarcated parking space in order to retrieve the trailer. As the terminal tractor is maneuvered in reverse on the trailer, it uses one or multiple mounted cameras (for example, based on standard or custom color gray scale 2D sensor or pixel) (and / or other associated sensors ( typically range / 3D determination), such as CPS receiver (s), radar, LiDAR, stereo vision, runtime cameras, ultrasonic / laser rangefinders, etc.) to assist in: (i) confirming the trailer identity by reading the trailer number or scanning a QR, bar, or other type of coded identifier; (ii) Align the truck connectors with the corresponding trailer receptacles. Such connectors include, but are not limited to, the fifth (5a) cab wheel on the trailer kingpin, pneumatic lines, and electrical conductors. Optionally, during the lifting period and initial alignment of the AV terminal tractor to the trailer, cameras mounted on the terminal tractor can also be used to perform a trailer inspection, such as checking for damage, confirming tire inflation levels, and checking other security criteria.
[0029] [0029] The coupled trailer is towed by the AV terminal tractor to a discharge area 140 of installation 124. It is reversed in
[0030] [0030] Having described a generalized technique for maneuvering trailers in an installation, reference is now made to Figs. 2-4, showing exemplary terminal tractors 200 and 300 for use with the various modalities described below. Terminal tractor 200 (Fig. 2) is powered by diesel or another internal combustion fuel, and electricity from terminal tractor 300 (Figs. 3 and 4), using an appropriate rechargeable battery pack that can operate in a manner known to those skilled in the art. For the purposes of this description, the AV terminal tractor is powered by rechargeable batteries, but it is contemplated that any other source of motive power (or a combination of them) can be
[0031] [0031] The AV terminal tractor can include a variety of sensors as described here in general, which allow you to navigate through the yard and engage / disengage a trailer in an autonomous manner that is substantially or completely free of human intervention. Such lack of human intervention can be with the exception, possibly, of emission of
[0032] [0032] Notably, the AV 200, 300 and 400 terminal tractor of Figs. 2, 3 and 4, respectively, includes an emergency brake pneumatic hose 250, 350, 450 (typically red), pneumatic service brake hose 252, 352, 452 (typically blue) and an electric line 254, 354, 454 (often black), which extend from the rear of the cab 210, 310, 410 and, in this example, are suspended from the side of the cab in a conventional arrangement (manually connected). This allows access by yard personnel when connecting and disconnecting the hoses / lines of a trailer during the above-described maneuvers. The AV terminal tractor 200, 300, 400 includes a controller assembly 270, 370 and 470, respectively, shown as a dashed box. Controller 270, 370, 470 can reside in any acceptable location on the truck, or a variety of locations. Controller 270, 370, 470 interconnects with one or more sensors 274, 374, 474, respectively, which sense and measure the operating environment in the yard, and provide data 160 to and from the installation (for example, YMS, server 120 , etc.) via a transceiver. Truck control 200, 300, 400 can be implemented in a self-contained manner, entirely on controller 270, 370, 470, whereby the controller receives mission plans and decides on appropriate maneuvers (for example, start, stop, accelerate on the curve, brake, move forward, reverse, etc.). Alternatively, control decisions / functions can be distributed between the controller and a remote control computer - for example, server 120, which computes control operations for the truck and relays them as data to be operated by the local control system of the
[0033] [0033] A particular challenge in creating an AV terminal and trailer tractor system, which is substantially or totally free of human intervention in its ground operations, is to automate the connections / disconnections of such hoses and electrical conductors between the truck and the trailer in a way that is reliable and accurate. Figs. 5-8 show a basic arrangement 500 consisting of an AV 502 terminal tractor and trailer 504. The trailer can be conventional in arrangement with additions and / or modifications as described below, which allow it to function in an AV yard environment . Truck 502 and trailer 504, shown fully engaged in this arrangement with at least one connection (for example, the pneumatic emergency brake line) 510 to be made. It is common for terminal tractors to only connect the emergency brake when pulling trailers around a yard - however, it is expressly contemplated that additional connections can be made, for example, to the service brakes, as well as electrical conductors. The connection arrangement 510 for a single pneumatic line here comprises a receptacle assembly 520, permanently or temporarily mounted on the front 522 of the trailer 504, and a probe assembly 530 extending from the rear face 532 of the truck cab 534. The arrangement connection 510 in this mode provides a positive sealed pressurized coupling between one of the source's pneumatic lines (for example, the emergency brakes) of the truck on the trailer. Pressure is generated on the side of the truck (by means of a pump, pressure tank, etc.), and delivered to the components that activate the trailer brakes when activated by the
[0034] [0034] The receptacle assembly 520 and the probe assembly 530 consist of interlocking frustoconic shapes, in which the probe head 540 is mounted on the end of a semi-rigid hose member 542 (for example, approximately 1.5-4 , 5 feet), which can be supported by one or more conductor wires mounted above the rear of the truck cab. The cone shape is sufficient to allow a connection between the head 540 and the receptacle 520 when the truck is reversed directly on the trailer. With particular reference to Fig. 8, the receptacle of this modality is attached directly to the front face 522 of the trailer 504, and includes a central hole 810 that extends between a door mounted on the side (which can be threaded or otherwise adapted to interconnect a standard tow pressure line) and a quick pressure disconnect fitting (eg male) 822. The geometry of a fitting like this should be clear to those skilled in the art. The probe head 540 also includes a hole 830 that attaches to a proximal fitting 832 that couples the semi-rigid hose member 542 to the head 540. The proximal end of the semi-rigid hose member 542, in this embodiment, is attached to a base 840 affixed to the rear face 532 of the truck cab 534. The location of base 840 is selected to align with receptacle 520 when the trailer and truck are in a straight front-to-back alignment. As described below, a variety of mechanisms can be employed to align and direct the head 540 into the receptacle. The base 840 also includes a side door 842 that interconnects with the source / brake pressure circuit of AV trucks, and is selectively pressurized when the brakes are applied. The conical probe head 540 includes, at its distal end, a quick disconnect pressure connector (for example, female) 850 that is adapted to seal in a sealed way with the connector of the receptacle 822. The connector
[0035] [0035] Probe 540 and receptacle 520 can be constructed from a variety of materials, such as a durable polymer, aluminum alloy, steel or a combination thereof. Connectors 822 and 850 can be constructed of brass, steel, polymer or a combination thereof. They typically include one or more O-ring seals (for example) constructed of polyurethane or another durable elastomer. The semi-rigid hose 542 can be constructed from a polymer (polyethylene,
[0036] [0036] As shown briefly in an embodiment in Fig. 8A, receptacle 860 and probe 870 (which operate similarly to probe 540 and receptacle 520 described above) can be adapted to include electrical contacts - for example, a plurality of rings axially spaced concentric 880, 882, 884 on the outer tapered surface of probe 870 - making contact with corresponding rings or contacts 890, 892, 894 on the inner tapered surface of receptacle 860 when probe and receptacle connectors (862 and 872, shown dashed lines) are fully engaged. This can complete the electrical connection between the electrical components of the trailer (lights, signals, etc.) and the power supplies connected to the truck. Appropriate plugs and sockets can extend from the probe and receptacle to interconnect standard truck and trailer electrical conductors. Note that a variety of alternative electrical connection arrangements can be employed in alternative modes in combination with, or separate from, the pneumatic probe and receptacle.
[0037] [0037] With reference to the embodiment of Figs. 8B-8E, an 880 connector / coupling assembly capable of electrically actuating to selectively switch it between a locked and unlocked state is shown. This 880 set can be adapted to interoperate with the aforementioned probe and receptacle sets, or other coupling and receiver arrangements, as described in embodiments hereinafter. Coupling assembly 880 consists of a male coupling 881, which can be part of a receiver or probe in the appropriate manner. In this embodiment, it comprises a quick disconnect fitting of the conventional 1/2 inch NPT threaded tube air line (for example) with one or more 882 unitary locking depressions.
[0038] [0038] Notably, an external 892 ring (or other shape) comprises an electromagnetic coil (for example) a solenoid. This coil, when energized, forces the magnetic sleeve 888 axially backwards (against the predisposition of the spring 887), and places the ball bearings 885 in alignment with an annular depression 893 on the inner front surface of the magnetic sleeve 888. This depression allows the ball bearings 885 quickly bounce radially out of holes 886 sufficiently to disengage them from the tongue groove 882, thereby allowing
[0039] [0039] In operation, an electric current is delivered to the external / solenoid sleeve 892 by means of a relay or other switch that receives a signal (for example, from the AV terminal tractor controller). An internal battery (not shown) of sufficient power can be included in the female coupling assembly. Alternatively, power can be supplied by the electrical system of the AV terminal tractor. The magnetic sleeve thus moves axially backwards as shown in Fig. 8C. This position allows the ball bearings 885 to move radially inward as the housing is moved axially inward relative to the inner sleeve 884 (shown in Fig. 8D). During this step, the outer / solenoid sleeve 892 remains energized by the switch and battery. Once fully engaged, the switch disconnects the battery and the 887 spring drives the magnetic sleeve forward (since it is now free from predisposition by the magnetic solenoid). The ball bearings 885 thus find the non-recessed part of the inner surface of the magnetic sleeve (884) and are driven radially out of the depression of the male socket 882, thereby forming a sealed lock as shown in Fig. 8E.
[0040] [0040] Disconnection of the male plug 881 occurs when the external / solenoid sleeve 892 is energized again by the switch / battery (typically based on a signal from the controller). In various embodiments, the male socket 881, inner sleeve 884 and rear base socket 891 can be constructed of a non-magnetic material, such as a durable polymer, brass, aluminum, titanium, nickel, etc. It should also be clear to those skilled in the art that a range of variations from the set of Figs. 8B-8E can be implemented, where (for example) the solenoid is normally locked and the spring causes an unlocked state, the arrangement of components can be varied, etc. In one embodiment, the male fitting (which is not
[0041] [0041] Reference is now made to Figs. 9 and 10 showing an arrangement 900 having a pneumatic connection 930 for use with an AV 910 terminal tractor and trailer 920 according to another embodiment, in which the probe set 940 is attached to a reel or reel 942. This arrangement recognizes that the front face of trailer 922 often moves out of the rear face of cab 912 during turns (i.e., where the kingpin pivots on the geometric axis of dashed line 924 around fifth wheel 914). This condition is also shown in Fig. 6, where receptacle 520 is spaced a significant distance from probe 540. To address the variability in spacing between receptacle 950 and probe 940 (of the present embodiment of Figs. 9 and 10) during movement curve, and more generally to deal with the position shift between the truck and the trailer, the probe 940 is mounted on a semi-rigid tube 944, which is (in this modality) free of any air duct. The illustrative frustoconic probe 940 includes a side port 1020 (Fig. 10) that routes air to the pressure connector (for example, female) 1030 at the proximal end of the probe. The side door of probe 1020 interconnects to the pressure line of the truck in a manner similar to that previously described for probe 540. This connector and the associated receptacle components (950) are otherwise similar to the embodiment of Figs. 5-8 above described and interconnection is done according to a similar operation. That is, the truck reverses the trailer with the 940 probe and the 950 receptacle in relatively straight alignment. Then, probe 940 is guided into the
[0042] [0042] This arrangement 1100 is further detailed in the embodiment of Figs. 11 and 12, in which trailer 1110 contains a receptacle (not shown) as described herein or in accordance with another embodiment (described below), and truck 1120 contains probe assembly 1130 which is adapted to be removably engaged the receptacle as described here. Head 1132 of probe assembly 1130 includes a door mounted on the pressure side and associated hose 1140 (for example, an emergency brake pneumatic line from the conventional truck outlet (1120) 1142 for this). The probe head 1132 is mounted on a semi-rigid tube 1150, as described herein, with a frustoconic (positive) end member 1220, which is adapted to rest on a corresponding frustoconical (negative) 1230 receiver, as also described herein. The receiver is permanently or temporarily attached to the rear face of the truck
[0043] [0043] Figs. 13, 14 and 14A show an arrangement 1300, consisting of a removable receptacle assembly 1310 that is variablely mounted on the front face 1320 of the trailer 1330. As shown, a clamping assembly, or other form of mounting bracket 1350, can be temporarily or permanently attached to the trailer in a way that
[0044] [0044] As additionally shown in Fig. 14A, a male quick disconnect fitting 1420 (for example, similar or identical to fitting 881 in Fig. 8B) is shown coaxially located within the cylindrical or frustoconical well 1432 of a receiver housing 1430 The 1430 receiver housing can be constructed from a variety of materials, such as aluminum alloy, steel, polymer, or a combination of materials. The housing can be adapted to be attached directly to the trailer body (for example, along the front face as described here) or using a mounting plate assembly, as described below (see, for example, Figs. 18-22 ). The fitting 1820 can be connected directly, or by means of a door arrangement inside the housing, to a pneumatic line of the trailer 1440 - for example, an emergency brake line. A 1442 valve button or other pressure regulation system (for example, a safety valve) can be integrated into the housing door system. An
[0045] [0045] With additional reference to Figs. 15 and 16, the clamping assembly 1350 can consist of a plate 1510 that slides (double arrow 1522) along a bar 1520, and can be locked in relation to the bar using any appropriate mechanism - for example, clamp, clamp, adjustment screw, etc. The bar 1520 ends in a vertical pillar or hook 1530 located at the rear end of the bar 1520. Note that the receptacle in this modality may be similar to those described here, containing an internal pressure connector for use with an appropriately designed probe head . Alternatively, the receptacle can be adapted to receive an alternative form of connector, such as that shown in Fig. 17. The pillar / hook 1530 is adapted to extend upwards into a slot, step or hole 1610 in the base 1390 of the trailer 1330. The pillar / hook engages a front edge of the slit / step / hole 1610 as shown (Fig. 16) when the clamp is tightened, with the plate 1510 engaged on the front face 1320 of the trailer 1330. Thus, the plate 1510 and the associated receptacle (1310) are firmly fixed in a desired position on the front face of the trailer when located in the yard. The 1350 clamping arrangement can be detached from the 1330 trailer (for example) in the guardhouse as the trailer is placed in storage, leaves the yard, or is hitched to an OTR truck, with conventional connections made on pneumatic lines and conductors trailer by truck. The plate 1510 may include a frictional bottom (for example, a layer / sheet of silicone, rubber or neoprene) to avoid disfiguring the surface of the trailer and resist displacement once tightened.
[0046] [0046] As discussed here, the tight receptacle, or otherwise affixed, may employ a quick disconnect pressure connector
[0047] [0047] Note that the pressure connection in any of the modes here can also be locked in a sealed way and unlocked using appropriate motorized and / or solenoid operated actuators.
[0048] [0048] Reference is made to Figs. 18-22, which show an additional form of a detachable receptacle, or another form of removable connection between the truck's pneumatic line (s) and the trailer's pneumatic lines (2100 in Fig. 21) and, optionally, its electrical conductors (not shown). Note that this 1800 arrangement can be used to charge a plurality of receptacles / connectors for both pneumatic pressure and electricity. In the present embodiment, a single receptacle 2110 is mounted on plate 1810 of arrangement 1800, with a single door mounted on side 2210 (close-up representation 2200 of Fig. 22) to interconnect with an air hose from the trailer brake system ( for example) through a standard / conventional door and
[0049] [0049] The clamping assemblies 1840 are each mounted in a location in the direction of the appropriate width at the base 1830 of the plate 1810, running within horizontal slots 1850. The clamping assemblies each include a bar 1842 on which a member of grip 1844 slides. The clamping members 1844 are in the form of conventional bar clamps that progress along a clamping direction (arrow 1846), as the user repeatedly compresses an 1848 handle. The clamping pressure is released and the clamps can be moved opposite arrows 1846 for a more open state by hinged releases 1850. The bars include a hook or pillar 1852 that engages slot 2120 at the base of trailer 2130. The upper portion of each clamping member 1844 includes a flange 1854 that interengages a pin 1858 on a side adjustment plate 1860 that rests on the opposite side of the plate 1810 when the flange 1854 is attached to the plate
[0050] [0050] In an alternative embodiment, the front extension of the rods is mitigated by affixing the plate directly to the front ends of each rod and providing a separate securable clamping member that engages the front face of the trailer separately. In such an arrangement, the plate floats forward from the face of the trailer. Other arrangements in which a clamp engages slots at the base of the trailer and thereby secures a vertical plate containing a connector are also expressly contemplated.
[0051] [0051] In an alternative embodiment, the receiving / receiving receptacle on the trailer can be mounted in a preferred available location on the front face of the trailer by using (for example) if fasteners - such as a sheet fastener and / or fabric tape interacting,
[0052] [0052] For the purposes of other sections of this description, the depiction of trailer 2100 in Fig. 21 is now described further, as a non-limiting example. The rear of the 2150 trailer can include tilting or roll-up doors - among other types (not shown). An underlying 2160 protection structure is provided under the rear of the body. A set of wheels 2172 - in the form of a trick arrangement 2170 is shown adjacent to the rear 2150. A set of support structure on the moving floor 2180 is further provided at the base of the trailer 2130. The king pin 2190 is also shown near the front face 2140 along the base 2130. D. Modified Air Hose Coupling Connector and Uses
[0053] [0053] Figs. 23-25 represent a modified 2300 air hose coupling connector for use in various modalities of the pneumatic connection arrangement here. In general, the air hose coupling is modified in the clamp in order to allow automatic connection to the towed vehicle with an evenly accepted air hose coupling. This allows the vast majority of trailers currently on the road, regardless of model / brand, to avoid the need for a special modernization in order to integrate with an AV terminal tractor as described here, and its attachment systems.
[0054] [0054] A 2330 thumb (or "thumb") clamp is provided on a 2332 pivot shackle (double arrow 2334) on the 2340 inlet port of the 2300 modified air hose coupling, to pivot towards eyelet 2320 when locked and pivot out of eyelet 2320 when released. As shown particularly in Fig. 25, the modified air hose coupling 2300 is interconnected with a standard 2500 air hose coupling fitting, for example, part of the trailer pneumatic system. As shown, the thumb 2330 compresses at the top 2510 of the standard air hose coupling 2500 while the locking shoulder locked by conventional swing 2530 is rendered useless, as such is omitted in the modified air hose coupling. Instead, in this embodiment, the sealing between opposing air hose coupling eyelets is guaranteed by the pressurisable engagement of the 2330 thumb. The 2330 thumb is, in turn, operated between a engaged position (as shown) and a released position ( not shown, but pivoted out of engagement with the standard air hose coupling) by an appropriate rotational drive mechanism - for example, a solenoid and / or direct driven rotary stepper motor or 2350 gear, which may include position or a rotational pneumatic actuator. Alternatively, a
[0055] [0055] In an additional embodiment, the air hose coupling body (or a portion of it) can be magnetized or provided with magnets (for example, potent rare earth), thereby allowing magnetically assisted alignment and a sealing of positive pressure with the tow air hose coupling. Such a magnetic connection can also be used to assist in connecting and aligning other types of connectors, such as the probe and receptacle connector sets described above.
[0056] [0056] In various modalities, the modified air hose coupling can be used to directly interconnect the pneumatic system of the AV terminal tractor to that of the autonomously coupled / disengaged trailer. A variety of mechanisms can be used to perform this operation. Similarly, the aforementioned connection, or another form of connection, can be used with an appropriate guiding mechanism / system that can be integrated with various sensors or on the rear face of the truck (for example, cameras, LiDAR, radar, etc.) .
[0057] [0057] In any of the modalities described here, it is contemplated that the receptacle can be arranged to coexist with conventional electrical connectors and / or connectors (for example, air hose coupling). A Y connector (not shown) can be arranged to route to the receptacle (s) and to the conventional trailer connectors - for example, standard or custom air hose couplings that integrate with the conventional air system (for example, example) on an OTR truck or conventional terminal tractor. The Y connector can include appropriate valves and vents so that it seals when needed, but allows
[0058] [0058] Reference is made to Fig. 26, which shows an AV 2600 terminal tractor having a conventional 2610 chassis base with a 2612 fifth wheel, and a 2620 cab in front of the 2610 chassis base. Area 2630 in front of the fifth wheel 2612 has enough space (between the rear face 2622 of cab 2620 and the front face of a towed trailer (not shown)) to accommodate a robotic structural frame 2640. In this exemplary embodiment, structural frame 2640 consists of a vertical pillar 2642 which is attached to the 2610 chassis base in an appropriate location (for example, shifted to the left as shown). Abutment 2642 can be secured in a variety of ways that ensure the stability of the robotic structural frame 2640 - for example, a bolted flange 2644 as shown. The vertical pillar 2642 provides a rail for a horizontal bar 2646 to move vertically (double arrow 2648) along it. The movement can be provided by drive screws, rack and pinion systems, linear motors, or any appropriate electric and / or pneumatic mechanism that allows movement by a predetermined distance (for example, approximately 1-2 feet in each direction). The horizontal bar 2646 could also support a telescopic arm directed backwards 2650 so that it can move (double arrow 2652) horizontally / laterally from left to right (with respect to
[0059] [0059] In operation, using the robotic structural frame 2640, the alignment of the telescopic end effector 2656, and associated connector 2658 (for example, the modified air hose coupling clamp), is driven, in part, by 2672 sensors in the form of 2D or 3D cameras. However, more detailed information on the type of trailer and precise location of the receptacle can also be read on the trailer (for example) using a QR / Bar or other ID code, appropriate scanned RFID or other data display system. This embedded value can provide a precise location of x, y, z coordinates of the receptacle and optionally the rotations, ϴx, ϴy and ϴz, around the respective geometric axes x, y and z. In one embodiment, the location can be computed in relation to a fixed point, such as the code sticker itself, kingpin, edge and / or corner of the trailer body, etc. In another mode,
[0060] [0060] As described here, a conventional or customized passive or active RFID adhesive / transponder, or another traceable signaling device can be placed directly on the trailer connector (for example, air hose coupling), to assist the end 2656 when delivering the 2658 connector (s) precisely in the alignment position. The sticker can either be placed at the time of verification in the guardhouse, or by the driver, as the OTR connectors are disengaged.
[0061] [0061] Another modality of a 2670 robotic manipulator, mounted on the rear of an AV 2660 terminal tractor, is shown in Fig. 26A. This 2670 manipulator, also adapted to maneuver the service connector of the AV terminal tractor (for example, pneumatic emergency brake line connector) and defines three orthogonal geometric axes of movement. It consists of a 2672 horizontal-based linear drive or motor, arranged to load a 2674 shuttle back and forth far enough to reach the receiver on the trailer (not shown) in a backward orientation and to prevent the trailer from swinging. in a forward location (for example, at least approximately 1-4 feet of movement in a typical implementation). Shuttle 2674 supports a perpendicular linear motor 2676 that moves a third horizontal linear motor arranged orthogonally 2678 up and down (vertically, for example, approximately 1-3 feet). The third 2678 engine includes a 2680 mounting plate that can hold a handle or other hand assembly that can move in one or more degrees of freedom (for example, 1-3 feet) and selectively pick up the service connector for insertion into the receiver / trailer coupling. Linear motors can be realized
[0062] [0062] Fig. 27 represents an AV 2700 terminal tractor with 2710 automatic connection system according to another modality. This 2710 system employs a U-shaped frame 2720 with opposite columns 2722 on each opposite side of the rear face of the 2730 cab, and a base bar 2724 mounted on the 2732 chassis. The columns 2722 each carry a toothed rack that is engaged by a pinion driven by a servo or stepper motor on each of the opposite sides of a 2740 crossbar. The 2740 crossbar moves up and down (vertically, as shown by the double arrow 2742) based on control inputs. a 2750 controller that receives position information about the trailer connector based on 2752 rear-facing cab-mounted cameras, and / or other type (s) if appropriate sensor (s). A 2760 telescopic arm, with an appropriate end effector 2764 (and / or air hose connector / coupling directly attached to the arm), moves laterally (horizontally, as shown by the double arrow 2762) based on the controller using (for example) a lead screw drive, linear motor or rack and pinion system. The telescopic effect is provided by another motor or drive system that must be clear to those skilled in the art, thereby providing at least
[0063] [0063] With brief reference to Fig. 28, an automatic connection arrangement 2800 may comprise a 2810 multi-axis robot, available from a commercial supplier, (or custom built), and adapted to external / extreme environments as appropriate. The design and function of a robot like this should be clear to those skilled in the art. In general, the 2810 robot is mounted on the chassis, behind the cab of the 2822 truck. It communicates with a 2830 controller, which receives input from one or more 2832 sensor (s). As described here, the 2832 sensors can be used to identify both the trailer connector and its associated 3D location and the 3D location of the end effector 2840, and the associated connector 2842, which is carried by that end effector. The connector 2842 is shown connected to a hose 2844, that is, similarly, connected to the pneumatic and / or electrical system of the truck. The end effector is a distal part of the fully articulated robot arm (for example, 5 or 6 geometric axes) 2850 and the base 2852. It is aided (that is, it is guided using sensory feedback) by commands from the 2830 controller. Where 2D or 3D camera sensors are employed (in any of the modalities here), they can be connected to a 2860 vision system. A variety of commercially available vision systems can be employed - typically operating based on trained, pattern recognition. in 3D model data (for example). Such systems are available from a variety of vendors, such as Cognex Corporation
[0064] [0064] The use of a fully articulated multi-axis geometry robot can allow the 2842 connector to be both modified and conventional (for example, air hose coupling with standard locked rotation). In the case of a conventional connector, the robot 2810 can be trained to move the end effector containing the connector along its various geometric axes, where the robot arm 2850 and base 2852 are trained to align and rotate (for example ) the air hose coupling to a securely locked / sealed position during connection, and counter-rotate / unlock the air hose coupling during disconnection.
[0065] [0065] Figs. 28A-28C represent an automatic connection arrangement 2860 according to another embodiment. Arrangement 2860 consists of a linear actuator positioned horizontally from left to right or screw drive base 2862 (as also described in general here - see, for example, Fig. 26A) with a base plate 2863 mounted on the driver / drive screw 2862, allowing lateral movement (double arrow 2864) through the rear of the 2865 truck (for example, approximately 1-3 feet). Attached to the base plate 2863 is a large hydraulic or pneumatic piston 2866, with an articulated end effector (also called a “hand”) 2867, shown holding a releasable coupling assembly 2868 (see, for example, the female portion of the connector 880 in Figs. 8B-8E above), which can remain connected to the towing receiver after the end / hand effector 2867 has been retracted. Also associated with the 2868 coupling is a pneumatic / hose line on the 2869 side port that connects back to the main AV terminal tractor air system. Routed with the pneumatic line 2869 is the electrical power, used to operate a drive device in the air connection device (for example, solenoid sleeve 892 in Figs.
[0066] [0066] In one embodiment, a 2882 camera and 2884 distance determination device of conventional or custom design are mounted over (or in another location) the end effector. These components are physically or wirelessly interconnected to a processor (for example, the AV 2886 terminal tractor controller, or module thereof), which operates a vision system to assist in coupler / receiver alignment (such as described here). Determination of distance and alignment are also assisted by any of the optional components previously mentioned or arrangements shown (for example, position of reference to the known location, reflective standardized adhesives, etc.).
[0067] [0067] In operation, arrangement 2860 of Figs 28A-28C initiates function after the 2865 AV terminal tractor engages trailer 2870 under operation of the 2886 controller. The 2886 controller (or other processor / module) then instructs the end 2867 which is picking up coupler 2868 to move from a stowed position towards receiver 1430 on the trailer. The 2884 camera and 2882 rangefinder acquire the 1430 receiver using a variety of techniques described here. Other cameras on the rear face of the 2888 truck can also assist in locating the receiver as appropriate. The 2886 controller, or a motion module / processor located in the 2860 array, helps the 2862 linear motor to laterally align (side by side) the end effector 2867 and the coupler 2868 with the receiver. Subsequently, or simultaneously, the large and small pistons 2866 and 2872 travel (large piston out and small piston in) while the rotary actuator 2880 rotates to maintain a level angle, thereby taking the 2868 coupler to engage with receiver 1430. After engaging, the electronic locking solenoid on the
[0068] [0068] The disconnection of the connected connectors 1430, 2868 is the approximate opposite of the connection, as described here. That is, the end effector moves back to engage with the 2868 coupler and picks it up. The solenoid in the coupler energizes, allowing the socket to be unlocked in the receiver. Pistons 2866, 2872 and rotary drive 2880 move in a coordinated manner to remove the coupler and move it to a neutral (retracted) location. The 2862 linear actuator can also move to a neutral location as appropriate. The trailer is then disengaged in the manner described here. III. AV Terminal Tractor Operation
[0069] [0069] In addition to the general operation of an AV terminal tractor as described here, once the designated trailer has been successfully attached / coupled to the AV terminal tractor (pneumatic line (s), optional electrical connections, and pin), the fifth wheel is raised by the operation of the controller, in order to release the support structure on the ground floor, and the trailer is then pulled out. Reference is made to the block diagram in Fig. 29, showing a 2900 arrangement of functions and operational components for use in carrying out the steps described here - particularly regarding the coupling of a trailer to the AV terminal tractor. As shown, the 2910 processor / controller coordinates the operation of the various functions and components. The AV terminal tractor is instructed to
[0070] [0070] In order to simplify the connection of the terminal tractor on the trailer for the wide variations in service connection locations that exist, one option is to produce adapter connectors that can be applied to any configuration, producing a universal connection location in any trailer. This connector can be provided and / or connected to the guardhouse, or by the driver during disconnection of the OTR. In addition, an air hose coupling provided on the universal connection air line adapter 'could be connected to the existing air hose coupling system of the trailer by the OTR driver, during disconnection. This can allow a variety of options, best suited for connecting an AV truck, to be obtained. Also, in addition to the universal adapter, the system can include a cone that covers the universal connector and allows for a reduction in the need for alignment accuracy. The cone can physically assist in guiding and aligning the service line connection.
[0071] [0071] To avoid the need for any service connection (pneumatic, etc.) of the AV terminal tractor on the trailer, in an alternative arrangement, a compressor or pre-compressed air tank can be attached to the trailer (for example, on guardhouse, or by the driver, during disconnection of the OTR). Pressurized air may be able to release the emergency brakes from the trailer by means of a signal (for example, RF) (from the AV terminal tractor), or a physically closed contact that occurs when connecting the AV terminal tractor master pin. who senses that the trailer is now attached to the truck. This system can then be removed when the trailer leaves the yard through the guardhouse. According to the
[0072] [0072] A truck pull test is a mechanism by which the fifth-wheel connection of a truck to its trailer is confirmed by placing the truck in a forward gear and pushing against the trailer while the trailer brakes are still engaged . If the truck encounters strong resistance, it proves that the fifth wheel hitch was successful.
[0073] [0073] From a safety point of view, it is desirable that this same pull test be employed by an autonomous truck (for example, yard AV). With reference to the 3000 procedure in Fig. 30, the 3000 autonomous truck pull test procedure considers that, before being activated, the truck is positioned in such a way that the entire fifth wheel is under the front edge of the floor / plate. trailer protection (the trailer is physically resting on the fifth wheel of the tractor), there is no gap between the fifth wheel and the trailer floor / protection plate, and the fifth wheel raised sufficiently so that the support structure on the floor of the tractor trailer is off the ground (in order to prevent the support structure on the ground from damaging during the test). In addition, the 3000 autonomous truck pull test procedure is adapted to detect suitable mechanical coupling with a fifth wheel in the absence of any feedback from the fifth wheel unlock control valve, thereby indicating whether the master pin jaws on the fifth wheel wheel are in the open position.
[0074] [0074] Before starting the 3000 autonomous truck pull test procedure to confirm the proper mechanical coupling of a fifth wheel with a trailer, the autonomy system on the truck connects the fifth wheel of the truck to the trailer master pin and places the truck in
[0075] [0075] The 3000 autonomous truck pull test procedure begins by commanding the transmission to transition to FORWARD (or DRIVE) in step 3004. As soon as the transmission, through the controller, returns a status value indicating that it is in FORWARD ( decision step 3006), the autonomous truck pull test procedure 3000 completely releases the service brakes at step 3008, and, when confirmed (decision step 3010), the autonomous truck pull test procedure 3000 then conducts the truck forward (step 3012), commanding a pre-defined acceleration effort, and monitors, (a) the tractor's longitudinal acceleration, and (b) the distance in front of the tractor traveled. In addition, depending on the drive train on the truck, the 3000 autonomous truck pull test procedure also monitors both the drive motor current and / or the engine RPM. If, by applying the pre-defined acceleration effort, it is determined by the process (ador) that the actual forward motion system of the truck does not match (or is less than an experimental percentage based on current and future testing) the profile of forward movement of the truck without a trailer connected to it (decision step 3014), then the autonomous truck pull test procedure concludes that the mechanical coupling of the fifth wheel to the trailer is successful (step 3018), and the procedure 3000 ends (step 3020), and the system is notified of such success. Conversely, if, after step 3012, the truck moves, and its forward movement profile is the same / similar to when no trailer is connected (decision step 3014), then the 3000 autonomous truck pull test procedure concludes that the mechanical coupling of the fifth
[0076] [0076] In several modalities, a multiple pull test procedure can consist of successive simple tug tests. Upon successful completion of the initial pull test, and after connecting air and electrical cables to the trailer, the fifth wheel is commanded to lift the trailer to a driving height, possibly moving forward to ensure that the rear the trailer is not dragging the linings on the dock doors. After the trailer has been lifted to a driving height, some customers and application areas will prefer that an additional final tug be carried out as an additional check that the mechanical matching of the tractor and trailer is completed. In that case, since air has been provided to the trailer to remove the emergency brakes, both that air has to be removed to re-engage the emergency brakes, and air has to be supplied at the service brakes to the trailer. Then, a brief acceleration or forward propulsion is applied to the tractor, to tug the trailer and ensure that the tractor remains engaged with the trailer.
[0077] [0077] With reference to the 3030 procedure of Fig. 30A, the 3030 autonomous truck pull test procedure considers that, before being activated, the truck is positioned in such a way that the entire fifth wheel is under the front edge of the floor / trailer protection plate (the trailer is physically resting on the tractor's fifth wheel), there is no gap between the fifth wheel and the floor / trailer protection plate, and the fifth wheel raised sufficiently so that the support structure on the floor of the trailer, stay away from the ground (in order to prevent the support structure on the ground from damaging during the test). In addition, the
[0078] [0078] Before starting the 3030 autonomous truck pull test procedure to confirm the proper mechanical coupling of a fifth wheel with a trailer, the autonomy system on the truck a) maneuvered the reverse tractor until it hitched the trailer in such a way the system believes that the trailer kingpin has been inserted into the fifth wheel hitch hitch, b) no air line connection (emergency or service brakes) has been made to the trailer, and c) the tractor is stationary with brakes service charges (precondition box 3032).
[0079] [0079] Preparation for the pull test includes applying the service brakes on the tractor, commanding the FNR or FORWARD, and releasing the accelerator / propulsion (step 3034). The system confirms the conditions that a) the tractor is stationary (zero speed) and b) FNR is in FORWARD (decision step 3036). If the conditions are not met, the procedure returns to step 3034. If the conditions are met, the procedure then attempts movement at step 3038. The attempted movement in 3038 includes a) noting navigation data (for example, position, odometer) ), b) apply a predetermined percentage (X%) of the accelerator / propulsion profile for a predetermined number of seconds (Y). In decision step 4040, the procedure determines whether the tractor moved, based on navigation data. If the tractor moved, the pull test failed, and the procedure ends at step 3042, awaiting a repeated attempt to engage the trailer and / or operator intervention. If the tractor has not moved, the procedure proceeds to decision step 3044 and determines whether the trailer has been disengaged by checking the condition
[0080] [0080] The 3030 procedure can be repeated as multiple parts of a 3050 multiple pull test procedure, as shown in Fig. 30B. In decision step 3052, the system determines whether the hitch reports that the master pin is inserted. If the hitch reports that the master pin is not inserted, the procedure ends at step 3054 waiting for a repeated attempt to hitch the trailer and / or operator intervention. If the hitch reports that the kingpin is inserted, the procedure proceeds to step 3056 to perform the first iteration of the 3030 single pull test procedure. If the first pull test iteration has passed and ends in 3048 (Fig. 30A ), the 3050 multiple pull test procedure then raises the fifth wheel by a small predetermined distance in step 3058. After lifting the fifth wheel by the small predetermined distance, the 3050 multiple pull test procedure performs the single pull test procedure 3030 a second time in step 3060. If the second iteration of the pull test has passed and ends in 3048 (Fig. 30A), the multiple pull test procedure 3050 then makes the air and / or electrical connections of the trailer in step
[0081] [0081] Different customers and mission environments require selection and customization of automatic tug tests. The automatic pull test designed here is configurable with respect to enabling individual tugs, and selecting parameters for the complete test. C. Coarse Air Hose Coupling Detection
[0082] [0082] Referring again to the description of the connection system based on modified air hose coupling, shown and described with reference to the mode of Figs. 23-25, it is contemplated that conventional (ie, unmodified) air hose coupling connections on a trailer front can be used to interconnect pneumatic lines relative to the AV terminal tractor according to modalities here. A trailer that can interoperate with the AV terminal tractor here with a minimum of, or substantially without, modification is logistically and commercially advantageous. The embodiment of Figs. 31-33 helps to facilitate such an operation. More particularly, it is desirable to provide a mechanism for grossly detecting conventional pneumatic connections (typically configured as air hose couplings) on the front side of the trailer.
[0083] [0083] Reference is made to the exemplary trailer 31 of Fig. 31. Where a robotic manipulator (described here and additionally below) is used to maneuver an end effector, containing a pneumatic connection (compatible with air hose coupling), to a matching air hose coupling 3120, 3122 on the front 3110 of the trailer 3100, the rough position of the air hose couplings 3120 and 3122 can help narrow the connection demand by the end effector. In general, the air hose coupling (s) is (are) mounted on a 3130 panel that can potentially be located anywhere (eg, dashed box 3140), and typically along the
[0084] [0084] Since the 3130 air hose coupling panel is located on the front face 3110 of the trailer 3100, the end effector can be roughly positioned to align with it. Then, the connection system can begin fine manipulation of the end effector to actually engage the air hose coupling with the truck-based connector mounted on the end effector. A sensor mounted on the end effector (for example, a vision system camera) can be used to finely guide the connector for engagement with the trailer air hose coupling. The 3210 sensor / camera assembly data is provided to a 3250 machine vision system that determines the location of the air hose couplings as described below.
[0085] [0085] With additional reference to Figs. 31 and 32, a monochrome camera or a combination of a monochrome camera and a 3D image forming sensor 3210 is / are provided in a location on a 3220 autonomous truck that can be used to find the 3130 air hose coupling panel on the front face 3110 of the trailer
[0086] [0086] In operation, the understanding of the location of the trailer face delimits the search in the sensor data for the air hose coupling panel. In an exemplary embodiment, the 3210 sensor assembly can exclusively include a 2D color camera. By using color images acquired from the scene that includes trailer 3100, the process identifies which image pixels are associated with the front face 3110 and which are background pixels. The front face is highly structured and tends to produce prominent contrast-based edges using edge processing tools generally available in commercially available machine vision applications. From the edge information and (typically) the homogeneous color of the truck's front panel, the front face of the 3110 trailer can be identified in the image formation.
[0087] [0087] In another exemplary embodiment, sensor set 3210 includes dense 3D sensing, which is used to detect the front face 3110 of the trailer 3100 using the well-known / trained 3D geometric signature of the trailer face (for example, a rectangle of a given height and width ratio). 3D sensing can be done using a variety of arrangements including, but not limited to, stereo cameras, runtime sensors, active 3D LIDAR, and / or laser displacement sensors. These 2D and / or 3D sensing modalities each return the generalized location and limits of the front face of the trailer, and potentially its range from a reference point on the truck.
[0088] [0088] After locating the front face of the trailer and delimiting it, the next step in the gross detection procedure is the location of the 3130 air hose coupling panel within the limits of the front face of the 3110 trailer. With reference to Fig. 33, the reduced search area 3310 comprising the image of the front face of the trailer
[0089] [0089] Based on the identification of the outline / edges of the front face of the trailer in one or more images acquired, as described here, the coarse detection procedure is completed as follows: (a) A diverse color sampling of pixels is made for regions on the front face of the trailer identified but outside the intended region where the air hose couplings are located (the 3350 color sample region). This provides a color sampling of the trailer's background color characteristics.
[0090] [0090] (b) The background color samples are then compared to the pixel colors in the predicted search region (hatched box 3330) for 3340 air hose coupling panels. Since the air hose coupling panels typically have a different color / texture than the background trailer color, the air hose coupling pixels will produce a low color matching response.
[0091] [0091] (c) In the predicted air hose coupling search region, color matching responses are thresholded and then grouped using (for example) an analysis of connected components that are formed from clusters of pixels. The groupings represent possible air hose coupling locations.
[0092] [0092] (d) The groups of pixels are then analyzed for shape properties and groups that do not have a structured geometric rectangular shape are discarded. Additional shape attributes such as size and width-to-height ratio can be used to eliminate false air hose coupling panel detections. The others
[0093] [0093] (e) The format attributes are also used to score the other candidate groups. The group with the highest score is most likely to be the air hose coupling panel.
[0094] [0094] (f) Optionally, in a modality in which dense 3D sensing is used, if there are still multiple high probability candidate regions for the air hose coupling panel, 3D geometric suggestions can be used to filter false positive candidates with based on the expected 3D characteristics of air hose couplings.
[0095] [0095] (g) The location / pose of the identified air hose coupling panel and associated air hose coupling (s) in an appropriate coordinate space - for example, a global coordinate space that is relevant for truck manipulator based on calibration with respect to sensor (s) 3210 - it is then for use in a fine locating process to be performed by the robot manipulator when connecting to the air hose coupling.
[0096] [0096] (h) The manipulator and its associated end effector can be moved based on coarse motion data 3270 derived from the present location of the manipulator assembly versus the determined location of the 3130 air hose coupling panel and hose couplings associated air bubbles. This coarse motion data 3270 is delivered to the coarse motion triggers 3280 of the manipulator assembly, or otherwise translated into coarse motion that places the end effector in an adjacent relationship with the air hose couplings / air hose coupling panel. . D. Fine Location of Air Hose Coupling Pose
[0097] [0097] Since a rough estimate of the location of the
[0098] [0098] Reference is now made to Figs. 34 and 35 showing a 3410 multi-axis robot manipulator assembly mounted on a 3420 autonomous truck rear chassis in a confrontational relationship with the 3430 air hose coupling panel, and 3432 air hose coupling (s) and 3434 from a 3440 trailer front. Trailer 3400 has been, or is being, hitched to the fifth wheel of the 3410 truck chassis.
[0099] [0099] As described here, the robot manipulator set 3410 is an industrial robot based on multiple geometric axis arms in this modality. A variety of commercially available units can be used in this application. For example, the UR3 model available from Universal Robots A / S in Denmark and / or the VS series available from Denso Robotics in Japan can be used. The robot includes a plurality of movable joints 3510, 3520, 3530 and 3540 between arm segments. These 3510, 3520, 3530 and 3540 joints provide fine movement adjustment to guide the end effector to engage with the 3432 air hose coupling. The 3510 base joint is mounted on the coarse movement mechanism, which comprises a slide pair transverse linear (front to back and side to side) 3560 and 3570 of predetermined length, assembled and arranged to allow the 3450 manipulator end effector to access any location in front of the 3440 trailer that may contain the coupling (s) air hoses 3432 and 3434. Slides can allow the 3410 manipulator base joint to move according to a variety of techniques, including, but not limited to, screw drives, linear motors, and / or rack systems and pinion.
[00100] [00100] Notably, the end effector 3450 includes the 3470 fine-motion sensor pod / set according to a modality. The 3470 sensor array is connected to a 3472 associated vision and process system (ador) that can be wholly or partly contained in the 3470 array, or it can be instantiated on a separate computing device, such as one of the internal processor (s) (s) of the vehicle. The vision system can be the same unit as the coarse 3250 system (Fig. 33), or it can be separated. The fine and coarse vision systems 3250 and 3472 can optionally exchange data in the appropriate manner - for example, to establish a single global coordinate system and provide narrowing of the
[00101] [00101] (b) A fixed baseline stereo camera can be defined by a single camera, in which movement of the end effector is replaced by two or more cameras separated by a fixed and known separation. Such an arrangement can be mounted on the end effector or another location, such as on the 3510 base joint, or the chassis itself. The stereo correspondence and triangulation processing steps are used to produce a three-dimensional image.
[00102] [00102] (c) A structured light stereo camera can be used,
[00103] [00103] (d) A camera close to the IR can be used with a filter close to the IR to take advantage of the illumination close to the IR. The use of lighting close to the IR will exaggerate the contact between the rubber gasket on the air hose coupling and the rest of the structure and bottom of the air hose coupling (as described below).
[00104] [00104] (e) A short-range laser distance meter can be used to provide additional distance information from the air hose coupling.
[00105] [00105] (f) In addition, artificial lighting can also be mounted on the end effector 3450 to allow the vision sensor in the 3470 assembly to image the air hose coupling in virtually any lighting condition or weather. The illumination can be in the visible spectrum or it can be in the near IR spectrum (or another spectrum or combination of spectra) to intensify the detection of air hose coupling gasket.
[00106] [00106] (g) The 3470 sensor assembly may also include other forms of distance measurement devices, such as run-time sensors to intensify the range measurement between the end effector 3450 and air hose coupling (s) air 3432 and 3434.
[00107] [00107] A method for fine detection of the air hose coupling pose is by using machine vision to image and analyze the 3480 circular rubber gasket. This 3480 gasket has contrast
[00108] [00108] Another related option for detecting and measuring the distance of the air hose coupling by means of the air hose coupling gasket is to create a custom molded air hose coupling seal with features that assist in the process of identification of goal pose. This seal can be impregnated with adhesive material during polymeric curing, such as magnetic particles, UV-reactive particles, or shaped to assume a shape
[00109] [00109] Fig. 36A is a perspective view of an exemplary air hose coupling gasket with features to enhance the identification, location and autonomous pose of the air hose coupling gasket. The air hose coupling gasket can have different regions with different features so that the system can easily identify the air hose coupling gasket by these features. As shown in Fig. 36A, the 3650 air hose coupling gasket may have four distinct identification regions 3652, 3654, 3656, and 3658, although it should be clear that a gasket may have more or less than four identification regions. The identification regions 3652, 3654, 3656, and 3658 can include different colors in various regions, magnetic particles in various regions, UV-reactive particles in various regions, and / or other resources to assist in the process of identifying location and pose.
[00110] [00110] Another method for detecting the air hose coupling pose is by employing a three-dimensional range image. As a non-limiting example, the edge 3620 of the exclusive adapter plate 3710 of the exemplary air hose coupling 3700, as shown in Fig. 37, can be identified by the fine motion system using three-dimensional shape matching. An exemplary algorithm, which allows identification of this feature, is based on the Iterative Closest Point (ICP) algorithm, which is based in part on restrictions related to the consistent geometry of this 3720 edge in relation to the 3730 air hose coupling seal. This allows an estimate of the position and relative orientation (pose) of the 3730 air hose coupling seal for fine positioning. See, by way of
[00111] [00111] In another embodiment, as shown in Fig. 38, a rectangular 3810 tag can be attached to the exemplary 3800 air hose coupling. This 3810 tag can be located in any position on the structural frame of the air hose coupling that it is typically visible to the fine sensor assembly. In this embodiment, it is mounted on the outer end of the 3820 adapter plate using a 3840 spring loaded base. In this example, a hole in the base engages a protruding cylindrical protrusion 3830 to secure the 3840 base to the adapter. Adhesives, fasteners or other fixation mechanisms can be used as an alternative or in addition to the arrangement shown in Fig. 38. The 3810 tag provides a visual (or other spectral) reference to simplify and improve the accuracy of the coupling's fine pose estimate of air hose through the sensor assembly. The 3810 tag can be removably affixed to the air hose coupling using the clamp base shown 3840, or another clamping mechanism, in order to provide reproducible positioning of the tag in relation to the underlying associated air hose coupling. The exposed (ie, outer) surface of the 3810 tag can define a high-contrast rectangle (or other polygon and / or curved shape) of known / stored dimensions. The label features can be extracted by the sensor assembly and associated vision system using observed intensity threshold. The image pixel coordinates extracted can be related to physical planar dimensions of the label using homography (transformation) according to known techniques. This transformation provides the rotation and translation of the label in relation to the sensor coordinate space. The known transformation between the sensor and coordinate frame
[00112] [00112] An alternative to a simple high-contrast rectangle for use as the 3810 tag is the use of a visual marker / fiducial embedded in the bounded area (for example, rectangular) 3850 of the 3810 tag. Examples of this type of 3900 tag are represented in Fig. 39. The advantage offered by this visual marker is the more robust and static detection of homography in degraded environments or when a portion of the label is hidden. The generation of this form of visual etiquette and the detection and estimation of pose is known in the art and generally described in Garrido-Jurado, S. et al., Automatic generation and detection of highly reliable fiducial markers under occlusion, Pattern Recognition, vol. 47, Issue 6, June 2014, pp. 2280-2292; and on the World Wide Web at Software Repository: https://fonteforge.net/projects/aruco/files/ source=navbar. As shown, the 3900 marker can comprise an array of 2D ID (barcode) patterns 3910, which provides specific information regarding the identity, characteristics and / or positioning of the air hose coupling, as well as other relevant information - such as such as the trailer's identity, its extensions and characteristics. In alternative modalities, the label can define 3D formats and / or resources (for example, a frusto) that allow a 3D sensor to more precisely calibrate the range and orientation of the air hose coupling.
[00113] [00113] Visual support can be used to achieve proper positioning for a matching operation between the air hose coupling / connector supported on the end effector and the tow air hose coupling. The end effector can be controlled using proportional speed control under control loop operation receiving pose information from the 3472 fine vision system.
[00114] [00114] A blind movement (rotation around a geometric axis that passes through the center of the air hose coupling gasket) can be used to match the end effector to the tow air hose coupling. That is, once the location and pose of the air hose coupling are understood by the system of fine vision and manipulator, a blind movement of the end effector along the normal estimated to the air hose coupling can occur, making contact final physical with the air hose coupling. The movement is typically (but not necessarily) blind because the sensors are too close to the target air hose coupling to produce useful information.
[00115] [00115] In general, and as described below, since the truck connector (for example, air hose coupling) completely matches the tow air hose coupling, the end effector releases its handle from the air coupling. truck's air hose by means of an appropriate release movement. The movement is dependent on the geometry of the handle mechanism of the end effector. A variety of gripping mechanisms can be employed, and can be implemented according to those skilled in the art. After releasing the air hose coupling, the end effector can return to a neutral / retracted position based on movement in the movement mechanism, both fine and coarse, to an original location.
[00116] [00116] As with other modalities described here, the release of
[00117] [00117] E. Coarse Handling and Operation Systems
[00118] [00118] As described here, the end effector that carries the air hose coupling or other pneumatic (and / or electrical) connector based on the truck can be moved through the manipulator assembly in an initial coarse movement that places the effector end relatively adjacent (and within the range of the fine sensor) to the tow air hose coupling (s). Then, the relatively adjacent end effector is moved by the fine handling system for coupling with the tow air hose coupling.
[00119] [00119] A coarse handling system is also desirable if the fine handling system does not have the ability to reach air hose couplings when the trailer is at an angle to the truck. The coarse handling system generally operates to move the fine handling system within range of the towed air hose couplings. In operation, the coarse handling / movement system may have one, two or three geometrical axes of movement over sufficient distance (s) to locate the end effector in contact with the coupling (s) of tow air hose at any predicted location along the face
[00120] [00120] One modality is a coarse handling system with 3 geometric axes 4000 is shown in Fig. 40, located on the side of the 4010 autonomous truck chassis. This 4010 system includes a rail or slide of the geometry axis x 4012, a rail / y axis slide 4014 and a z axis rail / slide 4016. The robotic manipulator base 4018 (multi-joint arm set shown) 4020 runs vertically along the z axis rail / slide 4016, while the rail the z axis axis moves laterally along the y axis rail / slide 4014. In turn, the y axis slide rail moves from front to back along the x axis 4012 rail / slide, thereby providing at the base of the arm 4018 total coarse three-dimensional movement in the reach (length) of each rail / slide. The use of a multi-axis geometry system improves the overall range of motion for the 4020 robotic manipulator arm, thereby allowing the 4022 arm end effector to reach a wider range of pivot angles and air hose coupling locations of the trailer along the front face of the 4030 trailer, including the air hose couplings shown 4040 and 4042.
[00121] [00121] The best range of coarse movement provided by the exemplary 3-axis geometric system 4000 is exemplified in Figs. 41 and
[00122] [00122] Another modality of a coarse handling system 4300 is shown in Fig. 43. In this arrangement, the system is mounted on a vertical frame 3420 behind the 4310 cab of the autonomous truck.
[00123] [00123] It is contemplated in another modality that the mechanism of
[00124] [00124] By sensing the location of the air hose coupling on the front face of the trailer, a combination of fine and / or coarse handling system can be used to connect the truck's air hose coupling interface handled to the hose coupling of fixed position tow air. The fine handling system is used in accordance with the sensor-based air hose coupling perception system described here (see Section K).
[00125] [00125] One modality of this fine manipulation system consists of a robotic manipulator with multiple geometrical axes strictly controllable (multiple joints arm) that can compensate for variations in the pivot angle of the trailer in relation to the truck, position of the air hose coupling on the face front of the trailer, air hose coupling angle to the plane of the front face of the trailer, and overall trailer height. The system is capable of depositing / releasing and grabbing / retrieving the air hose coupling interface. The multi-axis manipulator system can contain any or all of the modalities for linear displacement including electromechanical actuation, in which a
[00126] [00126] In alternative modalities, the robotic arm manipulator can define a different number of geometric axes of movement, in the appropriate way to carry out the desired grab and release tasks. In additional alternative modes, some or all of the manipulator's movement elements can be operated with different mechanisms and / or driving forces including, but not limited to, hydraulic actuation, using hydraulic pressure to extend or retract a piston in a cylinder and / or pneumatically operated, using air pressure to extend or retract a piston in a cylinder. G. Air Hose Coupling Interface Mechanisms and Operating Methods
[00127] [00127] As described here, several mechanisms can be used to create a hermetic pressure connection between the truck's pneumatic (and / or electrical) system and a conventional air hose coupling totally or substantially mounted on the front face of the trailer. Some implementations of a connection mechanism / interface employ a similarly conventional air hose coupling geometry to the truck's pneumatic line, while other implementations use a modified connection.
[00128] [00128] A system involves modifying the truck's air hose coupling to provide a favorable interface that allows leverage and integration with a robotic end effector to twist and lock the air hose coupling in place. The system consists of (a) a conventional air hose coupling connector on the trailer; (b) an air hose coupling adapter, which includes a mechanism for connecting the air hose coupling to a lever; (c) a lever, which consists of a long extension to provide favorable leverage for twisting the hose couplings
[00129] [00129] An alternative technique, shown in general in Figs. 46 and 46A, employs a 4610 clamp with a 4620 actuator that provides consistent force and seals the air hose coupling face. A rotary actuator or linear actuator can provide linear force to close the clamp from an open disengaged position (Fig. 46) to a closed sealed position (Fig. 46A), where the upper clamp pad 4630 is annular and is connected to a line truck pneumatic 4640. The cushion confronts, and seals, the 4650 tow air hose coupling and associated seal
[00130] [00130] Figs. 47 and 47A provide another 4700 clamping mechanism for selectively engaging and disengaging the 4710 truck pneumatic source / line from a conventional 4720 tow air hose coupling. This modality employs a spring loaded 4730 clamp body with a pair of pivot clamping members 4732, 4734. clamping members 4732, 4734 are spring loaded to remain in a normally closed orientation under clamping pressure
[00131] [00131] As shown in Fig. 47, clamping members 4732 and 4734 each include a respective external interface surface 4762, 4764, which may include a textured finish material and / or friction generator. The 4770 end effector of the fine handler can grab the interface surfaces and force the clamp to open as shown in Fig.
[00132] [00132] Figs. 48 and 48A show another embodiment of a 4800 arrangement for sealing the pneumatic source / line of the 4820 truck with respect to a conventional 4810 tow air hose coupling.
[00133] [00133] Fig. 49 also shows another embodiment of a 4900 arrangement for a connection between a conventional 4910 towing air hose coupling and a 4920 truck pneumatic source / line, the pneumatic line includes a 4930 inflatable probe / plug that passes inside the annular seal hole of the 4940 air hose coupling. The plug is sealed around an inner line that exits at a 4950 outlet. The geometry of the deflated plug allows it to pass freely in and out of the hole in the air hose coupling seal. However, when inflated in response to a hitch command (after being inserted), the interior of the plug expands, as shown, to seal the edges of the annular seal 4940. By properly inflating the plug in the 4960 air hose coupling bag, pressure positive can be supplied to the system via port 4950. The plug can be constructed of a durable elastomeric material (for example, natural or synthetic rubber) that expands by applying inflation pressure. Appropriate adapters and / or supports can be employed to allow the end effector of the fine handling system to load, insert and extract the
[00134] [00134] Fig. 50 shows another connection arrangement 5000 in which the trailer air hose coupling 5010 is provided with a truck air hose coupling semi-permanently attached 5020 according to a conventional rotary clamping movement. The 5020 air hose coupling truck connector now includes a 5050 industrial interchangeable pneumatic connector (a quick disconnect). The 5020 truck air hose coupling adapter can include one or more 5030 fiducial (s) (for example, Codes ID with embedded information) to facilitate recognition by the coarse and / or fine manipulation sensing system / camera (s). The 5050 interchangeable connection adapter can be arranged to be fitted to the 5020 truck air hose coupling, thereby allowing the connection of a corresponding industrial interchangeable connector mounted on the end of the truck's pneumatic line (not shown), and which is loaded for engagement by the end effector of the fine handler. The fiducial can also be loaded onto a support in a similar manner to that previously described with reference to Fig. 38. The fiducial can, more particularly, define ArUco marker images that provide pose estimation using a camera. The fiducial can also be part of an array of reflective dots: defining a reflective or high-contrast coating to allow vision through a sensor camera.
[00135] [00135] Figs. 51 and 52 show another arrangement 5100 for attaching a 5110 truck-based air hose coupling connector to a 5120 trailer air hose coupling, shown mounted in tandem with a second 5122 air hose coupling on the front face of the trailer 5124. The 5110 air hose coupling connector is a modification of a conventional air hose coupling unit. The 5110 air hose coupling includes a
[00136] [00136] Figs. 53 and 53A show the general procedure 5300 for operation of the location and coarse and fine handling to affix pneumatic (or electric) truck connection to the tow air hose coupling using one of the connection implementations described here. Procedure 5300 begins by finding the trailer face after the system receives a connection command (step 5310). Procedure 5300 determines whether the trailer pivot / hitch angle, relative to the truck chassis, is available (decision step 5312). If the angle is
[00137] [00137] Then, the procedure 5300 tries to locate the air hose coupling panel in the reduced search region, which may or may not imply 3D sensing (decision step 5322). If 3D sensing is used by the coarse sensing system, then the system locates areas with geometric differences from the trailer face, and stores image resources therefrom, in step 5324. If 3D sensing is not employed, procedure 5300 can try to locate the air hose coupling panel identifying and storing color features in the trailer face image (s) that differ from the surroundings (step 5326). Based on resource information identified by step 5324 or step 5326, or (optionally) both, procedure 5300 then ranks locations on the trailer face from highest to lowest probability of presence of air hose / panel coupling ( step 5330). This classification can be based on a variety of factors including the prevalence of candidate air hose / panel coupling features, strong color pattern matching or specific shapes, or other metrics. Trained pattern recognition software can be employed according to knowledge in the art. In step 5332, the location with the highest rating is selected as the target for gross position movement of the manipulator and
[00138] [00138] This location data is then used to guide the end manipulator and effector using the coarse positioning system in step 5334. The end effector is placed in proximity / adjacent to the candidate location by means of a fine sensor assembly (eg camera, 3D scanner, etc.) loaded on the end effector and / or the manipulator can inspect the location for air hose coupling capabilities (step 5336). If the fine sensing system finds that these air hose coupling features are present in the location, then the procedure uses that location for the fine handling process (decision step 5338). Conversely, if no identifiable air hose coupling feature or pattern is recognized by the vision system associated with fine sensing, then the next highest rated feature set is chosen, and (if necessary) the handler is moved again at step 5334 to inspect the next location (step 5336). This process repeats until the air hose coupling is located or no air hose coupling is found (at which point the procedure reports an error or takes another action). Once an air hose coupling location is confirmed, then (through decision step 5338) procedure 5300 estimates the pose of the air hose coupling from images acquired with the fine sensing system. This can include image data derived from any color combination, determination of stereo distance close to the IR or laser, among other modalities (step 5350). The fine manipulator is moved to the identified coordinates of the tow air hose coupling and in an orientation that corresponds to its 3D pose. Note that the loaded truck-based connector has a known pose that correlates with the determined pose of the
[00139] [00139] Where the connection between the truck and the trailer is arranged to be implemented in a manner generally free of human intervention (ie, only autonomous operation), the hose coupling assembly
[00140] [00140] Fig. 54 shows an illustrative variation of the 5400 air hose coupling adapter that is suitable for exclusively autonomous connections. This 5400 adapter includes a conventional 5410 air hose coupling connection that is initially attached to the tow air hose coupling (for example, in the courtyard guardhouse), so that the 5400 adapter is semi-permanently attached towing during yard operations. Consequently, the 5400 adapter converts the air hose coupling mounted on the standard trailer into an alternate connection mechanism for securing the truck's air line. In this exemplary embodiment, the alternative connection is the 5420 male end of a quick disconnect system, in which the removable male tip end (for example, commercially available) is provided with respect to the truck in various ways described herein. The adapter is mounted so that the connector is directed outward, and is accessible for engagement using a robotic manipulator, probe, or other truck-mounted device that carries the truck's air line connector. Connection (for example) using a manipulator is facilitated by a panel mounted on the 5430 frame and associated fiducial 5440 (shown in dashed lines) for visual recognition by an autonomous system using conventional and / or customized machine vision techniques implemented by the processor. truck or a remote.
[00141] [00141] Another exemplary modality of an adapter
[00142] [00142] A 5600 tool that is adapted for connection to a stand-alone adapter (for example, 5400 and 5500 above) is shown in Figs. 56 and 57. This 5600 tool is capable of delivering air and power from a truck to a trailer. It contains a mechanical locking mechanism (locking cone 5610) to keep the tool engaging with the adapter (5400 in Fig. 57). The 5600 tool additionally includes a 5620 handle interface for retrieval by a robotic arm (described here). This 5620 interface can contain fiducials (not shown) to find the 5600 tool (using a vision system) after it has been left on a trailer, attached to the adapter. The air connection mechanism of the 5630 tool may include a female quick-disconnect fitting adapted to engage the 5420 male nozzle of the 5400 adapter in a manner described herein and known to those skilled in the art. The 5630 mechanism contains a mechanical locking collar 5720 that is driven (for example) by two electromagnetic solenoid cylinders 5640, 5642 that move the collar 5720 linearly (double arrows 5730 and 5732, respectively). The 5540, 5642 solenoid assembly can be activated when the 5600 tool has to be retrieved from the air hose coupling adapter
[00143] [00143] Another exemplary embodiment of the 5600 tool is shown in Fig. 58. This 5800 tool uses a 5810 handle connection at the rear of the structural frame and a 5820 alignment location cone at the opposite end to engage a nozzle, as here described. A 5830 female quick disconnect assembly similar to that of the 5600 tool is provided. The 5800 tool defines a sliding structural frame in which a 5840 rear plate and a 5842 front plate are spaced apart 5844 on 5850 rods. The 5842 front plate is integral, or unitary, with the 5852 front structural frame that supports the 5820 locating cone and the non-sliding portion of the female quick disconnect 5830. The rear plate 5840 can slide backwards (arrow 5860), pull back the rods 5850 and a carriage 5862. The carriage is attached to the external spring loaded sleeve (normally predisposed for 5864 for quick disconnect. In this way, pulling back the 5840 backplate pulls the 5864 sleeve backwards, in relation to the fixed portion of the quick disconnect, allowing it to be unlocked. In this mode, internal actuators - such as the solenoids 5640, 5642 of the 5600 tool - are thus omitted and the quick disconnect is unlocked by pulling the handle back in the direction of the 5860 arrow. This avoids the need for an enhanced drive mechanism in this modality. The exit
[00144] [00144] Fig. 59 shows a 5900 tool according to an additional exemplary mode, which operates by the pull-to-release principle described with reference to Fig. 58. Consequently, the 5910 location cone, fixed frame 5920 and rear plate of 5930 slides operate similarly to the 5800 tool in Fig. 58 to unlock a 5940 central female quick-disconnect fitting. The 5950 handle base, which is mounted on the rear side of the 5930 rear plate defines an annular space, with a guide funnel frustoconic 5952. This structure is adapted to receive an inserted handle (arrow 5960) 5970 in any rotation (double curved arrow 5980 around the central longitudinal geometric axis (dashed line 5990) of the 5900 tool. I. Air Hose Coupling Adapters Freelancers and Tools
[00145] [00145] Fig. 60 shows an adapter that is used in scenarios where a manual fixation of the air hose coupling is still contemplated in an autonomous operating environment. The 6000 adapter arrangement is arranged so that the same connection interface as a conventional manual connection is employed, but fiducial and alignment mechanisms are added to this 6000 adapter arrangement to allow an autonomous connection system to find and connect to the arrangement . As shown, a standard 6010 air hose coupling on the trailer side is connected (for example, using 6022 threaded pipe fittings) to an autonomous 6020 air hose coupling on the truck side. The same interface exists for connection to a long-haul truck air hose coupling, but a
[00146] [00146] To assist in connecting a tool to the adapter arrangement of the air hose coupling 6000, an air hose coupling adapter connection tool, an example of which is shown in Fig. 61, contains location pins top and bottom angle (top pin 6110 shown) and a main location pin 6120 (showing engaging the 6130 alignment cone), all of which ensure correct rotational and angular alignment of the 6100 tool with respect to the 6000 adapter arrangement. More particularly , the main locating pin 6120 provides an initial locating mechanism for the 6100 tool by approaching the 6000 arrangement. The angle adjustment pins 6110 then ensure that the 6100 tool is in
[00147] [00147] The connection of the 6100 tool clamp with respect to the 6080 base air hose coupling is facilitated using a 6150 pneumatic cylinder, which selectively operates to move (double arrow) 6152 a base plate in favor and against the coupling base of air hose 6080 and the structural frame of the tool 6130 (which carries pins 6110, 6120, etc.). Plate 6154 carries a block 6156, with an air inlet attached 6158. Block 6156 seals the base gasket (6082 in Fig. 64) the cylinder is moved to a clamping position. This also ensures that the overall arrangement remains fully secured during truck operation. Air inlet 6158 is connected to the air line truck. Note that the use of a 6150 pneumatic cylinder to trigger the tightening and connection of the tool is an example. Other equivalent actuators, such as electric solenoids, spring loaded systems, etc., can also be employed. A 6160 handle interface / base is provided at the rear of the 6130 structural frame. An appropriate handle and handling system, as generally described here, can be employed to attach and remove the 6100 tool from the arrangement. Elastomeric dampers (eg rubber, urethane, etc.) 6170 can be used to mount the interface / base of the 6160 handle to the 6130 structural frame to provide conformity as the 6100 tool is handled by the manipulator.
[00148] [00148] Fig. 62 shows an adapter arrangement for the air hose coupling of the 6200 double-ended shut-off valve according to an exemplary mode, for autonomous favored operations. The trailer side of arrangement 6200 includes a conventional 6210 air hose coupling connector intended to be semi-permanently mounted on the trailer air line. The opposite side of arrangement 6200
[00149] [00149] In arrangement 6200, a 6240 back and forth valve interconnects the 6210 trailer side air hose coupling, the 6220 truck interface air hose coupling and the 6230 autonomous orifice, and operates (in a conventional) to allow connection of both the standalone adapter and a standard air hose coupling connector. The 6240 back and forth valve routes pressurized air from the side connected to the trailer air line in a manner free of leaks or pressure loss. The 6240 back and forth valve is also adapted to be opened to the environment when disconnected, thereby allowing air in the trailer air lines to purge.
[00150] [00150] Fig. 63 shows another exemplary embodiment of a 6300 double-ended valve air hose coupling adapter arrangement. In this embodiment, a 6310 back and forth valve connects a water hose coupling assembly air from the side of the conventional trailer, 6320 and a pair of side holes on the truck 6330 and 6340. The holes 6330 and 6340 each extend with a respective right angle elbow 6332 and 6342 from the 6310 coming and going valve, which defines a T connection in this mode. It should be clear that a wide range of geometric arrangements can be used in alternative modalities to orient the holes properly and / or provide the desired positioning / spacing. The 6330 orifice is a conventional air hose coupling connector for manual attachment of an OTR connection as here
[00151] [00151] Fig. 64 shows a 6400 arrangement that includes an integrated 6410 come and go valve. As shown, the come and go valve is integrally constructed directly on the back side of a standard air hose coupling connection geometry. The back and forth valve allows pressurized air to flow through the rear outlet (arrow 6420) from both the 6430 base air hose coupling and a stand-alone 6440 orifice (shown with a 6442 quick-disconnect nozzle as described here). This 6400 arrangement can provide both autonomous and standard connection mechanisms to a trailer with a relatively small form factor, and without (free of) the use of a separate air hose coupling adapter. Instead, the integrated air hose coupling can be permanently attached to the trailer at the outlet (6420), and the trailer is thus modernized for both OTR and autonomous connections.
[00152] [00152] Fig. 65 shows another adapter arrangement of the 6500 air hose coupling having an integrated back and forth valve
[00153] [00153] Fig. 66 shows another exemplary embodiment of an adapter arrangement of the 6600 air hose coupling with a 6610 housing that is constructed in a machinable configuration. It includes an air hose coupling connection on the trailer side that is fed through an integrated 6630 come and go valve (shown schematically in dashed lines in the 6610 machined housing). The 6630 come and go valve allows both the 6640 conventional truck side air hose coupling connection and the autonomous 6650 connection to deliver pressurized air to the trailer air line via the 6620 trailer side air hose coupling. A panel carrying the 6660 fiducial can be provided on the front side of the 6610 housing. J. Tightening Tool on the Adapter
[00154] [00154] According to an exemplary modality, an autonomous connection (nozzle) and associated back and forth valve are omitted in the 6700 arrangement of Figs. 67-69. This 6700 adapter arrangement defines a 6710 housing with a machinable design, and an air hose coupling connection on the 6720 trailer side that can be semi-permanently attached to the tow air hose coupling. An air hose coupling connection on the side of the 6730 truck is also provided in the 6710 housing. The 6730 air hose coupling connection defines a cylindrical base 6740 with multiple 6782 alignment holes, which allow a 6750 clamping tool to approach at various angles.
[00155] [00155] As shown particularly in Fig. 69, the clamping tool 6750 includes an alignment pin 6760 that protrudes from a motorized base 6770. The base 6750 can be adapted to load by, and release
[00156] [00156] The clamping tool 6750 is shown engaged with the air hose coupling of the truck side adapter 6730 in Fig. 68. A lead screw 6780, driven by the motorized base, moves the clamping member 6782 in favor and against the sealing of the 6734 air hose coupling. A variety of linear actuators can be used to move the clamping member 6782. In one embodiment, the NEMA 23 stepper motor provides sufficient strength to make a seal. A pair of bolts, mounted on the motorized clamping base 6770, provide guide rails for the clamping member 6782 and are linearly driven (double arrow 6912 in Fig. 69) by the 6780 lead screw. The 6770 motor base receives power through conductors 6786 and the clamping member is pressurized by the truck's air line, with pressurized air routed through the 6782 member to a 6910 orifice, surrounded by an appropriate 6920 air hose coupling seal (Fig. 69). As in other embodiments, housing 6710 may include a 6790 fiducial carrier plate to help identify the adapter arrangement 6700 and guide a manipulator that takes the clamping tool to engage with the arrangement. Tightening can occur when the system confirms (by thrusting, etc.) that the 6750 tool is firmly seated in relation to the 6740 base air hose coupling, after which the manipulator is released from the tool. Loosening can occur when the manipulator firmly re-engages the 6750 tool, after which the manipulator and tool are removed to a location
[00157] [00157] When towing a trailer, it is desirable to determine the orientation (relative angle) of the trailer with respect to the tractor. Traditionally, the orientation and perspective of the front face of the trailer is observed by a human driver to derive the approximate angle measurement. However, because of the variability in the surface of the front face (because of the presence of refrigeration units, fairings, etc.), this approach is less effective using automatic sensors, such as visual cameras, conventional LIDAR, etc. However, the commercial availability of the so-called high-resolution LIDAR provides more capability in automating the relative towing angle determination process. Such a high resolution solution is commercially available from Velodyne LiDAR, Inc. of San Jose, CA in the form of the VLS-128 ™ system, which is currently considered one of the highest resolution LIDAR in the world for use (for example) in autonomous vehicles and similar applications. This system uses 128 discrete structured light beams (lasers) to derive a 3D surface contour / shape at a significant working distance. These bundles can be arranged in projected concentric rings. Other competitive high-resolution LIDAR devices to be employed here as well, as well as alternative 3D sensing systems, which may include stereoscopic cameras, etc.
[00158] [00158] Figs. 70 and 71 show an arrangement 7000 of an autonomous truck (for example, from the yard) 7010 and trailer disengaged 7020 to detect the relative ATA towing angle, shown here between the plane of a rear chassis (for example, 7030 bumper) of the 7010 truck and the CLT centerline of the 7020 trailer. Illustratively, this 7000 arrangement includes a LIDAR 7022 device mounted on the rear chassis / bumper
[00159] [00159] In operation, and with additional reference to Fig. 72, process (ador) 7026 analyzes at least one of the rings in the LIDAR data transmitted by the trailer scan to search for groups of points 7210, 7212 where the general group is approximately the WLL width of a respective leg of the support structure on the floor. The (ador) 7026 process then compares all groups to look for pairs of groups that are approximately equidistant from the 7060 trailer kingpin point, and
[00160] [00160] At extreme relative angles between the truck and the trailer, one of the legs of the support structure on the ground 7110, 7112 can be hidden from view of the LIDAR sensor (for example, the hidden leg can be in front of the rear bumper because of the extreme angle). This condition is shown by way of example in Fig. 73, where the leg of the support structure on the floor 7112 of the trailer 7020 is visible within the maximum fan (cone) of the 7320 sensor cover of the LIDAR 7022 device, but the opposite leg 7110 is outside the cone (positioned in front of the 7130 bumper), and hidden. If no representative pair of points of legs of the support structure on the floor are found, and if a single group of points is detected (for example, points corresponding to leg 7112) in the area where the leg would be expected to be hidden (already that this leg is now in an extreme left or right position), so process (ador) 7026 uses a pre-defined WTP trailer width to estimate the location of hidden leg 7110. Process (ador) 7026 then uses the sensed location of the found leg 7112 and an estimated location for the hidden leg 7110 as an approximate pair for the purposes of the above procedure. He then uses this pair to estimate the towing angle as the angle that bisects the two kingpin vectors at the outer edges of the two legs in the approximate pair.
[00161] [00161] Note that, in certain situations, an additional step of providing a linear quadratic estimate (for example, Kalman filter) can be
[00162] [00162] With reference again to Fig. 70, in an additional mode, it may be useful to confirm the ATA towing angle, or to improve the accuracy of the towing angle. The procedure can employ the use of the lower outer edges 7070 of the front edge of the trailer 7020. This procedure can be done by processing the upper LIDAR rings received to detect the outer edges of the trailer and can be useful in confirming the results of the structure detection on the floor, or eliminating false positives if the procedure for detecting the support structure on the floor returns more than one solution.
[00163] [00163] In another mode, and with reference again to Fig. 72, the LIDAR device can be used to detect the trailer wheels 7130 and 7134 by locating corresponding points 7230 and 7234. These data can be used to confirm, and / or refine the accuracy of the angle determined using ground support structure detection, or, if ground support structure detection is inconclusive, the location of the wheels can be used to independently establish the towing angle. The typical (stored) WTW width between (for example) the inner edges can be compared with the sensed width to establish that the groups of points are wheels, and the angles can be computed in a manner similar to that previously described for support structure in floor. L. Automatic Master Pin Detection
[00164] [00164] Reference is made to Figs. 74 and 75 that represent a system and method to assist additionally in the recovery of a trailer by an autonomous truck. In carrying out this operation, the system and method employ the approximate location of the trailer, which can be obtained by visual sensing and / or other techniques as described here. The system and
[00165] [00165] The system and method, more particularly, allow proper connection of the 7410 truck's fifth wheel to the 7460 trailer kingpin in a reverse operation. It employs a (ador) process for detecting and determining the location of the 7420 kingpin, which can be part of the general vehicle processor / CPU 7024, and is interconnected to the LIDAR device and any resident processes / ores instantiated on it ( or associated with it). Using the trailer location provided by the system, the 7010 truck is positioned adjacent to the 7020 trailer, and the reverse maneuvering procedure is then started to connect the truck and the trailer. During this process, it is highly desirable to determine precisely the relative position of the trailer master pin 7060. Although the master pin 7060 is a relatively small structure on the underside of the general trailer 7040, using a LIDAR 7022 device mounted on a rear bumper of the 7030 truck, it is uniquely identifiable as a set of image resources produced by the 7430 beams of the LIDAR 7022 device.
[00166] [00166] According to one embodiment, and with additional reference to Fig. 76 and the flow chart of Fig. 77, a 7700 procedure for precisely determining the location of the trailer pin 7060 is shown. The 7700 procedure processes (for example, using the (ador) 7420 process) each of the LIDAR rings independently and segregates the points found in groups (step 7710). Procedure 7700 then searches for three groups of discrete points 7610, 7612 and 7620 that are separate, but
[00167] [00167] Step 7720 of procedure 7700 then further eliminates triplets of groups where the flanking groups 7610 and 7612 are not relatively flat and, at approximately the same height, and / or where the intermediate group is significantly wider or greater than the width / expected height of a kingpin. If a trio of groups meets all criteria (decision step 7730), then procedure 7700 estimates the x, y position (or another coordinate system) of the kingpin as the average of all point hits in the middle group 7620 (step 7740). The 7700 procedure also reports the height of the kingpin plate (minimum height of flanking groups 7610, 7612) HK (Fig. 74) so that the system will have a metric of how high to lift the fifth wheel 74 (step 7750). The 7700 procedure then transforms the x, y position of the sensor coordinate space into the navigation / vehicle coordinate space (step 7760). The 7760 procedure then compares the x, y position with the coordinates of any previous detection (step 7770). If there is no match (decision step 7780), then the new position x, y is appended to the list of previous detections (step 7782), and procedure 7700 continues to search (through steps 7710-7770). However, if there is a match (decision step 7780), then the confidence of the matched detection is increased to increase its value (step 7784). Based on the increment of the confidence value in step 7784, procedure 7700 prioritizes the list of previous detections using the accumulated confidence, as well as the proximity to the vehicle (step 7790). After prioritization in step 7790, the 7700 procedure produces detection that has the highest priority for use to guide the truck's reverse operation over the trailer through the navigation coordinate space.
[00168] [00168] In an alternative related modality, the system and method employ the above-described towing angle determination procedure (Figs. 70-73) which detects the location of the legs of the support structure on the floor of the trailer 7110 and 7112. Once Once both legs of the support structure on the ground have been identified and located, the location of the 7060 kingpin can be estimated based on the known / standard trailer geometry, typically expressed in terms of an x, y coordinate relationship between (for centroides). This estimated location is translated into the vehicle / navigation coordinate space. As shown in Fig. 76, the outer edges 7650, 7652, 7660 and 7662 are identified in groups of related points that cover the width of the underside / sides of the trailer, and can also be the basis for determining a towing angle . V. Conclusion
[00169] [00169] It should be clear that the above-described system and method of maneuvering and managing trailers in a shipping yard and the associated operational devices and techniques for autonomous AV terminal tractors provide an effective way to reduce human intervention, thereby reducing costs, potentially increasing safety and reducing downtime. The systems and methods here are practically applicable to a wide range of both electric and fuel driven trucks and any commercially available trailer arrangement. More particularly, the systems and methods here effectively enable automation of critical yard operations, such as connecting one or more pneumatic and electrical lines between truck and trailer, unlocking and opening trailer doors, secure hitching, navigation and docking of trailers with loading bays and docks, maintaining security on the dock and in the vehicle against unauthorized operations and / or users, and other aspects of autonomous vehicle operation. Such systems also
[00170] [00170] The above was a detailed description of illustrative modalities of the invention. Various modifications and additions can be made without departing from the spirit and scope of this invention. Resources from each of the various modalities described here can be combined with resources from other modalities described as appropriate in order to provide a multiplicity of combinations of resources in new associated modalities. In addition, while the foregoing describes a number of separate embodiments of the apparatus and method of the present invention, what has been described herein is merely illustrative of the application of the principles of the present invention. For example, in the form used here, various directional and orientation terms (and grammatical variations thereof) such as "vertical", "horizontal", "up", "down", "base", "top", " side "," forward "," rear "," left "," right "," forward "," back ", and the like, are used only as relative conventions and not as absolute orientations with respect to a coordinate system fixed, such as gravity's direction of action. In addition, a represented process or processor can be combined with other processes and / or processors or divided into several sub-processes or processors. Such sub-processes and / or sub-processors can be combined in different ways according to modalities here. Similarly, it is expressly contemplated that any function, process and / or processor here can be implemented using electronic hardware, software that consists of non-transitory computer-readable media from
115/115 program instructions, or a combination of hardware and software.
Also, qualifying terms such as "substantially" and "approximately" are contemplated to allow for a reasonable variation in a measurement or declared value can be used in a way that the element remains functional in the form contemplated here - for example, range 1-5 Percent.
Therefore, this description should be considered as an example only, and does not otherwise limit the scope of this invention.

权利要求:
Claims (57)
[1]
1. System for automatically connecting at least one service line on a truck to a trailer, characterized by the fact that it comprises: a receiver on the trailer that is permanently or temporarily attached to it, the receiver interconnected with at least one of a pneumatic line and an electric line; a coupling that is manipulated by an end effector from a robotic manipulator to find and engage the receiver when the trailer is placed in proximity, or engaged, with the truck; and a processor that, in response to a position of the receiver, moves the manipulator to align and engage the coupling with the receiver in order to complete a circuit between the truck and the trailer.
[2]
2. System according to claim 1, characterized by the fact that the end effector is mounted on at least one of (a) a structural frame moving along at least two orthogonal geometric axes and having an arm that extends to rear, (b) a robotic arm with multiple degrees of freedom, and (c) a linear actuated arm with pivot joints to allow simultaneous back extension and height adjustment.
[3]
3. System according to claim 2, characterized by the fact that the arm driven by a linear actuator is mounted on a laterally movable base on the truck chassis.
[4]
4. System according to claim 3, characterized by the fact that a pivot joint attached to the end effector includes a rotary drive to maintain a predetermined angle in the coupling.
[5]
5. System according to claim 1, characterized by the fact that the coupling includes a quick-release coupling actuated
2/10 adapted to selectively and securely attach to a connector on the receptacle.
[6]
6. System according to claim 5, characterized by the fact that the actuated quick-release fitting comprises a set of magnetic solenoids that selectively and slide open and allow closing of the quick-release fitting in response to the application of electrical current to the same.
[7]
7. System according to claim 1, characterized by the fact that it additionally comprises a tensioned cable attached to the coupling and a pneumatic line attached to the truck's brake system.
[8]
8. System according to claim 7, characterized by the fact that the brake system comprises at least one of a service brake and an emergency brake.
[9]
9. System according to claim 8, characterized by the fact that it additionally comprises an electrical connection on the coupling affixed to the truck's electrical system.
[10]
10. System according to claim 9, characterized by the fact that the receptacle is removably affixed to a front face of the trailer by at least one of an interlocking fabric material, fasteners, clamps and magnets.
[11]
11. System according to claim 10, characterized by the fact that it additionally comprises a modernization kit for the trailer that defines a Y connector for at least one of the pneumatic line of the trailer and an electrical line of the trailer, the Y connector connecting both a conventional service connector and the receiver.
[12]
12. System according to claim 11, characterized by the fact that the Y connector is operationally connected to a ventilation mechanism that selectively allows one of the coupling and the
3/10 conventional service connector fan.
[13]
13. System according to claim 12, characterized in that the conventional service connector comprises an air hose coupling.
[14]
14. System for operating an autonomous truck in relation to a trailer, characterized by the fact that it comprises: a processor that communicates with a pull test process that, when the truck is coupled to the trailer, automatically determines whether the trailer is coupled by applying driving power in the truck and determining the load on the truck thereby.
[15]
15. System for maneuvering a trailer with a truck, without service connections between a pneumatic brake system for the truck and a brake system for the trailer, characterized by the fact that it comprises: a pressurized air tube removably attached to the trailer and connected to the brake system of the same having a valve that is activated based on a signal from the truck to release the brake system.
[16]
16. System according to claim 15, characterized by the fact that the truck is an autonomous truck and the signal is transmitted wirelessly by a truck controller.
[17]
17. System according to claim 16, characterized by the fact that the truck is an AV terminal tractor and the tube is adapted to be attached upon delivery of the trailer to a yard.
[18]
18. System for locating an air hose coupling connector on a front face of a trailer, characterized by the fact that it comprises: a coarse sensing system that acquires at least one of a 2D and a 3D image of the front face and search image resources related to air hose coupling.
[19]
19. System according to claim 18, characterized
4/10 due to the fact that the coarse sensing system locates features having a different texture or color from the surrounding image features after identifying the front face edges of the trailer in the image.
[20]
20. System according to claim 19, characterized in that the coarse sensing system includes a sensor located in a cab or chassis of an autonomous terminal tractor.
[21]
21. System according to claim 20, characterized in that it additionally comprises a fine sensing system, located in an end effector of a fine manipulator, which is moved in a coarse movement operation to a location adjacent to a location on the front face containing candidate air hose coupling features.
[22]
22. System according to claim 21, characterized by the fact that the fine sensing system includes a plurality of 2D and 3D image forming sensors.
[23]
23. The system of claim 22, characterized in that the fine manipulator comprises a robotic arm with multiple geometrical axes mounted on a coarse movement mechanism of multiple geometrical axes.
[24]
24. System according to claim 23, characterized in that the coarse movement mechanism comprises a plurality of linear actuators mounted on the autonomous terminal tractor that move the fine manipulator from a neutral location to the location adjacent to the candidate coupling features air hose.
[25]
25. System according to claim 23, characterized by the fact that the coarse movement mechanism comprises a piston-operated articulated platform mounted on the autonomous terminal tractor that moves the fine manipulator from a neutral location to the location adjacent to the candidate resources of hose coupling
5/10 of air.
[26]
26. System according to claim 23, characterized by the fact that the fine manipulator is served based on feedback received from the fine sensing system related to the air hose coupling imagined thereby.
[27]
27. System according to claim 26, characterized by the fact that the fine sensing system locates a trained resource in the air hose coupling to determine its pose.
[28]
28. System according to claim 27, characterized by the fact that the feature is at least one of the annular seal of the air hose coupling, a contour edge of a flange for securing the air hose coupling, and a label attached to the air hose coupling.
[29]
29. System according to claim 28, characterized by the fact that the label includes a fiducial matrix that assists in determining the pose.
[30]
30. System according to claim 28, characterized by the fact that the label is located on a clamp attached to a projecting element in the air hose coupling.
[31]
31. The system of claim 27, characterized by the fact that the feature includes a plurality of identification regions in an air hose coupling gasket seal.
[32]
32. System for attaching a truck-based pneumatic line connector to an air hose coupling on a trailer using a manipulator with an end effector that selectively engages and releases the connector, characterized by the fact that it comprises: a set of tightness that selectively overlaps an annular seal of the air hose coupling and tightens tightly
6/10 the connector on the annular seal is sealed.
[33]
33. System according to claim 32, characterized in that the clamping assembly is at least one of a driven clamp and a spring loaded clamp.
[34]
34. System according to claim 33, characterized in that the spring loaded clamp is normally closed and is opened by a handle action of the end effector.
[35]
35. System according to claim 33, characterized in that the driven clamp includes one of (a) a pivot pair of fixing members and (b) a sliding clamping member.
[36]
36. System for attaching a truck-based pneumatic line connector to an air hose coupling on a trailer using a manipulator with an end effector that selectively engages and releases the connector, characterized by the fact that it comprises: a probe member , containing a pressure port, which is inserted and housed in an annular seal of the air hose coupling based on a movement of placing the end effector.
[37]
37. System according to claim 36, characterized in that the probe member comprises one of (a) a frustoconical plug that is releasably fitted to the annular seal and (b) an inflatable plug that selectively engages a cavity in the air hose coupling under the annular seal and is inflated to be stuck in it.
[38]
38. System according to claim 37, characterized by the fact that the frustoconical plug includes a circumferential splinter to assist in retention against the annular seal.
[39]
39. System for attaching a truck-based pneumatic line connector to a trailer air hose coupling on a trailer using a handler with an end effector that
7/10 selectively engages and releases the connector, characterized by the fact that it comprises: another air hose coupling attached to the trailer air hose coupling in a substantially conventional manner, the other air hose coupling including a quick disconnect that selectively receives the end effector connector.
[40]
40. System for determining the relative angle of a trailer with respect to a truck in a confrontational relationship in which the truck is trying to move backwards to engage the trailer, characterized by the fact that it comprises: a spatial sensing device located facing backwards on the truck, the sensing device oriented to sensing the space under the underside of the trailer; and a processor that identifies and analyzes data points generated by the sensing device with respect to at least one of the legs of the trailer support structure on the ground and sets of trailer wheels and thereby determines the relative angle.
[41]
41. System according to claim 40, characterized by the fact that the sensing device is a high resolution LIDAR device that generates points using projected rings of structured light.
[42]
42. System according to claim 41, characterized by the fact that the processor identifies groups of points and compares the groups of points with formats and predicted locations of the legs of the support structure on the floor.
[43]
43. The system of claim 42, characterized by the fact that if one of the legs of the support structure on the floor is hidden, the processor estimates a location of the leg of the support structure on the floor to determine the relative angle.
8/10
[44]
44. System according to claim 42, characterized by the fact that the processor locates and analyzes a shape and position of the wheel sets for at least one of (a) confirming a determination of the relative angle based on the legs of the support structure on the floor and (b) determine the relative angle regardless where the analysis of the legs of the support structure on the floor is unavailable or inconclusive.
[45]
45. System according to claim 44, characterized by the fact that the processor is arranged to determine a location of a trailer kingpin.
[46]
46. System for determining the relative location of a trailer kingpin with respect to a truck in a confrontational relationship in which the truck is trying to move backwards to engage the trailer, characterized by the fact that it comprises: a spatial sensing device located facing back on the truck, the sensing device oriented to sense the space under the underside of the trailer; and a processor that identifies and analyzes data points generated by the sensing device with respect to at least one of the king pins, legs of the trailer support structure on the ground and sets of trailer wheels and thereby determines the relative location of the kingpin.
[47]
47. System according to claim 46, characterized by the fact that the sensing device is a high resolution LIDAR device that generates points using projected rings of structured light.
[48]
48. System according to claim 47, characterized by the fact that the processor identifies groups of points and compares the groups of points with formats and predicted locations of the kingpin and legs of the support structure on the floor.
[49]
49. System according to claim 48, characterized
9/10 by the fact that the processor is arranged to iteratively form an image with the LIDAR device, and locate groups of points that represent the predicted locations and provide the relative location of the kingpin in response to a confidence value above a predetermined threshold .
[50]
50. System to interconnect an air line between an autonomous truck and a trailer, characterized by the fact that it comprises: an adapter that is mounted in relation to an air line on the side of the trailer and directs pressurized air through it, the adapter having at least one air hose coupling connection therein; and a manipulator that carries and moves a connection tool for and against coupling with the adapter, the connection tool being interconnected with an air line on the side of the truck to deliver pressurized air to the adapter when engaged with it and the manipulator being arranged to selectively release from the tool when the tool is engaged on the adapter.
[51]
51. System according to claim 50, characterized in that the adapter includes an air hose coupling connection that engages an air hose coupling connection affixed to the air line on the trailer side and the adapter includes a quick disconnect fitting that engages an actionable quick disconnect on the tool.
[52]
52. System according to claim 51, characterized by the fact that the quick disconnect is activated by at least one of a traction movement and a set of potentialized actuator.
[53]
53. System according to claim 51, characterized in that the adapter additionally includes an air hose coupling connection on the truck side and a back and forth valve
10/10 that selectively routes the pressurized air from any of the air hose coupling connection on the side of the truck as the quick disconnect fitting.
[54]
54. System according to claim 50, characterized by the fact that the tool includes guide structures to allow alignment with the adapter during engagement between them.
[55]
55. System according to claim 54, characterized by the fact that the guide structures include at least one of the guide pins, blades, slots and keyways.
[56]
56. System according to claim 50, characterized in that the tool includes a screw-driven clamp that selectively engages an air hose coupling connection on the side of the truck and a guide pin that is arranged to engage one of one plurality of keyways in different rotational orientations around a geometric axis of the air hose coupling connection on the side of the truck.
[57]
57. System according to claim 50, characterized by the fact that the adapter includes a fiducial that identifies and assists in the orientation of the manipulator, based on an operationally connected vision system.

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法律状态:
2021-12-07| B350| Update of information on the portal [chapter 15.35 patent gazette]|

优先权:

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申请号 | 申请日 | 专利标题

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US201862633185P| true| 2018-02-21|2018-02-21|

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US62/633185|2018-02-21|

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US201862681044P| true| 2018-06-05|2018-06-05|

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US62/681044|2018-06-05|

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US201862715757P| true| 2018-08-07|2018-08-07|

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US62/715757|2018-08-07|

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PCT/US2019/019052|WO2019165150A1|2018-02-21|2019-02-21|Systems and methods for automated operation and handling of autonomous trucks and trailers hauled thereby|

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