# US 10,120,389 B2 · Systems and methods for autonomous receptacle transportation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,120,389 B2 - Document ID: US10120389B2 - Status: Granted - Kind: B2 - Application number: 15/818,688 - Filed: 2017-11-20 - Published: 2018-03-15 - Granted: 2018-11-06 - Earliest claimed: 2016-08-19 - Assignees: Rubicon Global Holdings, LLC - Applicants: Rubicon Global Holdings, LLC - Inventors: Philip Rodoni - Web page: https://patentgrep.com/patent/US10120389B2 ## CPC - G05D 1/0291: {Fleet control (monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127)} - B65F 1/1473: {Receptacles having wheels} - B65F 3/02: with means for discharging refuse receptacles thereinto (conveyor construction B65G; loaders separate from vehicles B66F; fluid power control systems in general F15B) - G05D 1/0295: {by at least one leading vehicle of the fleet} - B65F 2210/128: Data transmitting means - B65F 2210/138: Identification means - B65F 2210/165: Remote controls - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B65F: GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE (disinfecting refuse A61L; refuse disintegrators B02C; sorting refuse B03B; B07B; handcarts for transporting refuse receptacles B62B; sack holders B65B67/00; converting refuse into fertilisers C05F; converting refuse into solid fuels C10L; sewers, cesspools E03F; arrangements in buildings for the disposal of refuse E04F17/10; refuse-consuming furnaces F23G; {for surgical articles A61B50/36}) ## Abstract A system is disclosed for autonomously removing waste from a plurality of receptacles at separate locations within a service area. The system may include a service vehicle, and a plurality of transporters. The plurality of transporters may be configured to autonomously move the plurality of receptacles to the service vehicle. ## Claims ### Claim 1 A system for autonomous receptacle transportation, comprising: a non-transitory memory; one or more processors coupled to the non-transitory memory and configured to execute instructions to perform operations comprising: monitor location data associated with one or more service vehicles based on first location signals from the one or more service vehicles; receive an arrival signal in response to arrival of a first autonomous service vehicle of the one or more service vehicles at a first service area; and transmit a message causing one or more receptacles to autonomously navigate to the first autonomous service vehicle, each of the one or more receptacles comprising a transporter that forms an integral portion of the corresponding receptacle. ### Claim 2 (depends on 1) The system of claim 1, wherein a first receptacle of the one or more receptacles includes lift arms and is configured to empty into the first autonomous service vehicle using the lift arms. ### Claim 3 (depends on 2) The system of claim 2, wherein the first receptacle is configured to empty without aid of a vehicle-mounted lift device of the first autonomous service vehicle. ### Claim 4 (depends on 1) The system of claim 1, wherein each of the one or more receptacles is in remote communication with the first autonomous service vehicle in response to arrival of the first autonomous service vehicle. ### Claim 5 (depends on 1) The system of claim 1, wherein the first autonomous service vehicle further comprises: a rolling chassis; a bed supported by the rolling chassis and configured to receive waste; and a controller in communication with the rolling chassis and configured to autonomously operate the first autonomous service vehicle. ### Claim 6 (depends on 1) The system of claim 1, wherein the one or more receptacles are configured to autonomously return to respective receptacle return locations in response to emptying. ### Claim 7 (depends on 1) The system of claim 1, wherein the one or more receptacles each include optical navigation means. ### Claim 8 A method for autonomous receptacle transportation, comprising: monitoring location data associated with one or more service vehicles based on first location signals from the one or more service vehicles; receiving an arrival signal in response to arrival of a first autonomous service vehicle of the one or more service vehicles at a first service area; and transmitting a message causing one or more receptacles to autonomously navigate to the first autonomous service vehicle, each of the one or more receptacles comprising a transporter that forms an integral portion of the corresponding receptacle. ### Claim 9 (depends on 8) The method of claim 8, wherein a first receptacle of the one or more receptacles includes lift arms and is configured to empty into the first autonomous service vehicle using the lift arms. ### Claim 10 (depends on 9) The method of claim 9, wherein the first receptacle is configured to empty without aid of a vehicle-mounted lift device of the first autonomous service vehicle. ### Claim 11 (depends on 8) The method of claim 8, wherein each of the one or more receptacles is in remote communication with the first autonomous service vehicle in response to arrival of the first autonomous service vehicle. ### Claim 12 (depends on 8) The method of claim 8, wherein the first autonomous service vehicle further comprises: a rolling chassis; a bed supported by the rolling chassis and configured to receive waste; and a controller in communication with the rolling chassis and configured to autonomously operate the first autonomous service vehicle. ### Claim 13 (depends on 8) The method of claim 8, wherein the one or more receptacles are configured to autonomously return to respective receptacle return locations in response to emptying. ### Claim 14 (depends on 8) The method of claim 8, wherein the one or more receptacles each include optical navigation means. ### Claim 15 A non-transitory computer-readable medium including computer-executable programming instructions for performing a method for autonomous receptacle transportation, the method comprising: monitoring location data associated with one or more service vehicles based on first location signals from the one or more service vehicles; receiving an arrival signal in response to arrival of a first autonomous service vehicle of the one or more service vehicles at a first service area; and transmitting a message causing one or more receptacles to autonomously navigate to the first autonomous service vehicle, each of the one or more receptacles comprising a transporter that forms an integral portion of the corresponding receptacle. ### Claim 16 (depends on 15) The non-transitory computer-readable medium of claim 15, wherein a first receptacle of the one or more receptacles includes lift arms and is configured to empty into the first autonomous service vehicle using the lift arms. ### Claim 17 (depends on 16) The non-transitory computer-readable medium of claim 16, wherein the first receptacle is configured to empty without aid of a vehicle-mounted lift device of the first autonomous service vehicle. ### Claim 18 (depends on 15) The non-transitory computer-readable medium of claim 15, wherein the one or more receptacles are configured to autonomously return to respective receptacle return locations in response to emptying. ### Claim 19 (depends on 15) The non-transitory computer-readable medium of claim 15, wherein the one or more receptacles each include optical navigation means. ### Claim 20 (depends on 15) The non-transitory computer-readable medium of claim 15, wherein the first autonomous service vehicle further comprises: a rolling chassis; a bed supported by the rolling chassis and configured to receive waste; and a controller in communication with the rolling chassis and configured to autonomously operate the first autonomous service vehicle.