Vehicle guidance systems and associated methods of use at logistics yards and other locations

Patent metadata

Field	Value
Publication number	US-11256264-B2
Application number	US-201816109603-A
Country	US
Kind code	B2
Filing date	Aug 22, 2018
Priority date	Aug 30, 2017
Publication date	Feb 22, 2022
Grant date	Feb 22, 2022

Abstract

Systems and methods are disclosed for controlling operations of autonomous vehicles and systems in, for example, logistics yards at distribution, manufacturing, processing and/or other centers for the transfer of goods, materials, and/or other cargo. In some embodiments, an autonomous yard tractor or other vehicle can include one or more systems for locating an over-the-road trailer parked in a yard of a distribution center, engaging the trailer, and moving the trailer to a loading dock for loading/unloading operations in accordance with a workflow procedure provided by a central control system. In other embodiments, an autonomous yard tractor can locate the trailer at the loading dock after the loading/unloading operations, engage the trailer, and move the trailer to a parking location in the yard. In some embodiments, the autonomous yard tractor can include a sensor system configured to detect the position of the trailer relative to, for example, the tractor, and/or the dock station can include a sensor system configured to detect the position of the trailer relative to, for example, the dock station during a docking procedure.

First claim

We claim:

1. A distribution center comprising:
a yard;
a building adjacent the yard, wherein the building includes at least one loading dock station;
at least one cargo trailer positioned in the yard and spaced apart from the loading dock station, wherein the cargo trailer includes a trailing edge portion, a first target mounted to the cargo trailer at a first position proximate the trailing edge portion, and a second target mounted to the cargo trailer at a second position proximate the trailing edge portion and spaced apart from the first position, and wherein the first and second targets are passive radar reflective targets;
a first radar-receiving sensor mounted to the building proximate a first side of the loading dock station;
a second radar-receiving sensor mounted to the building proximate a second side of the loading dock station opposite to the first side; and
a radar transmitter mounted to the building between the first and second radar-receiving sensors, wherein the radar transmitter is configured to transmit radar signals that are reflected by the first and second targets, and wherein the first and second radar-receiving sensors are configured to receive the radar signals reflected by at least one of the first or second targets to detect an angular position of the at least one target relative to the first radar-receiving sensor and the second radar-receiving sensor.

2. The distribution center of claim 1 wherein the first and second radar-receiving sensors are configured to detect the angular position of the at least one target relative to the loading dock station.

3. The distribution center of claim 1 wherein the first and second radar-receiving sensors are further configured to detect distances between the first and second radar-receiving sensors and the at least one target.

4. The distribution center of claim 1 wherein the first and second targets are temporarily mounted to the cargo trailer proximate the trailing edge portion.

5. The distribution center of claim 1 wherein the cargo trailer has a trailer centerline and the loading dock station has a dock station centerline, and wherein the distribution center further comprises:
a processing device operably connected to the first and second radar-receiving sensors, wherein the processing device is configured to receive target position information from the sensors, and wherein the processing device is further configured to determine an angular position of the trailer centerline relative to the dock station centerline based at least in part on the target position information.

6. The distribution center of claim 1 wherein the cargo trailer has a trailer centerline and the loading dock station has a dock station centerline, and wherein the distribution center further comprises:
a processing device operably connected to the first and second radar-receiving sensors, wherein the processing device is configured to receive target position information from the sensors, and wherein the processing device is further configured to determine a lateral distance between the trailer centerline and the dock station centerline based at least in part on the target position information.

7. The distribution center of claim 1 , further comprising:
an autonomous tractor operably coupled to the cargo trailer; and
a processing device operably connected to the first and second radar-receiving sensors, wherein the processing device is configured to receive target position information from the sensors, and wherein the processing device is further configured to send guidance information to the autonomous tractor, wherein the guidance information is based at least in part on the target position information received from the sensors.

8. A distribution center comprising:
a building having at least one loading dock station;
a yard adjacent the at least one loading dock station;
at least one over-the-road cargo trailer positioned at a first location in the yard, the cargo trailer including at least one target operably mounted thereto, wherein the at least one target is a passive radar reflective target;
an autonomous tractor positioned at a second location in the yard remote from the first location, the tractor including:
at least one sensor operably mounted thereto, wherein the at least one sensor is a radar-receiving sensor; and
a tractor controller; and
a central processing device remote from the autonomous tractor, wherein the central processing device is configured to wirelessly communicate computer-executable instructions to the tractor controller, and wherein the tractor controller is configured to execute the instructions to:
cause the tractor to move from the second location toward the first location;
when the tractor is proximate the first location, cause the at least one sensor to detect a position of the at least one target relative to the at least one sensor;
based at least in part on the detected position of the at least one target relative to the at least one sensor, cause the tractor to engage the cargo trailer at the first location; and
cause the tractor to move the cargo trailer from the first location toward the at least one loading dock station.

9. The distribution center of claim 8 wherein the computer-executable instructions include instructions that, when executed by the tractor controller, cause the tractor to back the cargo trailer up to the at least one loading dock station.

10. The distribution center of claim 8 :
wherein the tractor further includes a radar transmitter mounted thereto, wherein the radar transmitter is configured to transmit radar signals that are reflected by the at least one target, and wherein the at least one sensor is configured to receive the radar signals reflected by the at least one target to detect an angular position of the at least one target relative to the at least one sensor; and
wherein the tractor controller determines a distance between the at least one target and the at least one sensor based at least in part on the detected angular position of the at least one target relative to the at least one sensor.

11. The distribution center of claim 8 wherein the computer-executable instructions include instructions that identify at least one of the first location or the location of the at least one loading dock station.

12. The distribution center of claim 8 wherein the at least one sensor is configured to send associated target position information to at least one of the tractor controller or the central processing device prior to the tractor engaging the cargo trailer at the first location.

13. The distribution center of claim 8 wherein:
the computer-executable instructions include location information corresponding to the first location and identification information corresponding to the at least one target, and
the at least one sensor is configured to detect and identify the at least one target, and
the at least one sensor is further configured to send associated target identification information to at least one of the tractor controller or the central processing device prior to the tractor engaging the cargo trailer at the first location.

14. The distribution center of claim 8 wherein the at least one sensor operably mounted to the tractor is a first sensor, and wherein:
the computer-executable instructions include instructions that, when executed by the tractor controller, cause the tractor to back the cargo trailer up to the at least one dock station,
the building includes at least one second sensor operably mounted thereto,
the at least one second sensor is configured to detect the position of the at leas

Assignees

• Assa Abloy Entrance Systems Ab

Inventors

• Hoofard Richard K
• Day Daryl
• Whitley L Blake

Classifications

• B60T7/22 Primary

  initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle {, or by means of contactless obstacle detectors mounted on the vehicle} · CPC title

• G01S17/06

  Systems determining position data of a target · CPC title

• B60T2201/10

  Automatic or semi-automatic parking aid systems · CPC title

• B60D1/62

  involving supply lines, electric circuits or the like · CPC title

• B60D1/245

  for facilitating push back or parking of trailers · CPC title