# US 12,216,476 B2 · Autonomous vehicle compatible robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,216,476 B2 - Document ID: US12216476B2 - Status: Granted - Kind: B2 - Application number: 18/495,480 - Filed: 2023-10-26 - Published: 2024-02-22 - Granted: 2025-02-04 - Earliest claimed: 2018-08-08 - Assignees: Aurora Operations, Inc. - Applicants: Aurora Operations, Inc. - Inventors: Richard Brian Donnelly - Web page: https://patentgrep.com/patent/US12216476B2 ## CPC - B60H 1/00742: {by detection of the vehicle occupants' presence; by detection of conditions relating to the body of occupants, e.g. using radiant heat detectors} - G05D 1/0225: {involving docking at a fixed facility, e.g. base station or loading bay (parking aids B62D15/027)} - B60H 1/00271: {HVAC devices specially adapted for particular vehicle parts or components and being connected to the vehicle HVAC unit} - B60H 1/00357: {Air-conditioning arrangements specially adapted for particular vehicles} - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D 1/0238: {using obstacle or wall sensors (G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93)} - G05D 1/0246: {using a video camera in combination with image processing means} - G05D 1/227: Handing over between remote control and on-board control; Handing over between remote control arrangements - G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras - G05D 1/628: following the obstacle profile, e.g. a wall or undulated terrain - G05D 1/661: Docking at a base station (delivering or retrieving payloads G05D1/667) - B60H 2001/003: {Component temperature regulation using an air flow} - B60H: ARRANGEMENTS OF HEATING, COOLING, VENTILATING OR OTHER AIR-TREATING DEVICES SPECIALLY ADAPTED FOR PASSENGER OR GOODS SPACES OF VEHICLES - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract An autonomous robot is provided. In one example embodiment, an autonomous robot can include a main body including one or more compartments. The one or more compartments can be configured to provide support for transporting an item. The autonomous robot can include a mobility assembly affixed to the main body and a sensor configured to obtain sensor data associated with a surrounding environment of the autonomous robot. The autonomous robot can include a computing system configured to plan a motion of the autonomous robot based at least in part on the sensor data. The computing system can be operably connected to the mobility assembly for controlling a motion of the autonomous robot. The autonomous robot can include a coupling assembly configured to temporarily secure the autonomous robot to an autonomous vehicle. The autonomous robot can include a power system and a ventilation system that can interface with the autonomous vehicle. ## Claims ### Claim 1 A computer-implemented method comprising: determining that an autonomous vehicle has reached a particular location associated with the autonomous vehicle along a vehicle route; providing an identifier of an autonomous robot to the autonomous vehicle to authorize the autonomous robot to board the autonomous vehicle; controlling the autonomous robot to travel to and board the autonomous vehicle in response to the determining that the autonomous vehicle has reached the particular location associated with the autonomous vehicle; and initiating a motion control of the autonomous vehicle to provide the transport of the autonomous robot with the autonomous vehicle along the vehicle route. ### Claim 2 (depends on 1) The computer-implemented method of claim 1, wherein the particular location associated with the autonomous vehicle comprises a future location of the autonomous vehicle, or a pre-determined location at which the autonomous robot can meet the autonomous vehicle. ### Claim 3 (depends on 1) The computer-implemented method of claim 1, further comprising: coupling the autonomous robot to the autonomous vehicle while the autonomous vehicle is in transit. ### Claim 4 (depends on 3) The computer-implemented method of claim 3, wherein coupling the autonomous robot to the autonomous vehicle while the autonomous vehicle is in transit comprises: determining a position for the autonomous robot relative to the autonomous vehicle; and controlling a coupling assembly of the autonomous robot to temporarily secure the autonomous robot to the autonomous vehicle at the position for the autonomous robot. ### Claim 5 (depends on 4) The computer-implemented method of claim 4, wherein the position for the autonomous robot relative to the autonomous vehicle is within an interior cabin of the autonomous vehicle. ### Claim 6 (depends on 4) The computer-implemented method of claim 4, wherein the controlling the coupling assembly of the autonomous robot to temporarily secure the autonomous robot to the autonomous vehicle comprises: guiding at least one of the coupling assembly or the autonomous robot to confirm the autonomous robot and coupling assembly are positioned to temporarily secure the autonomous robot to the autonomous vehicle, wherein the guiding is based at least in part on a visual proximity detection function. ### Claim 7 (depends on 1) The computer-implemented method of claim 1, further comprising: providing, by a display device of the autonomous robot, a visual output indicative of a message. ### Claim 8 (depends on 1) The computer-implemented method of claim 1, further comprising: providing, by a speaker of the autonomous robot, an audio output indicative of a message. ### Claim 9 (depends on 1) The computer-implemented method of claim 1, wherein the autonomous vehicle is a truck. ### Claim 10 (depends on 1) The computer-implemented method of claim 1, wherein at least one of the autonomous vehicle or the autonomous robot is a ground-based vehicle. ### Claim 11 A computing system comprising: one or more processors; and one or more tangible, non-transitory, computer-readable media that store instructions that are executable to cause the computing system to perform operations, the operations comprising: determining that an autonomous vehicle has reached a particular location associated with the autonomous vehicle along a vehicle route; providing an identifier of an autonomous robot to the autonomous vehicle to authorize the autonomous robot to board the autonomous vehicle; controlling the autonomous robot to travel to and board the autonomous vehicle in response to the determining that the autonomous vehicle has reached the particular location associated with the autonomous vehicle; and initiating a motion control of the autonomous vehicle to provide the transport of the autonomous robot with the autonomous vehicle along the vehicle route. ### Claim 12 (depends on 11) The computing system of claim 11, wherein the particular location associated with the autonomous vehicle comprises a future location of the autonomous vehicle, or a pre-determined location at which the autonomous robot can meet the autonomous vehicle. ### Claim 13 (depends on 11) The computing system of claim 11, the operations further comprising: coupling the autonomous robot to the autonomous vehicle while the autonomous vehicle is in transit. ### Claim 14 (depends on 13) The computing system of claim 13, wherein coupling the autonomous robot to the autonomous vehicle while the autonomous vehicle is in transit comprises: determining a position for the autonomous robot relative to the autonomous vehicle; and controlling a coupling assembly of the autonomous robot to temporarily secure the autonomous robot to the autonomous vehicle at the position for the autonomous robot. ### Claim 15 (depends on 14) The computing system of claim 14, wherein the position for the autonomous robot relative to the autonomous vehicle is within an interior cabin of the autonomous vehicle. ### Claim 16 One or more tangible, non-transitory, computer-readable media that store instructions that are executable by one or more processors to cause the one or more processors to perform operations, the operations comprising: determining that an autonomous vehicle has reached a particular location associated with the autonomous vehicle along a vehicle route; providing an identifier of an autonomous robot to the autonomous vehicle to authorize the autonomous robot to board the autonomous vehicle; controlling the autonomous robot to travel to and board the autonomous vehicle in response to the determining that the autonomous vehicle has reached the particular location associated with the autonomous vehicle; and initiating a motion control of the autonomous vehicle to provide the transport of the autonomous robot with the autonomous vehicle along the vehicle route. ### Claim 17 (depends on 16) The one or more tangible, non-transitory, computer-readable media of claim 16, the operations further comprising: providing, by a display device of the autonomous robot, a visual output indicative of a message. ### Claim 18 (depends on 16) The one or more tangible, non-transitory, computer-readable media of claim 16, the operations further comprising: providing, by a speaker of the autonomous robot, an audio output indicative of a message. ### Claim 19 (depends on 16) The one or more tangible, non-transitory, computer-readable media of claim 16, wherein the autonomous vehicle is a truck. ### Claim 20 (depends on 16) The one or more tangible, non-transitory, computer-readable media of claim 16, wherein at least one of the autonomous vehicle or the autonomous robot is a ground-based vehicle.