Patent ID: 11892853
Assignee: ASSA ABLOY ENTRANCE SYSTEMS AB
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 14:
15. A method of operating an autonomous tractor at a distribution center, the distribution center having at least one loading dock station, a yard adjacent to the at least one loading dock station, and at least one cargo vehicle parked in the yard, the method comprising:
wirelessly transmitting instructions from a central processing device to the autonomous tractor, wherein the autonomous tractor includes steering tires, a first sensor, and a second sensor spaced apart from the first sensor,
wherein the first sensor is configured to detect, relative to the first sensor, an angular position of a first sensor target positioned on the cargo vehicle and an angular position of a second sensor target positioned on the cargo vehicle and spaced apart from the first sensor target,
wherein the second sensor is configured to detect, relative to the second sensor, an angular position of the first sensor target and an angular position of the second sensor target, and
wherein the cargo vehicle includes a body having a front end portion spaced apart from a rear end portion, wherein the first and second sensor targets are positioned above the body proximate the rear end portion; and

in response to receiving the instructions from the central processing device, executing the instructions by the autonomous tractor, wherein executing the instructions causes the autonomous tractor to perform a method that includes:
moving from a first position spaced apart from the cargo vehicle toward a second position proximate the cargo vehicle;
detecting, via the first sensor, the angular positions of the first and second sensor targets relative to the first sensor;
detecting, via the second sensor, the angular positions of the first and second sensor targets relative to the second sensor; and
based on the detected angular positions of the first and second sensor targets, changing an angular position of the steering tires to align a centerline of the autonomous tractor with a centerline of the cargo vehicle when the autonomous tractor is in the second position.