PATENT DOCUMENT

Publication Number: US-11752633-B1
Application Number: US-201916716581-A
Country: US
Kind Code: B1

Title: Manipulator system

Abstract:
A support structure connects a closure structure to a body for movement between a closed position in which the closure structure obstructs an opening and an open position in which the closure structure does not obstruct the opening. An actuator is operable to cause motion of the closure structure. A manipulator is connected to the closure structure and includes arm portions that are connected by actuated joints that are operable to move the arm portions with respect to each other and an end effector that is configured to pick up and release objects. Sensors output sensor signals and a controller is operable to cause motion of the closure structure to move the end effector relative to the objects based in part on the sensor signals.

Claims:
What is claimed is: 
     
         1 . A vehicle comprising:
 a vehicle body;   an opening defined in the vehicle body;   a closure structure;   a support structure that connects the closure structure to the vehicle body such that the closure structure is movable with respect to the vehicle body between a closed position in which the closure structure obstructs the opening and an open position in which the closure structure does not obstruct the opening;   an actuator that is operable to cause motion of the closure structure with respect to the vehicle body;   a manipulator that is connected to the closure structure and includes arm portions that are connected by actuated joints that are operable to move the arm portions with respect to each other and an end effector that is configured to pick up and release objects;   sensors that output sensor signals; and   a controller that is configured to position the end effector relative to an object by causing motion of the closure structure to move the manipulator relative to the vehicle body based in part on the sensor signals and by moving the end effector relative to the closure structure by causing motion of the manipulator.   
     
     
         2 . The vehicle of  claim 1 , wherein the closure structure is pivotally connected to the vehicle body. 
     
     
         3 . The vehicle of  claim 1 , wherein the closure structure is slidably connected to the vehicle. 
     
     
         4 . The vehicle of  claim 1 , wherein the actuated joints are operable to rotate the arm portions with respect to each other. 
     
     
         5 . The vehicle of  claim 1 , wherein the actuated joints are operable to translate the arm portions with respect to each other. 
     
     
         6 . A vehicle comprising:
 a vehicle body;   an opening defined in the vehicle body;   a closure structure that is operable to move between open and closed positions with respect to the opening;   an actuator that is operable to cause motion of the closure structure with respect to the vehicle body; and   a manipulator that is connected to the closure structure and includes an end effector that is configured to pick up and release objects; and   a controller that is configured to position the end effector relative to an object by causing motion of the closure structure to move the manipulator relative to the vehicle body and by moving the end effector relative to the closure structure by causing motion of the manipulator.   
     
     
         7 . The vehicle of  claim 6 , wherein moving the end effector via motion of the closure structure provides an additional degree of freedom for moving the end effector relative to motion of the manipulator. 
     
     
         8 . The vehicle of  claim 6 , further comprising:
 sensors associated with the closure structure, wherein the controller is operable to control motion of the end effector based in part on sensor signals that are received from the sensors.   
     
     
         9 . The vehicle of  claim 6 , wherein the closure structure is pivotally connected to the vehicle body. 
     
     
         10 . The vehicle of  claim 6 , wherein the closure structure is slidably connected to the vehicle. 
     
     
         11 . The vehicle of  claim 6 , wherein the manipulator includes arm portions that are connected by actuated joints that are operable to move the arm portions with respect to each other. 
     
     
         12 . The vehicle of  claim 11 , wherein the actuated joints are operable to rotate the arm portions with respect to each other. 
     
     
         13 . The vehicle of  claim 11 , wherein the actuated joints are operable to translate the arm portions with respect to each other. 
     
     
         14 . The vehicle of  claim 6 , wherein the end effector is a mechanical gripper. 
     
     
         15 . The vehicle of  claim 6 , wherein the end effector is an electromagnetic gripper. 
     
     
         16 . The vehicle of  claim 6 , wherein the end effector is a pneumatic gripper. 
     
     
         17 . The vehicle of  claim 6 , wherein the closure structure is a door. 
     
     
         18 . The vehicle of  claim 6 , wherein the closure structure is a tailgate. 
     
     
         19 . The vehicle of  claim 6 , wherein the closure structure is a liftgate. 
     
     
         20 . A vehicle comprising:
 a vehicle body, the vehicle body having a first opening on a first side of the vehicle body and a second opening on a second side of the vehicle body, the vehicle body having a void that extends therethrough from the first opening to the second opening;   a first mounting structure that is connected to the vehicle body adjacent to the first opening;   a second mounting structure that is connected to the vehicle body adjacent to the second opening; and   a manipulator that includes a first end effector having a first gripper, a second end effector having a second gripper, at least one arm portion that couples the first end effector to the second end effector, and actuated joints that are operable to move the at least one arm portion and the first and second end effectors with respect to each other,   wherein the manipulator is moveable between a first configuration in which the first gripper grips the first mounting structure to mount the manipulator to the vehicle body such that the manipulator is able to extend out of the first opening and the second end effector is able to pick up and release objects, and a second configuration in which the second gripper grips the second mounting structure to mount the manipulator to the vehicle body such that the manipulator is able to extend out of the second opening and the first end effector is able to pick up and release the objects.   
     
     
         21 . The vehicle of  claim 1 , wherein moving the end effector via motion of the closure structure provides an additional degree of freedom for moving the end effector relative to motion of the manipulator.

Description:
CROSS-REFERENCE TO RELATED APPLICATION(S) 
     This application claims the benefit of U.S. Provisional Application No. 62/799,151, filed on Jan. 31, 2019. The content of the foregoing application is incorporated herein by reference in its entirety for all purposes. 
    
    
     FIELD 
     The present disclosure relates generally to the field of actuators for manipulating obj ects. 
     BACKGROUND 
     Vehicles often transport objects, which need to be loaded into the vehicle and unloaded from the vehicle. In some circumstances, loading or unloading a vehicle may be difficult for a person. In some circumstances, a person may not be available to load or unload a vehicle. 
     SUMMARY 
     One aspect of the disclosure is a vehicle that includes a vehicle body, an opening defined in the vehicle body, a closure structure, and a support structure. The support structure connects the closure structure to the vehicle body such that the closure structure is movable with respect to the vehicle body between a closed position in which the closure structure obstructs the opening and an open position in which the closure structure does not obstruct the opening. An actuator is operable to cause motion of the closure structure with respect to the vehicle body. A manipulator is connected to the closure structure and includes arm portions that are connected by actuated joints that are operable to move the arm portions with respect to each other and an end effector that is configured to pick up and release objects. The vehicle also includes sensors that output sensor signals and a controller that is operable to cause motion of the closure structure to move the end effector relative to the objects based in part on the sensor signals. 
     In some implementations, the closure structure is pivotally connected to the vehicle body. In some implementations, the closure structure is slidably connected to the vehicle body. In some implementations, the actuated joints are operable to rotate the arm portions with respect to each other. In some implementations, the actuated joints are operable to translate the arm portions with respect to each other. 
     Another aspect of the disclosure is a vehicle that includes a vehicle body, an opening defined in the vehicle body, a closure structure, an actuator, and a manipulator. The closure structure is operable to move between open and closed positions with respect to the opening. The actuator that is operable to cause motion of the closure structure with respect to the vehicle body. The manipulator is connected to the closure structure and includes an end effector that is configured to pick up and release objects. 
     In some implementations, the vehicle includes a controller that is operable to cause motion of the closure structure to move the end effector relative to the objects. In some implementations, the vehicle includes sensors that are associated with the closure structure, wherein the controller is operable to control motion of the end effector based in part on sensor signals that are received from the sensors. 
     In some implementations, the closure structure is pivotally connected to the vehicle body. In some implementations, the closure structure is slidably connected to the vehicle body. 
     The manipulator may include arm portions that are connected by actuated joints that are operable to move the arm portions with respect to each other. In some implementations, the actuated joints are operable to rotate the arm portions with respect to each other. In some implementations, the actuated joints are operable to translate the arm portions with respect to each other. 
     In some implementations, the end effector is a mechanical gripper. In some implementations, the end effector is an electromagnetic gripper. In some implementations, the end effector is a pneumatic gripper. 
     In some implementations, the closure structure is a door. In some implementations, the closure structure is a tailgate. In some implementations, the closure structure is a liftgate. 
     Another aspect of the disclosure is a vehicle that includes a vehicle body, a first mounting structure, a second mounting structure, and a manipulator. The manipulator includes a first end effector, a second end effector, and arm portions that are connected by actuated joints that are operable to move the arm portions with respect to each other. The manipulator is moveable between a first configuration in which the first end effector is connected to the first mounting structure and the second end effector is able to pick up and release objects, and a second configuration in which the second end effector is connected to the second mounting structure and the first end effector is able to pick up and release the objects. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a block diagram that shows a vehicle. 
         FIG.  2    is a perspective view illustration that shows a vehicle that includes a manipulator that is mounted to a sliding door in a closed position. 
         FIG.  3    is a perspective view illustration that shows the vehicle of  FIG.  2    with the sliding door in an open position. 
         FIG.  4    is a perspective view illustration that shows a vehicle that includes a manipulator that is mounted to a pivoting door in a closed position. 
         FIG.  5    is a perspective view illustration that shows the vehicle of  FIG.  4    with the pivoting door in an open position. 
         FIG.  6    is a side view illustration that shows a vehicle that includes a manipulator that is mounted to a liftgate in a closed position. 
         FIG.  7    is a side view illustration that shows the vehicle of  FIG.  6    with the liftgate in an open position. 
         FIG.  8    is a side view illustration that shows a vehicle that includes a manipulator that is mounted to a lower portion of a split tailgate in a closed position. 
         FIG.  9    is a side view illustration that shows the vehicle of  FIG.  8    with the split tailgate in an open position. 
         FIG.  10    is a perspective view illustration that shows a vehicle that has a vehicle body and a manipulator in a first configuration. 
         FIG.  11    is a perspective view illustration that shows a vehicle that has a vehicle body and a manipulator in an intermediate configuration. 
         FIG.  12    is a perspective view illustration that shows a vehicle that has a vehicle body and a manipulator in a second configuration. 
         FIG.  13    is a block diagram that shows an example of a hardware configuration for a computing device. 
     
    
    
     DETAILED DESCRIPTION 
     The disclosure herein relates to a vehicle that includes a manipulator system that is configured to load objects into the vehicle and unload objects from the vehicle. The manipulator system includes an end effector that is configured to engage the objects and one or more manipulator arm portions that are positionable to cause movement of the end effector. 
     In some implementations, the one or more manipulator arm portions are mounted to a closure structure of the vehicle. As examples, the closure structure may be a door, a hatch, or a tailgate. The closure structure includes an actuator that is operable to move the closure structure relative to a body of the vehicle (e.g., including movement between open and closed positions). Movement of the closure structure is controllable to change the position of an end effector of the manipulator. Thus, the closure structure of the vehicle provides and additional controllable degree of freedom for the manipulator system. 
     In some implementations, the manipulator system includes two end effectors that are positioned at opposite ends of the manipulator arm portions. The vehicle includes two or more mounting structures. The end effectors are each able to connect to one of the mounting structures. This allows the manipulator system to move between connections with different mounting structures. 
       FIG.  1    is a block diagram that shows a vehicle  100 . The vehicle  100  includes a vehicle body  102 , motion control components  104 , and a manipulator  106 . 
     The vehicle  100  may be a road-going vehicle. As an example, the vehicle  100  may be a car or a truck. The vehicle  100  may be configured primarily for transporting passengers, the vehicle  100  may be configured primarily for transporting cargo, or the vehicle  100  may be configured to transport passengers and/or cargo as needed. 
     The vehicle body  102  includes conventional components and may be implemented using any of several well-known structural configurations. As examples, the vehicle body  102  may be implemented using a body-on-frame configuration, a unibody configuration, a monocoque, or any other suitable configuration. The vehicle body  102  may define external surfaces for the vehicle  100 , and the vehicle body  102  may define internal surfaces (e.g., facing an interior space such as a passenger compartment or a cargo compartment). 
     The vehicle body  102  defines an opening  108 , and the vehicle  100  includes a closure structure  110  that is positionable in the opening  108 . The closure structure  110  may be a structural panel that includes an exterior surface and an interior surface. The closure structure  110  is connected to the vehicle body  102  such that it is movable with respect to the vehicle body  102 . 
     As one example, the closure structure  110  may be a door that is pivotally connected to the vehicle body  102 . As another example, the closure structure  110  may be a door that is slidably connected to the vehicle body  102 . As another example, the closure structure  110  may be a tailgate that is pivotally connected to the vehicle body  102 . As another example, the closure structure  110  may be a liftgate (e.g., the rear door of a hatchback style vehicle or station wagon style vehicle) that is slidably connected to the vehicle body  102 . 
     The closure structure  110  may be connected to the vehicle body  102  by a support structure  112 . As one example, the support structure  112  may be or include one or more pivoting hinges that allow rotation of the closure structure  110  relative to the vehicle body  102 . Rotational hinges could be connected to the vehicle body  102  and the closure structure  110 , as example, in a generally vertical orientation (i.e., measured along the axis of the hinge), or in a generally horizonal orientation. As another example, the support structure  112  may be or include a track assembly that allows the closure structure  110  to translate relative to the vehicle body  102  by sliding along the track assembly. 
     An actuator  114  is operable to cause motion of the closure structure  110  with respect to the vehicle body  102 . As an example, the actuator  114  may include an electric motor and may include associated components such as gear trains, linkages, sensors, etc. Operation of the actuator  114  may be controlled to allow positioning of the closure structure  110  at a desired position (i.e., at a desired translational position or at a desired angular orientation) with respect to the vehicle body  102 . 
     The support structure  112  may support that closure structure  110  such that the closure structure  110  is movable with respect to the vehicle body  102  between a closed position and an open position relative to the vehicle body  102 , and the actuator  114  may cause motion of the closure structure  110  relative to the vehicle body  102  between the open position and the closed position. In the closed position, the closure structure  110  obstructs the opening  108 , and in the open position, the closure structure  110  does not obstruct the opening  108 . Stated more generally, the open position of the closure structure  110  permits ingress and egress of persons and objects through the opening  108 , while the closed position of the closure structure  110  blocks ingress and egress of persons and objects through the opening  108 . The actuator  114  may also move the closure structure  110  to any desired position between the open position and the closed position. 
     Sensors  116  may be associated with the closure structure  110 , such as by being located on the closure structure  110 , or by being used to regulate motion of the closure structure  110 . In particular, the sensors  116  may be operable to output sensor signals that describe conditions sensed by the sensors  116 , such as the current position of the closure structure  110  or the presence and/or location of objects or persons near the vehicle  100 . Examples of the sensors  116  include switches, position encoders, motion detectors, and cameras. Other types of sensing devices may be included among the sensors  116 . As will be explained herein, in addition to use for opening and closing the closure structure  110 , the sensors  116  may also be used to control operation of the manipulator  106 . 
     The motion control components  104  are conventional systems of the vehicle  100  that allow motion of the vehicle  100 . The motion control components  104  of the vehicle  100  may include, as examples, wheels  118  (e.g., including tires), steering components  120 , propulsion components  122 , braking components  124 , a manual control system  126 , and an autonomous control system  128 . The steering components  120  are operable to change an angular orientation of one or more of the wheels  118 . The propulsion components  122  are operable to apply propulsion torque to one or more of the wheels  118 . The braking components  124  are operable to apply braking torque to one or more of the wheels  118 . The manual control system  126  allows a human operator to exercise control over some of the motion control components  104 , such as the steering components  120 , the propulsion components  122 , and the braking components  124 . The autonomous control system  128  is a computer-implemented system that uses observations of the surrounding environment (e.g., using sensors) as a basis for exercising partial control or full control over some or all of the motion control components  104 , such as the steering components  120 , the propulsion components  122 , and the braking components  124 . 
     The manipulator  106  is operable to pick up and release objects. For example, the manipulator  106  may be used to load objects into the interior of the vehicle  100  from outside of the vehicle  100 , and to unload objects to the outside of the vehicle  100  from the interior of the vehicle  100 . 
     The manipulator  106  may include one or more arm portions  130 , actuated joints  132 , an end effector  134 , and a controller  136 . The manipulator  106  is connected to and supported by the closure structure  110 . As a result, motion of the closure structure  110  (e.g., under control by the actuator  114 ) causes corresponding motion of the manipulator  106 . This allows the closure structure  110  to be used for positioning the manipulator  106 , including positioning of the end effector  134  at a desired position. 
     The arm portions  130  may be rigid or semi-rigid structures that are interconnected by the actuated joints  132 . The actuated joints  132  are controllable devices that are operable to cause relative motion of the arm portions  130  with respect to each other, with respect to the closure structure  110  (i.e., by connection of one of the arm portions  130  to the closure structure  110  by one of the actuated joints  132 ), and/or with respect to the end effector  134  (i.e., by connection of one of the arm portions  130  to the end effector  134  by one of the actuated joints  132 ). 
     The end effector  134  is a device that is configured to interact with the environment around it, such as by picking up and releasing an object. There are many well-known end-effector designs that can be utilized as a basis for implementing the end effector  134 . As one example, the end effector  134  may be a mechanical gripper such as a clamp. As another example, the end effector  134  may be an electromagnetic gripper and is operable to energize and deenergize to pick up and release objects that include ferromagnetic components. As another example, the end effector  134  may be a pneumatic gripper that is operable to pick up and release objects by applying and releasing suction (e.g., using a suction cup and a vacuum pump). 
     The controller  136  is operable to exercise control over motion of the manipulator  106 . As an example, the controller  136  may initiate motion of the manipulator  106  in response to a command from a user or from an automated control system. The command may, for example, direct that the manipulator  106  pick up an object (e.g., by engagement of the end effector  134  with the object) and move it into or out of the vehicle  100 . As an example, the controller  136  may determine a motion plan for causing engagement of the end effector  134  with the object, for transporting the object to a desired location (e.g., placed on the ground outside of the vehicle  100 ), and for releasing the object by disengaging the end effector  134 . The controller  136  may exercise control over the position of the end effector  134  by sending control signals to the actuated joints  132 , the actuator  114  of the closure structure  110 , and/or the end effector  134  (e.g., control signals that cause engagement and disengagement). The controller  136  may use sensor signals obtained from the sensors  116  that are associated with the closure structure  110  while controlling motion of the manipulator  106 . 
       FIG.  2    is a perspective view illustration that shows a vehicle  200  that includes a manipulator  206  that is mounted to a sliding door  210  in a closed position.  FIG.  3    is a perspective view illustration that shows the vehicle  200  with the sliding door  210  in an open position. The vehicle  200  is an implementation of the vehicle  100  of  FIG.  1   , and the description of the vehicle  100  is hereby incorporated in the description of the vehicle  200  and is applicable except as noted herein. 
     The vehicle  200  includes a vehicle body  202  that is supported by wheels  218 . An opening  208  is defined in the vehicle body  202  (e.g., in a side area of the vehicle body in the illustrated example) and the sliding door  210  is movable between open and closed positions relative to the opening  208  using a track assembly  212  and associated actuators and sensors. Actuators and sensors that are associated with the sliding door  210  and the track assembly  212  are also used to cause and control motion of the manipulator  206 . 
     The manipulator  206  is connected to and supported by the sliding door  210 . In the illustrated example, the manipulator includes actuated joints  232  such as a translational (sliding) joint that allows vertical motion of the manipulator  206  up and down the door. The manipulator  206  may also be configured to rotate into the interior of the vehicle  200  when it is not in use, to allow the sliding door  210  to move to the closed position ( FIG.  2   ). The manipulator  206  includes multiple arm portions  230  and the actuated joints  232  include rotational joints that interconnect the arm portions  230 . The manipulator  206  also includes an end effector  234  that is configured to pick up and release objects. As an example, end effector  234  of the manipulator  206  may include jaws that move between clamped and unclamped positions, an electromagnet that can be switched between energized and deenergized states, or a suction gripper that may be switched between a first state in which suction is applied and a second state in which suction is released. The end effector  234  may be located at an outer end of the manipulator  206 , and may be connected to one of the arm portions  230  or to one of the actuated joints  232 . 
     During movement of the manipulator  206  (e.g., to position the end effector  234  with respect to an object or to move an object) while the sliding door  210  is in the open position ( FIG.  3   ), the position of the sliding door  210  can be controlled by moving it along the track assembly  212 . This allows the position of the manipulator  206  to be changed relative to the longitudinal (i.e., front-to-back) direction of the vehicle  200 , thereby providing an additional axis of motion along which the position of the manipulator  206  and the end effector  234  may be controlled. 
       FIG.  4    is a perspective view illustration that shows a vehicle  400  that includes a manipulator  406  that is mounted to a pivoting door  410  in a closed position.  FIG.  5    is a perspective view illustration that shows the vehicle  400  with the pivoting door  410  in an open position. The vehicle  400  is an implementation of the vehicle  100  of  FIG.  1   , and the description of the vehicle  100  is hereby incorporated in the description of the vehicle  400  and is applicable except as noted herein. 
     The vehicle  400  includes a vehicle body  402  that is supported by wheels  418 . An opening  408  is defined in the vehicle body  402  (e.g., in a side area of the vehicle body in the illustrated example), and the pivoting door  410  is movable between open and closed positions relative to the opening  408  using a pivoting hinge  412  that allows rotation of the pivoting door  410  relative to the vehicle body  402 . Actuators and sensors that are associated with the pivoting door  410  and the pivoting hinge  412  are also used to cause and control motion of the manipulator  406 . 
     The manipulator  406  is connected to and supported by the pivoting door  410 . In the illustrated example, the manipulator  406  includes actuated joints  432  such as translational and/or rotational joints that allow motion of the manipulator  406 . The manipulator  406  may also be configured to rotate into the interior of the vehicle  400  when it is not in use, to allow the pivoting door  410  to move to the closed position ( FIG.  4   ). The manipulator  406  includes multiple arm portions  430 , and the actuated joints  432  include rotational joints that interconnect the arm portions  430 . The manipulator  406  also includes an end effector  434  that is configured to pick up and release objects. As an example, the end effector  434  of the manipulator  406  may include jaws that move between clamped and unclamped positions, an electromagnet that can be switched between energized and deenergized states, or a suction gripper that may be switched between a first state in which suction is applied and a second state in which suction is released. The end effector  434  may be located at an outer end of the manipulator  406 , and may be connected to one of the arm portions  230  or to one of the actuated joints  432 . 
     During movement of the manipulator  406  (e.g., to position the end effector  434  with respect to an object or to move an object) while the pivoting door  410  is in the open position ( FIG.  5   ), the position of the pivoting door  410  can be controlled by pivoting it around the pivoting hinge  412 . This allows the position of the manipulator  406  to be changed relative to the longitudinal (i.e., front-to-back) direction of the vehicle  400  and the lateral (side-to-side) direction of the vehicle  400 , thereby providing an additional axis of motion with respect to which the position of the manipulator  406  and the end effector  434  may be controlled. 
       FIG.  6    is a side view illustration that shows a vehicle  600  that includes a manipulator  606  that is mounted to a liftgate  610  in a closed position.  FIG.  7    is a side view illustration that shows the vehicle  600  with the liftgate  610  in an open position. The vehicle  600  is an implementation of the vehicle  100  of  FIG.  1   , and the description of the vehicle  100  is hereby incorporated in the description of the vehicle  600  and is applicable except as noted herein. 
     The vehicle  600  includes a vehicle body  602  that is supported by wheels  618 . An opening  608  is defined in the vehicle body  602  (e.g., at the rear of the vehicle body in the illustrated example), and the liftgate  610  is movable between open and closed positions relative to the opening  608  using a pivoting hinge  612  that is positioned above the liftgate  610  and extends in a lateral (i.e., side-to-side) direction of the vehicle  600  to allow rotation of the liftgate  610  relative to the vehicle body  602 . Actuators and sensors that are associated with the liftgate  610  and the pivoting hinge  612  are also used to cause and control motion of the manipulator  606 . 
     The manipulator  606  is connected to and supported by the liftgate  610 . In the illustrated example, the manipulator includes actuated joints  632  such as translational and/or rotational joints that allow motion of the manipulator  606 . The manipulator  606  may also be configured to rotate into the interior of the vehicle  600  when it is not in use, to allow the liftgate  610  to move to the closed position ( FIG.  6   ). The manipulator  606  includes multiple arm portions  630 , and the actuated joints  632  include rotational joints that interconnect the arm portions  630 . The manipulator  606  also includes an end effector  634  that is configured to pick up and release objects. As an example, the end effector  634  of the manipulator  606  may be a mechanical gripper that includes jaws that move between clamped and unclamped positions, an electromagnetic gripper that can be switched between energized and deenergized states, or a pneumatic (i.e, suction) gripper that may be switched between a first state in which suction is applied and a second state in which suction is released. The end effector  634  may be located at an outer end of the manipulator  606 , and may be connected to one of the arm portions  630  or to one of the actuated joints  632 . 
     During movement of the manipulator  606  (e.g., to position the end effector  634  with respect to an object or to move an object) while the liftgate  610  is in the open position ( FIG.  7   ), the position of the liftgate  610  can be controlled by pivoting it around the pivoting hinge  612 . This allows the position of the manipulator  606  to be changed relative to the vehicle body  602 , thereby providing an additional axis of motion with respect to which the position of the manipulator  606  and the end effector  634  may be controlled. 
       FIG.  8    is a side view illustration that shows a vehicle  800  that includes a manipulator  806  that is mounted to a lower portion  810  of a split tailgate, with the lower portions  810  and an upper portion  811  of the split tailgate in a closed position.  FIG.  9    is a side view illustration that shows the vehicle  800  with the lower portion  810  of the split tailgate in an open position. The vehicle  800  is an implementation of the vehicle  100  of  FIG.  1   , and the description of the vehicle  100  is hereby incorporated in the description of the vehicle  800  and is applicable except as noted herein. 
     The vehicle  800  includes a vehicle body  802  that is supported by wheels  818 . An opening  808  is defined in the vehicle body  802  (e.g., at the rear of the vehicle body in the illustrated example). The lower portion  810  and the upper portion  811  of the split tailgate are each movable between open and closed positions relative to the opening  808  using hinges  812  that are configured to allow pivoting and are positioned below the lower portion  810  and above the upper portion  811  and extend in a lateral (i.e., side-to-side) direction of the vehicle  800  to allow rotation of the lower portion  810  and the upper portion  811  of the split tailgate relative to the vehicle body  802 . Actuators and sensors that are associated with the lower portion  810 , the upper portion  811 , and the pivoting hinge  812  are also used to cause and control motion of the manipulator  806 . 
     The manipulator  806  is connected to and supported by the lower portion  810  of the split tailgate. In the illustrated example, the manipulator includes actuated joints  832  such as translational and/or rotational joints that allow motion of the manipulator  806 . The manipulator  806  may also be configured to rotate into the interior of the vehicle  800  when it is not in use, to allow the lower portion  810  to move to the closed position ( FIG.  8   ). The manipulator  806  includes multiple arm portions  830 , and the actuated joints  832  include rotational joints that interconnect the arm portions  830 . The manipulator  806  also includes an end effector  834  that is configured to pick up and release objects. As an example, the end effector  834  of the manipulator  806  may be a mechanical gripper that includes jaws that move between clamped and unclamped positions, an electromagnetic gripper that can be switched between energized and deenergized states, or a pneumatic (i.e., suction) gripper that may be switched between a first state in which suction is applied and a second state in which suction is released. The end effector  834  may be located at an outer end of the manipulator  806 , and may be connected to one of the arm portions  830  or to one of the actuated joints  832 . 
     During movement of the manipulator  806  (e.g., to position the end effector  834  with respect to an object or to move an object) while the lower portion  810  is in the open position ( FIG.  9   ), the position of the lower portion  810  can be controlled by pivoting it around the pivoting hinge  812 . This allows the position of the manipulator  806  to be changed relative to the vehicle body  802 , thereby providing an additional axis of motion with respect to which the position of the manipulator  806  and the end effector  834  may be controlled. 
       FIG.  10    is a cross-section illustration that shows a vehicle  1000  that has a vehicle body  1002  and a manipulator  1006  in a first configuration. The vehicle  1000  is similar to the vehicle  100  except as otherwise described herein.  FIG.  11    is a cross-section illustration that shows the manipulator  1006  in an intermediate configuration.  FIG.  12    is a cross-section illustration that shows the manipulator  1006  in a second configuration. 
     The vehicle  1000  includes a first mounting structure  1040  and a second mounting structure  1041 . The first mounting structure  1040  and the second mounting structure  1041  are each connected to the vehicle body  1002 . In the illustrated example, vehicle body  1002  includes a first opening  1008  and a second opening  1009  (e.g., door openings). The first mounting structure  1040  is positioned adjacent to the first opening  1008  and the second mounting structure  1041  is positioned adjacent to the second opening  1009 . 
     The vehicle  1000  includes a manipulator  1006 . The manipulator  1006  may include one or more arm portions  1030 , one or more actuated joints  1032  that interconnect the arm portions  1030 , a first end effector  1034 , and a second end effector  1035 . 
     The first end effector  1034  and the second end effector  1035  are configured to pick up and release objects. As an example, first end effector  1034  and the second end effector  1035  of the manipulator  1006  may each be a mechanical gripper that includes jaws that move between clamped and unclamped positions, an electromagnetic gripper that can be switched between energized and deenergized states, or a pneumatic (i.e., suction) gripper that may be switched between a first state in which suction is applied and a second state in which suction is released. The first end effector  1034  and the second end effector  1035  are each located at an outer end of the manipulator  1006 , and may be connected to one of the arm portions  230  or to one of the actuated joints  232 . Thus, the first end effector  1034  and the second end effector  1035  are located at opposite ends of the manipulator  1006 . 
     The first end effector  1034  and the second end effector  1035  are each configured to be connected to one of the first mounting structure  1040  or the second mounting structure  1041 . This allows the manipulator  1006  to move between a first configuration and a second configuration. 
     As one example, in an implementation in which the first end effector  1034  and the second end effector  1035  are mechanical grippers, the first mounting structure  1040  and the second mounting structure  1041  may each be structures that are configured to be securely grasped by mechanical grippers. As another example, in an implementation in which the first end effector  1034  and the second end effector  1035  are electromagnetic grippers, the first mounting structure  1040  and the second mounting structure  1041  may each be ferromagnetic structures that are configured to allow a secure connection by establishing an electromagnetic attraction force with respect to the electromagnetic grippers. As another example, in an implementation in which the first end effector  1034  and the second end effector  1035  are pneumatic grippers, the first mounting structure  1040  and the second mounting structure  1041  may each be structures that are configured to be securely grasped by pneumatic grippers, for example, by including surfaces on which suction forces can be developed by the pneumatic grippers. 
     In the first configuration ( FIG.  10   ), the first end effector  1034  is connected to the first mounting structure  1040  and the second end effector  1035  is able to pick up and release objects. To move from the first configuration to the second configuration, the manipulator moves to an intermediate configuration ( FIG.  11   ) in which the first end effector  1034  remains connected to the first mounting structure  1040 , and the second end effector  1035  is moved into a connected position with respect to the second mounting structure  1041 . The first end effector  1034  then disconnects from the first mounting structure  1040  to define the second configuration. In the second configuration, the second end effector  1035  is connected to the second mounting structure  1041  and the first end effector  1034  is able to pick up and release the objects. 
     As an example, in the first configuration, the manipulator  1006  may be connected to the first mounting structure  1040  using the first end effector  1034  so that it is able to extend out of the first opening  1008  and grasp objects using the second end effector  1035 . In the second configuration, the manipulator  1006  may be connected to the second mounting structure  1041  using the second end effector  1035  so that it is able to extend out of the second opening  1009  and grasp objects using the first end effector  1034 . 
       FIG.  13    is an illustration that shows an example of a hardware configuration for a computing device that can be used to implement the systems described herein, such as controllers that are operable to guide operation of manipulators based on commands and sensor signals. The computing device  1360  may include a processor  1361 , a memory  1362 , a storage device  1363 , one or more input devices  1364 , and one or more output devices  1365 . The computing device  1360  may include a bus  1366  or a similar device to interconnect the components for communication. The processor  1361  is operable to execute computer program instructions and perform operations described by the computer program instructions. As an example, the processor  1361  may be a conventional device such as a central processing unit. The memory  1362  may be a volatile, high-speed, short-term information storage device such as a random-access memory module. The storage device  1363  may be a non-volatile information storage device such as a hard drive or a solid-state drive. The input devices  1364  may include any type of human-machine interface such as buttons, switches, a keyboard, a mouse, a touchscreen input device, a gestural input device, or an audio input device. The output devices  1365  may include any type of device operable to provide an indication to a user regarding an operating state, such as a display screen or an audio output. 
     As described above, one aspect of the present technology is the gathering and use of data available from various sources to move objects into and out of vehicles. The present disclosure contemplates that in some instances, this gathered data may include personal information data that uniquely identifies or can be used to contact or locate a specific person. Such personal information data can include demographic data, location-based data, telephone numbers, email addresses, twitter ID’s, home addresses, data or records relating to a user’s health or level of fitness (e.g., vital signs measurements, medication information, exercise information), date of birth, or any other identifying or personal information. 
     The present disclosure recognizes that the use of such personal information data, in the present technology, can be used to the benefit of users. For example, the personal information data can be used to deliver an object to a user. Further, other uses for personal information data that benefit the user are also contemplated by the present disclosure. For instance, health and fitness data may be used to provide insights into a user’s general wellness, or may be used as positive feedback to individuals using technology to pursue wellness goals. 
     The present disclosure contemplates that the entities responsible for the collection, analysis, disclosure, transfer, storage, or other use of such personal information data will comply with well-established privacy policies and/or privacy practices. In particular, such entities should implement and consistently use privacy policies and practices that are generally recognized as meeting or exceeding industry or governmental requirements for maintaining personal information data private and secure. Such policies should be easily accessible by users, and should be updated as the collection and/or use of data changes. Personal information from users should be collected for legitimate and reasonable uses of the entity and not shared or sold outside of those legitimate uses. Further, such collection/sharing should occur after receiving the informed consent of the users. Additionally, such entities should consider taking any needed steps for safeguarding and securing access to such personal information data and ensuring that others with access to the personal information data adhere to their privacy policies and procedures. Further, such entities can subject themselves to evaluation by third parties to certify their adherence to widely accepted privacy policies and practices. In addition, policies and practices should be adapted for the particular types of personal information data being collected and/or accessed and adapted to applicable laws and standards, including jurisdiction-specific considerations. For instance, in the US, collection of or access to certain health data may be governed by federal and/or state laws, such as the Health Insurance Portability and Accountability Act (HIPAA); whereas health data in other countries may be subject to other regulations and policies and should be handled accordingly. Hence different privacy practices should be maintained for different personal data types in each country. 
     Despite the foregoing, the present disclosure also contemplates embodiments in which users selectively block the use of, or access to, personal information data. That is, the present disclosure contemplates that hardware and/or software elements can be provided to prevent or block access to such personal information data. For example, in the case of package delivery services, the present technology can be configured to allow users to select to “opt in” or “opt out” of participation in the collection of personal information data during registration for services or anytime thereafter. In another example, users can select not to provide certain types of personal information for package delivery services. In yet another example, users can select to limit the length of that personal information is maintained or entirely prohibit the collection and/or storage of personal information. In addition to providing “opt in” and “opt out” options, the present disclosure contemplates providing notifications relating to the access or use of personal information. For instance, a user may be notified upon downloading an app that their personal information data will be accessed and then reminded again just before personal information data is accessed by the app. 
     Moreover, it is the intent of the present disclosure that personal information data should be managed and handled in a way to minimize risks of unintentional or unauthorized access or use. Risk can be minimized by limiting the collection of data and deleting data once it is no longer needed. In addition, and when applicable, including in certain health related applications, data de-identification can be used to protect a user’s privacy. De-identification may be facilitated, when appropriate, by removing specific identifiers (e.g., date of birth, etc.), controlling the amount or specificity of data stored (e.g., collecting location data a city level rather than at an address level), controlling how data is stored (e.g., aggregating data across users), and/or other methods. 
     Therefore, although the present disclosure broadly covers use of personal information data to implement one or more various disclosed embodiments, the present disclosure also contemplates that the various embodiments can also be implemented without the need for accessing such personal information data. That is, the various embodiments of the present technology are not rendered inoperable due to the lack of all or a portion of such personal information data. For example, objects can be loaded into a vehicle through a manually-initiated process.

Metadata:
Filing Date: 20191217
Publication Date: 20230912
Grant Date: 20230912
Priority Date: 20190131
Inventors: LYNCH, STEPHEN B.
Assignee: APPLE INC
CPC Classifications: [{"code": "B25J9/1694", "inventive": true, "first": true, "tree": "[]"}, {"code": "B25J5/007", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60P3/007", "inventive": true, "first": false, "tree": "[]"}, {"code": "B25J9/162", "inventive": true, "first": true, "tree": "[]"}, {"code": "G05B2219/40298", "inventive": false, "first": false, "tree": "[]"}, {"code": "B25J11/00", "inventive": true, "first": false, "tree": "[]"}, {"code": "B25J15/00", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60P1/54", "inventive": true, "first": false, "tree": "[]"}, {"code": "B25J9/1694", "inventive": true, "first": true, "tree": "[]"}, {"code": "B25J5/007", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60P3/007", "inventive": true, "first": false, "tree": "[]"}]
Family ID: 87933188