# US 11,307,596 B2 · Reconfigurable autonomous ground service vehicles and control system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,307,596 B2 - Document ID: US11307596B2 - Status: Granted - Kind: B2 - Application number: 16/572,193 - Filed: 2019-09-16 - Published: 2021-03-18 - Granted: 2022-04-19 - Earliest claimed: 2019-09-16 - Assignees: The Boeing Company - Applicants: The Boeing Company - Inventors: Steve G. Mackin; Peter J. Knudsen - Web page: https://patentgrep.com/patent/US11307596B2 ## CPC - B62D 63/025: {Modular vehicles (superstructures for busses having modular sections B62D31/025)} - G05D 1/0291: {Fleet control (monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127)} - B60P 3/42: convertible from one use to a different one (vehicles capable of travelling in or on different media, rail-and-road vehicles B60F) - B60R 16/03: for supply of electrical power to vehicle subsystems {or for (circuit arrangements for charging batteries H02J7/00)} - B62D 27/06: readily releasable - B64F 1/228: remotely controlled; operating autonomously - B64F 1/31: Passenger vehicles specially adapted to co-operate, e.g. dock, with aircraft or terminal buildings - B64F 1/32: for handling freight - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D 1/0214: {in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13)} - H04L 67/125: involving control of end-device applications over a network - B60R 16/08: fluid - H04L 67/12: specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B60P: VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS (vehicles with special provisions for transporting patients or disabled persons, or their personal conveyances A61G3/00) - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - B64F: GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR - H04L: TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION (arrangements common to telegraphic and telephonic communication H04M) ## Abstract A ground service vehicle system employs autonomous vehicles that can be reconfigured with interchangeable service modules to provide different services. The autonomous service vehicles can be remotely controlled and dispatched in swarms to provide different services at a location. ## Claims ### Claim 1 An autonomous ground service vehicle, comprising: a base vehicle configured to operate autonomously, the base vehicle including a drive system and a communication system configured to communicate with a remote station; at least one service module releasably coupled with the base vehicle and configured to performing a service; and wherein the service module includes onboard power operated jacks configured to elevate the service module above a surface when the service module is removed from the base vehicle. ### Claim 2 (depends on 1) The autonomous ground service vehicle of claim 1, wherein the service module is removably mounted on the base vehicle. ### Claim 3 (depends on 1) The autonomous ground service vehicle of claim 1, further comprising: quick connect mechanical couplings structurally interconnecting the service module with the base vehicle, the quick connect mechanical couplings being releasable to allow unloading of the service module from the base vehicle. ### Claim 4 (depends on 1) The autonomous ground service vehicle of claim 1, wherein the service module is one of: a passenger compartment, a fuel tank, a waste service module a food carrier, a de-icing module, an engine service module, a luggage carrier, and a ground sweeper module. ### Claim 5 (depends on 1) The autonomous ground service vehicle of claim 1, wherein the base vehicle includes a collision avoidance system configured to prevent collision of the base vehicle with an object. ### Claim 6 (depends on 1) The autonomous ground service vehicle of claim 1, wherein: the base vehicle includes a local controller configured to control systems onboard the base vehicle; and the communication system includes a wireless receiver/transmitter coupled with the local controller configured to communicate with a remote control station controlling operation of the autonomous ground service vehicle. ### Claim 7 An autonomous ground vehicle service system, comprising: a plurality of ground service vehicles each reconfigurable to provide differing services, each of the ground service vehicles including an autonomous base vehicle having a drive system and a communication system, each of the autonomous base vehicles further including an autonomous control system configured to operate the autonomous base vehicle autonomously; a plurality of service modules each configured provide a service, each of the service modules being further configured to be releasably coupled with any one of the autonomous base vehicles, thereby configuring the autonomous base vehicle to provide a service; a control station configured to wirelessly communicate with and coordinate operation of the autonomous base vehicles; and wherein each of the service modules includes onboard power operated jacks configured to elevate the service module above a surface when the service module is removed from the autonomous base vehicle. ### Claim 8 (depends on 7) The autonomous ground vehicle service system of claim 7, wherein the autonomous base vehicle includes an onboard collision avoidance system figured to prevent collision of the autonomous base vehicle with an object. ### Claim 9 (depends on 7) The autonomous ground vehicle service system of claim 7, wherein the service module is one of: a passenger module, a fuel tank module, a waste service module, a food carrier module, a de-icing module, an engine service module, a ground sweeper module, and a luggage carrier. ### Claim 10 (depends on 7) The autonomous ground vehicle service system of claim 7, wherein: the communication system includes a wireless receiver/transmitter; and the control station includes: a wireless receiver/transmitter configured to communicate with each of the autonomous base vehicles; and a controller including a programmed computer for controlling operation of the autonomous base vehicles. ### Claim 11 (depends on 7) The autonomous ground vehicle service system of claim 7, further comprising: quick connect mechanical couplings configured to structurally interconnect the service modules with any of the autonomous base vehicles, the quick connect mechanical couplings being releasable to allow unloading of a service module from the autonomous base vehicle. ### Claim 12 (depends on 11) The autonomous ground vehicle service system of claim 11, further comprising: quick connect electrical connections configured to electrically interconnect the service modules with any of the autonomous base vehicles and operable to transfer power between the service modules and the autonomous base vehicles. ### Claim 13 A method of providing ground based services in an airport, comprising: directing power driven autonomous vehicles to self-drive to locations of service modules configured to provide services; using the autonomous vehicles to direct the service modules to elevate; self-driving the autonomous vehicles beneath the service modules; lowering the service modules onto the autonomous vehicles; coupling the autonomous vehicles with the service modules based on services required to be performed at locations in the airport; and directing the autonomous vehicles to self-drive to locations in the airport where the services are required to be performed. ### Claim 14 (depends on 13) The method of claim 13, wherein directing the power driven autonomous vehicles to self-drive to the locations of the service modules is performed at a remote station by wireless communication between the remote station and the autonomous vehicles. ### Claim 15 (depends on 13) The method of claim 13, wherein coupling the autonomous vehicles with the service modules includes: elevating the service modules; self-driving the autonomous vehicles under the service modules; lowering the service modules onto the autonomous vehicles; and coupling the autonomous vehicles with the service modules using quick connect interconnections. ### Claim 16 (depends on 13) The method of claim 13, further comprising: directing the autonomous vehicles to uncouple from the service modules; directing the autonomous vehicles to self-drive to locations of other ones of the service modules; coupling the autonomous vehicles with the other ones of the service modules; and self-driving the autonomous vehicles to other locations where services are required. ### Claim 17 (depends on 13) The method of claim 13, further comprising: using a programmed computer to remotely control and coordinate operation of the autonomous vehicles. ### Claim 18 (depends on 1) The autonomous ground service vehicle of claim 1, further comprising: quick connect electrical connections configured to electrically interconnect the at least one service module with the base vehicle and operable to transfer power between the at least one service module and the base vehicle. ### Claim 19 (depends on 7) The autonomous ground vehicle service system of claim 7, wherein a service module of the plurality of service modules is removably mounted on the autonomous base vehicle. ### Claim 20 (depends on 13) The method of claim 13, further comprising: electrically interconnecting a service module with any of the autonomous vehicles with quick connect electrical connections operable to transfer power between the service module and the autonomous vehicles.