# US 12,759,588 B2 · Systems and methods for automated operation and handling of autonomous trucks and trailers hauled thereby > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,759,588 B2 - Document ID: US12759588B2 - Status: Granted - Kind: B2 - Application number: 19/069,150 - Filed: 2025-03-03 - Published: 2025-06-19 - Granted: 2026-10-13 - Earliest claimed: 2018-02-21 - Assignees: Outrider Technologies, Inc. - Applicants: Outrider Technologies, Inc. - Inventors: Andrew F. Smith; Lawrence S. Klein; Stephen A. Langenderfer; Martin E. Sotola; Vikas Bahl; Mark H. Rosenblum; Peter James; Dale Dee Rowley; Matthew S. Johannes; Gary Michael Seminara; Jeremy M. Nett - Web page: https://patentgrep.com/patent/US12759588B2 ## CPC - B60W 60/0025: {specially adapted for specific operations} - B25J 9/1679: {characterised by the tasks executed} - B60D 1/26: for remote control, e.g. for releasing - B60D 1/36: for facilitating connection, e.g. hitch catchers - B60D 1/62: involving supply lines, electric circuits or the like - B60D 1/64: Couplings or joints therefor - B60L 53/36: by positioning the vehicle - B60L 58/12: responding to state of charge [SoC] - B60R 1/003: {for viewing trailer hitches} - B60R 25/04: operating on the propulsion system, e.g. engine or drive motor - B60R 25/102: a signal being sent to a remote location, e.g. a radio signal being transmitted to a police station, a security company or the owner - B60R 25/23: using manual input of alphanumerical codes - B60R 25/25: using biometry - B62D 13/06: for backing a normally drawn trailer - B62D 15/0285: {Parking performed automatically} - B62D 33/0222: {Connecting elements between stanchions, e.g. roof supporting elements, stiffeners (non-fixed roofs B60J7/00; securing and covering of load B60P7/00)} - B62D 53/08: Fifth wheel traction couplings {(tractors for handling trailers in terminals B62D49/007)} - B62D 53/0821: {Lifting saddles, i.e. to lift the trailer front (tilting body constructions B60P)} - B62D 53/12: engaging automatically - B65G 69/005: {the means engaging at least one wheel of the vehicle} - B65G 69/2882: {operated by detectors or sensors} - E05B 81/54: Electrical circuits (for locking several wings simultaneously E05B77/48) - E05C 17/02: by mechanical means (E05C17/60 takes precedence) - G05D 1/0225: {involving docking at a fixed facility, e.g. base station or loading bay (parking aids B62D15/027)} - G05D 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)} - G05D 1/0276: {using signals provided by a source external to the vehicle (involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058)} - G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons - G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras - G05D 1/661: Docking at a base station (delivering or retrieving payloads G05D1/667) - G05D 1/81: Handing over between on-board automatic and on-board manual control - B60L 2200/36: Vehicles designed to transport cargo, e.g. trucks - B60W 2050/007: {Switching between manual and automatic parameter input, and vice versa} - B62D 63/08: Component parts or accessories - E05Y 2900/516: for trucks or trailers - E05Y 2900/531: Doors - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B60D: VEHICLE CONNECTIONS - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - 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) - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) - E05B: LOCKS; ACCESSORIES THEREFOR; HANDCUFFS - E05C: BOLTS OR FASTENING DEVICES FOR WINGS, SPECIALLY FOR DOORS OR WINDOWS (latching means for sideboard or tailgate structures for vehicles B62D, {B62D33/02}; fastening devices for constructional or engineering elements E04, F16B; locks, fastening devices structurally or operatively combined or having significant cooperation with locks E05B; means for operating or controlling wing fasteners in conjunction with mechanisms for moving the wing E05F) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - E05Y: INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF ## Abstract 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. ## Claims ### Claim 1 An automated connection between a truck and a trailer comprising: a moving arm assembly, having an end effector that includes a coupling, mounted on a chassis of the truck relative to a trailer fifth wheel adapted to receive a kingpin of the trailer with the front face of the trailer facing the moving arm assembly, the moving arm assembly including actuators and pivots arranged to move the end effector from a remote position to a receiver on the face of the trailer; a controller operatively connected with the actuators that guides movement of the end effector between the remote position and a position in which the coupling engages the receiver; at least one of a first pneumatic connector and an first electrical connector located on the coupling; and at least one of a second pneumatic connector and a second electrical connector located on the receiver, wherein the coupling is constructed and arranged to removably engage the receiver with at least one of (a) the first pneumatic connector in fluid communication with the second pneumatic connector so as to power trailer brakes, and (b) the first electrical connector in electrical communication with the second electrical connector so as to power trailer electrical lights. ### Claim 2 (depends on 1) The automated connection as set forth in claim 1, wherein at least one of the actuators is a fluid piston. ### Claim 3 (depends on 1) The automated connection as set forth in claim 1, wherein the moving arm assembly comprises a multi-axis robotic manipulator. ### Claim 4 (depends on 1) The automated connection as set forth in claim 1, wherein the moving arm assembly includes linear frame members. ### Claim 5 (depends on 1) The automated connection as set forth in claim 1, wherein the moving arm assembly is adapted to move to a remote position after the coupling is engaged to the receiver. ### Claim 6 (depends on 1) The automated connection as set forth in claim 1, wherein the coupling includes a body defining a shape that conforms to a shape of a body of the receiver so as to mate together when engaged. ### Claim 7 (depends on 6) The automated connection as set forth in claim 6, wherein the receiver is arranged on the front face of the trailer so that the coupling engages the receiver based upon rearward motion of the end effector toward the face. ### Claim 8 (depends on 1) The automated connection as set forth in claim 1, wherein the coupling includes both the first pneumatic connector and the first electrical connector and the receiver includes both the second pneumatic connector and the second electrical connector. ### Claim 9 (depends on 8) The automated connection as set forth in claim 8, wherein the first pneumatic connector and the first electrical connector are coaxial. ### Claim 10 (depends on 1) The automated connection as set forth in claim 1, wherein the coupling includes a flexible portion that provides compliance to assist alignment with the receiver during engagement. ### Claim 11 (depends on 1) The automated connection as set forth in claim 1, further comprising alignment pins that assist alignment and engagement between the coupling and the receiver. ### Claim 12 (depends on 1) The automated connection as set forth in claim 1, wherein the receiver comprises a glad hand and the coupling includes a glad hand. ### Claim 13 (depends on 1) The automated connection as set forth in claim 1, wherein truck is constructed and arranged for autonomous operation and includes a plurality of sensors adapted to sense a surrounding environment and the trailer. ### Claim 14 (depends on 13) The automated connection as set forth in claim 13, wherein the truck comprises a yard truck operating in a yard environment. ### Claim 15 (depends on 14) The automated connection as set forth in claim 14, wherein the processor operates to engage and disengage the coupling with respect to the receiver in response to commands from at least one of an onboard autonomous truck processor and a yard computer that tracks movement of trailers and yard trucks in the yard environment. ### Claim 16 A truck adapted to be hitched to a trailer comprising: a moving arm assembly, having an end effector that includes a coupling, mounted on a chassis of the truck relative to a trailer fifth wheel adapted to receive a kingpin of the trailer with the front face of the trailer facing the moving arm assembly, the moving arm assembly including actuators and pivots arranged to move the end effector from a remote position to a receiver on the face of the trailer; a controller operatively connected with the actuators that guides movement of the end effector between the remote position and a position in which the coupling engages the receiver; at least one of a first pneumatic connector and an first electrical connector located on the coupling; and at least one of a second pneumatic connector and a second electrical connector located on the receiver, wherein the coupling is constructed and arranged to removably engage the receiver with at least one of (a) the first pneumatic connector in fluid communication with the second pneumatic connector so as to power trailer brakes, and (b) the first electrical connector in electrical communication with the second electrical connector so as to power trailer electrical lights. ### Claim 17 (depends on 16) The truck as set forth in claim 16, wherein truck is constructed and arranged for autonomous operation and includes a plurality of sensors adapted to sense a surrounding environment and the trailer. ### Claim 18 (depends on 15) The truck as set forth in claim 15, wherein the truck comprises a yard truck operating in a yard environment. ### Claim 19 (depends on 18) The truck as set forth in claim 18, wherein the processor operates to engage and disengage the coupling with respect to the receiver in response to commands from at least one of an onboard autonomous truck processor and a yard computer that tracks movement of trailers and yard trucks in the yard environment.