Patent Description:
The transportation of objects, such as those that are not self-powered or independently mobile, presents a number of challenges. Locating the object, identifying the object, engaging the object, adjusting/positioning/lifting the object to enable a desired level of mobility, transporting the object, and monitoring/controlling the object's position, movement, and orientation are all significant challenges. Therefore, an apparatus that provides adaptable transportation capability for objects, such as, for example, wheeled cargo trailers, is needed. <CIT> discloses a transport trailer for lifting and moving a load and method for effecting such movements.

<CIT> discloses a vehicle-mounted lift system for use with a vehicle including a trailer with a pair of wheels proximate to a back end of the trailer. The lift system comprising: a frame coupled to said trailer, the frame including first and second opposing ends defining a length, wherein said frame defines a longitudinally direction along its length; a carriage coupled to said frame and constructed and arranged to longitudinally move along said frame; a first support defining a first coupling portion, wherein said support is attached to said carriage with said first coupling portion positioned above and away from said carriage and said frame; an arm including a first end, a second end opposite said first end and a second coupling portion, wherein said arm is rotatably attached to said first support with said first and second coupling portions defining an arm pivot point; a lifting hook attached to said first end of said arm, wherein said lifting hook is constructed and arranged to engage an attachment point on the container and wherein said lifting hook defines a lifting surface that is constructed and arranged to abut the attachment point on the container; and an actuator constructed and arranged to rotate said arm angularly with respect to said first support about said arm pivot point thereby moving the relative position of said lifting hook. <CIT> discloses a remotely releasable brake hose coupler for pressure fluid operated brake systems. <CIT> discloses a coupling assembly for releasably interconnection lines of a tractor having a fifth wheel and corresponding supply lines on a trailer.

The present disclosure relates to a pneumatic braking system for a wheeled cargo trailer, comprising: a set of pneumatically-operated brakes; a glad hands connector coupled to the set of pneumatically-operated brakes; and an adapter operable to provide a pneumatic connection with the pneumatic braking system, wherein the glad hands connector has a first pair of pneumatic couplings, the pneumatic braking system further comprising a pair of pneumatic conduits extending between the set of pneumatically-operated brakes and the glad hands connector, wherein the adapter further includes a second pair of pneumatic couplings adapted to be attached to a pneumatic source and a third pair of pneumatic couplings adapted to be attached to the first pair of pneumatic couplings of the glad hands connector to provide a pneumatic connection between the adapter and the glad hands connector.

The pneumatic braking system further comprises a pair of pneumatic conduits that are releasably attachable to the first pair of pneumatic couplings of the glad hands connector and to the third pair of pneumatic couplings of the adapter.

Optionally, the adapter can be pneumatically coupled to the pair of pneumatic conduits such that it is located between the glad hands connector and the set of pneumatically-operated brakes. The present disclosure further relates to a pneumatic braking system for a wheeled cargo trailer, comprising: a set of pneumatically-operated brakes; a glad hands connector coupled to the set of pneumatically-operated brakes; and a separate adapter operable to provide a pneumatic connection with the pneumatic braking system, wherein the separate adapter further includes an interlock, the interlock being adjustable between a first configuration and a second configuration, the first configuration providing a pneumatic connection between the separate adapter and the set of pneumatically-operated brakes and the second configuration providing a pneumatic connection between the glad hands connector and the set of pneumatically-operated brakes.

The interlock may include one or more movable components that block the pneumatic connection to the glad hands connector when the interlock is in the first configuration and block the pneumatic connection to the separate adapter when the interlock is in the second configuration.

The separate adapter may further include a power/control coupling and a wireless communication component adapted to receive wireless signals and control, based on the received wireless signals, one or more electronic components of the wheeled cargo trailer.

The term "object" as used herein should be interpreted broadly, to include any trailer, vehicle, container, vessel, enclosure, and/or other structure, including one of any size and shape, that can be engaged and lifted using the apparatuses and methods described herein.

The subject matter disclosed herein that relates to systems, methods, and apparatuses for engaging and moving objects is described in detail with reference to the attached drawing figures, which are intended to illustrate non-limiting examples of the disclosed subject matter, in which like numerals represent like elements, wherein:.

The subject matter of this disclosure is described herein to meet statutory requirements. However, the description is not intended to limit the scope of the invention. Rather, the claimed subject matter may be embodied in other ways, to include different steps, combinations of steps, features, and/or combinations of features, similar to those described in this disclosure, and in conjunction with other present or future technologies. Moreover, although the terms "step" and/or "block" may be used herein to identify different elements of methods employed, the terms should not be interpreted as implying any particular order among or between various elements except when the order is explicitly described and required.

In general, at a high level, this disclosure describes systems, methods, and apparatuses for engaging, lifting, and/or moving objects, such as wheeled cargo trailers or other wheeled or non-wheeled containers/vessels/enclosures. The subsequent discussion will focus on aspects of the invention in the context of a wheeled cargo trailer. However, it should be understood that these aspects could also be implemented in the context of a non-wheeled container/vessel/enclosure, such as a shipping container. To provide one example, a wheeled cargo trailer is often positioned without an associated transport mechanism being attached, leaving the trailer with reduced mobility. Further, the wheels of the trailer may be coupled to a pneumatic braking system that remains locked until a pneumatic source is connected to the braking system. Embodiments hereof enable the engaging, lifting, and/or moving of objects, such as the aforementioned wheeled cargo trailers, using various engaging, lifting, and/or mobilizing systems and components. Embodiments hereof also allow for mobilizing objects, such as wheeled cargo trailers, using pneumatically operated systems and adapters. These embodiments are described in further detail below with reference to <FIG>.

The subject matter of this disclosure may be provided as, at least in part, a method, a system, and/or a computer-program product, among other things. Accordingly, certain aspects disclosed herein may take the form of hardware, or may be a combination of software and hardware. A computer-program that includes computer-useable instructions embodied on one or more computer-readable media may also be used. The subject matter hereof may further be implemented as hard-coded into the mechanical design of computing components and/or may be built into a system or apparatus for engaging and moving objects.

Computer-readable media may include volatile media, non-volatile media, removable media, and non-removable media, and may also include media readable by a database, a switch, and/or various other network devices. Network switches, routers, and related components are conventional in nature, as are methods of communicating with the same, and thus, further elaboration is not provided in this disclosure. By way of example, and not limitation, computer-readable media may comprise computer storage media and/or non-transitory communications media.

Computer storage media, or machine-readable media, may include media implemented in any method or technology for storing information. Examples of stored information include computer-useable instructions, data structures, program modules, and/or other data representations. Computer storage media may include, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile discs (DVD), holographic media or other optical disc storage, magnetic cassettes, magnetic tape, magnetic disk storage, and other storage devices. These memory components may store data momentarily, temporarily, and/or permanently, and are not limited to the examples provided herein.

Referring now to <FIG>, a block diagram of an example computing device <NUM> suitable for enabling functions described herein is provided. It should be noted that although some components depicted in <FIG> are shown in the singular, they may be plural, and the components may be connected in a different, including distributed, configuration. For example, computing device <NUM> might include multiple processors and/or multiple radios. As shown in <FIG>, computing device <NUM> includes a bus <NUM> that may directly or indirectly connect different components together, including memory <NUM>, processor(s) <NUM>, presentation component(s) <NUM> (if applicable), radio(s) <NUM>, input/output (I/O) port(s) <NUM>, input/output (I/O) component(s) <NUM>, and power supply <NUM>.

Memory <NUM> may take the form of the memory components described herein. Thus, further elaboration will not be provided here, but memory <NUM> may include any type of tangible medium that is capable of storing information, such as a database. A database may include any collection of records, data, and/or other information. In one embodiment, memory <NUM> may include a set of computer-executable instructions that, when executed, facilitate various functions or steps associated with the subject matter described herein. These instructions will be referred to as "instructions" or an "application" for short. The processor <NUM> may actually be multiple processors that may receive instructions and process them accordingly. The presentation component <NUM> may include a display, a speaker, a screen, a portable digital device, and/or other components that can present information through visual, auditory, and/or other tactile cues (e.g., a display, a screen, a lamp, a light-emitting diode (LED), a graphical user interface (GUI), and/or a lighted keyboard).

The radio <NUM> may facilitate communication with a network, and may additionally or alternatively facilitate other types of wireless communications, such as Wi-Fi, WiMAX, LTE, Bluetooth, and/or VoIP communications, among other communication protocols. In various aspects, the radio <NUM> may be configured to support multiple technologies, and/or multiple radios may be configured and utilized to support multiple technologies.

The input/output (I/O) ports <NUM> may take a variety of forms. Exemplary I/O ports may include a USB jack, a stereo jack, an infrared port, a firewire port, and/or other proprietary communications ports. The input/output (I/O) components <NUM> may comprise one or more keyboards, microphones, speakers, touchscreens, and/or any other item useable to directly or indirectly input data into the computing device <NUM>. The power supply <NUM> may comprise batteries, generators, fuel cells, and/or any other component that may act as a power source to supply power to computing device <NUM> and to any other components described herein.

Referring now to <FIG>, a mobile apparatus <NUM> adapted for engaging, lifting, and moving objects, such as wheeled cargo trailers, is provided. The mobile apparatus <NUM> shown in <FIG> includes a transport mechanism <NUM>. The transport mechanism <NUM> may take a variety of configurations between the different contemplated embodiments. For example, one contemplated transport mechanism is a vehicle having one or more propulsion mechanisms, such as electric motors and batteries and/or internal combustion engines and fuel cells, and a plurality of wheels that are connected to a drive system. The transport mechanism <NUM> may be manually operated, remotely operated, and/or autonomously operated, and/or may be sized, shaped, and/or configured to provide a desired amount of mobility or adaptability for engaging objects.

The example transport mechanism <NUM> shown in <FIG> includes a plurality of wheels <NUM>. Some or all of the wheels <NUM> may be independently rotatable/steerable to provide a desired level of mobility for the mobile apparatus <NUM>. For example, in contemplated aspects, any or all of the wheels may be adapted to rotate and/or be steered anywhere from +/- <NUM>-<NUM> degrees (e.g., in non-limiting aspects, such wheels may be adapted to rotate and/or be steered +/- <NUM> degrees, +/-<NUM> degrees, +/- <NUM> degrees, +/- <NUM> degrees, or other amounts; other ranges are contemplated herein as well) to provide a desired level of maneuverability for the transport mechanism <NUM>. In this regard, a greater amount of wheel rotation/steerability may be provided to support operation of the transport mechanism <NUM> in space-constrained areas, such as a storage depot where a plurality of wheeled cargo trailers are located in relatively close proximity.

The mobile apparatus <NUM> further includes a frame <NUM>. As shown in <FIG>, the transport mechanism <NUM> includes a coupling mechanism <NUM> that is attachable to the frame <NUM>. The coupling mechanism <NUM> may utilize pins, latches, male-female components, or other mechanical engagement elements that facilitate attachment of the transport mechanism <NUM> to the frame <NUM>. The coupling mechanism <NUM> allows the transport mechanism <NUM> to be selectively attached to and detached from the frame <NUM>. In other aspects, instead of being selectively attachable to the frame <NUM>, the transport mechanism <NUM> may simply be fixedly, pivotally, or otherwise movably secured to the frame <NUM> without a releasable coupling.

The frame <NUM> further includes a base portion <NUM>. The coupling mechanism <NUM> is configured such that it is attachable to the base portion <NUM>. In other contemplated embodiments, additional structures and components may be utilized to attach the transport mechanism <NUM> to the frame <NUM>. The frame <NUM> includes an elongated portion <NUM> that is coupled to and extends from the base portion <NUM> and an elongated portion <NUM> that is coupled to and extends from the base portion <NUM>. The elongated portions <NUM>, <NUM> are substantially parallel and spaced apart from each other, such that the base portion <NUM>, the elongated portion <NUM>, and the elongated portion <NUM> at least partially enclose an object space <NUM> in which an object that is to be engaged, lifted, and moved can be positioned (e.g., a wheeled cargo trailer).

The frame <NUM> further includes an elongated portion <NUM> coupled relative to the base portion <NUM> and relative to the elongated portion <NUM> such that it is spaced from the elongated portion <NUM>. The frame <NUM> also includes an elongated portion <NUM> that is coupled relative to the base portion <NUM> and relative to the elongated portion <NUM> such that it is spaced from the elongated portion <NUM>. The elongated portions <NUM>, <NUM> are coupled to respective spacing members <NUM> and are spaced from the respective elongated portions <NUM>, <NUM> by the spacing members <NUM>. The elongated portions <NUM>, <NUM> are also coupled to respective spacing members <NUM> and are spaced from each other by the spacing members <NUM>. The elongated portions <NUM>, <NUM>, <NUM>, <NUM> and the spacing members <NUM>, <NUM> of the frame <NUM> collectively enclose and define, at least partially, the object space <NUM> within which an object can be positioned to be engaged, lifted, and moved. <FIG>, for example, illustrates the spacing members <NUM>, <NUM> and elongated portions <NUM>, <NUM>, <NUM>, <NUM> of the frame <NUM> as I-beams. However, these structural elements could have any type of cross-section (e.g., solid, hollow, round, square, rectangular, or triangular).

With further reference to <FIG>, the spacing members <NUM>, <NUM> and elongated portions <NUM>, <NUM>, <NUM>, <NUM> of the frame <NUM> collectively provide the structural strength and rigidity characteristics necessary for supporting a lifted object, such as a wheeled cargo trailer which may contain a cargo payload. Further, the frame <NUM> may be constructed of materials, and with design characteristics, that enable it to support a particular object (e.g., of a particular size, length, width, height, weight, etc.) or load. For example, the frame <NUM> may be sized and constructed so that it can lift and support a wheeled cargo trailer that is up to <NUM>, <NUM>, <NUM>, or <NUM> feet long, up to <NUM>, <NUM>, or <NUM> feet wide, and/or up to <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, or <NUM> tons, for example, depending on the structural configuration. Design configurations that support other ranges are contemplated herein as well.

The frame <NUM> depicted in <FIG> further includes a plurality of wheels <NUM>. The wheels <NUM> are pivotally coupled to the frame <NUM> at respective wheel attachments <NUM>. As with the transport mechanism <NUM>, any or all of the wheels <NUM> and wheel attachments <NUM> may be configured to provide a desired level of steering/rotation (e.g., each wheel <NUM> may be rotatable, or steerable, anywhere in the range of +/- <NUM>-<NUM> degrees in various embodiments). Each wheel <NUM> may also be driven by a drive system. Each drive system may include a motor (e.g., an electric or internal combustion motor or a combination of the same), a steering mechanism (e.g., an electrically and/or hydraulically operated steering mechanism), and/or a power source (e.g., a generator, one or more batteries, or another power or fuel source). In contemplated aspects, some of the wheels <NUM> are fixedly attached to the frame <NUM> (i.e., not pivotal), and in other embodiments, only some of the wheels are driven by a drive system.

The multi-point maneuverability of the frame <NUM> provided by the steerable wheels <NUM> and the transport mechanism <NUM> allows for a desired level of mobility to be provided to the mobile apparatus <NUM> in the x and y directions (as indicated in <FIG>). The example mobile apparatus <NUM> shown in <FIG> includes four independently steerable wheels <NUM> pivotally attached to the frame <NUM> with respective wheel attachments <NUM>. It is contemplated herein that with different embodiments of the mobile apparatus <NUM>, more or fewer wheels <NUM> may be used. For example, to provide additional support, and/or increase load capacity of the frame <NUM>, the frame <NUM> may include additional wheels, like the wheels <NUM> shown in <FIG>, coupled to the elongated portions <NUM>, <NUM> of the frame <NUM> between the base portion <NUM> and an end <NUM> of the frame <NUM> that is opposite to the base portion <NUM>.

Continuing with <FIG>, the mobile apparatus <NUM> includes a lift assembly <NUM> and a lift assembly <NUM> that are movably/adjustably coupled to the frame <NUM>. The lift assemblies <NUM>, <NUM> are each adapted to engage a portion of an object, such as a front portion and a rear portion of a wheeled cargo trailer, respectively, and then lift the portions of the object off of the ground, allowing the transport mechanism <NUM> and the frame <NUM> to collectively move the supported object to a desired location (e.g., without unlocking a pneumatic braking system when the object is a wheeled cargo trailer). The lift assemblies <NUM>, <NUM> shown in <FIG> represent example embodiments. In other embodiments, additional, fewer, or differently configured lift assemblies and components thereof may be used to engage and lift different parts of an object (e.g., for heavier objects, more lift assemblies may be integrated into the mobile apparatus <NUM>). Further, the depictions of the lift assemblies <NUM>, <NUM> shown in <FIG> are provided in simplified form for clarity and explanation purposes, and in implementation, such lift assemblies may include additional components (e.g., hydraulic, mechanical, and/or electric actuator components, mechanical couplings, control components, cables, hoses, indicators, interfaces, etc.).

Referring still to <FIG>, the lift assembly <NUM> is movably coupled to the base portion <NUM> via an actuator <NUM>. The actuator <NUM> may be a linear actuator (e.g., a hydraulic actuator, a screw-driven actuator, and/or a belt or chain-driven actuator) that is operable to move the lift assembly <NUM> to different locations along a length of the frame <NUM>, or in other words, to different distances from the base portion <NUM>. In this sense, the actuator <NUM> allows the lift assembly <NUM> to be positioned at a location that is suitable for engaging an object of a particular length that is located within the object space <NUM>. Stated another way, the lift assembly <NUM> can be moved to different locations depending on the length of the object in the object space <NUM>.

Referring to <FIG> and also to <FIG>, the lift assembly <NUM> includes a base <NUM> and a lifting component <NUM> which is movably coupled to the base <NUM>. The lifting component <NUM> is adjustable between a raised position and a lowered position using an actuator <NUM> coupled thereto (e.g., an electric or hydraulic linear actuator, which in <FIG> and <FIG> is partially obscured under the base <NUM>). For the embodiment shown in <FIG> and <FIG>, the lifting component <NUM> is a fifth wheel adapted to engage and lift a kingpin located on a wheeled cargo trailer. It should be noted that other types of lifting components having different engaging structures may be used with the lift assembly <NUM> in other aspects.

The lift assembly <NUM> further includes a support frame <NUM> with a base <NUM> that is movably coupled to the elongated portions <NUM>, <NUM> via a track <NUM> located thereon and to the elongated portions <NUM>, <NUM> via a track <NUM> located thereon as well. The track <NUM> and base <NUM> may support the lifting component <NUM> and the support frame <NUM>, slidably coupling them to the frame <NUM> and thereby allowing linear movement to be imparted to the lift assembly <NUM> by the actuator <NUM>. In various embodiments, the base <NUM> may be supported by bearings, rails, rollers, and/or other components integrated with the elongated portions <NUM>, <NUM>, <NUM>, and/or <NUM> that provide support and/or mobility for the lift assembly <NUM> mounted thereon. The configuration of the lift assembly <NUM> allows the lifting component <NUM> to be moved to different positions along the frame <NUM>, allowing the lifting component <NUM> to engage and lift objects of different lengths. Further, additional actuators, guides, tracks, and/or support structures may be used with the frame <NUM> to support the movement of the lift assembly <NUM>. In different embodiments, the mobile apparatus <NUM> and the frame <NUM> may include components that allow the lift assembly <NUM> to be locked into place at a desired location along a length of the frame <NUM>. Such components may include locking pins, latches, and/or other mechanisms that are manually or mechanically/electrically actuated.

Continuing with <FIG>, the mobile apparatus <NUM> includes a lift assembly <NUM> positioned between the end <NUM> of the frame <NUM> and the lift assembly <NUM>. The lift assembly <NUM> includes a lifting component <NUM> that is movably coupled to a support structure <NUM> coupled between the elongated portion <NUM> and the elongated portion <NUM>. The lifting component <NUM> is movable between a raised position and a lowered position using an actuator <NUM> coupled to the lifting component <NUM> and to the elongated portion <NUM> and/or support structure <NUM>. The actuator <NUM> is operable to move the lifting component <NUM> in the z-direction (as shown in <FIG>) to allow for raising and lowering a portion of an object that is engaged by the lifting component <NUM>. The actuator <NUM>, which is generally obscured in <FIG>, may be positioned at least partially within the elongated portion <NUM> and/or support structure <NUM> and/or below the lifting component <NUM>, and may be a linear actuator. The actuator <NUM> allows the lifting component <NUM> to move in the z-direction, as shown in <FIG>, adjacent the support structure <NUM> that extends between the elongated portions <NUM> and <NUM>.

The lift assembly <NUM> further includes a lifting component <NUM> that is movably coupled to a support structure <NUM> extending between the elongated portions <NUM>, <NUM>. The lifting component <NUM> is movable between a raised position and a lowered position using an actuator <NUM> coupled to the lifting component <NUM> and to the support structure <NUM> and/or second elongated portion <NUM>. The actuator <NUM> is operable to move the lifting component <NUM> in the z-direction, as indicated in <FIG>, to allow for raising and lowering a portion of an object engaged by the lifting component <NUM>. The actuator <NUM>, similar to the actuator <NUM>, may be positioned at least partially within the support structure <NUM> and/or the second elongated portion <NUM> and/or below the lifting component <NUM>, and may be a linear actuator. The actuator <NUM> allows the lifting component <NUM> to move in the z-direction, as indicated in <FIG>, adjacent the support structure <NUM> extending between the elongated portions <NUM>, <NUM>.

The lifting component <NUM> and the lifting component <NUM> of the lift assembly <NUM> may each be movably coupled to the frame <NUM> in the y-direction on their respective sides of the frame <NUM>. For example, the lifting component <NUM>, the lift actuator <NUM>, and the support structure <NUM> may all be movably coupled to the elongated portions <NUM>, <NUM> via an actuator (not shown) coupled to the frame <NUM> (e.g., a linear actuator coupled along the elongated portion <NUM>, which would be obscured in <FIG>). This allows a position of the components <NUM>, <NUM>, <NUM> along a length of the frame <NUM> in the y-direction, as indicated in <FIG>, to be adjusted. These components may move in unison in such actuated movement, sliding along the elongated portions <NUM>, <NUM>.

Similarly, the lifting component <NUM>, the lift actuator <NUM>, and the support structure <NUM> may all be movably coupled to the elongated portions <NUM>, <NUM>, such as via an actuator <NUM> coupled to the frame <NUM>. It should be noted that an actuator (not shown) used for imparting movement of the lifting component <NUM>, the lift actuator <NUM>, and the support structure <NUM> in the y-direction, as indicated in <FIG>, that is mounted on the elongated portion <NUM> may be similar to the actuator <NUM> shown mounted on the elongated portion <NUM> in <FIG>. The actuator <NUM> is operable to adjust a position of the lifting component <NUM> in the y-direction, as indicated in <FIG>, along a length of the frame <NUM>. Further, the support structures <NUM>, <NUM> may be, as shown in <FIG>, movably coupled to and supported by a track <NUM> that is coupled to/part of the elongated portions <NUM>, <NUM> of the frame <NUM>. The respective actuators (e.g., <NUM> and/or other similar actuators) used to move the lifting components <NUM>, <NUM>, the lift actuators <NUM>, <NUM>, and the support structures <NUM>, <NUM> in the y-direction, as indicated in <FIG>, may operate independently, or the actuation and movement may be coordinated such that it occurs in unison.

Accordingly, when an object, such as a wheeled cargo trailer, is received through the rear end <NUM> of the frame <NUM> into the object space <NUM>, the lift assembly <NUM> can be repositioned at a location along the frame <NUM> in the y-direction that allows for engagement with and lifting of a first portion/end of the object. Additionally, in the case of the embodiment shown in <FIG>, the lift assembly <NUM>, and particularly the lifting components <NUM>, <NUM>, can also be moved, such as via respective actuators, in the y-direction as indicated in <FIG> along the frame <NUM> to a desired location that allows for engaging and lifting a second portion/end of the object. These adjustments can be guided and/or facilitated using a computing system and/or vision system, as described in further detail below.

Each of the lifting components <NUM>, <NUM> may further be extendably/retractably coupled to their respective support structures <NUM>, <NUM> and/or elongated portions <NUM>, <NUM>, as shown in additional detail in the example aspects depicted in <FIG>. In particular, each lifting component <NUM>, <NUM> may be manually, or mechanically, extended and retracted via an actuator to allow the respective lifting component <NUM>, <NUM> to be extended under or retracted from under an object (e.g., an underside of a wheeled cargo trailer). This allows the lifting components <NUM>, <NUM> to be selectively moved into an engaging position where the lifting components <NUM>, <NUM>, when raised by the respective actuators <NUM>, <NUM>, engage and lift an object in the object space <NUM>. Examples of extended and retracted positions for illustrative lifting components are shown in detail in <FIG>.

The mobile apparatus <NUM> may include a vision system. The vision system may comprise a selection of components at distributed locations on the mobile apparatus <NUM>. For example, one or more computer processors and/or hardware <NUM> may be located on the mobile apparatus <NUM> and communicatively connected (e.g., wirelessly and/or by wired connection) to a plurality of detectors <NUM> (e.g., sensors, cameras, etc., including any combination of the same) that are positioned about the mobile apparatus <NUM>. The detectors <NUM> may be used to actively monitor the surrounding environment and/or object space <NUM>. The detectors <NUM> may include range detection sensors, motion detection sensors, night vision sensors, thermal sensors, cameras, and/or other components that are configured to actively detect activity and/or environments around the mobile apparatus <NUM> or within the object space <NUM>. The detectors <NUM> may be coupled to the transport mechanism <NUM> and/or to the frame <NUM> and may be used to guide the mobile apparatus <NUM> with increased precision (e.g., either manually or autonomously). Further, some of the detectors <NUM> may provide Light Detection and Ranging ("LIDAR") functionality that captures object distance and spacing data. Cameras (e.g., of image and/or video type) may be used to view and monitor conditions around the mobile apparatus <NUM>, and record images/video of the same. It should be noted that the number, location, and orientation of the detectors <NUM> depicted on the example mobile apparatus <NUM> shown in <FIG> represents one aspect, and more or fewer detectors, with the same or different functionality, in the same or different locations, are possible and contemplated with aspects provided herein.

To provide an example of the operation of the vision system, in a circumstance where the mobile apparatus <NUM> is transporting a wheeled cargo trailer within a trailer storage depot, cameras and sensors mounted on the mobile apparatus <NUM> may detect objects, including the identity, position, orientation, and distance of the objects, within the depot so that the mobile apparatus <NUM> can navigate around them. This information may also be recorded and/or communicated to other computing devices to facilitate surveying/monitoring an area. For example, using object recognition, position-tracking, and data logging, an accounting of objects in a particular environment (e.g., a storage depot) may be performed. In some aspects, this information may be communicated to other computing devices, such as a central server, for logging and/or processing. The vision system may be configured to detect text and characters through optical character recognition ("OCR"). The vision system may also be configured to perform barcode scanning, RFID reading, shape recognition, and/or other types of recognition and/or identification of objects. This detected information can be stored, used by various processing components of the mobile apparatus <NUM> for guidance and steering purposes, and/or communicated to other computing devices for other purposes, in example aspects.

The computer processors and/or hardware <NUM> located on the mobile apparatus <NUM> may include components that provide wireless communication with other computing devices over a network. For example, components used to facilitate wireless communication may include Bluetooth, cellular, and/or satellite communication components, or components that provide communication over other wireless communication protocols as described herein. The wireless communication components may be configured to share information gathered by the mobile apparatus <NUM> with the other computing devices to facilitate improved information management.

The mobile apparatus <NUM> may also be configured with position-tracking components. For example, a Global Positioning System ("GPS") and components thereof and/or a Differential Global Positioning System ("DGPS") and components thereof may be incorporated into the mobile apparatus <NUM>. The GPS or DGPS, or another tracking system in combination with the vision system, may be used to track the position of the mobile apparatus <NUM> and objects observed by the mobile apparatus <NUM> using the vision system. A position-tracking system used with the mobile apparatus <NUM> may communicate information about the location of the mobile apparatus <NUM> to other computer devices via the wireless communication components and the computer processors and/or hardware <NUM> described above. Although not shown, it is contemplated that components of the vision system and communication system may be positioned on an upwardly extending mast that may, in contemplated aspects, define a highest point of the transport mechanism <NUM>. Of course, components of the vision system and communication system described herein may be positioned at any other location on the mobile apparatus <NUM> as desired.

The vision system may be outward-looking, detecting/monitoring an environment around the mobile apparatus <NUM> as well as objects and characteristics thereof, and may be inward-looking, detecting a position, orientation, and/or other characteristics of an object located in the object space <NUM> of the mobile apparatus <NUM> (e.g., that is being engaged and transported). For example, some of the detectors <NUM> on the mobile apparatus <NUM> (e.g., including sensors and/or cameras thereof), such as those shown positioned on the lift assembly <NUM> and the lift assembly <NUM> shown in <FIG>, may be oriented to face inward towards the object space <NUM>, and therefore may be used to detect a position of an object therein. The information obtained by these vision system components may allow the mobile apparatus <NUM> to maintain proper spacing from an object, reducing the incidence of collision, or improper positioning.

For example, when the frame <NUM> is moved into position around a wheeled cargo trailer, the detectors <NUM> having inward facing components (e.g., cameras and/or sensors) may continuously provide feedback to the one or more computer processors and/or hardware <NUM> for guidance purposes. The one or more computer processors and/or hardware <NUM> can process this feedback and send instructions to various components of the mobile apparatus <NUM> (e.g., the transport mechanism <NUM>, including the wheels <NUM> thereof, and the wheels <NUM> of the frame <NUM>) to control the positioning of the mobile apparatus <NUM> around the wheeled cargo trailer. This combination of active feedback and control allows the frame <NUM> to be positioned with increased accuracy, particularly during autonomous operation of the mobile apparatus <NUM>.

Referring to <FIG>, the lift assembly <NUM> of the mobile apparatus <NUM> depicted in <FIG> is provided in isolation, in accordance with an embodiment hereof. As described with respect to <FIG>, the lift assembly <NUM> includes the base <NUM>, the lifting component <NUM>, which in the aspect depicted in <FIG> is a movable fifth wheel useable for engaging a kingpin located on a wheeled cargo trailer, and the support frame <NUM>. The support frame <NUM>, as discussed with respect to <FIG>, can be movably coupled to the frame <NUM>.

The lift assembly <NUM> further includes a mount <NUM>. The mount <NUM> is used for attaching the actuator <NUM> (shown in <FIG> but not in <FIG>) to the lift assembly <NUM>. The actuator <NUM>, as shown in <FIG>, is attached to the base portion <NUM> at one of its ends and is attached to the lift assembly <NUM> via the mount <NUM> at the other of its ends, as shown in <FIG>. This attachment between the base portion <NUM> and the lift assembly <NUM> allows the actuator <NUM> to impart movement to the lift assembly <NUM> so that the lift assembly <NUM> can be repositioned along the frame <NUM>. It should be noted that additional or alternative actuators and assemblies may be used to move the lift assembly <NUM> along the frame <NUM>, and the lift assembly <NUM> and actuator <NUM> shown in <FIG> represent only one illustrative embodiment.

With continued reference to <FIG>, the lifting component <NUM> is coupled to the actuator <NUM>, which is partially obscured by the lifting component <NUM> and the base <NUM>. The actuator <NUM> is operable to move the lifting component <NUM> between a raised position and a lowered position, which allows the lifting component <NUM> to raise and lower a portion of an object. In the example embodiment depicted in <FIG>, the lifting component <NUM> is a movable fifth wheel with a kingpin engaging slot <NUM> that is adapted to be moved into position to engage a kingpin located on a wheeled cargo trailer. The actuator <NUM>, which may be a linear actuator that extends and retracts to raise and lower the lifting component <NUM>, is located below the fifth wheel. The support frame <NUM> at least partially supports the lift assembly <NUM> and an object lifted by the same. The support frame <NUM> includes track-engaging portions <NUM>, <NUM> that are shaped, sized, and adapted to engage and move along the tracks <NUM> located on the frame <NUM> of the mobile apparatus <NUM> shown in <FIG>. In this sense, the track-engaging portions <NUM>, <NUM> movably attach the lift assembly <NUM> to the frame <NUM>.

<FIG> depicts an alternative mobile apparatus <NUM> adapted for engaging, lifting, and moving objects, where the mobile apparatus <NUM> has a different configuration of lift assemblies than the mobile apparatus <NUM> depicted in <FIG>. The mobile apparatus <NUM> shown in <FIG> includes, like the mobile apparatus <NUM> of <FIG>, a transport mechanism <NUM>, a frame <NUM>, and a vision system comprising computer processors and/or hardware <NUM> communicatively coupled to a plurality of detectors <NUM> (e.g., sensors and cameras), among other common components. The mobile apparatus <NUM> is also similar to the mobile apparatus <NUM> shown in <FIG> in that it includes the lift assembly <NUM> proximate the end of the frame <NUM> opposite to the base portion <NUM>. However, the mobile apparatus <NUM> shown in <FIG> includes a different lift assembly <NUM> than the lift assembly <NUM> shown in <FIG>. The lift assembly <NUM> shown in <FIG> is similar to the lift assembly <NUM> located proximate the end of the frame <NUM> opposite to the base portion <NUM>. In other words, instead of providing a single lifting component <NUM> (e.g., a fifth wheel) with the lift assembly <NUM>, the lift assembly <NUM> provides separate lifting components <NUM>, <NUM> that are attached to the elongated portions <NUM>, <NUM> of the frame <NUM>, respectively, similar to the lift assembly <NUM>.

Continuing with <FIG>, the lifting component <NUM> is movably coupled to a support structure <NUM> such that it is movable relative to the support structure <NUM> in the z-direction, as indicated in <FIG>. The support structure <NUM> is movably coupled to the elongated portion <NUM> such that it is movable relative to the elongated portion <NUM> in the y-direction, as indicated in <FIG>. Further, the lifting component <NUM> is coupled to an actuator <NUM> that is operable to raise and lower the lifting component <NUM> relative to the support structure <NUM> (i.e., moving the lifting component <NUM> in the z-direction as indicated in <FIG>). The lifting component <NUM>, the support structure <NUM>, and the actuator <NUM> are also movably coupled to the elongated portions <NUM>, <NUM> in the y-direction, as indicated in <FIG>. In the example aspect shown in <FIG>, the support structure <NUM> is movably coupled to the track <NUM>, which is located on both elongated portions <NUM>, <NUM>. This allows the support structure <NUM>, as well as the lifting component <NUM> and the actuator <NUM> coupled thereto, to move along a length of the frame <NUM> in the y-direction as indicated in <FIG> to a suitable location for lifting an object. The lifting component <NUM>, the support structure <NUM>, and the actuator <NUM> may be moved in the y-direction using an actuator coupled thereto (e.g., a linear actuator, such as a hydraulic, electric, or screw-driven linear actuator) that is coupled to the elongated portion <NUM> and actuatable in the y-direction, as indicated in <FIG>.

Looking now to the opposite side of the frame <NUM>, the lifting component <NUM> is shown. The lifting component <NUM> is coupled to a support structure <NUM>, which is movably coupled to the elongated portions <NUM>, <NUM> of the frame <NUM>. The lifting component <NUM> is also coupled to an actuator <NUM> that is operable to raise and lower the lifting component <NUM> in the z-direction, as indicated in <FIG>. Like the arrangement on the opposite side of the frame <NUM>, the actuator <NUM> is coupled to the support structure <NUM> such that it is movable with the support structure <NUM> in the y-direction, as indicated in <FIG>. In this sense, for the aspect shown in <FIG>, the lifting component <NUM>, the actuator <NUM>, and the support structure <NUM> are movable together along the frame <NUM> in the y-direction, like the components <NUM>, <NUM>, <NUM> mounted on the opposite side. This movement of the lifting component <NUM>, the actuator <NUM>, and the support structure <NUM> in the y-direction may be imparted by an actuator <NUM> which is coupled to the elongated portion <NUM>. A similar actuator and coupling assembly may be provided for the lifting component <NUM>, the support structure <NUM>, and the actuator <NUM> on the opposite side of the frame <NUM>, in order to support imparting a similar movement to those components. Overall, the configuration of the lift assembly <NUM> shown in <FIG> provides different support for an object as compared to the lift assembly <NUM> shown in <FIG> (e.g., by providing support on both sides of the object).

Like the mobile apparatus <NUM>, the operation of the lift assembly <NUM> shown in <FIG> may be manual or may be automated and/or may be guided by a vision system. It should be noted that additional lift assemblies, possibly similar to the lift assemblies <NUM>, <NUM> shown in <FIG>, may be utilized in other embodiments, and different configurations of the lift assemblies <NUM>, <NUM> are contemplated herein as well.

<FIG> depict the mobile apparatus <NUM> shown in <FIG> enclosing, engaging, and lifting an object. The object, in this example, is a wheeled cargo trailer <NUM>; however, in alternative aspects, the object may be a different type of object, such as, for example, a wheel-less cargo container, vessel, and/or enclosure. In <FIG>, the mobile apparatus <NUM> is moved into position around the trailer <NUM>. The trailer <NUM> includes landing gear <NUM> located proximate a first end <NUM> of the trailer <NUM>. The landing gear <NUM> is resting on the ground in <FIG>, supporting a forward portion of the trailer <NUM>. The trailer <NUM> also includes a set of wheels <NUM> located proximate a second, rearward end <NUM> of the trailer <NUM>. The trailer <NUM> may include a pneumatic braking system which, without a pneumatic connection, is engaged to prevent or restrict rotation of the wheels <NUM>. <FIG> shows the trailer <NUM> remaining stationary while the frame <NUM> is moved into position around the trailer <NUM>. The mobile apparatus <NUM> may utilize the vision system described herein to support automated, manual, or a combination of automated and manual steering and positioning.

Turning to <FIG>, the trailer <NUM> is shown at least partially enclosed by the frame <NUM> and in a position in which it is ready to be lifted by the frame <NUM>. In certain aspects, using the vision system described herein, characteristics of the object (e.g., size, contents, location, equipment designation, etc.) such as, for example, the trailer <NUM> shown in <FIG>, may be determined at least partially through detection of an identifier located on the object. Such an identifier may be one or more numbers and/or characters that are located and visible on the object. The object characteristics may be used to determine how the object should be positioned within the object space <NUM> enclosed by the frame <NUM>. The object characteristics may also be used to determine the positions the lift components should be located in order to properly engage and lift the object.

In certain aspects, when the frame <NUM> is positioned around the object, the frame <NUM> may be positioned such that an end of the object extends past an end of the frame <NUM>. This may be done to allow for increased access to the end of the object. For example, where the object is the trailer <NUM> shown in <FIG> and the trailer includes rear doors that can be opened and closed (see e.g., <FIG> and <FIG> for one such aspect), the positioning of the end of the trailer past the end of the frame <NUM> may support increased range of motion of the doors of the trailer <NUM>. Further, this positioning of the frame <NUM> relative to the trailer <NUM> also allows the end of the trailer <NUM> that extends past the frame <NUM> to be positioned at a desired location, such as adjacent a loading dock.

With continued reference to <FIG>, the lift assembly <NUM> is moved towards the rear end <NUM> of the frame <NUM> using the actuator <NUM> so that the lifting component <NUM> is located at a position at which the actuator <NUM> can elevate it to engage and lift the front end <NUM> of the trailer <NUM> (e.g., by engaging and lifting a kingpin located on an underside of the trailer <NUM>).

Similarly, the lift assembly <NUM>, part of which is obscured in <FIG>, can be adjusted into an extended position where the lifting components <NUM>, <NUM> (not shown) are extended towards each other and under the trailer <NUM>. Then, the lifting components <NUM>, <NUM> can be raised in the z-direction as indicated in <FIG> using the actuators <NUM>, <NUM> (shown in <FIG>) to lift the rear end <NUM> of the trailer <NUM> (as shown in <FIG>). The lifting components <NUM>, <NUM> may also be moved along the respective elongated portions <NUM>, <NUM> in the y-direction as indicated in <FIG> using respectively coupled actuators (e.g., such as the actuator <NUM> shown in <FIG>). This repositioning in the y-direction may allow the lifting components <NUM>, <NUM> to be positioned at a correct location for engaging an underside of the trailer <NUM> (e.g., a location that will not interfere with components of the trailer <NUM>, such as lights, reflectors, hoses, etc., or a location that aligns with a designated "lift point" on the trailer <NUM>). This positioning may also be guided by the vision system.

Turning to <FIG>, the lifting component <NUM> of the lift assembly <NUM> and the lifting component <NUM> of the lift assembly <NUM> (and also the lifting component <NUM> of the lift assembly <NUM> shown in <FIG>, which is obscured in <FIG>) are elevated by their respective actuators <NUM>, <NUM>, <NUM>, moving the trailer <NUM> in the z-direction as indicated in <FIG> to lift the landing gear <NUM> and the rear wheels <NUM> of the trailer <NUM> off of the ground. In this circumstance, even with the pneumatic brakes of the rear wheels <NUM> of the trailer <NUM> locked, the lifting of the front and rear ends <NUM>, <NUM> of the trailer <NUM> off of the ground allows the trailer <NUM> to be moved using the transport mechanism <NUM> and the frame <NUM> without interference from the brakes. In other words, the wheels <NUM> do not need to be able to roll on the ground in this lifted transport position. Once the trailer <NUM> is suspended as shown in <FIG>, the transport mechanism <NUM> and the frame <NUM> can be used to guide the trailer <NUM> to a desired location, moving it in one or more directions during the process. Further, locating the trailer <NUM>, engaging the trailer <NUM>, lifting the trailer <NUM>, and/or moving/steering the trailer <NUM> may be guided, informed, and/or controlled using the vision system described herein.

It is contemplated herein that for mobile apparatuses having multiple lift assemblies (e.g., forward and rearward lift assemblies, lift assemblies on opposite sides of a frame, etc.), the lift assemblies may be lifted/actuated in unison or may be lifted/actuated independently using their respective actuators. These lift assemblies may also lift an object at independent rates until a threshold weight, determined by a weight sensor, is detected by each lift assembly, at which time the lift assemblies may lift the object at the same rate.

It is also contemplated herein that an object, such as a wheeled cargo trailer, may be lifted to different contemplated heights to allow for a desired freedom of movement. For example, a wheeled cargo trailer, such as the trailer <NUM> shown in <FIG>, may be lifted by a mobile apparatus anywhere from <NUM>-<NUM> inches off of the ground to provide a desired freedom of movement. Other lifted distances are also contemplated for the embodiments described herein.

Turning to <FIG>, the mobile apparatus <NUM> depicted in <FIG> is shown engaging and lifting a wheeled cargo trailer <NUM>. Similar to the depiction in <FIG>, the frame <NUM> of the mobile apparatus <NUM> is guided into position around the trailer <NUM> using the transport mechanism <NUM> and/or the wheels <NUM> of the frame <NUM> and drive systems thereof. However, in contrast to the engagement and lifting of the trailer <NUM> by the mobile apparatus <NUM> as shown in <FIG>, the mobile apparatus <NUM> uses the lift assembly <NUM> to lift the front end <NUM> of the trailer <NUM>. As discussed with respect to <FIG> above, the lift assemblies <NUM>, <NUM> are configured with a relatively similar or common design.

Referring to <FIG>, the frame <NUM> is propelled by the transport mechanism <NUM> and/or the wheels <NUM> of the frame <NUM> so that it begins enclosing the trailer <NUM>. The trailer <NUM> enters the object space <NUM> from the rear end <NUM> of the frame <NUM>. The mobile apparatus <NUM> is further moved and guided so that the front end <NUM> of the trailer <NUM> is proximate the base portion <NUM> (as shown in <FIG>) of the frame <NUM>. Once again, the movement of the mobile apparatus <NUM> may occur through manually-controlled operation and/or through autonomously-controlled operation, and may be assisted by various components and operations of the vision system described herein which may assist in maintaining proper spacing of the frame <NUM> from the trailer <NUM>.

Referring to <FIG>, once the end <NUM> of the trailer <NUM> has reached a desired position relative to the end <NUM> of the frame <NUM>, the lift assemblies <NUM>, <NUM> are positioned and/or extended as described herein for engaging and elevating the trailer <NUM>. The frame <NUM> may be positioned so that the trailer <NUM> is partially enclosed within the frame <NUM> in the object space <NUM>, as shown in <FIG>. In alternative aspects, the trailer <NUM> may be fully enclosed within the frame <NUM> in the object space <NUM> (e.g., without the end <NUM> extending past the frame <NUM>). With respect to the aspect shown in <FIG>, the partial enclosure of the trailer <NUM> allows the end <NUM> of the trailer <NUM> to remain exposed outside of the frame <NUM>, increasing access to the end <NUM> of the trailer <NUM>. This may also increase the mobility/range of movement of components located at the end <NUM> of the trailer <NUM> and/or at the end <NUM> of the frame <NUM> (e.g., such components may include trailer doors and/or retaining elements used to open and/or hold open the trailer doors, as described and shown with respect to <FIG> and <FIG>). Furthermore, when the trailer <NUM> is located near an external object (e.g., a loading dock), the positioning of the end <NUM> of the trailer <NUM> past the end <NUM> of the frame <NUM> may increase accessibility to the storage area within the trailer <NUM>, due to the fact that the trailer <NUM> may then be placed in relatively closer proximity to the external object without a spacing caused due to an extended section of the frame <NUM>. The frame <NUM> may be sized such that, for a given trailer (e.g., the trailer <NUM>), the end <NUM> of the trailer <NUM> extends at least <NUM>, <NUM>, <NUM>, <NUM>, or <NUM> feet past the end <NUM> of the frame <NUM>, in addition to other possible distances, to allow for desired positioning and/or mobility.

With continued reference to <FIG>, to facilitate lifting the trailer <NUM>, the lifting components <NUM>, <NUM>, <NUM>, <NUM> (some of which are obscured in <FIG> but are shown in <FIG>) of the lift assemblies <NUM>, <NUM> may be moved into desired positions along the frame <NUM> in the y-direction as indicated in <FIG> (e.g., using actuators, such as the actuator <NUM> shown in <FIG> or the actuator <NUM> shown in <FIG>). This movement can be used to position the lifting components <NUM>, <NUM>, <NUM>, <NUM> at suitable locations along the elongated portions <NUM>, <NUM> (e.g., within the available tolerance of movement) for engaging the trailer <NUM>. This movement capability of the lifting components <NUM>, <NUM>, <NUM>, <NUM> also allows the lift assemblies <NUM>, <NUM> to accommodate objects of different sizes and configurations (e.g., trailers of different lengths and/or trailers having different underside features, such as lights, reflectors, landing gear, pneumatic equipment, aerodynamic components, etc., that render certain areas not suitable for supporting the lifted trailer).

Once each lifting component <NUM>, <NUM>, <NUM>, <NUM> is positioned at a suitable location along the frame <NUM> in the y-direction as indicated in <FIG>, actuators respectively coupled to each lifting component <NUM>, <NUM>, <NUM>, <NUM> may be activated (or alternatively, a manual operation may be performed) to move each of the lifting components <NUM>, <NUM>, <NUM>, <NUM> from a retracted position to an extended position in which the respective lifting components <NUM>, <NUM>, <NUM>, <NUM> extend further toward the object space <NUM>, thereby reaching under the trailer <NUM> into a position suitable for lifting the trailer <NUM>. <FIG> depicts non-obscured lifting components <NUM>, <NUM> in the extended positions reaching, at least partially, under the trailer <NUM>. The remaining lifting components <NUM>, <NUM> are obscured by the trailer <NUM> in <FIG> but would be in a similar configuration.

<FIG> depicts the mobile apparatus <NUM> and the trailer <NUM> of <FIG> with the lifting components <NUM>, <NUM>, <NUM>, <NUM> (components <NUM> and <NUM> are obscured by the trailer <NUM> but are shown in <FIG>) being raised using the actuators <NUM>, <NUM>, <NUM>, <NUM> to an elevated position while each lifting component <NUM>, <NUM>, <NUM>, <NUM> is in the extended position. Accordingly, as shown in <FIG>, each lifting component <NUM>, <NUM>, <NUM>, <NUM> engages and lifts a respective portion of the trailer <NUM>, lifting the landing gear <NUM> and the rear wheels <NUM> of the trailer <NUM> off of the ground. Once the trailer <NUM> is elevated to the desired height, the transport mechanism <NUM> and the wheels <NUM> of the frame <NUM> are used to maneuver the trailer <NUM> to a desired location as described herein.

As noted above, by lifting the trailer <NUM> off of the ground, the pneumatic braking system of the trailer <NUM> does not need to be pressurized so that the wheels <NUM> can roll on the ground, and instead the trailer <NUM> is simply suspended and moved without using the wheels <NUM>. Once the trailer <NUM> is moved to a desired location, the engaging and lifting process may be reversed to lower and deposit the trailer <NUM>. The lifting components <NUM>, <NUM>, <NUM>, <NUM> may be lowered using the respective actuators <NUM>, <NUM>, <NUM>, <NUM>, and then the lifting components <NUM>, <NUM>, <NUM>, <NUM> may be moved from the extended position back to the retracted position, after which the mobile apparatus <NUM> may be moved using the transport mechanism <NUM> to move the frame <NUM> out from over the trailer <NUM>.

Referring to <FIG>, a top-down plan view of the mobile apparatus <NUM> shown in <FIG> is provided, in accordance with an embodiment hereof. As depicted in <FIG>, the wheels <NUM> may be pivotally/rotatably coupled to the frame <NUM> with respective wheel attachments <NUM>. The wheel attachments <NUM> couple a respective drive system to each wheel <NUM> (e.g., an electric and/or hydraulic motor coupled to a steering column). Each wheel <NUM>, in different contemplated aspects, may be configured to rotate, or rather be steered, up to +/- <NUM> degrees about its respective wheel attachment <NUM> in order to provide a desired degree of mobility to the mobile apparatus <NUM>. For example, each wheel <NUM> may be configured to provide up to <NUM> degrees, <NUM> degrees, <NUM> degrees, <NUM> degrees, or <NUM> degrees of rotational steering in contemplated embodiments. In some instances such as, for example, those involving a crowded storage depot with reduced space for maneuvering, a higher degree of rotation/steerability of the wheels <NUM> may be preferable. In further embodiments, some of the wheels <NUM> may have a fixed orientation.

The lift assemblies <NUM> and <NUM> of the mobile apparatus <NUM> are also shown in <FIG>. The lift assembly <NUM> is movably coupled to the frame <NUM> and to the base portion <NUM>, and is movable along a length of the frame <NUM> in the y-direction as indicated in <FIG> using the actuator <NUM>. In this sense, the actuator <NUM> is operable to move the lift assembly <NUM> closer to and further away from the base portion <NUM> by moving it along the frame <NUM>. This movement allows the lift assembly <NUM> to be positioned at a suitable location for engaging a particular structure of an object being lifted (e.g., a kingpin on a trailer of a particular length, such as the trailer <NUM>). The lift assembly <NUM> is also shown in <FIG>. The lifting component <NUM> of the lift assembly <NUM> is movably coupled to the elongated portion <NUM>, such that it is both extendable and retractable in the x-direction (e.g., towards and away from the object space <NUM>) as indicated in <FIG>. The lifting component <NUM> is also movable along the elongated portion <NUM> in the y-direction as indicated in <FIG> using an actuator <NUM> (which may be a linear actuator as described herein). The lifting component <NUM> is also movable between a raised position and a lowered position at least when in the extended position through operation of the actuator <NUM>.

Similarly, the lifting component <NUM> is movably coupled to the elongated portion <NUM> and is extendable and retractable in the x-direction as indicated in <FIG>, or rather, towards and away from the object space <NUM>. The lifting component <NUM> is also movable along the elongated portion <NUM> in the y-direction as indicated in <FIG> using the actuator <NUM> (which may, for example, be a linear actuator as described herein). The lifting component <NUM> is also movable between a raised and lowered position using the actuator <NUM> at least when it is in the extended position. <FIG> also depicts components of the vision system (e.g., the detectors <NUM>) that are inward and outward facing. Such components may be placed at various locations around the frame <NUM>, some of which are shown in <FIG>.

Referring now to <FIG>, a top-down plan view of the mobile apparatus <NUM> depicted in <FIG>, with the mobile apparatus <NUM> moved into position around a wheeled cargo trailer <NUM> that is positioned adjacent a dock <NUM>, is provided. In certain circumstances, a trailer, such as the trailer <NUM> shown in <FIG>, may be located in a particular location for storage, loading, unloading, or otherwise temporarily located somewhere for certain purposes. As shown in <FIG>, in some cases, a trailer may be positioned between or adjacent other trailers or objects, such as the adjacent trailers <NUM> shown in <FIG>. Such adjacent trailers <NUM>, <NUM> may therefore be in relatively close proximity to each other (e.g., within <NUM>-<NUM> feet of each other). This compact spacing/positioning may facilitate efficient use of space in a yard/depot where trailers are stored, but leaves limited space between the trailers <NUM>, <NUM> for objects and equipment.

<FIG> depicts how the design of the mobile apparatus <NUM> (and the mobile apparatus <NUM>) allows it to be positioned around the trailer <NUM> and between the adjacent trailers <NUM> so that it can engage, lift, and move the trailer <NUM> using the available tolerances of movement. The mobile apparatus <NUM> is adapted to move in the x-direction and in the y-direction as indicated in <FIG> and rotate about the z-axis as indicated in <FIG>. This is accomplished using the transport mechanism <NUM> and wheels <NUM> (not shown) thereof and also the wheels <NUM> of the frame <NUM> and the drive systems thereof. The mobility and articulation provided by these components allows the mobile apparatus <NUM> to be maneuvered into position even when there are relatively small tolerances between objects, as, for example, shown in <FIG>. In contemplated embodiments, the transport mechanism <NUM> and the frame <NUM> may move in unison. In other contemplated embodiments, the frame <NUM> and the transport mechanism <NUM> may be separable. In such an embodiment, the transport mechanism <NUM> may be attachable to the frame <NUM> to provide power, steering, and/or vision functionality, and/or simply may be used to assist in moving the frame <NUM>, and possibly a lifted object, to a desired location. The frame <NUM> may then be left in place if desired, possibly with a lifted object, allowing the transport mechanism to relocate, such as to another frame and object.

Additionally, as discussed herein, the vision system and components thereof <NUM>, <NUM> coupled to the mobile apparatus <NUM> may be used to facilitate correct positioning of the frame <NUM> around the trailer <NUM> without contact/collision. As shown in <FIG>, once the frame <NUM> is positioned around the trailer <NUM>, the lift assemblies <NUM>, <NUM> can be adjusted (e.g., in the x-direction, the y-direction, and/or the z-direction as indicated in <FIG> using the respectively coupled actuators discussed herein) to engage and lift the trailer <NUM>, raising it off of the ground. Once the trailer <NUM> is lifted, the transport mechanism <NUM> can transport the trailer <NUM> in suspended fashion to a desired location.

<FIG> further depicts a retaining mechanism <NUM> comprising a first-side retaining element <NUM> and a second-side retaining element <NUM>, each of which is movable between a first configuration and a second configuration. In the first configuration, each of the retaining elements <NUM>, <NUM> is positioned such that it does not interfere with movement of a respective door <NUM>, <NUM> of the trailer <NUM>. This allows the doors <NUM>, <NUM> of the trailer <NUM> to be opened and closed without interference. When the doors <NUM>, <NUM> of the trailer <NUM> are open, and each retaining element <NUM>, <NUM> is in the second configuration such that it is engaging a respective door <NUM>, <NUM>, as shown in <FIG>, the retaining elements <NUM>, <NUM> may hold the doors <NUM>, <NUM> open, restricting them from swinging during movement of the mobile apparatus <NUM> and trailer <NUM>. Therefore, when the mobile apparatus <NUM> moves the lifted trailer <NUM> towards the dock <NUM> for loading and/or unloading or other purposes with the doors <NUM>, <NUM> open, the doors <NUM>, <NUM> can remain open without swinging closed due to the movement. The retaining elements <NUM>, <NUM> may also include actuators that allow the retaining mechanism <NUM> to open and close the doors <NUM>, <NUM> in further embodiments.

<FIG> depict an example lifting component <NUM> of a lifting assembly, such as the lifting assembly <NUM> shown in <FIG>, useable for engaging and lifting an object, such as a wheeled cargo trailer. lifting component <NUM> has an elongated shape that may facilitate load distribution. The lifting component <NUM> includes a support portion <NUM> which may be coupled to a frame, such as the frame <NUM> shown in <FIG> and <FIG>, or to a support structure and/or actuator mounted thereon, such as the support structure <NUM> and actuator <NUM> shown in <FIG>. In this sense, the lifting component <NUM> may be mounted on an actuator adapted to raise and lower it as described herein.

The lifting component <NUM> shown in <FIG> also includes a lifting portion <NUM>, which is movably coupled to the support portion <NUM>. The lifting portion <NUM> is movable between a retracted position (shown in <FIG>) and an extended position (shown in <FIG>). The retracted position may allow the lifting portion <NUM> to be positioned away from an area under an object, and the extended position may allow the lifting portion <NUM> to be positioned in the area under the object (e.g., for engaging and lifting the object). The lifting portion <NUM> is movably coupled to the support portion <NUM> with a pair of pivotal couplings <NUM>, <NUM> that allow the lifting portion <NUM> to be pivoted out to the extended position. It should be noted that, although not depicted in <FIG>, in some contemplated embodiments, one or more actuators (e.g., rotational actuators, which may be electrically driven) may be coupled to the pivotal couplings <NUM>, <NUM> to allow the lifting portion <NUM> to be moved between the retracted position and the extended position in actuated fashion. Further, as shown in <FIG>, the lifting portion <NUM> includes an extended planar portion <NUM> that provides a surface for engaging (e.g., moving into contact with) a portion of an object (e.g., an underside surface of the trailer <NUM>). Further depicted in <FIG> is an example coupling structure <NUM> that may be used to attach the lifting component <NUM> to a lift actuator used to raise and lower the lifting component <NUM>, or to another structure.

<FIG> depict another example lifting component <NUM> that can be used with a lift assembly, such as the lift assembly <NUM> shown in <FIG>, to engage and lift an object. The lifting component <NUM> includes a support portion <NUM>, which may be movably coupled to a frame, such as the frame <NUM> shown in <FIG>, or to another structure using the coupling structure <NUM>. The lifting component <NUM> also includes the lifting portion <NUM> and the extended planar portion <NUM> also provided with the lifting component <NUM> depicted in <FIG>.

Like the lifting component <NUM> shown in <FIG>, the extended planar portion <NUM> can be used for engaging and supporting an object when the lifting portion <NUM> is in the extended position. However, in contrast to the lifting component <NUM> depicted in <FIG>, the lifting portion <NUM> of the lifting component <NUM> shown in <FIG> is not coupled to the support portion <NUM> with a pair of pivotal couplings that move the lifting portion <NUM> between the retracted position and the extended position (e.g., using a rotational actuator and control system coupled to the same). Instead, the lifting portion <NUM> of the lifting component <NUM> is movably coupled to the support portion <NUM> with a pair of linear actuators <NUM>. Each of the linear actuators <NUM> may be electrically driven, hydraulically-driven, and/or screw-driven, among other actuation methods and mechanisms. The linear actuators <NUM> are operable to move the lifting portion <NUM> from the retracted position, shown in <FIG>, to the extended position, shown in <FIG>, to allow the lifting portion <NUM>, and by association the extended planar portion <NUM>, to reach at least partially under an object so that the lifting portion <NUM> can be raised using a lift actuator to lift the object.

Referring to <FIG>, a lifting component and actuator assembly <NUM> configured to be attached to a frame and used for engaging and lifting an object, such as a wheeled cargo trailer enclosed by the frame, is provided. The assembly <NUM> shown in <FIG> includes the lifting component <NUM> from <FIG> coupled to a pair of linear actuators <NUM>. The linear actuators <NUM> are operable to move the lifting component <NUM> between a raised position and a lowered position, to allow for raising and lowering an object.

To provide an example, when the lifting component <NUM> is in the extended position such that it is positioned at least partially under an object, as discussed with respect to <FIG>, the linear actuators <NUM> may be operated to raise the lifting component <NUM> from a lowered position to a raised position and vice versa to raise and lower a portion of the object. The actuators <NUM> may be linear actuators as shown in <FIG> (e.g., hydraulically-driven actuators coupled to a hydraulic system), screw-driven actuators, electrically-driven actuators, belt or gear-driven actuators, and/or any other type of actuator suitable for raising and lowering the lifting component <NUM>, like any of the other actuators described herein. Only two actuators <NUM> are shown in <FIG> for example purposes, but more or fewer actuators may be used in other embodiments.

<FIG> depicts another lifting component and actuator assembly <NUM> that can be coupled to a frame and used for engaging and lifting an object, such as a wheeled cargo trailer, in accordance with an embodiment hereof. The assembly <NUM> shown in <FIG> may be coupled between portions of a frame (e.g., between the elongated portions <NUM>, <NUM> of the frame <NUM> shown in <FIG>). The assembly <NUM> includes the lifting component <NUM>. The lifting component <NUM> includes the lifting portion <NUM> which is movably coupled to the support portion <NUM> such that it is movable between a retracted position and an extended position using the pair of pivotal couplings <NUM>, <NUM> and, in certain aspects, one or more rotational actuators.

In <FIG>, the lifting portion <NUM> is shown in the extended position. Further, the lifting component <NUM> is movably/adjustably coupled to a support member <NUM> that supports the lifting component <NUM>. The support member <NUM> may enclose and/or support additional actuator components that are operable to move the lifting component <NUM> between the lowered position and the raised position. For example, the support member <NUM> may at least partially contain, enclose, and/or support a piston, belt, linear-actuator, track, movable or slidable coupling, and/or other components that enable movement of the lifting component <NUM> up and down the support member <NUM>. The support member <NUM> may also be fixedly or movably coupled to a frame (e.g., via a track that allows slidable movement of the support member <NUM> along the frame), such as the frame <NUM> shown in <FIG>. The support member <NUM> further includes example coupling portions <NUM> that engage with corresponding structures on a frame.

Referring to <FIG>, trailer connections <NUM> for a pneumatic braking system, such as one incorporated into a wheeled cargo trailer, is provided, in accordance with the invention. In certain circumstances, a wheeled cargo trailer, such as the trailer <NUM> shown in <FIG>, may have a pneumatic braking system that includes pneumatically-operated brakes for its wheels that remain locked until a pressurized air source is connected. For example, a pneumatic braking system may include a pneumatically-powered emergency brake and a pneumatically-powered standard brake that are supplied with pressurized air through separate pneumatic conduits to unlock/control the respective brakes. The pressurized air for the pneumatic braking system may be provided through a glad hands connection, such as the glad hands connection <NUM> shown in <FIG> that includes pneumatic couplings <NUM>, <NUM> that can be used for pneumatically attaching one or more pressurized air sources to the braking system.

The glad hands connection <NUM> shown in <FIG> specifically includes a pneumatic coupling <NUM> (e.g., for pneumatically powering an emergency brake) and a pneumatic coupling <NUM> (e.g., for pneumatically-powering a standard brake). The trailer connections <NUM> further includes a power/control coupling <NUM>. The power/control coupling <NUM> allows an electrical power source to be connected to the trailer connections <NUM> (e.g., to power brake lights on the trailer) and also allows a control connection to be connected to the trailer connections <NUM> (e.g., to enable control of the brake lights on the trailer). In operational circumstances, the couplings <NUM>, <NUM>, <NUM> of the trailer connections <NUM> may be positioned on a wheeled cargo trailer at various locations, orientations, and/or spacings. As a result, a common location, orientation, and spacing of such connections may not readily be found on trailers using such connections. <FIG> depicts the trailer connections <NUM> as it might be placed on a surface <NUM> of a trailer (e.g., at the first end <NUM> of the trailer <NUM> shown in <FIG>).

To move a trailer with pneumatically operated brakes connected to a glad hands connection, a driver of a tractor would normally manually connect a pressurized air source to the glad hands connection to unlock the brakes. However, this process takes additional time for the driver, and becomes more difficult with an autonomous vehicle due to the fact that certain trailers may not have a standardized connection configuration. Therefore, a pneumatic adapter, such as the adapter <NUM> shown in <FIG>, may be used with the glad hands connection and/or braking system to facilitate and simplify attachment of a pressurized air source and/or power/control connection to the system. The adapter <NUM> may be mounted on the surface <NUM> shown in <FIG> and may provide, for example, pneumatic couplings that are positioned at common locations, orientations, and spacings to facilitate automated and consistent placement of connections for a pneumatic braking system.

<FIG> shows the adapter <NUM> discussed above coupled to the trailer connections <NUM> shown in <FIG>. The trailer connections <NUM> includes the pneumatic couplings <NUM>, <NUM> of the glad hands connection <NUM> and also the power/control coupling <NUM> mounted on the surface <NUM>. In contrast to the couplings <NUM>, <NUM>, <NUM> of the trailer connections <NUM>, which may be mounted, oriented, and spaced irregularly on various trailers, the adapter <NUM> provides standardized/established locations, orientations, and spacings for its corresponding connections, as discussed further below.

The adapter <NUM> includes an adapter box <NUM> that provides an interface with the trailer connections <NUM>. More specifically, the adapter box <NUM> is connected to a pneumatic coupling <NUM> attached to the adapter box <NUM> through a pneumatic conduit <NUM> and is connected to a pneumatic coupling <NUM> attached to the adapter box <NUM> through a pneumatic conduit <NUM>. The adapter box <NUM> further includes a pneumatic conduit <NUM> that provides a pneumatic connection between the adapter box <NUM> and the pneumatic coupling <NUM> of the glad hands connection <NUM> and includes a pneumatic conduit <NUM> that provides a pneumatic connection between the adapter box <NUM> and the pneumatic coupling <NUM> of the glad hands connection <NUM>. The conduits <NUM>, <NUM> and the adapter box <NUM> pneumatically couple the pneumatic coupling <NUM> and the pneumatic coupling <NUM> of the glad hands connection <NUM>, and the conduits <NUM>, <NUM> and the adapter box <NUM> pneumatically couple the pneumatic coupling <NUM> and the pneumatic coupling <NUM> of the glad hands connection <NUM>.

The pneumatic couplings <NUM>, <NUM> of the adapter <NUM> shown in <FIG> are positioned on the surface <NUM> of the trailer at preconfigured locations, orientations, and spacings, so as to facilitate automated attachment of pressurized air sources to the pneumatic braking system (e.g., using an autonomous vehicle with correspondingly located/spaced/oriented connections). The adapter <NUM> further includes a power/control coupling <NUM> that is coupled to the adapter box <NUM> via a conduit <NUM>. The power/control coupling <NUM> allows a power/control source to be coupled to the adapter <NUM> to provide power and control signals to the power/control coupling <NUM> of the trailer connection <NUM> via a power/control conduit <NUM>. It should be noted that in alternative embodiments, the pneumatic couplings <NUM>, <NUM> and the power/control coupling <NUM> may not be attached to the adapter box <NUM> via the conduits <NUM>, <NUM>, <NUM>, but instead may be positioned directly on the adapter box <NUM> or may be located on separate adapter structures. Other configurations and arrangements of the adapter <NUM> are contemplated herein. A corresponding mateable connection assembly that provides the pneumatic/power/control sources for the adapter <NUM>, which may be useable by or mounted on the autonomous transport aspects discussed herein, is also contemplated.

<FIG> depicts a configuration with an additional set of trailer connections <NUM> that are connected to the adapter box <NUM>. This additional set of trailer connections <NUM> may or may not be included in different embodiments. For the aspect depicted in <FIG>, such connections allow for a separate manual attachment configuration for the braking system, separate from the trailer connections <NUM>. The trailer connections <NUM> include a pneumatic coupling <NUM> that is pneumatically connected to the adapter box <NUM>, which provides a pneumatic connection through the pneumatic conduit <NUM> to the pneumatic coupling <NUM> of the glad hands connection <NUM>. The trailer connections <NUM> also include a pneumatic coupling <NUM> that is pneumatically connected to the adapter box <NUM>, which provides a pneumatic connection through the pneumatic conduit <NUM> to the pneumatic coupling <NUM> of the glad hands connection <NUM>. The additional set of trailer connections <NUM> further includes a power/control coupling <NUM> that is coupled to the adapter box <NUM>, which provides a power/control connection through the conduit <NUM> to the power/control coupling <NUM> of the trailer connections <NUM>. The configuration shown in <FIG> allows the trailer connections <NUM> shown in <FIG> to remain attached to the adapter box <NUM> while the similarly configured trailer connection <NUM> is operable for manual attachment of connections that would otherwise have been connected directly to the trailer connections <NUM>. This may permit a manual attachment of pneumatic and power/control connections to the braking system without having to disconnect the adapter <NUM> from the trailer connections <NUM>. The attachment of pneumatic sources to either the pneumatic couplings <NUM>, <NUM> or to the pneumatic couplings <NUM>, <NUM> may occur without a release of air through the unused pneumatic couplings through use of an interlock incorporated into the adapter box <NUM>, which is described further below with respect to <FIG>.

<FIG> depicts a diagram of an example pneumatic braking system <NUM> that includes the trailer connections <NUM> and adapter <NUM> shown in <FIG>, in accordance with an embodiment hereof. The pneumatic braking system <NUM> is designed so that the trailer connections <NUM>, and the glad hands connection <NUM> thereof, is positioned at a first location in the flow path of the pneumatic braking system <NUM>, with the pneumatic couplings <NUM>, <NUM> and the power/control coupling <NUM> being accessible from the first location. Further attached to the pneumatic braking system <NUM> at a second location is the adapter <NUM>. The adapter <NUM> includes the pneumatic couplings <NUM>, <NUM> and the power/control coupling <NUM> as described herein with respect to <FIG>. The adapter <NUM> is coupled into the flow path of the pneumatic braking system <NUM>, as shown in <FIG>, providing a connection point for automated pneumatic and power/control connections.

The location at which the adapter <NUM> is positioned may be a surface of a trailer, such as a surface located at the first end <NUM> of the trailer <NUM> shown in <FIG>. This positioning supports engagement with corresponding pneumatic and power/control connections located on a transport mechanism <NUM> shown in <FIG>. The transport mechanism <NUM> may be an autonomously operated transport mechanism as described herein. The transport mechanism <NUM> shown in <FIG> includes pneumatic couplings <NUM>, <NUM> that are mateable/attachable with the pneumatic couplings <NUM>, <NUM> located on the adapter <NUM>. The transport mechanism <NUM> also includes a power/control coupling <NUM> that is mateable/attachable with the power/control coupling <NUM> located on the adapter <NUM>. Once again, by introducing the adapter <NUM> into the pneumatic braking system <NUM> as shown in <FIG>, standardized locations, orientations, and spacings for pneumatic and power/control couplings may be provided. This standardized arrangement can support consistent and improved attachment of such connections, including in circumstances where the attachment is performed by an autonomous vehicle.

The alignment and connection of the pneumatic couplings <NUM>, <NUM> and the power/control coupling <NUM> located on the transport mechanism <NUM> with the pneumatic couplings <NUM>, <NUM> and the power/control coupling <NUM> located on the adapter <NUM> may be facilitated using a vision system configured and used as described elsewhere herein. For example, cameras, sensors, and/or processing components of the vision system may be used to detect the location of the couplings <NUM>, <NUM>, <NUM> on the trailer to support proper alignment and attachment of the couplings <NUM>, <NUM>, <NUM> to the same. The attachment of the couplings <NUM>, <NUM>, <NUM> to the couplings <NUM>, <NUM>, <NUM> may further be facilitated by mechanical components that are actuated and/or otherwise operated to physically attach the couplings <NUM>, <NUM>, <NUM> to the couplings <NUM>, <NUM>, <NUM>. For example, one or more linear actuators may be coupled to the transport mechanism <NUM> that are operable to move the couplings <NUM>, <NUM>, <NUM> into contact and/or engagement with the respective couplings <NUM>, <NUM>, <NUM> of the trailer connections <NUM>. The couplings <NUM>, <NUM>, <NUM> may be placed at standardized (e.g., "known") locations on the transport mechanism <NUM> so that they correspond in location, orientation, and spacing with the couplings <NUM>, <NUM>, <NUM> of the adapter <NUM>.

<FIG> further depicts the additional set of trailer connections <NUM> described with respect to <FIG>, which are connected to the adapter <NUM> via the adapter box <NUM> thereof. The pneumatic coupling <NUM> and the pneumatic coupling <NUM> of the trailer connections <NUM> are used to provide a pneumatic connection with corresponding pneumatic couplings located on a standard tractor <NUM>, shown in <FIG>. The power/control coupling <NUM> of the trailer connections <NUM> can also be attached to a corresponding power/control coupling located on the standard tractor <NUM>. These connections may be arranged for manual attachment, or in other words, may not necessarily be arranged at standardized, established locations as with the connections on the adapter <NUM>. The pneumatic isolation of the pneumatic couplings <NUM>, <NUM> or the pneumatic couplings <NUM>, <NUM> during use of either can be provided via the interlock <NUM> described below with respect to <FIG> and <FIG>.

<FIG> depicts the trailer <NUM> of <FIG> with the trailer connections <NUM> and adapter <NUM> of <FIG> both mounted thereon, in accordance with an embodiment hereof. <FIG> shows how the adapter <NUM> can be coupled into the pneumatic braking system <NUM> of the trailer <NUM> between the glad hands connection <NUM> and the braking connections <NUM>, which are located adjacent the wheels <NUM> of the trailer <NUM>. As shown in <FIG>, the trailer connections <NUM> and the adapter <NUM> are coupled/mounted to a surface of the trailer <NUM> (e.g., at the forward end <NUM>). The positioning of the adapter <NUM> and the trailer connections <NUM> supports the attachment of pneumatic and power/control couplings, both from a standard tractor during normal operation (e.g., using the trailer connections <NUM> located on the trailer <NUM>) and from a separate, and possibly autonomous, transport mechanism (e.g., using the adapter <NUM>) used to shift the trailer. One example transport mechanism <NUM> that has mateable components adapted to engage the adapter <NUM> located on the trailer <NUM> is shown in <FIG>. The couplings <NUM>, <NUM>, <NUM> shown in <FIG> may be positioned on a trailer-facing surface <NUM> of the transport mechanism <NUM> shown in <FIG> so that they are positioned to mateably engage with the couplings <NUM>, <NUM>, <NUM> of the adapter <NUM> positioned at the first end <NUM> of the trailer <NUM> as shown in <FIG>.

Referring to <FIG>, a partial, cross-section view of an interlock <NUM> which may be used to provide selective paths of airflow through an adapter for a pneumatic braking system, such as the adapter <NUM> shown in <FIG>, is provided, in accordance with an embodiment hereof. The interlock <NUM>, in one aspect, may be located within the adapter box <NUM> shown in <FIG>, and may be configured, as shown in <FIG>, to allow different sets of pneumatic couplings to be used alternatively, and in isolation, to provide pressurized air to a pneumatic braking system connected to the interlock <NUM>.

Referring specifically to the interlock <NUM>, the pneumatic couplings <NUM>, <NUM> of the trailer connections <NUM> shown in <FIG> are pneumatically connected to the interlock <NUM>, allowing standard pneumatic couplings configured for a glad hands connection, such as the glad hands connection <NUM> shown in <FIG>, to be attached to the braking system as described above (e.g., manually). The interlock <NUM> also includes the pneumatic couplings <NUM>, <NUM> associated with the adapter <NUM> shown in <FIG>. The pneumatic couplings <NUM>, <NUM> may be mounted, as described herein, at standardized locations, orientations, and spacings as described herein to support automated attachment of a pneumatic source (e.g., using an autonomous transport mechanism).

The interlock <NUM> includes a pair of movable components 208A, 208B connected by a linking member <NUM>. These movable components 208A, 208B located within the interlock <NUM> allow a pneumatic source to be used with either the pneumatic couplings <NUM>, <NUM> in isolation or alternatively with the pneumatic couplings <NUM>, <NUM> in isolation. In other words, the movable components 208A, 208B are configured to block the flow of pressurized air out of the unused pair of pneumatic couplings <NUM>, <NUM> or <NUM>, <NUM>.

The movable components 208A, 208B are adjustable/movable between a first position, shown in <FIG>, and a second position, shown in <FIG>. The first position allows a pneumatic source coupled to the pneumatic couplings <NUM>, <NUM> to provide airflow through conduits <NUM>, <NUM> and through junctions <NUM>, <NUM>, and on to an attached pneumatic braking system via conduits <NUM>, <NUM>, respectively. In the first position, the pair of movable components 208A, 208B are moved in unison to block the escape of air from the pneumatic couplings <NUM>, <NUM>, respectively, as shown in <FIG>. The second position allows a pneumatic source coupled to the pneumatic couplings <NUM>, <NUM> to provide airflow through conduits 217A, 217B and 219A, 219B and through the junctions <NUM>, <NUM>, and on to the pneumatic braking system through the conduits <NUM>, <NUM>, respectively. In the second position, the pair of movable components 208A, 208B are moved in unison to block the escape of air from the pneumatic couplings <NUM>, <NUM>, respectively, as shown in <FIG>. In this sense, the interlock <NUM> allows one set of pneumatic couplings to be used in isolation without a release of pressurized air from the unused couplings.

The location of the movable components 208A, 208B within the interlock <NUM> may be controlled in different ways. For example, the location may be controlled mechanically, electrically, and/or pneumatically. In one instance, if a power/control connection is attached to the braking system, a power source may then be supplied to the interlock <NUM>, which may initiate electrical actuation that adjusts the position of the movable components 208A, 208B (e.g., from the first position to the second position or vice versa) to provide a desired pneumatic pathway. This actuation may be accomplished, for example, using a solenoid.

Alternatively, or in addition, the location of the movable components 208A, 208B may be controlled by supplied airflow. For example, when a pneumatic source is attached to the interlock <NUM> through either set of pneumatic couplings <NUM>, <NUM> or <NUM>, <NUM>, a position of the movable components 208A, 208B may be adjusted or remain the same to provide a corresponding pneumatic path through the interlock <NUM>. Further, in some embodiments, a resting, or default, configuration of the interlock <NUM> may be established. For example, a biasing member <NUM> (e.g., a spring as shown in <FIG>) may be incorporated into the interlock <NUM> so that in a resting state, in which no pneumatic sources are connected to the interlock <NUM>, the interlock <NUM> remains in a desired position, such as the first position shown in <FIG>, to allow the desired pneumatic connections <NUM>, <NUM> or <NUM>, <NUM> to remain open for use. It should be noted that the default position may be the first position or the second position, as described herein.

<FIG> depicts another embodiment of a mobile apparatus <NUM> that includes connections useable for attaching a pneumatic and/or power/control source to an adapter located on a wheeled cargo trailer as described herein, in accordance with an embodiment hereof. The mobile apparatus <NUM> includes a lift assembly <NUM> that is operable to lift one end of an object, such as a wheeled cargo trailer. The lift assembly <NUM> includes a movable lifting component <NUM> (e.g., as shown in the embodiment of <FIG>, a fifth wheel adapted to engage and lift a kingpin located on a trailer). The mobile apparatus <NUM> may be configured for autonomous operation and attachment to a trailer, and may further include the vision system components described herein.

The mobile apparatus <NUM> shown in <FIG> includes the pneumatic and power/control couplings <NUM>, <NUM>, <NUM> discussed with respect to <FIG>. These couplings <NUM>, <NUM>, <NUM> can be aligned and engaged with corresponding couplings located on an adapter, such as the adapter <NUM> shown in <FIG>, that is mounted on a trailer as described herein. This allows the mobile apparatus <NUM> to connect a pneumatic and power/control source to the trailer as described with respect to <FIG>, in order to unlock/operate the pneumatic braking system of the trailer. The mobile apparatus <NUM> can then move the trailer without having to lift it to circumvent the restricted movement caused by the locked pneumatic braking system. As shown in <FIG>, the mobile apparatus <NUM> includes the vision components <NUM>, <NUM> described herein. The vision system components <NUM>, <NUM> may be used for guiding the mobile apparatus <NUM> to a desired location, locating a trailer to be engaged, and/or locating pneumatic and/or power/control couplings mounted on a trailer for engagement with the same.

Referring now to <FIG>, a partial, rear, perspective view of a mobile apparatus <NUM> having a retaining mechanism <NUM> used for moving and/or retaining a position of doors <NUM>, <NUM> located on a wheeled cargo trailer <NUM> is provided. The mobile apparatus <NUM> shown in <FIG> includes wheels <NUM> and a frame <NUM>, and may be moved into position around the trailer <NUM> after which various lift assemblies (e.g., the lift assemblies <NUM>, <NUM> shown in <FIG>) may be used to lift the trailer <NUM>. Once suspended, the trailer <NUM> may then be transported to a desired location, such as a dock <NUM> as shown in <FIG>, as described herein.

The retaining mechanism <NUM> is located proximate to an end <NUM> of the frame <NUM>. The retaining mechanism <NUM> includes a first-side retaining element <NUM> and a second-side retaining element <NUM> that each extend from the frame <NUM>. The first-side and second-side retaining elements <NUM>, <NUM> are movably coupled to the frame <NUM> such that they are movable to different positions. The first-side and second-side retaining elements <NUM>, <NUM> may be securable or lockable in such positions.

Further, in the example depicted in <FIG>, the first-side retaining element <NUM> is coupled to a rotational actuator 221A that is adapted to impart rotational movement to the first-side retaining element <NUM>, and is also coupled to a linear actuator 223A that is adapted to impart linear movement to the first-side retaining element <NUM>. These rotational and linear actuators 221A, 223A are presented for example purposes and may or may not be incorporated, or may be incorporated differently (e.g., they may be incorporated at least partially into portions of the frame <NUM> such that they are obscured). The first-side retaining element <NUM> further includes a securing component 225A coupled thereto that is configured and positioned for engaging with, and securing, a door <NUM> located on the trailer <NUM>.

The second-side retaining element <NUM> is also coupled to a rotational actuator 221B that is adapted to impart rotational movement to the second-side retaining element <NUM>, and is also coupled to a linear actuator 223B that is adapted to impart linear movement to the second-side retaining element <NUM>. These rotational and linear actuators 221B, 223B are presented for example purposes and may or may not be incorporated, or may be incorporated differently as described herein. The second-side retaining element <NUM> further includes a securing component 225B coupled thereto that is configured and positioned for engaging with, and securing, a door <NUM> located on the trailer <NUM>.

The actuators 221A, 223A and 221B, 223B shown in <FIG> may be used to move the first-side and second-side retaining elements <NUM>, <NUM> to different extended and/or rotated positions. The attaching of the securing components 225A, 225B to the doors <NUM>, <NUM> allows movement imparted to the first-side and second-side retaining elements <NUM>, <NUM> to be imparted to the doors <NUM>, <NUM>, and also allows the first-side and second-side retaining elements <NUM>, <NUM> to be restricted from moving when desired. It should be noted that the actuators 221A, 223A and 221B, 223B are included and described for example purposes, and in alternative embodiments, these actuators may not be used, or only one may be used, or different actuators may be used. For example, in one embodiment, only the rotational actuators 221A, 221B may be incorporated, and in another embodiment, the movement of the first-side and second-side retaining elements <NUM>, <NUM> may be manually enabled and controlled. The actuators 221A, 223A and 221B, 223B may be coupled to a control system that is operable to control the actuators and by association the movement of the first-side and second side retaining elements <NUM>, <NUM>.

The retaining elements <NUM>, <NUM> and actuators coupled thereto may be used to engage and move, or hold in place, the doors <NUM>, <NUM> of the trailer <NUM>. For example, a control system may adjust the position of the retaining elements <NUM>, <NUM> so that the securing components 225A, 225B are positioned to be coupled to the doors <NUM>, <NUM>. The doors <NUM>, <NUM>, once coupled with the securing components 225A, 225B, may then be moved to a desired position/orientation through operation of the actuators. The doors <NUM>, <NUM> may also simply be held in position by the retaining elements <NUM>, <NUM>, such as, for example, when the trailer <NUM> is moved towards a loading dock with the doors <NUM>, <NUM> in an open position.

The movement and/or positioning of the retaining elements <NUM>, <NUM> and the operation of any actuators coupled thereto may also be guided and/or monitored using a vision system as described herein. For example, the vision system may be used to monitor the location of the doors <NUM>, <NUM> and/or the location of the retaining elements <NUM>, <NUM> coupled thereto. In this sense, the doors <NUM>, <NUM> may be monitored by the vision system as an extended structure of the mobile apparatus <NUM> so that, during movement of the mobile apparatus <NUM> and the trailer <NUM>, the doors <NUM>, <NUM> do not collide with surrounding objects. The vision system may also be used to determine where the doors <NUM>, <NUM> should be positioned.

Referring to <FIG>, a block diagram of an exemplary process <NUM> for engaging, lifting, and moving an object using a mobile apparatus is provided. At block <NUM>, a mobile apparatus, such as the mobile apparatus <NUM> shown in <FIG>, is moved into a first position, such as the position shown in <FIG>. The mobile apparatus may comprise a transport mechanism, such as the transport mechanism <NUM> shown in <FIG>, and a frame, such as the frame <NUM> shown in <FIG>, comprising a base portion, such as the base portion <NUM> shown in <FIG>, coupled to the transport mechanism. The mobile apparatus may further include a first elongated portion, such as the elongated portion <NUM> shown in <FIG>, extending from the base portion, and a second elongated portion, such as the elongated portion <NUM> shown in <FIG>, extending from the base portion. The elongated portions may be spaced from each other. The mobile apparatus may further include a first lift assembly, such as the lift assembly <NUM> shown in <FIG>, movably coupled to the frame, and a second lift assembly, such as the lift assembly <NUM> shown in <FIG>, coupled to the frame. The first position may comprise a position in which the frame at least partially surrounds the wheeled cargo trailer as shown, for example, in <FIG>.

At block <NUM>, the first and second lift assemblies are moved into engaging positions. For example, a lift assembly, such as the lift assembly <NUM>, may include lifting components, such as the lifting components <NUM>, <NUM> shown in <FIG>, which may be similar to the lifting component <NUM> depicted and described with respect to <FIG>, that are moved from a retracted position to an extended position. For example, as shown in <FIG>, a lifting portion <NUM> may be moved into an extended position through pivotal or linear actuation. A lifting component, such as the lifting component <NUM> shown in <FIG>, may also move into an engaging position through actuated movement along the frame, such as, for example, by moving the lifting component <NUM> of the lift assembly <NUM> using the actuator <NUM> shown in <FIG>. In this sense, an engaging position may comprise an adjusted position of the lifting component, such as one of the lifting components <NUM>, <NUM>, <NUM> shown in <FIG>, that is suitable for contacting and lifting an object enclosed by the frame. The movement of the lifting components into the engaging positions may occur in any of the x, y, and z directions relative to the frame, as shown in <FIG> and <FIG>, depending on the enabled movement of the lifting components and the actuators coupled to the frame. This multi-axis movement may be facilitated using different types of actuators, such as the linear and/or rotational actuators described herein.

At block <NUM>, the first lift assembly is moved from a lowered position to a raised position to lift a first end of the wheeled cargo trailer. For example, the lifting component <NUM> may be elevated using the actuator <NUM> shown in <FIG> to lift the first end. At block <NUM>, the second lift assembly is moved from a lowered position to a raised position to lift a second end of the wheeled cargo trailer. For example, the lifting components <NUM>, <NUM> shown in <FIG> may be elevated using the linear actuators <NUM> shown in <FIG> to lift the end of the trailer. Operations described at blocks <NUM> and <NUM> may be performed simultaneously or in any sequence. At block <NUM>, the lifted wheeled cargo trailer is moved using the transport mechanism.

In a further embodiment, a pneumatically-operated braking system for a wheeled cargo trailer is provided. The system includes a set of pneumatically-operated brakes that are coupled to a set of wheels of the wheeled cargo trailer, a glad hands connector coupled to the wheeled cargo trailer and pneumatically coupled to the set of pneumatically-operated brakes, and an adapter coupled to the wheeled cargo trailer and operable to provide a pneumatic connection with the pneumatically-operated braking system. The glad hands connector has a first pair of pneumatic couplings. A pair of pneumatic conduits extend between the set of pneumatically-operated brakes and the glad hands connector. The adapter also includes a second pair of pneumatic couplings adapted to be attached to a pneumatic source and a third pair of pneumatic couplings adapted to be attached to the first pair of pneumatic couplings of the glad hands connector to provide a pneumatic connection between the adapter and the glad hands connector. The system further includes a pair of pneumatic conduits that are releasably attachable to the first pair of pneumatic couplings of the glad hands connector and to the third pair of pneumatic couplings of the adapter.

The adapter may be pneumatically coupled to the pair of pneumatic conduits such that it is located between the glad hands connector and the set of pneumatically-operated brakes. The adapter may further include an interlock, the interlock being adjustable between a first configuration and a second configuration, the first configuration providing a pneumatic connection between the adapter and the set of brakes and the second configuration providing a pneumatic connection between the glad hands connector and the set of brakes. The interlock may include one or more movable components that block the pneumatic connection to the glad hands connector when the interlock is in the first configuration and block the pneumatic connection to the adapter when the interlock is in the second configuration. The adapter further includes a power/control coupling and a wireless communication component adapted to receive wireless signals and control, based on the received wireless signals, one or more electronic components of the wheeled cargo trailer.

In some embodiments, this disclosure may include the language, for example, "at least one of [element A] and [element B]. " This language may refer to one or more of the elements. For example, "at least one of A and B" may refer to "A," "B," or "A and B. " In other words, "at least one of A and B" may refer to "at least one of A and at least one of B," or "at least either of A or B. " In some embodiments, this disclosure may include the language, for example, "[element A], [element B], and/or [element C]. " This language may refer to either of the elements or any combination thereof. In other words, "A, B, and/or C" may refer to "A," "B," "C," "A and B," "A and C," "B and C," or "A, B, and C.

Claim 1:
A pneumatic braking system (<NUM>) for a wheeled cargo trailer, comprising:
a set of pneumatically-operated brakes;
a glad hands connector (<NUM>, <NUM>, <NUM>) coupled to the set of pneumatically-operated brakes; and
an adapter (<NUM>) operable to provide a pneumatic connection with the pneumatic braking system, wherein the glad hands connector (<NUM>) has a first pair of pneumatic couplings (<NUM>. <NUM>),
a pair of pneumatic conduits extending between the set of pneumatically-operated brakes and the glad hands connector,
wherein the adapter further includes a second pair of pneumatic couplings adapted to be attached to a pneumatic source and a third pair of pneumatic couplings adapted to be attached to the first pair of pneumatic couplings of the glad hands connector to provide a pneumatic connection between the adapter and the glad hands connector,
characterized in that said pneumatic braking system further comprising a pair of pneumatic conduits (<NUM>, <NUM>) that are releasably attachable to the first pair of pneumatic couplings of the glad hands connector and to the third pair of pneumatic couplings of the adapter.