Systems and methods for automated operation and handling of autonomous trucks and trailers hauled thereby
A system and method for operation of an autonomous vehicle (AV) yard truck is provided. A processor facilitates autonomous movement of the AV yard truck, and connection to and disconnection from trailers. A plurality of sensors are interconnected with the processor that sense terrain/objects and assist in automatically connecting/disconnecting trailers. A server, interconnected, wirelessly with the processor, that tracks movement of the truck around and determines locations for trailer connection and disconnection. A door station unlatches/opens rear doors of the trailer when adjacent thereto, securing them in an opened position via clamps, etc. The system computes a height of the trailer, and/or if landing gear of the trailer is on the ground and interoperates with the fifth wheel to change height, and whether docking is safe, allowing a user to take manual control, and optimum charge time(s). Reversing sensors/safety, automated chocking, and intermodal container organization are also provided.
1. A device for robotically opening rear swing doors of a trailer comprising:
a frame adapted to receive, adjacent thereto, trailer rear
a member on the frame that moves in a plurality of degrees of freedom in relation to the frame and trailer, and includes structures that are arranged to manipulate a door securing assembly on the trailer;
a door opening assembly that engages and swings the doors subsequent to unlocking;
an interface that guides the frame and the door opening assembly remotely; and
a door-fixing assembly that retains each door in an open orientation after the trailer moves remote from the frame.
2. The device as set forth in claim 1 , wherein the door opening assembly comprises at least one of a robotic arm assembly and a post assembly that move approximately vertically into and out of engagement with each of the doors and moves along a path from a closed position and the open orientation.
3. The device as set forth in claim 2 , wherein the posts are movably mounted with respect to a slotted floor that allows each of the posts to track along a respective slot, defining the path.
4. The device as set forth in claim 1 , wherein the door-fixing assembly comprises an end effector, operatively connected with the frame, that selectively applies a clip or clamp-like device over the door and a side of the trailer via a rear edge thereof in the open orientation.
5. The device as set forth in claim 1 , wherein the interface comprises a sensor assembly that views the rear of the trailer and a processor that causes the frame to move in response to control commands.
6. The device as set forth in claim 5 , wherein the processor includes at least one of (a) a human-machine-interface (HMI) control that allows a user to move the frame based on feedback received from the sensor assembly, and (b) an autonomous movement process that automatically moves the frame based on a trained pattern in response to the sensor assembly.
7. The device as set forth in claim 6 , wherein the sensor assembly comprises a camera assembly and the autonomous movement process includes a vision system.
8. The device as set forth in claim 1 , wherein the door-fixing assembly includes a clip-like clamping device constructed and arranged to flex and frictionally pinch each door in an open orientation against a side of the trailer, the clamping device residing over a rear edge of the swing door and the side.
9. The device as set forth in claim 8 , wherein the clamping device defines a pair of tines with a gap therebetween joined by a connecting base.
10. The device as set forth in claim 9 , wherein the clamping device is adapted to be slid robotically or manually over the rear edge.
11. The device as set forth in claim 10 , wherein the connecting base includes a structure that is selectively engaged by an end effector of a robot.
12. The device as set forth in claim 11 , wherein the clamping device comprises a flexible material and defines a unitary construction between the tines and the connecting base.
13. The device as set forth in claim 8 , wherein the door-fixing assembly includes a robotic end effector that selectively applies the clamping device over the door and the side via a rear edge thereof in the open orientation.