Autonomous Yard Truck Hose Coupling With Robotic Arm
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Solution Overview
Problem
Current autonomous yard truck systems lack efficient methods for autonomously maneuvering and coupling with trailers, particularly in complex industrial operations, which hinders their ability to operate independently and effectively.
Innovation Solution
The proposed method involves an autonomous yard truck receiving instructions to move towards a specific trailer, developing paths that account for its geometry and the trailer's geometry, and using a robotic arm to connect and disconnect hose connectors, all while autonomously driving and backing up.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an autonomous yard truck system is implemented without specialized coupling methods, then the basic autonomous driving function is achieved, but the ability to efficiently maneuver and couple with trailers in complex industrial operations is lacking
Solution Approach 1:
The coupling operation is segmented into distinct phases: approach phase (autonomous driving to trailer), coupling phase (fifth-wheel engagement with trailer), and hose connection phase (robotic arm operations). This segmentation allows each phase to be optimized independently while maintaining overall system manageability.
Solution Approach 2:
A robotic arm serves as an intermediary mechanism between the yard truck and trailer, automatically connecting and disconnecting hose connectors. This intermediary component enables precise, controlled interactions during coupling and decoupling operations without requiring complex manual intervention or overly complex direct mechanical coupling systems.
2Productivity
If manual intervention is used for hose connector operations during coupling, then the coupling process can be completed, but operational efficiency and safety are reduced
Solution Approach 1:
The yard truck system performs hose connector operations autonomously through its integrated robotic arm, which automatically locates, connects, and disconnects hoses between the truck and trailer. This self-service capability eliminates the need for manual intervention, improving operational efficiency and safety while the robotic system manages its own coupling tasks.
Solution Approach 2:
Manual mechanical operations of connecting and disconnecting hose connectors are replaced with an automated robotic arm system. The robotic arm uses controlled mechanical movements guided by sensors and control algorithms to perform hose operations, substituting human labor with an automated mechanical system that improves consistency and safety.
3Ease of operation
If the yard truck geometry is not considered in path development, then path planning is simpler, but the truck cannot properly maneuver in tight industrial spaces
Solution Approach 1:
The path planning system incorporates local geometric characteristics of the yard truck (length, width, turning radius) into the navigation algorithm. By considering these local physical properties, the system generates paths that are specifically adapted to the truck's maneuvering capabilities, enabling effective navigation through tight industrial spaces while maintaining path planning feasibility.
Data Source
AI summary
Some embodiments include an autonomous yard truck that includes a speed control mechanism; a steering system; a geolocation sensor; a plurality of sensors; a fifth wheel coupling; a robotic arm disposed on the deck; an air hose with a first hose connector; a transceiver; and a controller. The controller may identify a first trailer hose connector location on a specific trailer; determine the location of a first hose connector on an autonomous yard truck; engage the first hose connector with a robotic arm; move the first hose connector from the first hose connector location to the first trailer hose connector location on the specific trailer with the robotic arm; connect the first hose connector with the first trailer hose connector; disengage the first hose connector from the robotic arm; and/or test the connection between the connection between the first hose connector and the first trailer hose connector.