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WO2025179405A1 - Véhicule équipé d'un récepteur destiné à recevoir des données en provenance de l'émetteur d'un connecteur de véhicule pour la commande d'un manipulateur d'objet - Google Patents

Véhicule équipé d'un récepteur destiné à recevoir des données en provenance de l'émetteur d'un connecteur de véhicule pour la commande d'un manipulateur d'objet

Info

Publication number
WO2025179405A1
WO2025179405A1 PCT/CA2025/050289 CA2025050289W WO2025179405A1 WO 2025179405 A1 WO2025179405 A1 WO 2025179405A1 CA 2025050289 W CA2025050289 W CA 2025050289W WO 2025179405 A1 WO2025179405 A1 WO 2025179405A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
counterpart
connector
controller
data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CA2025/050289
Other languages
English (en)
Inventor
Brian LAYFIELD
Brian Fan
Brian Quinn Kettlewell
Josip BALABAN
Karan SETHY
Edward Joseph Ecclestone
Wenqi Xie
Mohammad Mustafa SAJJAD
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Electrans Technologies Ltd
Original Assignee
Electrans Technologies Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Electrans Technologies Ltd filed Critical Electrans Technologies Ltd
Publication of WO2025179405A1 publication Critical patent/WO2025179405A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/01—Traction couplings or hitches characterised by their type
    • B60D1/015—Fifth wheel couplings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/58—Auxiliary devices
    • B60D1/62—Auxiliary devices involving supply lines, electric circuits, or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D53/00—Tractor-trailer combinations; Road trains
    • B62D53/04—Tractor-trailer combinations; Road trains comprising a vehicle carrying an essential part of the other vehicle's load by having supporting means for the front or rear part of the other vehicle
    • B62D53/08—Fifth wheel traction couplings
    • B62D53/12—Fifth wheel traction couplings engaging automatically
    • B62D53/125—Fifth wheel traction couplings engaging automatically with simultaneous coupling of the service lines

Definitions

  • This disclosure relates generally to the road transportation industry. More specifically, the disclosure is directed at an automated connection between a vehicle and a vehicle connector.
  • pneumatic gas and electrical connections between the towing vehicle and the trailer are to be established for the pneumatic gas system and the electrical system of the trailer, for example, service brakes, parking brakes, the ABS brakes, and turn signals.
  • establishment of such connections are done manually, wherein an operator of the towing vehicle exits the vehicle to connect the gas and electrical lines from the towing vehicle to the trailer.
  • a system comprising: a vehicle connector, comprising: a vehicle connector-defined connection counterpart; and a transmitter, configured to transmit data representative of information related to the vehicle connector; a vehicle, comprising: a vehicle-defined connection counterpart; a receiver, configured to receive the data from the transmitter and process the received data, such that processed data is generated; and an apparatus, comprising: a controller, operably coupled to the receiver for receiving the processed data; and an object manipulator, operably coupled to the controller, and releasably coupled with the vehicle-defined connection counterpart; wherein: the controller is configured to control the object manipulator to displace the vehicle-defined connection counterpart; the vehicle and the vehicle connector are co-operatively configured such that: in response to receiving of the data by the receiver from the transmitter, the received data is processed by the receiver to generate the processed data, and the processed data is communicated to the controller; and the controlling of the object manipulator, by the controller, is based at least in part on the processed data.
  • a kit for modifying a vehicle and a vehicle connector comprising: vehicle adaptor components comprising: a vehicle-defined connection counterpart; a receiver; and an apparatus, comprising: a controller, configured to be operably coupled to the receiver such that the receiver and the controller are disposed in communication; and an object manipulator, configured to be operably coupled to the controller, and configured to be releasably coupled with the vehicle-defined connection counterpart; vehicle connector adaptor components comprising: a vehicle connector-defined connection counterpart; and a transmitter; wherein: while: (i) the vehicle adaptor components are installed on the vehicle, with effect that a modified vehicle is established, such that the modified vehicle includes the vehicle-defined connection counterpart, the receiver, and the apparatus, wherein the controller is operably coupled to the receiver, and the object manipulator is operably coupled to the controller and releasably coupled with the vehicle-defined connection counterpart, and (ii) the vehicle connector adaptor components are installed on the vehicle connector, with effect that a modified vehicle connector is established
  • a vehicle comprising: a vehicle-defined connection counterpart; a receiver; and an apparatus, comprising: a controller, operably coupled to the receiver such that the receiver and the controller are disposed in communication; and an object manipulator, operably coupled to the controller, and releasably coupled with the vehicle-defined connection counterpart; wherein: the controller is configured to control the object manipulator to displace the vehicle-defined connection counterpart; the vehicle is configured to co-operate with a vehicle connector, the vehicle connector comprising a vehicle connector-defined connection counterpart, and a transmitter, configured to transmit data representative of information related to the vehicle connector; and the co-operation of the vehicle with the vehicle connector is such that: in response to receiving of the data by the receiver from the transmitter, the received data is processed by the receiver to generate processed data, and the processed data is communicated to the controller; and the controlling of the object manipulator, by the controller, is based at least in part on the processed data.
  • a kit for modifying a vehicle comprising: vehicle adaptor components comprising: a vehicle-defined connection counterpart; a receiver; and an apparatus, comprising: a controller, configured to be operably coupled to the receiver such that the receiver and the controller are disposed in communication; and an object manipulator, configured to be operably coupled to the controller, and configured to be releasably coupled with the vehicle-defined connection counterpart; wherein: while the vehicle adaptor components are installed on the vehicle, with effect that a modified vehicle is established, such that the modified vehicle includes the vehicle-defined connection counterpart, the receiver, and the apparatus, wherein the controller is operably coupled to the receiver, and the object manipulator is operably coupled to the controller and releasably coupled with the vehicle-defined connection counterpart; the controller is configured to control the object manipulator to displace the vehicle- defined connection counterpart; the modified vehicle is configured to co-operate with a vehicle connector, the vehicle connector comprising a vehicle connector-defined connection counterpart, and a transmitter, configured to transmit
  • a vehicle connector comprising: a vehicle connector-defined connection counterpart; and a transmitter, configured to transmit data representative of information related to the vehicle connector; wherein: the vehicle connector is configured to co-operate with a vehicle, the vehicle comprising: a vehicle-defined connection counterpart; a receiver, configured to receive the data from the transmitter and process the received data, such that processed data is generated; and an apparatus, comprising: a controller, operably coupled to the receiver for receiving the processed data; and an object manipulator, operably coupled to the controller, and releasably coupled with the vehicle-defined connection counterpart; wherein the controller is configured to control the object manipulator to displace the vehicle-defined connection counterpart; the co-operation of the vehicle connector with the vehicle is such that: in response to receiving of the data by the receiver from the transmitter, the received data is processed by the receiver to generate the processed data, and the processed data is communicated to the controller; and the controlling of the object manipulator, by the controller, is based at least in part on the processed data
  • a kit for modifying a vehicle connector comprising: vehicle connector adaptor components comprising: a vehicle connector-defined connection counterpart; and a transmitter; wherein: while the vehicle connector adaptor components are installed on the vehicle connector, with effect that a modified vehicle connector is established, such that the modified vehicle connector includes the vehicle connector-defined connection counterpart and the transmitter, the transmitter configured to transmit data representative of information related to the modified vehicle connector: the modified vehicle connector is configured to co-operate with a vehicle, the vehicle comprising: a vehicle-defined connection counterpart; a receiver, configured to receive the data from the transmitter and process the received data, such that processed data is generated; and an apparatus, comprising: a controller, operably coupled to the receiver for receiving the processed data; and an object manipulator, operably coupled to the controller, and releasably coupled with the vehicle-defined connection counterpart; wherein the controller is configured to control the object manipulator to displace the vehicle-defined connection counterpart; the co-operation of the modified vehicle connector with the vehicle is such that: in
  • a system comprising: a vehicle connector, comprising: a transmitter, configured to transmit data representative of information related to the vehicle connector; a vehicle, comprising: a vehicle-defined connection counterpart; a receiver, configured to receive the data from the transmitter and process the received data, such that processed data is generated; and an apparatus, comprising: a controller, operably coupled to the receiver for receiving the processed data; and an object manipulator, operably coupled to the controller, and releasably coupled with the vehicle-defined connection counterpart; wherein: the controller is configured to control the object manipulator to displace the vehicle-defined connection counterpart; the vehicle and the vehicle connector are co-operatively configured such that: in response to receiving of the data by the receiver from the transmitter, the received data is processed by the receiver to generate the processed data, and the processed data is communicated to the controller; and the controlling of the object manipulator, by the controller, is based at least in part on the processed data.
  • a kit for modifying a vehicle and a vehicle connector comprising: vehicle adaptor components comprising: a vehicle-defined connection counterpart; a receiver; and an apparatus, comprising: a controller, configured to be operably coupled to the receiver such that the receiver and the controller are disposed in communication; and an object manipulator, configured to be operably coupled to the controller, and configured to be releasably coupled with the vehicle-defined connection counterpart; vehicle connector adaptor components comprising: a transmitter; wherein: while: (i) the vehicle adaptor components are installed on the vehicle, with effect that a modified vehicle is established, such that the modified vehicle includes the vehicle-defined connection counterpart, the receiver, and the apparatus, wherein the controller is operably coupled to the receiver, and the object manipulator is operably coupled to the controller and releasably coupled with the vehicle-defined connection counterpart, and (ii) the vehicle connector adaptor components are installed on the vehicle connector, with effect that a modified vehicle connector is established, such that the modified vehicle connector includes the transmitter
  • a vehicle comprising: a vehicle-defined connection counterpart; a receiver; and an apparatus, comprising: a controller, operably coupled to the receiver such that the receiver and the controller are disposed in communication; and an object manipulator, operably coupled to the controller, and releasably coupled with the vehicle-defined connection counterpart; wherein: the controller is configured to control the object manipulator to displace the vehicle-defined connection counterpart; the vehicle is configured to co-operate with a vehicle connector, the vehicle connector comprising a transmitter, configured to transmit data representative of information related to the vehicle connector; and the co-operation of the vehicle with the vehicle connector is such that: in response to receiving of the data by the receiver from the transmitter, the received data is processed by the receiver to generate processed data, and the processed data is communicated to the controller; and the controlling of the object manipulator, by the controller, is based at least in part on the processed data.
  • a kit for modifying a vehicle comprising: vehicle adaptor components comprising: a vehicle-defined connection counterpart; a receiver; and an apparatus, comprising: a controller, configured to be operably coupled to the receiver such that the receiver and the controller are disposed in communication; and an object manipulator, configured to be operably coupled to the controller, and configured to be releasably coupled with the vehicle-defined connection counterpart; wherein: while the vehicle adaptor components are installed on the vehicle, with effect that a modified vehicle is established, such that the modified vehicle includes the vehicle-defined connection counterpart, the receiver, and the apparatus, wherein the controller is operably coupled to the receiver, and the object manipulator is operably coupled to the controller and releasably coupled with the vehicle-defined connection counterpart; the controller is configured to control the object manipulator to displace the vehicle- defined connection counterpart; the modified vehicle is configured to co-operate with a vehicle connector, the vehicle connector comprising a transmitter, configured to transmit data representative of information related to the vehicle connector;
  • a vehicle connector comprising: a transmitter, configured to transmit data representative of information related to the vehicle connector; wherein: the vehicle connector is configured to co-operate with a vehicle, the vehicle comprising: a vehicle-defined connection counterpart; a receiver, configured to receive the data from the transmitter and process the received data, such that processed data is generated; and an apparatus, comprising: a controller, operably coupled to the receiver for receiving the processed data; and an object manipulator, operably coupled to the controller, and releasably coupled with the vehicle-defined connection counterpart; wherein the controller is configured to control the object manipulator to displace the vehicle-defined connection counterpart; the cooperation of the vehicle connector with the vehicle is such that: in response to receiving of the data by the receiver from the transmitter, the received data is processed by the receiver to generate the processed data, and the processed data is communicated to the controller; and the controlling of the object manipulator, by the controller, is based at least in part on the processed data.
  • a kit for modifying a vehicle connector comprising: vehicle connector adaptor components comprising: a transmitter; wherein: while the vehicle connector adaptor components are installed on the vehicle connector, with effect that a modified vehicle connector is established, such that the modified vehicle connector includes the transmitter, the transmitter configured to transmit data representative of information related to the modified vehicle connector: the modified vehicle connector is configured to co-operate with a vehicle, the vehicle comprising: a vehicle-defined connection counterpart; a receiver, configured to receive the data from the transmitter and process the received data, such that processed data is generated; and an apparatus, comprising: a controller, operably coupled to the receiver for receiving the processed data; and an object manipulator, operably coupled to the controller, and releasably coupled with the vehicle-defined connection counterpart; wherein the controller is configured to control the object manipulator to displace the vehicle-defined connection counterpart; the co-operation of the modified vehicle connector with the vehicle is such that: in response to receiving of the data by the receiver from the transmitter, the received data is processed
  • Figure 1 is a perspective view of an example embodiment of an object manipulator of a connection apparatus, mounted to a vehicle that is connected to a vehicle connector, the vehicle being a towing vehicle and the vehicle connector being a trailer;
  • Figure 2 is a perspective view of a first adapter counterpart of an adapter
  • Figure 3 is a perspective view of the first adapter counterpart of Figure 2, wherein an upper portion of the housing is removed;
  • Figure 4 is a rear perspective view of the first adapter counterpart of Figure 2;
  • Figure 5 is a perspective view of a second adapter counterpart of an adapter
  • Figure 6 is a front elevation view of the second adapter counterpart of Figure 5;
  • Figure 7 is a perspective view of the second adapter counterpart of Figure 5 and a counterpart housing
  • Figure 8 is a perspective view of the second adapter counterpart and counterpart housing of Figure 7, the frame including a cover;
  • Figure 9 is a rear perspective view of the second adapter counterpart and counterpart housing of Figure 8.
  • Figure 10 is a cross-sectional view of the second adapter counterpart and counterpart housing of Figure 8, with the cover disposed in a closed configuration;
  • Figure 11 is a cross-sectional view of the second adapter counterpart and counterpart housing of Figure 8, with the cover disposed in an open configuration;
  • Figure 12 is a perspective view of the first adapter counterpart of Figure 2 and the second adapter counterpart of Figure 5 disposed in an operable communication-effectible alignment;
  • Figure 12A is a schematic of the first adapter counterpart and the second adapter counterpart of Figure 2, wherein there is an absence of connection between the first and second adapter counterparts;
  • Figure 12B is a schematic of the first adapter counterpart and the second adapter counterpart of Figure 2, wherein the first and second adapter counterparts are connected;
  • Figure 13 is a block diagram of an example embodiment of a connection apparatus
  • Figure 14 is a perspective view of the first adapter counterpart of Figure 2, the second adapter counterpart of Figure 5, the counterpart housing of Figure 7, and a coupler of the object manipulator of Figure 1 , disposed in alignment;
  • Figure 15 is a perspective view of the first adapter counterpart of Figure 2, the second adapter counterpart of Figure 5, and the coupler of Figure 14, disposed in alignment;
  • Figure 16 is a perspective view of the first adapter counterpart, the second adapter counterpart, and the coupler of Figure 15, wherein the coupler is connected to the first adapter counterpart, and the first adapter counterpart is connected to the second adapter counterpart;
  • Figure 17 is a top perspective view of the first adapter counterpart, the second adapter counterpart, and the coupler of Figure 15, wherein the coupler is connected to the first adapter counterpart and disposed in a relative movement interference relationship, and there is an absence of connection between the first adapter counterpart and the second adapter counterpart;
  • Figure 18 is a top perspective view of the first adapter counterpart, the second adapter counterpart, and the coupler of Figure 15, wherein the coupler is connected to the first adapter counterpart and disposed in a relative movement interference relationship, and the first adapter counterpart is connected to the second adapter counterpart and disposed in a relative movement effectible relationship;
  • Figure 19 is a top perspective view of the first adapter counterpart, the second adapter counterpart, and the coupler of Figure 15, wherein the coupler is connected to the first adapter counterpart and disposed in a relative movement effectible relationship, and the first adapter counterpart is connected to the second adapter counterpart and disposed in a relative movement interference relationship;
  • Figure 20 is a top perspective view of the first adapter counterpart, the second adapter counterpart, and the coupler of Figure 15, wherein the first adapter counterpart is connected to the second adapter counterpart and disposed in a relative movement interference relationship, and there is an absence of connection between the coupler and the first adapter counterpart;
  • Figure 21 is a top elevation view of the coupler and the first adapter counterpart of Figure 15, wherein the coupler is connected to the first adapter counterpart and disposed in a relative movement interference relationship;
  • Figure 22 is a bottom elevation view of the coupler and the first adapter counterpart of Figure 15, wherein the coupler is connected to the first adapter counterpart and disposed in a relative movement interference relationship;
  • Figure 23 is a top elevation view of the coupler of Figure 15, wherein the retaining member actuator of the coupler is disposed in a first actuating configuration;
  • Figure 24 is a top elevation view of the coupler of Figure 15, wherein the retaining member actuator of the coupler is disposed in a second actuating configuration;
  • Figure 25 is a bottom elevation view of the coupler of Figure 15, wherein the retaining member actuator of the coupler is disposed in the second actuating configuration;
  • Figure 26 is a bottom elevation view of the first adapter counterpart of Figure 15, wherein the retaining member configuration is disposed in a first retaining configuration;
  • Figure 27 is a bottom elevation view of the first adapter counterpart of Figure 15, wherein the retaining member configuration is disposed in a second retaining configuration;
  • Figure 28 is a bottom elevation view of the first adapter counterpart of Figure 15, wherein the retaining member configuration is disposed in the first retaining configuration, and the housing of the first adapter counterpart is removed;
  • Figure 29 is a bottom elevation view of the first adapter counterpart of Figure 15, wherein the retaining member configuration is disposed in the second retaining configuration, and the housing of the first adapter counterpart is removed;
  • Figure 30 is a perspective view of the object manipulator of Figure 1 , mounted to a towing vehicle that is connected to a trailer, wherein the towing vehicle and trailer are misaligned, and the object manipulator is disposed in a manipulator retracted configuration;
  • Figure 31 is a schematic of the bottom of the trailer of Figure 30;
  • Figure 32 is a cross-sectional view of the object manipulator, towing vehicle, and trailer of Figure 30;
  • Figure 33 is a perspective view of the object manipulator, towing vehicle, and trailer of Figure 30, the object manipulator is disposed in a manipulator extended configuration;
  • Figure 34A is a schematic of the first adapter counterpart of Figure 2 and the second adapter counterpart of Figure 5, while the object manipulator is disposed in the manipulator retracted configuration;
  • Figure 34B is a schematic of the first adapter counterpart of Figure 2 and the second adapter counterpart of Figure 5, while the object manipulator is disposed in the manipulator extended configuration;
  • Figure 35 is a cross-sectional view of the object manipulator, towing vehicle, and trailer of Figure 33;
  • Figure 36 is a perspective view of the object manipulator, towing vehicle, and trailer of Figure 33, wherein an end effector alignment effector of the object manipulator is disposed in an alignment effector extended configuration;
  • Figure 37 is a perspective view of the object manipulator, towing vehicle, and trailer of Figure 36, wherein an end effector of the end effector alignment effector is disposed in an end effector alignment-ready configuration;
  • Figure 38 is a perspective view of the object manipulator, towing vehicle, and trailer of Figure 37, wherein the end effector of the end effector alignment effector is disposed in an end effector alignment-effective configuration;
  • Figure 39 is a top elevation view of the object manipulator, towing vehicle, and trailer of Figure 38, with a portion of the trailer removed to depict the subfloor of the trailer and the second adapter counterpart;
  • Figure 40 is a schematic of the object manipulator and trailer of Figure 38, depicting the end effector disposed in the end effector alignment-ready configuration and also disposed in the end effector alignment-effective configuration;
  • Figure 41 is a perspective view of the object manipulator, towing vehicle, and trailer of Figure 38, wherein a coupler of the end effector is disposed in a coupler extended configuration;
  • Figure 42 is a perspective view of the object manipulator, towing vehicle, and trailer of Figure 41, wherein the first adapter counterpart and the second adapter counterpart are disposed in operable communication, and the coupler of the end effector is disposed in a coupler retracted configuration;
  • Figure 43 is a perspective view of the object manipulator, towing vehicle, and trailer of Figure 42, wherein the end effector is disposed in the end effector alignment-ready configuration;
  • Figure 44 is a perspective view of the object manipulator, towing vehicle, and trailer of Figure 43, wherein the end effector is disposed in the end effector retracted configuration;
  • Figure 45 is a perspective view of the object manipulator, towing vehicle, and trailer of Figure 44, wherein the end effector alignment effector is disposed in the alignment effector retracted configuration;
  • Figure 46 is a perspective view of the object manipulator, towing vehicle, and trailer of Figure 45, wherein the object manipulator is disposed in the manipulator retracted configuration;
  • Figure 47 is a cross-sectional view of the object manipulator, towing vehicle, and trailer, of Figure 46, taken along line 47-47 of Figure 46;
  • Figure 48 is a perspective view of the object manipulator of Figure 1 ;
  • Figure 49 is a bottom perspective view of the object manipulator of Figure 1 ;
  • Figure 50 is a perspective view of the end effector alignment effector of the object manipulator of Figure 1 ;
  • Figure 51 is a top elevation view of the mounting plate of the end effector supported by an end effector supporter of the end effector alignment effector of Figure 50, wherein the mounting plate is disposed at the center of the curved guide;
  • Figure 52 is a top elevation view of the mounting plate of the end effector and the end effector supporter of Figure 51 , wherein the mounting plate is disposed to the left of the center of the curved guide;
  • Figure 53 is a top elevation view of the mounting plate of the end effector and the end effector supporter of Figure 51 , wherein the mounting plate is disposed to the right of the center of the curved guide;
  • Figure 54 is a perspective view of the end effector supporter of the end effector alignment effector of the object manipulator of Figure 1 ;
  • Figure 55 is a perspective view of the displacement guiding configuration of the end effector supporter of Figure 54;
  • Figure 56 is a top elevation view of the displacement guiding configuration of Figure 55;
  • Figure 57 is a bottom perspective view of the mounting plate of the end effector of the object manipulator of Figure 1 ;
  • Figure 58 is a perspective view of the mounting plate of the end effector supported on the curved guide of the end effector alignment effector of the object manipulator of Figure 1 ;
  • Figure 59 is a top elevation view of a portion of the mounting plate of the end effector and the curved guide of the end effector alignment effector of the object manipulator of Figure 1 ;
  • Figure 60 is a top elevation view of the mounting plate of the end effector and the curved guide of the end effector alignment effector of the object manipulator of Figure 1
  • Figure 61 is a perspective view of an end effector of the end effector alignment effector of the object manipulator of Figure 1, the end effector connected to the first adapter counterpart of Figure 2 and disposed in an end effector retracted configuration;
  • Figure 62 is a perspective view of the end effector of Figure 61 , the end effector disposed in an end effector alignment-ready configuration;
  • Figure 63 is a perspective view of the end effector of Figure 62, the coupler disposed in a coupler extended configuration
  • Figure 64 is a perspective view of the object manipulator of Figure 1 , without the coupler supporter and mounting plate, mounted on the towing vehicle;
  • Figure 65 is a top elevation view of the object manipulator and towing vehicle of Figure 64;
  • Figure 66 is a top elevation view of a towing vehicle connected to a trailer, with the object manipulator of Figure 1 mounted to the towing vehicle;
  • Figure 67 is a perspective view of an example embodiment of the vehicle connector, the vehicle connector being a charging dock;
  • Figure 68 is a perspective view of the charging dock of Figure 67 coupled to the vehicle of Figure 1 , wherein there is an absence of connection between the first adapter counterpart and the second adapter counterpart, and the object manipulator is disposed in the manipulator retracted configuration;
  • Figure 69 is a perspective view of the charging dock and vehicle of Figure 68, wherein the first adapter counterpart and the second adapter counterpart are connected, and the object manipulator is disposed in the manipulator retracted configuration;
  • Figure 70 is a schematic of an example embodiment of the vehicle and the vehicle connector, the vehicle comprising a receiver and the vehicle connector comprising a transmitter;
  • Figure 71 is a front elevation view of the vehicle connector of Figure 70;
  • Figure 72 is a schematic of a side elevation view of the vehicle and the vehicle connector of Figure 70;
  • Figure 73 is a block diagram of the vehicle of Figure 70;
  • Figure 74 is a block diagram of the vehicle connector of Figure 70;
  • Figure 75 is a block diagram of an example embodiment of the data that is transmissible by the transmitter of the vehicle connector of Figure 70;
  • Figure 76 is a process flow chart for the decision process of connecting the first adapter counterpart of the vehicle of Figure 70 and the second adapter counterpart of the vehicle connector of Figure 70.
  • an apparatus 100 configured to effectuate an automated connection between a vehicle 13 and a vehicle connector 12 or counterpart-disposed configuration 12, wherein the vehicle 13 includes a vehicle-defined connection counterpart 302, and the counterpart-disposed configuration 12 includes a configuration-defined connection counterpart 350.
  • the vehicle 13 is a towing vehicle, a car, a van, a truck, and the like.
  • the counterpart-disposed configuration 12 is a trailer 12.
  • the counterpart-disposed configuration is a trailer 12.
  • the apparatus 100 is configured to effectuate an automated connection between a vehicle connector 12 and another vehicle connector 12 (e.g. a trailer to another trailer).
  • the establishing of the connection between the vehicle-defined connection counterpart 302 and the configuration-defined connection counterpart 350 is with effect that communication between the vehicle 13 and the counterpart-disposed configuration 12 is established.
  • the establishment of the communication between the vehicle 13 and the counterpart-disposed configuration 12 is for actuating an operation of the counterpart-disposed configuration 12, and for controlling said actuation of the operation of the counterpart-disposed configuration 12.
  • the counterpart-disposed configuration 12 is for replenishing an energy storage device of the vehicle 13 via an energy source of the counterpart-disposed configuration 12.
  • Figure 1 depicts a towing vehicle 13 that is coupled to a trailer 12.
  • the towing vehicle 13 is configured to tow the trailer 12.
  • the towing vehicle 13 is a tractor, a yard shifter, or a converter dolly.
  • the towing vehicle 13 is an autonomous vehicle, such as an autonomous tractor, yard shifter, or converter dolly.
  • the towing vehicle 13 includes a fifth wheel coupling 15, configured for receiving, for example, slidably receiving, and coupling with a corresponding fifth wheel guiding counterpart or locking pin, or kingpin 14 that extends from a downward-facing surface 50 or a bottom surface 50 of the trailer 12, the bottom surface 50 defined, in some embodiments, for example, by a base plate 51 of the trailer 12, which is received within a corresponding slot formed in the coupling plate of the fifth wheel coupling 15, the trailer 12 resting and pivoting on the coupling plate 15 about the kingpin or locking pin 14, such that a fifth wheel coupling relationship is established.
  • a fifth wheel coupling 15 configured for receiving, for example, slidably receiving, and coupling with a corresponding fifth wheel guiding counterpart or locking pin, or kingpin 14 that extends from a downward-facing surface 50 or a bottom surface 50 of the trailer 12, the bottom surface 50 defined, in some embodiments, for example, by a base plate 51 of the trailer 12, which is received within a corresponding slot formed in the coupling plate
  • the towing vehicle 13 and the trailer 12 are coupled, for example, via the co-operative configuration of the kingpin 14 and the fifth wheel 15, the towing vehicle 13 and the trailer 12 become disposed in an interaction-effective configuration, such that respective adapter counterparts 302 and 350 of the towing vehicle 13 and the trailer 12 are disposable in an alignment relationship for connection, for example, via a connection apparatus 100, as described in greater detail herein.
  • the towing vehicle 13 and the trailer 12 are decoupled, the towing vehicle 13 and the trailer 12 become disposed in an interaction-ineffective configuration, such that respective adapter counterparts 302 and 350 of the towing vehicle 13 and the trailer 12 are not connectible via the connection apparatus 100.
  • operable connections for example, fluid, electrical, and data connections are established between the towing vehicle 13 and the trailer 12 for actuating a vehicular operation to operate a towing vehicle 13 to tow a trailer 12.
  • the fluid connection is established to supply fluid energy (e.g. pneumatic gas) from a fluid energy source or fluid energy storage device (e.g. pneumatic gas tank or reservoir) of the towing vehicle 13 to the fluid energy system (e.g. pneumatic gas system) of the trailer 12, which includes actuatable systems, for example, pneumatic gas systems such as the service and parking brakes of the trailer 12.
  • fluid energy e.g. pneumatic gas
  • a fluid energy source or fluid energy storage device e.g. pneumatic gas tank or reservoir
  • the fluid energy system e.g. pneumatic gas system
  • actuatable systems for example, pneumatic gas systems such as the service and parking brakes of the trailer 12.
  • the electrical connection is established to supply electrical energy from an electrical energy source or electrical energy storage device of the towing vehicle 13 to the electrical system of the trailer 12, which includes actuatable systems, for example, the ABS brakes and turn signals of the trailer 12.
  • the data connection is established to establish data communication between the data communication devices of the towing vehicle 13 to the data communication devices of the trailer 12, for controlling the actuation of the fluid system and electrical system of the trailer 12.
  • operable connections for example, fluid, electrical, and data connections are established between the towing vehicle 13 and the trailer 12 for replenishing an energy storage device, energy source, or energy reservoir (e.g. battery, fuel tank, pneumatic gas tank, hydrogen fuel cell, natural gas tank, etc.) of the towing vehicle 13 by an energy storage device, energy source, or energy reservoir (e.g. source of electrical energy, solar panel, generator, fuel such as diesel, pneumatic gas, hydrogen, natural gas, etc.) of the trailer 12.
  • the fluid connection is established to supply fluid energy, such as pneumatic gas or fuel, from a fluid energy source of the fluid system of the trailer 12 (e.g.
  • the electrical connection is established to supply electrical energy from an electrical energy source of the electrical system of the trailer 12 (e.g. battery, generator, solar panel) to the electrical energy storage device of the towing vehicle 13 (e.g. battery).
  • the data connection is established to establish data communication between the data communication devices of the towing vehicle 13 and the data communication devices of the trailer 12, for controlling the replenishing of the energy storage device of the towing vehicle 13 by the energy source of the trailer 12.
  • connection or operable communication e.g. electrical communication, fluid communication or fluid pressure communication or flow communication, data communication, etc.
  • connection or operable communication is established between the towing vehicle 13 and the trailer 12 via connection of the first and second adapter counterparts 302 and 350, such that the fluid system and electrical system of the trailer 12 are actuatable and controllable, for example, by an operator of the towing vehicle 13.
  • connection or operable communication e.g. electrical communication, fluid communication or fluid pressure communication or flow communication, data communication, etc.
  • connection or operable communication e.g. electrical communication, fluid communication or fluid pressure communication or flow communication, data communication, etc.
  • connection or operable communication is established between the towing vehicle 13 and the trailer 12 via connection of the first and second adapter counterparts 302 and 350, such that energy is transferrable from the energy source of the trailer 12 to the energy storage device of the towing vehicle 13, to replenish the energy storage device.
  • connection or operable communication e.g. electrical communication, fluid communication or fluid pressure communication or flow communication, data communication, etc.
  • connection or operable communication e.g. electrical communication, fluid communication or fluid pressure communication or flow communication, data communication, etc.
  • connection or operable communication is established between the towing vehicle 13 and the trailer 12 via connection of the first and second adapter counterparts 302 and 350, such that energy and data are transferrable between the trailer 12 and the towing vehicle 13.
  • the towing vehicle 13 includes a vehicle-defined communicator, towing vehicle- defined communicator, configuration communication, or trailer communicator 120
  • the trailer 12 includes a configuration-defined communicator, trailer-defined communicator, vehicle communicator, or towing vehicle communicator 130.
  • the trailer communicator 120 is compliant with an ISO 13044-2 standard.
  • the trailer communicator 120 includes one or more flexible cables.
  • the towing vehicle communicator 130 is compliant with an ISO 13044-2 standard.
  • the towing vehicle communicator 130 includes one or more flexible cables.
  • the trailer communicator 120 includes a configuration communicator-defined connector counterpart or trailer communicator-defined connector counterpart
  • the towing vehicle communicator 130 includes a vehicle communicator-defined connector counterpart or towing vehicle communicator-defined connector counterpart.
  • the trailer communicator-defined connector counterpart and the towing vehicle communicator-defined connector counterpart are cooperatively configured to effect the coupling of the trailer communicator 120 and the towing vehicle communicator 130 such that the trailer communicator 120 becomes disposed in the coupled relationship with the towing vehicle communicator 130.
  • the trailer communicator-defined connector counterpart and the towing vehicle communicator-defined connector counterpart are co-operatively configured to effect the coupling of the trailer communicator 120 and the towing vehicle communicator 130 such that the trailer communicator 120 becomes disposed in operable communication, for example, fluid communication (for example, fluid pressure communication or flow communication), electrical communication, and data communication, with the towing vehicle communicator 130.
  • operable communication for example, fluid communication (for example, fluid pressure communication or flow communication), electrical communication, and data communication, with the towing vehicle communicator 130.
  • the trailer communicator 120 includes a vehicle defined fluid communication counterpart, towing vehicle defined fluid communication counterpart or a trailer communicator-defined fluid communication counterpart 1206, and the towing vehicle communicator 130 includes a configuration-defined fluid communication counterpart, trailer-defined fluid communication counterpart or a towing vehicle communicator- defined fluid communication counterpart 1306.
  • the trailer communicator-defined fluid communication counterpart 1206 and the towing vehicle communicator-defined fluid communication counterpart 1306 are co-operatively configured to effect fluid communication between the trailer communicator 120 and the towing vehicle communicator 130 such that while the trailer communicator-defined fluid communication counterpart 1206 and the towing vehicle communicator-defined fluid communication counterpart 1306 are disposed in fluid communication, the trailer communicator 120 and the towing vehicle communicator 130 are disposed in fluid communication.
  • the trailer communicator 120 includes a vehicle-defined fluid conductor, towing vehicle-defined fluid conductor or trailer communicator- defined fluid conductor 1202 that is disposed in fluid communication with the trailer communicator-defined fluid communication counterpart 1206, and the towing vehicle communicator 130 includes a configuration-defined fluid conductor, trailer-defined fluid conductor, or towing vehicle communicator-defined fluid conductor 1302 that is disposed in fluid communication with the towing vehicle communicator-defined fluid communication counterpart 1306.
  • the trailer communicator-defined fluid communication counterpart 1206, the towing vehicle communicator-defined fluid communication counterpart 1306, the trailer communicator-defined fluid conductor 1202, and the towing vehicle communicator-defined fluid conductor 1302 are co operatively configured such that while the trailer communicator-defined fluid communication counterpart 1206 and the towing vehicle communicator-defined fluid communication counterpart 1306 are disposed in fluid communication, the trailer communicator-defined fluid conductor 1202 and the towing vehicle communicator-defined fluid conductor 1302 are disposed in fluid communication.
  • the trailer communicator-defined fluid conductor 1202 and the towing vehicle communicator-defined fluid conductor 1302 include pneumatic gas conductors (e.g. gas hoses), and the trailer communicator-defined fluid communication counterpart 1206 and the towing vehicle communicator-defined fluid communication counterpart 1306 include glad hands.
  • the pneumatic gas includes pneumatic air
  • the pneumatic gas conductors include air hoses.
  • the trailer communicator-defined fluid conductor 1202 and the towing vehicle communicator-defined fluid conductor 1302 are configured for conducting diesel and the trailer communicator-defined fluid communication counterpart 1206 and the towing vehicle communicator-defined fluid communication counterpart 1306 are configured to connect the trailer communicator-defined fluid conductor 1202 and the towing vehicle communicator- defined fluid conductor 1302 for conducting diesel.
  • the trailer communicator-defined fluid conductor 1202 and the towing vehicle communicator-defined fluid conductor 1302 are configured for conducting hydrogen
  • the trailer communicator- defined fluid communication counterpart 1206 and the towing vehicle communicator-defined fluid communication counterpart 1306 are configured to connect the trailer communicator- defined fluid conductor 1202 and the towing vehicle communicator-defined fluid conductor 1302 for conducting hydrogen.
  • the trailer communicator-defined fluid conductor 1202 and the towing vehicle communicator-defined fluid conductor 1302 are configured for conducting natural gas
  • the trailer communicator-defined fluid communication counterpart 1206 and the towing vehicle communicator-defined fluid communication counterpart 1306 are configured to connect the trailer communicator-defined fluid conductor 1202 and the towing vehicle communicator-defined fluid conductor 1302 for conducting natural gas.
  • the trailer communicator 120 includes a vehicle defined electrical communication counterpart, towing vehicle defined electrical communication counterpart, or trailer communicator-defined electrical communication counterpart 1208, and the towing vehicle communicator 130 includes a configuration-defined electrical communication counterpart, trailer-defined electrical communication counterpart, or towing vehicle communicator-defined electrical communication counterpart 1308.
  • the trailer communicator-defined electrical communication counterpart 1208 and the towing vehicle communicator-defined electrical communication counterpart 1308 are co-operatively configured to effect electrical communication between the trailer communicator 120 and the towing vehicle communicator 130 such that while the trailer communicator-defined electrical communication counterpart 1208 and the towing vehicle communicator-defined electrical communication counterpart 1308 are disposed in electrical communication, the trailer communicator 120 and the towing vehicle communicator 130 are disposed in electrical communication.
  • the trailer communicator 120 includes a vehicle-defined electrical conductor, towing vehicle-defined electrical conductor or trailer communicator-defined electrical conductor 1204 that is disposed in electrical communication with the trailer communicator-defined electrical communication counterpart 1208, and the towing vehicle communicator 130 includes a configuration-defined electrical conductor, trailer-defined electrical conductor, or towing vehicle communicator-defined electrical conductor 1304 that is disposed in electrical communication with the towing vehicle communicator-defined electrical communication counterpart 1308.
  • the trailer communicator-defined electrical communication counterpart 1208, the towing vehicle communicator-defined electrical communication counterpart 1308, the trailer communicator- defined electrical conductor 1204, and the towing vehicle communicator-defined electrical conductor 1304 are co operatively configured such that while the trailer communicator-defined electrical communication counterpart 1208 and the towing vehicle communicator-defined electrical communication counterpart 1308 are disposed in electrical communication, the trailer communicator-defined electrical conductor 1204 and the towing vehicle communicator-defined electrical conductor 1304 are disposed in electrical communication.
  • the trailer communicator-defined electrical conductor 1204 and the towing vehicle communicator-defined electrical conductor 1304 include electrical conductors (e.g.
  • electrical cables and the trailer communicator-defined electrical communication counterpart 1208 and the towing vehicle communicator-defined electrical communication counterpart 1308 include electrical connectors (e.g. multi-pin electrical connectors, such as 7-pin or 30-pin electrical connectors; fast charge adapter, etc.).
  • electrical connectors e.g. multi-pin electrical connectors, such as 7-pin or 30-pin electrical connectors; fast charge adapter, etc.
  • the trailer communicator 120 includes a vehicle defined data communication counterpart, towing vehicle defined data communication counterpart, or trailer communicator-defined data communication counterpart 1209
  • the towing vehicle communicator 130 includes a configuration-defined data communication counterpart, trailer defined data communication counterpart, or towing vehicle communicator- defined data communication counterpart 1309.
  • the trailer communicator-defined data communication counterpart 1209 and the towing vehicle communicator-defined data communication counterpart 1309 are co-operatively configured to effect data communication between the trailer communicator 120 and the towing vehicle communicator 130, such that while the trailer communicator-defined data communication counterpart 1209 and the towing vehicle communicator-defined data communication counterpart 1309 are disposed in data communication, the trailer communicator 120 and the towing vehicle communicator 130 are disposed in data communication.
  • the trailer communicator 120 includes a vehicle-defined data conductor, towing vehicle-defined data conductor, or trailer communicator- defined data conductor 1205 that is disposed in data communication with the trailer communicator-defined data communication counterpart 1209
  • the towing vehicle communicator 130 includes a configuration-defined data conductor, trailer-defined data conductor, or towing vehicle communicator-defined data conductor 1305 that is disposed in data communication with the towing vehicle communicator-defined data communication counterpart 1309.
  • the trailer communicator-defined data communication counterpart 1209, the towing vehicle communicator-defined data communication counterpart 1309, the trailer communicator-defined data conductor 1205, and the towing vehicle communicator-defined data conductor 1305 are co operatively configured such that while the trailer communicator-defined data communication counterpart 1209 and the towing vehicle communicator-defined data communication counterpart 1309 are disposed in data communication, the trailer communicator-defined data conductor 1205 and the towing vehicle communicator-defined data conductor 1305 are disposed in data communication.
  • the trailer communicator-defined data conductor 1205 and the towing vehicle communicator-defined data conductor 1305 include data conductors (e.g. data cables), and the trailer communicator-defined data communication counterpart 1209 and the towing vehicle communicator-defined data communication counterpart 1309 are data connectors.
  • the trailer communicator 120 includes the trailer communicator-defined fluid conductor 1202, the trailer communicator-defined electrical conductor 1204, and the trailer communicator-defined data conductor 1205, and the trailer communicator 120 is defined as separate communicators, in particular, the trailer communicator-defined fluid conductor 1202, the trailer communicator- defined electrical conductor 1204, and the trailer communicator-defined data conductor 1205 are separate conductors, each with a respective communication counterpart.
  • the trailer communicator 120 includes the trailer communicator- defined fluid conductor 1202, the trailer communicator-defined electrical conductor 1204, and the trailer communicator-defined data conductor 1205, and the trailer communicator 120 is defined as a single communicator, for example, as a single cable, wherein the trailer communicator-defined fluid conductor 1202, the trailer communicator-defined electrical conductor 1204, and the and the trailer communicator-defined data conductor 1205 are disposed in the communicator.
  • the trailer communicator-defined fluid conductor 1202 is disposed in fluid communication with a fluid energy storage device (e.g. diesel, natural gas, hydrogen, pneumatic gas, etc.) of the towing vehicle 13, such that the trailer communicator-defined fluid communication counterpart 1206 is disposed in fluid communication with the fluid energy storage device of the towing vehicle 13 via the trailer communicator-defined fluid conductor 1202.
  • a fluid energy storage device e.g. diesel, natural gas, hydrogen, pneumatic gas, etc.
  • the trailer communicator-defined electrical conductor 1204 is disposed in electrical communication with an electrical energy source (e.g. battery) of the towing vehicle 13, such that the trailer communicator-defined electrical communication counterpart 1208 is disposed in electrical communication with the electrical energy source (e.g. battery) of the towing vehicle 13 via the trailer communicator-defined electrical conductor 1204.
  • an electrical energy source e.g. battery
  • the trailer communicator-defined electrical communication counterpart 1208 is disposed in electrical communication with the electrical energy source (e.g. battery) of the towing vehicle 13 via the trailer communicator-defined electrical conductor 1204.
  • the trailer communicator-defined data conductor 1205 is disposed in data communication with a data communication system, for example, a databus, of the towing vehicle 13, such that the trailer communicator-defined data communication counterpart 1209 is disposed in data communication with the databus of the towing vehicle 13 via the trailer communicator-defined data conductor 1205.
  • the data communication system supports data communication between the data communication devices (e.g. sensors, valves, switches, controller of the vehicle 13, controllers including the controller 102, memory, user interface, pumps, actuators, energy storage devices, engine, etc.) of the towing vehicle 13.
  • Example communication protocols supported by the data communication system include Controller Area Network (CAN), RS485, Automotive Ethernet, Gigabit Multimedia Serial Link (GMSL).
  • CAN Controller Area Network
  • RS485 Automotive Ethernet
  • GMSL Gigabit Multimedia Serial Link
  • the trailer communicator-defined data conductor 1205 functions as a data communication system, such as a databus, and is configured for disposition in data communication with data communication devices of the towing vehicle 13, such that the data communication devices of the towing vehicle 13 are disposed in data communication via the trailer communicator-defined data conductor 1205.
  • the towing vehicle 13 includes more than one trailer communicator-defined fluid conductor 1202, for example, a plurality of trailer communicator-defined fluid conductors 1202 that are each, independently, disposed in fluid communication with the pneumatic gas source of the towing vehicle 13.
  • the towing vehicle 13 includes more than one trailer communicator-defined fluid conductor 1202, for example, a plurality of trailer communicator-defined fluid conductors 1202 that are each, independently, disposed in fluid communication with a respective one of a plurality of fluid energy storage devices (e.g. energy storage devices for diesel, natural gas, hydrogen, pneumatic gas, etc.) of the towing vehicle 13.
  • a plurality of fluid energy storage devices e.g. energy storage devices for diesel, natural gas, hydrogen, pneumatic gas, etc.
  • the towing vehicle 13 includes a trailer communicator- defined fluid conductor 1202 for each fluid energy storage device of the towing vehicle 13.
  • each one of a plurality of trailer communicator-defined fluid communication counterparts 1206, independently, is disposed in fluid communication with a respective fluid energy storage device of the towing vehicle 13 via a respective trailer communicator-defined fluid conductor 1202.
  • the towing vehicle 13 includes two trailer communicator-defined fluid conductors 1202.
  • a first trailer communicator-defined fluid conductor 1202 is disposed in fluid communication with a first fluid energy storage device of the towing vehicle 13
  • a second trailer communicator-defined fluid conductor 1202 is disposed in fluid communication with a second fluid energy storage device of the towing vehicle 13.
  • the towing vehicle 13 includes more than one trailer communicator-defined fluid conductor 1202, for example, a trailer communicator- defined fluid conductor 1202 for each fluid energy storage device (e.g. a diesel storage device, natural gas storage device, hydrogen storage device, or pneumatic gas storage device, etc.) of the towing vehicle 13.
  • a fluid energy storage device e.g. a diesel storage device, natural gas storage device, hydrogen storage device, or pneumatic gas storage device, etc.
  • the towing vehicle 13 includes more than one trailer communicator-defined electrical conductor 1204, for example, a plurality of trailer communicator-defined electrical conductors 1204 that are each, independently, disposed in electrical communication with the electrical energy storage device of the towing vehicle 13.
  • the towing vehicle 13 includes more than one trailer communicator-defined electrical conductor 1204, for example, a plurality of trailer communicator-defined electrical conductors 1204 that are each, independently, disposed in electrical communication with a respective one of a plurality of electrical energy storage devices of the towing vehicle 13.
  • each one of a plurality of trailer communicator-defined electrical communication counterparts 1208, independently, is disposed in electrical communication with a respective electrical energy storage device of the towing vehicle 13 via a respective trailer communicator-defined electrical conductor 1204.
  • the towing vehicle 13 includes two trailer communicator-defined electrical conductors 1204.
  • a first trailer communicator-defined electrical conductor 1204 is disposed in electrical communication with a first electrical energy storage device of the towing vehicle 13, and a second trailer communicator-defined electrical conductor 1204 is disposed in electrical communication with a second electrical energy storage device of the towing vehicle 13.
  • the towing vehicle 13 includes more than one trailer communicator-defined electrical conductor 1204, for example, a trailer communicator-defined electrical conductor 1204 for each electrical energy storage device of the towing vehicle 13.
  • the towing vehicle 13 includes more than one trailer communicator-defined data conductor 1205, for example, a plurality of trailer communicator-defined data conductors 1205 that are each, independently, disposed in data communication with the data communication devices of the towing vehicle 13, for example, via the data communication system of the towing vehicle 13.
  • the towing vehicle 13 includes more than one trailer communicator-defined data conductor 1205, for example, a plurality of trailer communicator-defined data conductors 1205 that are each, independently, disposed in data communication with one or more data communication devices of the towing vehicle 13.
  • each of a plurality of trailer communicator-defined data communication counterparts 1209, independently, is disposed in data communication with a respective one or more data communication devices of the towing vehicle 13 via a respective trailer communicator-defined data conductor 1205.
  • the towing vehicle 13 includes more than one trailer communicator-defined data conductor 1205, for example, a plurality of trailer communicator-defined data conductors 1205 for the data communication devices (e.g. sensors, valves, switches, controllers, actuators, memory, user interface, etc.) of the towing vehicle 13.
  • data communication devices e.g. sensors, valves, switches, controllers, actuators, memory, user interface, etc.
  • the towing vehicle communicator 130 includes the towing vehicle communicator-defined fluid conductor 1302, the towing vehicle communicator-defined electrical conductor 1304, and the towing vehicle communicator-defined data conductor 1305, and the towing vehicle communication 130 is defined as separate communicators, in particular, the towing vehicle communicator-defined fluid conductor 1302, the towing vehicle communicator-defined electrical conductor 1304, and the towing vehicle communicator-defined data conductor 1305 are separate conductors, each with a respective communication counterpart.
  • the towing vehicle communicator 130 includes the towing vehicle communicator-defined fluid conductor 1302, the towing vehicle communicator-defined electrical conductor 1304, and the towing vehicle communicator-defined data conductor 1305, and the towing vehicle communicator 130 is defined as a single communicator, for example, as a single cable, wherein the towing vehicle communicator-defined fluid conductor 1302, the towing vehicle communicator-defined electrical conductor 1304, and the towing vehicle communicator-defined data conductor 1305 are disposed in the communicator.
  • the towing vehicle communicator-defined fluid conductor 1302 is disposed in fluid communication with the fluid energy system of the trailer 12, which include, in some embodiments, for example, actuatable fluid systems such as pneumatic gas systems, fluid energy storage devices or sources such as pneumatic gas storage devices, natural gas storage devices, hydrogen storage devices, and fuel storage devices, such that the towing vehicle communicator-defined fluid communication counterpart 1306 is disposed in fluid communication with the fluid system of the trailer 12 via the towing vehicle communicator-defined fluid conductor 1302.
  • actuatable fluid systems such as pneumatic gas systems, fluid energy storage devices or sources such as pneumatic gas storage devices, natural gas storage devices, hydrogen storage devices, and fuel storage devices
  • the towing vehicle communicator-defined electrical conductor 1304 is disposed in electrical communication with the electrical system of the trailer 12, which include, in some embodiments, for example, actuatable electrical systems and electrical energy storage devices, such that the towing vehicle communicator-defined electrical communication counterpart 1308 is disposed in electrical communication with the electrical system of the trailer 12 via the towing vehicle communicator-defined electrical conductor 1304.
  • the towing vehicle communicator-defined data conductor 1305 is disposed in data communication with a data communication system, for example, a databus, of the trailer 12, such that the towing vehicle communicator-defined data communication counterpart 1309 is disposed in data communication with the databus of the trailer 12 via the towing vehicle communicator-defined data conductor 1305.
  • the data communication system supports data communication between the data communication devices (e.g. sensors, valves, switches, controllers, memory, user interface, pumps, actuators, energy sources, etc.) of the trailer 12.
  • Example communication protocols supported by the data communication system include Controller Area Network (CAN), RS485, Automotive Ethernet, Gigabit Multimedia Serial Link (GMSL).
  • the towing vehicle communicator-defined data conductor 1305 functions as a data communication system, such as a databus, and is configured for disposition in data communication with data communication devices of the trailer 12, such that the data communication devices of the trailer 12 are disposed in data communication via the towing vehicle communicator-defined data conductor 1305.
  • the trailer 12 includes more than one towing vehicle communicator-defined fluid conductor 1302, for example, a plurality of towing vehicle communicator-defined fluid conductors 1302 that are each, independently, disposed in fluid communication with the pneumatic gas system of the trailer 12.
  • the trailer 12 includes more than one towing vehicle communicator-defined fluid conductor 1302, for example, a plurality of towing vehicle communicator-defined fluid conductors 1302 that are each, independently, disposed in fluid communication with a respective one of a plurality of subsystems of the fluid system (e.g. actuatable systems such as service brakes and parking brakes, pneumatic gas source, fuel source, etc.) of the trailer 12.
  • a plurality of towing vehicle communicator-defined fluid communication counterparts 1306 independently, is disposed in fluid communication with a respective subsystem of the fluid system of the trailer 12 via a respective towing vehicle communicator-defined fluid conductor 1302.
  • the trailer 12 includes two towing vehicle communicator-defined fluid conductors 1302.
  • a first towing vehicle communicator-defined fluid conductor 1302 is disposed in fluid communication with the service brake, and a second towing vehicle communicator- defined fluid conductor 1302 is disposed in fluid communication with the parking brake.
  • the trailer 12 includes more than one towing vehicle communicator-defined fluid conductor 1302, for example, a towing vehicle communicator-defined fluid conductor 1302 for each subsystem of the fluid system of the trailer 12.
  • the trailer 12 includes more than one towing vehicle communicator-defined electrical conductor 1304, for example, a plurality of towing vehicle communicator-defined electrical conductors 1304 that are each, independently, disposed in electrical communication with the electrical system of the trailer 12.
  • the trailer 12 includes more than one towing vehicle communicator-defined electrical conductor 1304, for example, a plurality of towing vehicle communicator-defined electrical conductors 1304 that are each, independently, disposed in electrical communication with a respective one of a plurality of subsystems of the electrical system (e.g. actuatable systems such as ABS brakes, turning signals, electrical energy source, etc.) of the trailer 12.
  • each of a plurality of towing vehicle communicator-defined electrical communication counterparts 1308, independently, is disposed in electrical communication with a respective subsystem of the electrical system of the trailer 12 via a respective towing vehicle communicator-defined electrical conductor 1304.
  • the trailer 12 includes two towing vehicle communicator-defined electrical conductors 1304.
  • a first towing vehicle communicator-defined electrical conductor 1304 is disposed in electrical communication with ABS brakes of the trailer 12, and a second towing vehicle communicator-defined electrical conductor 1304 is disposed in electrical communication with the turning signals of the trailer 12.
  • the trailer 12 includes more than one towing vehicle communicator-defined electrical conductor 1304, for example, a towing vehicle communicator-defined electrical conductor 1304 for each subsystem of the electrical system of the trailer 12.
  • the trailer 12 includes more than one towing vehicle communicator-defined data conductor 1305, for example, a plurality of towing vehicle communicator-defined data conductors 1305 that are each, independently, disposed in data communication with the data communication devices of the trailer 12, for example, via the data communication system of the trailer 12.
  • the trailer 12 includes more than one towing vehicle communicator-defined data conductor 1305, for example, a plurality of towing vehicle communicator-defined data conductors 1305 that are each, independently, disposed in data communication with one or more data communication devices of the trailer 12.
  • each one of a plurality of towing vehicle communicator-defined data communication counterparts 1309, independently, is disposed in data communication with a respective one or more data communication devices of the trailer 12 via a respective towing vehicle communicator-defined electrical conductor 1305.
  • the trailer 12 includes two towing vehicle communicator-defined data conductors 1305.
  • a first towing vehicle communicator-defined data conductor 1305 is disposed in data communication with a first data communication device of the trailer 12, and a second towing vehicle communicator-defined data conductor 1305 is disposed in data communication with a second data communication device of the trailer 12.
  • the trailer 12 includes more than one towing vehicle communicator-defined data conductor 1305, for example, a towing vehicle communicator-defined data conductor 1305 for each data communication device of the trailer 12.
  • the towing communicator-defined fluid conductor 1302 is disposed in fluid communication with a fluid connector 20 (e.g. including a glad hand) of the trailer 12, as depicted in Figure 1 , which is disposed in fluid communication with the fluid system of the trailer 12, such that the towing vehicle communicator-defined fluid communication counterpart 1306 is disposable in fluid communication with the fluid system of the trailer 12 via the towing vehicle communicator-defined fluid conductor 1302 and the fluid connector 20.
  • a fluid connector 20 e.g. including a glad hand
  • the towing communicator-defined fluid conductor 1302 is disposed in fluid communication with a fuel connector 22 of the trailer 12, as depicted in Figure 1, which is disposed in fluid communication with the fuel source of the fluid system of the trailer 12 (e.g. diesel fuel tank, etc.), such that the towing vehicle communicator- defined fluid communication counterpart 1306 is disposable in fluid communication with the fuel source of the trailer 12 via the towing vehicle communicator-defined fluid conductor 1302 and the fuel connector 22.
  • the fuel source of the fluid system of the trailer 12 e.g. diesel fuel tank, etc.
  • the towing communicator-defined electrical conductor 1304 is disposed in electrical communication with an electrical connector 30 (e.g. including a pin connector, quick charge connector, etc.) of the trailer 12, as depicted in Figure 1 , which is disposed in electrical communication with the electrical system of the trailer 12, such that the towing vehicle communicator-defined electrical communication counterpart 1308 is disposed in electrical communication with the electrical system of the trailer 12 via the towing vehicle communicator-defined electrical conductor 1304 and the electrical connector 30.
  • an electrical connector 30 e.g. including a pin connector, quick charge connector, etc.
  • the towing communicator-defined data conductor 1305 is disposed in data communication with a data connector 40 (e.g. including a pin connector) of the trailer 12, as depicted in Figure 1 , which is disposed in data communication with data communication devices of the trailer 12, such that the towing vehicle communicator-defined data communication counterpart 1309 is disposed in data communication with the data communication devices of the trailer 12 via the towing vehicle communicator- defined data conductor 1305 and the data connector 40.
  • a data connector 40 e.g. including a pin connector
  • the connection between the trailer communicator 120 and the towing vehicle communicator 130 is effectible by an adapter 300.
  • the adapter 300 is configured to reduce the complexity of the establishing of operable communication, for example, fluid communication, electrical communication, and data communication, between the trailer communicator 120 and the towing vehicle communicator 130.
  • the adapter 300 is configured to reduce the complexity of the establishing of operable communication between the vehicle 13 and the vehicle connector 12 or configuration 12.
  • the adapter 300 includes: (i) a vehicle-defined adapter counterpart, vehicle-defined connection counterpart, towing vehicle-defined adapter counterpart, or towing vehicle-defined connection counterpart, for example, a first adapter counterpart 302, and (ii) a vehicle connector-defined connection counterpart, configuration-defined adapter counterpart, configuration-defined connection counterpart, trailer-defined adapter counterpart or a trailer-defined connection counterpart, for example, a second adapter counterpart 350.
  • the first adapter counterpart 302 is configured for connection, for example, coupling, to the second adapter counterpart 350.
  • the first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively configured for connection, for example, coupling.
  • connection of the first adapter counterpart 302 and the second adapter counterpart 350 is with effect that operable communication between the towing vehicle 13 and the trailer 12 is established for actuating a vehicular operation.
  • connection of the first adapter counterpart 302 and the second adapter counterpart 350 is with effect that operable communication between the energy storage device of the towing vehicle 13 and the actuatable system of the trailer 12 is established, for transfer of energy from the energy storage device of the towing vehicle 13 to the actuatable system of the trailer 12, and for actuating and controlling the vehicular operation.
  • the connection of the first adapter counterpart 302 with the second adapter counterpart 350 effectuates connection between the energy storage device of the towing vehicle 13 and the actuatable system of the trailer 12, such that energy is transferrable from the energy storage device to the actuatable system, for actuating and controlling the vehicular operation.
  • the communication established between the towing vehicle 13 and the trailer 12, in response to the connection of the first adapter counterpart 302 and the second adapter counterpart 350, includes fluid communication.
  • the vehicular operation that is actuatable, in response to the establishment of communication between the towing vehicle 13 and the trailer 12, is actuation of service brakes of the trailer 12.
  • the vehicular operation that is actuatable, in response to the establishment of communication between the towing vehicle 13 and the trailer 12, is actuation of parking brakes of the trailer 12.
  • the actuatable system of the trailer 12 is a fluid energy-actuatable system or actuatable fluid system
  • the energy storage device of the towing vehicle 13 is a fluid energy
  • the connection of the first adapter counterpart 302 and the second adapter counterpart 350 is with effect that the fluid energy-actuatable system of the trailer 12 is disposed in fluid pressure communication with the fluid energy storage device of the towing vehicle 13, for transfer of fluid energy to the fluid energy-actuatable system of the trailer 12 from the fluid energy storage device of the towing vehicle 13.
  • the fluid energy includes pneumatic gas, such as pneumatic air.
  • the communication established between the towing vehicle 13 and the trailer 12, in response to the connection of the first adapter counterpart 302 and the second adapter counterpart 350, includes electrical communication.
  • the vehicular operation that is actuatable, in response to the establishment of communication between the towing vehicle 13 and the trailer 12, is actuation of ABS brakes of the trailer 12.
  • the vehicular operation that is actuatable, in response to the establishment of communication between the towing vehicle 13 and the trailer 12, is actuation of turn signals of the trailer 12.
  • the actuatable system of the trailer 12 is an electrical energy actuatable system
  • the energy storage device of the towing vehicle 13 is an electrical energy storage device
  • the connection of the first adapter counterpart 302 and the second adapter counterpart 350 is with effect that the electrical energy actuatable system of the trailer 12 is disposed in electrical communication with the electrical energy storage device of the towing vehicle 13, for transfer of electrical energy to the electrical energy actuatable system of the trailer 12 from the electrical energy storage device of the towing vehicle 13.
  • the communication established between the towing vehicle 13 and the trailer 12, in response to the connection of the first adapter counterpart 302 and the second adapter counterpart 350, includes data communication.
  • the trailer 12 includes one or more data communication devices
  • the towing vehicle 13 includes a data communication system (e.g. a databus) that is disposed in data communication with data communication devices of the towing vehicle 13, and the connection of the first adapter counterpart 302 and the second adapter counterpart 350 is with effect that the data communication devices of the trailer 12 are disposed in data communication with the data communication devices of the towing vehicle 13, for controlling the actuation of the fluid system or electrical system of the trailer 12.
  • a data communication system e.g. a databus
  • connection of the first adapter counterpart 302 and the second adapter counterpart 350 is with effect that operable communication between the energy storage device of the towing vehicle 13 and the energy source of the trailer 12 is established, for transfer of energy from the energy source of the trailer 12 to the energy storage device of the towing vehicle 13.
  • connection of the first adapter counterpart 302 with the second adapter counterpart 350 effectuates connection between the energy source of the trailer 12 and the energy storage device of the towing vehicle 13, such that energy is transferrable from the energy source of the trailer 12 to the energy storage device of the towing vehicle 13.
  • the energy source of the trailer 12 is a fluid energy source of the fluid system of the trailer 12, the energy storage device of the towing vehicle 13 is a fluid energy storage device, and the connection of the first adapter counterpart 302 and the second adapter counterpart 350 is with effect that the fluid energy source of the trailer 12 is disposed in fluid pressure communication with the fluid energy storage device of the towing vehicle 13, for transfer of fluid energy from the fluid energy source of the trailer 12 to the fluid energy storage device of the towing vehicle 13.
  • the fluid energy includes pneumatic gas.
  • the fluid energy includes hydrogen.
  • the fluid energy includes natural gas.
  • the energy source of the trailer 12 is a fuel source of the fluid system of the trailer 12
  • the energy storage device of the towing vehicle 13 is a fuel storage device
  • the connection of the first adapter counterpart 302 and the second adapter counterpart 350 is with effect that the fuel source of the trailer 12 is disposed in fluid pressure communication with the fuel storage device of the towing vehicle 13, for transfer of fuel from the fuel source of the trailer 12 to the fuel storage device of the towing vehicle 13.
  • the fuel includes diesel fuel.
  • the energy source of the trailer 12 is an electrical energy source of the electrical system of the trailer 12
  • the energy storage device of the towing vehicle 13 is an electrical energy storage device
  • the connection of the first adapter counterpart 302 and the second adapter counterpart 350 is with effect that the electrical energy source of the trailer 12 is disposed in electrical communication with the electrical energy storage device of the towing vehicle 13, for transfer of electrical energy from the electrical energy source of the trailer 12 to the electrical energy storage device of the towing vehicle 13.
  • the trailer 12 includes one or more data communication devices
  • the towing vehicle 13 includes a data communication system (e.g. a databus) that is disposed in data communication with data communication devices of the towing vehicle 13, and the connection of the first adapter counterpart 302 and the second adapter counterpart 350 is with effect that the data communication devices of the trailer 12 are disposed in data communication with the data communication devices of the towing vehicle 13, for controlling the transfer of energy from the one or more energy sources of the trailer 12 to the one or more energy storage devices of the towing vehicle 13.
  • a data communication system e.g. a databus
  • the first adapter counterpart 302 (e.g. a male counterpart 302) is disposed in operable communication, for example, fluid communication, electrical communication, and data communication, with the trailer communicator 120.
  • the first adapter counterpart 302 is disposed in fluid communication with the one or more trailer communicator-defined fluid conductors 1202, which are disposed in fluid communication with the fluid energy storage devices (e.g. pneumatic gas storage device and fuel storage device) of the towing vehicle 13.
  • the fluid energy storage devices e.g. pneumatic gas storage device and fuel storage device
  • the first adapter counterpart 302 is disposed in fluid communication with the trailer communicator-defined fluid conductor 1202 via a respective trailer communicator-defined fluid communication counterpart 1206.
  • the first adapter counterpart 302 and the fluid energy storage device of the towing vehicle 13 are disposed in fluid communication via a respective trailer communicator- defined fluid conductor 1202.
  • the fluid energy storage devices of the towing vehicle 13 are disposed in fluid communication with the first adapter counterpart 302 via the trailer communicator-defined fluid conductor 1202 and the trailer communicator-defined fluid communication counterpart 1206.
  • the first adapter counterpart 302 is disposed in electrical communication with the one or more trailer communicator-defined electrical conductors 1204, which are disposed in electrical communication with the electrical energy storage devices (e.g. battery) of the towing vehicle 13.
  • the first adapter counterpart 302 is disposed in electrical communication with the trailer communicator-defined electrical conductor 1204 via a respective trailer communicator-defined electrical communication counterpart 1208.
  • the first adapter counterpart 302 and the electrical energy storage device of the towing vehicle 13 are disposed in electrical communication via a respective trailer communicator-defined electrical conductor 1204.
  • the electrical energy storage devices of the towing vehicle 13 are disposed in electrical communication with the first adapter counterpart 302 via the trailer communicator-defined electrical conductor 1204 and the trailer communicator-defined electrical communication counterpart 1208.
  • the first adapter counterpart 302 is disposed in data communication with the one or more trailer communicator-defined data conductors 1205, which are disposed in data communication with the data communication devices of the towing vehicle 13, for example, via the data communication system of the vehicle 13.
  • the first adapter counterpart 302 is disposed in data communication with the one or more trailer communicator- defined data conductors 1205 via a respective trailer communicator-defined data communication counterpart 1209.
  • the first adapter counterpart 302 and the data communication device are disposed in data communication via a respective trailer communicator-defined data conductor 1205.
  • the data communication devices of the towing vehicle 13 are disposed in data communication with the first adapter counterpart 302 via the data communication system (e.g. databus), the trailer communicator-defined data conductor 1205 and the trailer communicator-defined data communication counterpart 1209.
  • the second adapter counterpart 350 (e.g. a female counterpart 350) is disposed in operable communication, for example, fluid communication, electrical communication, and data communication, with the towing vehicle communicator 130.
  • the second adapter counterpart 350 is disposed in fluid communication with the one or more towing vehicle communicator-defined fluid conductors 1302, which are disposed in fluid communication with the fluid system of the trailer 12 (e.g. subsystems such as actuatable fluid systems, fluid energy source such as a pneumatic gas source and a fuel source, etc.).
  • the second adapter counterpart 350 is disposed in fluid communication with the towing vehicle communicator-defined fluid conductor 1302 via a respective towing vehicle communicator-defined fluid communication counterpart 1306.
  • the second adapter counterpart 350 and the subsystem of the pneumatic gas system of the trailer 12 are disposed in fluid communication via a respective towing vehicle communicator-defined fluid conductor 1302.
  • the fluid system of the trailer 12 disposed in fluid communication with the second adapter counterpart 350 via the towing vehicle communicator-defined fluid conductor 1302 and the towing vehicle communicator-defined fluid communication counterpart 1306.
  • the second adapter counterpart 350 is disposed in electrical communication with the one or more towing vehicle communicator-defined electrical conductors 1304, which are disposed in electrical communication with the electrical system of the trailer 12 (e.g. subsystems such as actuatable electrical systems, electrical energy source, etc.).
  • the second adapter counterpart 350 is disposed in electrical communication with the towing vehicle communicator-defined electrical conductor 1304 via a respective towing vehicle communicator-defined electrical communication counterpart 1308.
  • the second adapter counterpart 350 and the subsystem of the electrical system of the trailer 12 are disposed in electrical communication via a respective towing vehicle communicator- defined electrical conductor 1304.
  • the electrical system of the trailer 12 is disposed in electrical communication with the second adapter counterpart 350 via the towing vehicle communicator-defined electrical conductor 1304 and the towing vehicle communicator-defined electrical communication counterpart 1308.
  • the second adapter counterpart 350 is disposed in data communication with the one or more towing vehicle communicator-defined data conductors 1305, which are disposed in data communication with the data communication devices of the trailer 12, for example, via the data communication system of the trailer 12.
  • the second adapter counterpart 350 is disposed in data communication with the one or more towing vehicle communicator-defined data conductors 1305 via a respective towing vehicle communicator- defined data communication counterpart 1309.
  • the second adapter counterpart 350 and the data communication device are disposed in data communication via a respective towing vehicle communicator-defined data conductor 1305.
  • the data communication devices of the trailer 12 are disposed in data communication with the second adapter counterpart 350 via the data communication system (e.g. databus), the towing vehicle communicator-defined data conductor 1305 and the towing vehicle communicator-defined data communication counterpart 1309.
  • the first adapter counterpart 302 and the second adapter counterpart 350 are configured to be disposed in operable communication via connection of the first adapter counterpart 302 and the second adapter counterpart 350, for example, fluid communication, electrical communication, and data communication.
  • the disposition of the first adapter counterpart 302 and the second adapter counterpart 350 in operable communication is effected by connection, for example, coupling, of the first adapter counterpart 302 and the second adapter counterpart 350.
  • the trailer communicator 120 and the towing vehicle communicator 130 are disposed in operable communication via the adapter 300.
  • the towing vehicle 13 and the trailer 12 are disposed in operable communication via the adapter 300, the trailer communicator 120, and the towing vehicle communicator 130.
  • the one or more trailer communicator- defined fluid conductors 1202 and the corresponding towing vehicle communicator-defined fluid conductors 1302 become disposed in fluid communication via the adapter 300.
  • the one or more fluid energy storage devices, such as pneumatic gas storage devices, of the towing vehicle 13 and the fluid system of the trailer 12 become disposed in fluid communication via the adapter 300, the trailer communicator-defined fluid conductor 1202, and the towing vehicle communicator- defined fluid conductor 1302, such that the actuatable fluid system of the fluid system of the trailer 12 is actuatable by the one or more fluid energy storage devices of the towing vehicle 13, and such that fluid energy is transferrable from the fluid energy source of the trailer 12, such as the pneumatic gas source, to the one or more fluid energy storage devices of the towing vehicle 13, such as the pneumatic gas storage device.
  • the fluid energy storage devices such as pneumatic gas storage devices
  • the one or more trailer communicator- defined fluid conductors 1202 and the corresponding one or more towing vehicle communicator- defined fluid conductors 1302 are disposed in fluid communication via the adapter 300.
  • the one or more fuel storage devices of the towing vehicle 13 and the corresponding fuel energy source of the trailer 12 are disposed in fluid communication via the adapter 300, the one or more trailer communicator-defined fluid conductors 1202, and the one or more towing vehicle communicator-defined fluid conductors 1302, such that fuel is transferrable from the fuel source of the trailer 12 to the one or more fuel storage devices of the towing vehicle 13.
  • the one or more trailer communicator-defined electrical conductor 1204 and the corresponding towing vehicle communicator-defined electrical conductors 1304 become disposed in electrical communication via the adapter 300.
  • the one or more electrical energy storage devices of the towing vehicle 13 and the electrical system of the trailer 12 become disposed in electrical communication via the adapter 300, the trailer communicator-defined electrical conductor 1204, and the towing vehicle communicator-defined electrical conductor 1304, such that the actuatable electrical systems of the electrical system is actuatable by the one or more electrical energy storage devices of the towing vehicle 13, and such that electrical energy is transferrable from the electrical energy source of the trailer 12 to the one or more electrical energy storage devices of the towing vehicle 13.
  • the trailer communicator-defined data conductor 1205 and the towing vehicle communicator-defined data conductor 1305 are disposed in data communication via the adapter 300.
  • the data communication devices of the towing vehicle 13 and the data communication devices of the trailer 12 are disposed in data communication via the adapter 300, the trailer communicator-defined data conductor 1205, and the towing vehicle communicator-defined data conductor 1305.
  • the adapter 300, the trailer communicator-defined data conductor 1205, and the towing vehicle communicator-defined data conductor 1305 are configured to support data communication between the towing vehicle 13 and the trailer 12, in particular, the data communication devices of the towing vehicle 13 and the data communication devices of the trailer 12.
  • Example communication protocols supported by the adapter 300, the trailer communicator-defined data conductor 1205, and the towing vehicle communicator-defined data conductor 1305 include Controller Area Network (CAN), RS485, Automotive Ethernet, Gigabit Multimedia Serial Link (GMSL).
  • CAN Controller Area Network
  • RS485 Automotive Ethernet
  • GMSL Gigabit Multimedia Serial Link
  • the first adapter counterpart 302 includes a housing 304.
  • the first adapter counterpart 302 includes one or more electrical communicators, for example, electrical connectors 308, for example, electrical connector pins, one or more fluid pressure communicators, for example, fluid connectors 310, for example, fluid connector pins, one or more guide pins 312, and one or more data connectors 314, for example, data connector pins.
  • the electrical connectors 308, the fluid connectors 310, data connectors 314, and the guide pins 312 extend from the housing 304.
  • the electrical connectors 308, the fluid connectors 310, the data connectors 314, and the guide pins 312 are housed in the housing 304. In some embodiments, for example, the electrical connectors 308, the fluid connectors 310, the data connectors 314, and the guide pins 312 are mounted to the housing 304.
  • the first adapter counterpart 302 defines an electro-pneumatic interface, wherein the electro-pneumatic interface includes the one or more electrical connectors 308, the one or more fluid connectors 310, and the one or more data connectors 314. In some embodiments, for example, the electro-pneumatic interface further includes the one or more guide pins 312.
  • At least one of the one or more fluid connectors 310 are disposed in fluid communication with the trailer communicator- defined fluid conductor 1202.
  • a first fluid connector 310 is disposed in fluid communication with a first trailer communicator- defined fluid conductor 1202
  • a second fluid connector 310 is disposed in fluid communication with a second trailer communicator-defined fluid conductor 1202.
  • at least one of the one or more electrical connectors 308 are disposed in electrical communication with the trailer communicator-defined electrical conductor 1204.
  • a first electrical connector 308 is disposed in electrical communication with a first trailer communicator-defined electrical conductor 1204, and a second electrical connector 308 is disposed in electrical communication with a second trailer communicator-defined electrical conductor 1204.
  • at least one of the one or more data connectors 314 are disposed in data communication with the trailer communicator-defined data conductor 1205.
  • a first group of connectors comprises the electrical connectors 308, and a second group of connectors comprises the data connectors 314.
  • the first group of connectors comprises one or more electrical connectors 308 and one or more data connectors 314, and the second group of connectors comprises one or more electrical connectors 308 and one or more data connectors 314.
  • the trailer communicator-defined fluid conductors 1202 is disposed in operable communication, for example, fluid communication, with at least one of the one or more fluid connectors 310, for operably communicating fluid energy (e.g. diesel, natural gas, hydrogen, pneumatic gas).
  • fluid energy e.g. diesel, natural gas, hydrogen, pneumatic gas
  • a first fluid connector 310 is disposed in fluid communication with a first trailer communicator-defined fluid conductor 1202
  • a second fluid connector 310 is disposed in fluid communication with a second towing communicator-defined fluid conductor 1202.
  • the trailer communicator-defined electrical conductor 1204 is disposed in electrical communication with at least one of the one or more electrical connectors 308, for operably communicating electrical energy.
  • a first electrical connector 308 is disposed in electrical communication with a first trailer communicator-defined electrical conductor 1204, and a second electrical connector 308 is disposed in electrical communication with a second towing communicator-defined electrical conductor 1204.
  • the trailer communicator-defined data conductor 1205 is disposed in data communication with at least one of the one or more data connectors 314, for operably communicating data (e.g. data signals).
  • data e.g. data signals
  • a first data connector 314 is disposed in data communication with a first trailer communicator- defined data conductor 1205, and a second data connector 308 is disposed in data communication with a second towing communicator-defined data conductor 1205.
  • the second adapter counterpart 350 includes a housing 352.
  • the second adapter counterpart 350 includes one or more electrical ports 3080, one or more fluid ports 3100, one or more data ports 3140, and one or more guide ports 3120.
  • the electrical ports 3080, the fluid ports 3100, the data ports 3140, and the guide ports 3120 are recessed into the housing 352.
  • the electrical ports 3080, the fluid ports 3100, the data ports 3140. and the guide ports 3120 are housed in the housing 352.
  • the electrical ports 3080, the fluid ports 3100, the data ports 3140, and the guide ports 3120 are mounted to the housing 352.
  • the guide ports 3120 are defined by the housing 352.
  • the second adapter counterpart 350 defines an electro-pneumatic interface, wherein the electro-pneumatic interface includes the one or more electrical connector ports 3080, the one or more fluid connector ports 3100, and the one or more data connector ports 3140.
  • the electro-pneumatic interface further includes the one or more guide ports 3120.
  • at least one of the one or more fluid ports 3100 are disposed in fluid communication with the towing communicator-defined fluid conductor 1302.
  • a first fluid port 3100 is disposed in fluid communication with a first towing communicator-defined fluid conductor 1302, and a second fluid port 3100 is disposed in fluid communication with a second towing communicator- defined fluid conductor 1302.
  • at least one of the one or more electrical ports 3080 are disposed in electrical communication with the towing communicator-defined electrical conductor 1304.
  • a first electrical port 3080 is disposed in electrical communication with a first towing communicator- defined electrical conductor 1304, and a second electrical port 3080 is disposed in electrical communication with a second towing communicator-defined electrical conductor 1304.
  • At least one of the one or more data ports 3140 are disposed in data communication with the towing communicator-defined data conductor 1305.
  • a first data port 3140 is disposed in data communication with a first towing communicator-defined data conductor 1305, and a second data port 3140 is disposed in data communication with a second towing communicator-defined data conductor 1305.
  • a first group of ports comprises the electrical ports 3080
  • a second group of ports comprises the data ports 3140.
  • the first group of ports comprises one or more electrical ports 3080 and one or more data ports 3140
  • the second group of ports comprises one or more electrical ports 3080 and one or more data ports 3140.
  • the towing vehicle communicator-defined fluid conductor 1302 is disposed in operable communication, for example, fluid communication, with at least one of the one or more fluid ports 3100, for operably communicating fluid energy (e.g. diesel, natural gas, hydrogen, pneumatic gas).
  • fluid energy e.g. diesel, natural gas, hydrogen, pneumatic gas.
  • a first fluid port 3100 is disposed in fluid communication with a first towing communicator-defined fluid conductor 1302, and a second fluid port 3100 is disposed in fluid communication with a second towing communicator-defined fluid conductor 1302.
  • the towing vehicle communicator-defined electrical conductor 1304 is disposed in electrical communication with at least one of the one or more electrical ports 3080, for operably communicating electrical energy.
  • a first electrical port 3080 is disposed in electrical communication with a first towing communicator-defined electrical conductor 1304, and a second electrical port 3080 is disposed in electrical communication with a second towing communicator-defined electrical conductor 1304.
  • the towing vehicle communicator-defined data conductor 1305 is disposed in data communication with at least one of the one or more data ports 3140, for operably communicating data.
  • a first data port 3140 is disposed in data communication with a first towing communicator-defined data conductor 1305, and a second data port 3140 is disposed in data communication with a second towing communicator- defined data conductor 1305.
  • the electrical ports 3080, fluid ports 3100, data ports 3140, and guide ports 3120 are facing towards the towing vehicle 13.
  • the electrical ports 3080, fluid ports 3100, data ports 3140, and guide ports 3120 are facing forwards towards a front-facing surface 52 of the trailer 12, for example, the front surface 52 of the trailer 12.
  • the electrical ports 3080, fluid ports 3100, data ports 3140, and guide ports 3120 are disposed in alignment with the roll axis (e.g. of the trailer 12).
  • the front surface 52 is defined by a frontfacing surface 52 of the trailer 12, wherein the front-facing surface 52 faces in a forward direction.
  • the front-facing surface 52 of the trailer 12 faces in a direction towards the vehicle 13, for example, towards the cab of the vehicle.
  • the bottom surface 50 is disposed below the front surface 52.
  • a normal axis defined by the front surface 52 and a normal axis defined by the bottom surface 50 are disposed in a non-parallel relationship.
  • a normal axis defined by the front surface 52 and a normal axis defined by the bottom surface 50 are disposed in a perpendicular relationship.
  • the bottom surface 50 is defined by a bottom-facing surface 50 of the trailer 12, wherein the bottom-facing surface 50 faces in a downward direction, such that the bottom surface 50 is a downward-facing surface.
  • the second adapter counterpart 350 includes an internal configuration 370.
  • the electrical ports 3080, fluid ports 3100, data ports 3140, and guide ports 3120 are defined by the internal configuration 370.
  • the internal configuration 370 includes the electrical ports 3080, fluid ports 3100, data ports 3140, and guide ports 3120.
  • the internal configuration 370 defines the guide ports 3120.
  • the internal configuration 370 is disposed in the housing 352.
  • the internal configuration 370 is biased to a center position, relative to the housing 352.
  • the biasing is effectuated by a spring assembly 372.
  • the spring assembly 372 comprises two springs 3720.
  • the housing 352, the internal configuration 370, and the spring assembly 372 are co-operatively configured such that relative displacement is effectuatable between the housing 352 and the internal configuration 370 via the spring assembly 372.
  • the relative displacement includes lateral displacement (e.g. left-right displacement).
  • the internal configuration 370 is displaceable, relative to the housing 352, in response to a force applied to the internal configuration 370, for example, the guide ports 3120, by the first adapter counterpart 302, for example, the guide pins 312, to align the first adapter counterpart 302 and the second adapter counterpart 350, for effectuating the connection between the first adapter counterpart 302 and the second adapter counterpart 350.
  • the electrical connectors 308 of the first adapter counterpart 302 and the electrical ports 3080 of the second adapter counterpart 350 are co-operatively configured such that, in response to insertion of the electrical connectors 308 into the electrical ports 3080, the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in electrical communication, with effect that, for each one of the one or more trailer communicator- defined electrical conductors 1204, the trailer communicator-defined electrical conductor 1204 and a respective towing vehicle communicator-defined electrical conductor 1304 become disposed in electrical communication.
  • the electrical energy storage device of the towing vehicle 13 in response to insertion of the electrical connectors 308 into the electrical ports 3080, the electrical energy storage device of the towing vehicle 13 becomes disposed in electrical communication with the electrical system of the trailer 12 via the adapter 300, the trailer communicator-defined electrical conductor 1204, and the towing vehicle communicator-defined electrical conductor 1304, such that the actuatable electrical system is actuatable, and such that electrical energy is transferrable from the electrical energy source of the trailer 12 to the electrical energy storage device of the towing vehicle 13.
  • the fluid connectors 310 of the first adapter counterpart 302 and the fluid ports 3100 of the second adapter counterpart 350 are co-operatively configured such that, in response to insertion of the fluid connectors 310 into the fluid ports 3100, the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in fluid communication, with effect that, for each one of the one or more trailer communicator-defined fluid conductors 1202, the trailer communicator-defined fluid conductor 1202 and a respective towing vehicle communicator-defined fluid conductor 1302 become disposed in fluid communication.
  • the fluid energy storage device of the towing vehicle 13 in response to insertion of the fluid connectors 310 into the fluid ports 3100, the fluid energy storage device of the towing vehicle 13 becomes disposed in fluid communication with the fluid system of the trailer 12 via the adapter 300, the trailer communicator-defined fluid conductor 1202, and the towing vehicle communicator-defined fluid conductor 1302, such that the actuatable fluid system is actuatable, and such that fluid energy (e.g. pneumatic gas, fuel) is transferrable from the fluid energy source of the trailer 12 to the fluid energy storage device of the towing vehicle 13.
  • fluid energy e.g. pneumatic gas, fuel
  • the data connectors 314 of the first adapter counterpart 302 and the data ports 3140 of the second adapter counterpart 350 are co-operatively configured such that, in response to insertion of the data connectors 314 into the data ports 3140, the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in data communication, with effect that, for each one of the one or more trailer communicator-defined data conductors 1205, the trailer communicator-defined data conductor 1205 and a corresponding towing vehicle communicator-defined data conductor 1305 become disposed in data communication.
  • the data communication device in response to insertion of the data connectors 314 into the data ports 3140, for each one of the one or more data communication devices of the towing vehicle 13, the data communication device becomes disposed in data communication with one or more of the data communication devices of the trailer 12 via the adapter 300, the trailer communicator-defined data conductor 1205, and the towing vehicle communicator-defined data conductor 1305, for controlling the actuation of the actuatable energy system (e.g. fluid energy system such as pneumatic gas system, electrical energy system, etc.) of the trailer 12, and for controlling the transfer of energy from the energy source of the trailer 12 to the energy storage device of the towing vehicle 13.
  • the actuatable energy system e.g. fluid energy system such as pneumatic gas system, electrical energy system, etc.
  • connection of the first adapter counterpart 302 and the second adapter counterpart 350, for disposition of the first adapter counterpart 302 and the second adapter counterpart 350 in operable communication is effected by establishment of: (i) electrical communication between the electrical connectors 308 and the electrical ports 3080, (ii) fluid communication between the fluid connectors 310 and the fluid ports 3100, and (iii) data communication between the data connectors 314 and the data ports 3140.
  • establishment of electrical communication between the electrical connectors 308 and the electrical ports 3080 is effected by insertion of the electrical connectors 308 into the electrical ports 3080.
  • establishment of fluid communication between the fluid connectors 310 and the fluid ports 3100 is effected by insertion of the fluid connectors 310 into the fluid ports 3100.
  • establishment of data communication between the data connectors 314 and the data ports 3140 is effected by insertion of the data connectors 314 into the data ports 3140.
  • the guide pins 312 of the first adapter counterpart 302 and the guide ports 3120 of the second adapter counterpart 350 are cooperatively configured to guide the relative displacement of the first adapter counterpart 302 and the second adapter counterpart 350 for effecting the coupling of the first adapter counterpart 302 and the second adapter counterpart 350, such that the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in operable communication.
  • the first adapter counterpart 302 includes the electrical connectors 308, the fluid connectors 310, the data connectors 314, and the guide pins 312, and the second adapter counterpart 350 includes the electrical ports 3080, fluid ports 3100, data ports 3140, and guide ports 312.
  • the first adapter counterpart 302 includes one or more of the ports, for example, electrical ports 3080, fluid ports 3100, data ports 3140, and guide ports 3120
  • the second adapter counterpart 350 includes one or more of the connectors, for example, the electrical connectors 308, the fluid connectors 310, the data connectors 314, and the guide pins 312.
  • the second adapter counterpart 350 includes the one or more corresponding connectors.
  • the second adapter counterpart 350 includes the electrical connectors 308, fluid ports 3100, data connectors 314, and guide ports 3120.
  • the first adapter counterpart 302 includes the electrical ports 3080, fluid connectors 310, data ports 3140, and guide pins 312.
  • Figure 13 depicts a block diagram of an example embodiment of an apparatus 100 that is configured to operably communicate the first adapter counterpart 302 and the second adapter counterpart 350, for example, connect, the first adapter counterpart 302 and the second adapter counterpart 350, to effect operable communication of the trailer communicator 120 of the towing vehicle 13 and the towing vehicle communicator 130 of the trailer 12.
  • the apparatus 100 includes a controller 102, a detector 104, an actuator assembly 106, an object manipulator 110, a power module 112, and a memory 114.
  • the apparatus 100 further includes a user interface 116.
  • the object manipulator 110 is configured to automatically connect the first adapter counterpart 302 and the second adapter counterpart 350 to establish operable communication between the first adapter counterpart 302 and the second adapter counterpart 350, thereby establishing connection, for example, operable communication, between the energy storage device of the towing vehicle 13 and the energy system of the trailer 12, such that the energy system of the trailer 12 is actuatable, and such that energy is transferrable from the energy source of the energy system the trailer 12 to the energy storage device of the towing vehicle 13.
  • the apparatus 100 is configured to displace the first adapter counterpart 302 towards the second adapter counterpart 350 for effecting an alignment relationship-obtaining displacement between the first adapter counterpart 302 and the second adapter counterpart 350, such that the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in an alignment relationship, and for disposing the first adapter counterpart 302 and the second adapter counterpart 350 in operable communication.
  • the apparatus 100 is configured to dispose the first adapter counterpart 302 and the second adapter counterpart 350 in operable communication.
  • the disposition of the first adapter counterpart 302 and the second adapter counterpart 350 in operable communication is effected by insertion of the electrical, fluid, and data connectors 308, 310, and 314 of the first adapter counterpart 302 into the corresponding ports 3080, 3100, and 3140 of the second adapter counterpart 350.
  • the apparatus 100 is configured to decouple from the first adapter counterpart 302, and displace away from the first adapter counterpart 302 and the second adapter counterpart 350, after effecting the disposition of the first adapter counterpart 302 and the second adapter counterpart 350 in operable communication (e.g. after connecting the first adapter counterpart 302 and the second adapter counterpart 350).
  • the apparatus 100 is configured to defeat the connection between the first adapter counterpart 302 and the second adapter counterpart 350.
  • the controller 102 includes a processor or a central processing unit (CPU), a memory 114 such as a ROM, RAM, persistent memory, or flash memory for storing data, and input or output peripherals.
  • the controller 102 acts as a central controller for controlling all of the communications of the apparatus 100, and between the apparatus 100 and an external server or user equipment, such as a computer, laptop, smart device, a control panel in a control room, a control panel or user interface of the vehicle 13, a controller of the vehicle 13, and the like.
  • the controller of the vehicle 13 includes a processor or CPU and a memory.
  • the controller 102 communicates with the detector 104, the actuator assembly 106, the user interface 116, the power module 112, and the memory 114.
  • the controller 102 receives data, saves the data to a memory, and processes the received data.
  • the data may be real time data or historical data.
  • the controller 102 or detector 104 processes the data by, for example, comparing data with one or more preset thresholds.
  • the controller 102 or detector 104 processes the data to, for example, determine whether the towing vehicle 13 and trailer 12 are coupled or uncoupled, determine whether the first adapter counterpart 302 and the second adapter counterpart 350 are coupled or uncoupled, determine whether the first adapter counterpart 302 and the second adapter counterpart 350 are disposed in operable communication, determine whether a coupler 704 of an end effector 700 and the first adapter counterpart 302 are coupled or uncoupled, determine whether the object manipulator 110 is disposed outside a swing path of the trailer 12, and determine the configuration of the object manipulator 110, for initiating the next step in the process for aligning and coupling the first adapter counterpart 302 and the second adapter counterpart 350 to establish operable communication between the first adapter counterpart 302 and the second adapter counterpart 350, or for uncoupling the first adapter counterpart 302 and the second adapter counterpart 350 to defeat the operable communication between the first adapter counterpart 302 and the second adapter counterpart 350.
  • the controller 102 is configured to activate the actuator assembly 106 to effect coupling of the end effector 700 of the object manipulator 110 with the first adapter counterpart 302, and to displace the first adapter counterpart 302 relative to the second adapter counterpart 350, to operably connect the first adapter counterpart 302 with the second adapter counterpart 350.
  • the controller 102 determines that the towing vehicle 13 has stopped operating for a threshold period of time and that the towing vehicle 13 and the trailer 12 are coupled, and then the controller 102 is configured to activate the actuator assembly 106 to effect coupling of the end effector 700 of the object manipulator 110 with the first adapter counterpart 302, and to displace the first adapter counterpart 302 relative to the second adapter counterpart 350, to operably connect the first adapter counterpart 302 with the second adapter counterpart 350.
  • the controller 102 is configured to activate the actuator assembly 106 to effect coupling of the end effector 700 of the object manipulator 110 and the first adapter counterpart 302 that is operably connected with the second adapter counterpart 350, and to displace the first adapter counterpart 302, relative to the second adapter counterpart 350, to operably disconnect from the second adapter counterpart 350, such that operable communication between the first adapter counterpart 302 and the second adapter counterpart 350 becomes defeated.
  • the controller 102 determines that the towing vehicle 13 has stopped operating for a threshold period of time and that the towing vehicle 13 and the trailer 12 are coupled, and then the controller 102 is configured to activate the actuator assembly 106 to effect coupling of the end effector 700 of the object manipulator 110 110 and the first adapter counterpart 302 that is operably connected with the second adapter counterpart 350, and to displace the first adapter counterpart 302, relative to the second adapter counterpart 350, to operably disconnect from the second adapter counterpart 350, such that operable communication between the first adapter counterpart 302 and the second adapter counterpart 350 becomes defeated.
  • the controller 102 is configured to control the functioning or operation of the apparatus 100. For example, based on the data from the detector 104 or the actuator assembly 106, the controller 102 sends a control command to the user interface 116 to render a graphic representative of the data, or sends a control command to the actuator assembly 106 to operate the object manipulator 110.
  • the controller 102 is mounted to the towing vehicle 13 such that the controller 102 is protected from the elements. In some embodiments, for example, the controller 102 is mounted under the cab of the towing vehicle 13. In some embodiments, for example, the controller 102 is mounted on the frame of the towing vehicle 13, for example, a crossbar 42B, as depicted in Figure 49.
  • the detector 104 is operably coupled to the controller 102, for example, via wired or wireless communication, to transmit the detected data to the controller 102.
  • the detector 104 includes a sensor subsystem, which includes one or more sensors, for example, sensors 104A to 104F.
  • the detector 104 is configured to detect, independently: (i) the coupling or uncoupling of the towing vehicle 13 and the trailer 12, (ii) the coupling or uncoupling of the end effector 700 and the first adapter counterpart 302, (iii) the disposition of the end effector 700 and the first adapter counterpart 302 in a relative movement interference relationship or relative movement effectible relationship, (iv) the coupling or uncoupling of the first adapter counterpart 302 and the second adapter counterpart 350, (v) the disposition of the first adapter counterpart 302 and the second adapter counterpart 350 in a relative movement interference relationship or relative movement effectible relationship, (vi) the establishment or defeating of operable communication of the first adapter counterpart 302 and the second adapter counterpart 350, (vii) establishment or defeating of abutting engagement of the trailer engaging surface 404 to the bottom surface 50 of the trailer 12, (viii) the vertical displacement of the end effector alignment effector 500 tor transitioning the end effector alignment effector 500 to the alignment effector extended configuration, (ix
  • the detector 104 is configured to detect whether the first adapter counterpart 302 and the second adapter counterpart 350 are disposed in operable communication. In some embodiments, for example, the detector 104 is configured to detect whether the end effector 700 and the first adapter counterpart 302, for example, the coupler 704 and the first adapter counterpart 302, are releasably coupled.
  • one or more of the sensors of the detector 104 are wireless sensors that are configured for wireless communication with the controller 102.
  • the apparatus 100 is configured to be in electrical communication with a power source, such as a battery or fuel cell.
  • the apparatus 100 is disposable in electrical communication with an external power source, such as a portable battery, portable generator, external battery, and the like.
  • the apparatus 100 is wirelessly connectable to the external power source for wirelessly energizing the apparatus 100.
  • the apparatus 100 is powered by the electrical energy storage device of the towing vehicle 13, such as the battery of the towing vehicle 13.
  • the apparatus 100 includes a user interface 116 that is configured to enable the controller 102 to interconnect with one or more input devices, such as user equipment, a keyboard, mouse, camera, touch screen and a microphone, or with one or more output devices such as a display screen and a speaker.
  • the controller 102 is configured to send a control command to the user interface 116 for displaying a graphical representation of data that is detected or sensed by the detector 104.
  • the user interface 116 via input from a user, is configured to send a control command to the controller 102 for controlling the apparatus 100.
  • a user can input a control command to the controller 102 to via the user interface 116 to begin or end operation of the apparatus 100.
  • the controller 102 sends a control command to the user interface 116 to generate a graphical representation of the operating status of the apparatus 100.
  • the controller 102 sends a control command to the user interface 116 to generate a graphical representation of a menu of options, and the user can input a control command using the user interface 116 to select an option from the menu, and the user interface 116 sends the control command to the controller 102 to control the operation of the apparatus 100.
  • the user interface 116 is disposed in a cab of the vehicle 13. In some embodiments, for example, the user interface 116 is defined by a user interface of the vehicle 13. In some embodiments, for example, the user interface 116 of the apparatus 100 and the user interface of the vehicle 13 are different user interfaces.
  • the user interface of the vehicle 13 is operably coupled to the controller of the vehicle 13 and configured to enable the controller of the vehicle 13 to interconnect with one or more input devices, such as user equipment, a keyboard, mouse, camera, touch screen and a microphone, or with one or more output devices such as a display screen and a speaker, substantially similar to the user interface 116.
  • the controller of the vehicle 13 is configured to send a control command to the user interface of the vehicle 13 for displaying a graphical representation of data that is detected or sensed by a sensor that is disposed in operable communication with the controller of the vehicle 13.
  • the user interface of the vehicle 13 is operably coupled to the controller of the vehicle 13, and is configured to send a control command to the controller of the vehicle 13, for example, via a user input, to control the apparatus 100, or to control the actuation of a vehicular operation.
  • the controller of the vehicle 13 sends a control command to the user interface of the vehicle 13 to generate a graphical representation of the operating status of the apparatus 100 or the operating status of the vehicular operation.
  • the controller of the vehicle 13 sends a control command to the user interface of the vehicle 13 to generate a graphical representation of a menu of options, and the user can input a control command using the user interface of the vehicle 13 to select an option from the menu, and the user interface of the vehicle 13 sends the control command to the controller of the vehicle 13 to control the operation of the apparatus 100 or the vehicular operation.
  • the apparatus 100 includes an actuator assembly 106 that is disposed in operable communication with the controller 102.
  • the actuator assembly 106 includes one or more actuators 106A to 106E, 750, 762, and 808.
  • the actuator assembly 106 is activatable to displace the object manipulator 110 and to effect releasable coupling and releasing of the first adapter counterpart 302 by the end effector 700 of the object manipulator 110.
  • the actuator assembly 106 is activatable to displace the first adapter counterpart 302 via the object manipulator 110.
  • the controller 102 is configured to activate one or more actuators of the actuator assembly 106 to coordinate the displacement of the object manipulator 110 and to effect the releasable coupling and releasing of the first adapter counterpart 302 by the end effector 700 of the object manipulator 110, and to effect the releasable coupling and releasing of the first adapter counterpart 302 and the second adapter counterpart 350.
  • the controller 102 is configured to send a control command to an actuator 762 of the actuator assembly 106 to actuate a retaining member actuator 750 to releasably retain a connection between the coupler 704 and the first adapter counterpart 302, and also to releasably retain the connection between the first adapter counterpart 302 and the second adapter counterpart 350.
  • the controller 102 is configured to send a control command to an actuator 808 of the actuator assembly 106 to center an end effector 700 of the object manipulator 110 about a curved guide 602.
  • the actuator assembly 106 includes a linear actuator. In some embodiments, for example, the actuator assembly 106 includes a rotating actuator. In some embodiments, for example, the actuator assembly 106 includes an electrical actuator. In some embodiments, for example, the actuator assembly 106 includes a pneumatic actuator. In some embodiments, for example, the actuator assembly 106 includes a hydraulic actuator. In some embodiments, for example, the displacement of the object manipulator 110 via activation of the actuator assembly 106 includes extension, retraction, displacement, rotation, and pivoting of the object manipulator 110.
  • each one of the actuators of the actuator assembly 106 is configured to send data representative of its operational state (e.g. activated, deactivated, or degree of activation) to the controller 102 for the controller 102 to control the operation of the object manipulator 110.
  • data representative of its operational state e.g. activated, deactivated, or degree of activation
  • the actuators of the actuator assembly 106 of the apparatus 100 are mounted on the object manipulator 110 and are disposed in operable communication with the object manipulator 110.
  • connection apparatus 100 includes an object manipulator 110.
  • the object manipulator 110 includes a movable or pivotable platform 400 and an end effector alignment effector 500.
  • the end effector alignment effector 500 includes an end effector supporter 600 and an end effector 700.
  • the end effector 700 includes a coupler supporter 702 that supports a coupler 704, which is configured to releasably couple with the first adapter counterpart 302.
  • the platform 400 is configured to support the end effector alignment effector 500.
  • the supporting of the end effector alignment effector 500 by the platform 400 is such that the end effector alignment effector 500 is disposed within a frame 402 of the platform 400.
  • the end effector supporter 600 is configured to support the end effector 700.
  • the coupler 704 is couplable or connectible to the first adapter counterpart 302, such that, while the coupler 704 and the first adapter counterpart 302 are coupled or connected, a coupled object manipulator 110 is established.
  • the coupler 704 is coupled to the first adapter counterpart 302 such that a coupled end effector 700 is established.
  • the object manipulator 110 is configured to dispose the first adapter counterpart 302 and the second adapter counterpart 350 in an operable communication-effectible alignment, as depicted in Figure 12, wherein the first adapter counterpart 302 and the second adapter counterpart 350 are disposed in an alignment relationship.
  • the first adapter counterpart 302 is disposed in alignment with the second adapter counterpart 350, for establishing connection between the first adapter counterpart and the second adapter counterpart 350, via displacement of the first adapter counterpart 302 towards the second adapter counterpart 350.
  • Operable communication between the first adapter counterpart 302 and the second adapter counterpart 350 is effected in response to connection of the first adapter counterpart 302 and the second adapter counterpart 350.
  • first adapter counterpart 302 and the second adapter counterpart 350 are disposed in the operable communication-effectible alignment
  • the first adapter counterpart 302 and the second adapter counterpart 350 are aligned along an axis 360 that is parallel to the central longitudinal axis 18 of the trailer 12.
  • the axis 360 is a linear axis.
  • Figure 14 and Figure 15 depict an exploded view of the coupler 704, the first adapter counterpart 302 of the vehicle 13, and the second adapter counterpart 350 of the counterpart-disposed configuration 12 (e.g. trailer 12).
  • Figure 16 depicts the coupler 704 connected to the first adapter counterpart 302, and the first adapter counterpart connected to the second adapter counterpart 350.
  • the coupler 704 and the first adapter counterpart 302 are connectible, and the connection of the coupler 704 and the first adapter counterpart 302 is retainable.
  • the retention of the connection between the coupler 704 and the first adapter counterpart 302 is defeatable, such that the connection between the coupler 704 and the first adapter counterpart 302 is defeatable.
  • the first adapter counterpart 302 and the second adapter counterpart 350 are connectible, and the connection of the first adapter counterpart 302 and the second adapter counterpart 350 is retainable.
  • the retention of the connection between the first adapter counterpart 302 and the second adapter counterpart 350 is defeatable, such that the connection between the first adapter counterpart 302 and the second adapter counterpart 350 is defeatable.
  • the first adapter counterpart 302 comprises a retaining member configuration 902, wherein the retaining member configuration 902 is configurable in a first retaining configuration, as depicted in Figure 17, Figure 18, Figure 21 , Figure 22, Figure 26, and Figure 28, and also configurable in a second retaining configuration, as depicted in Figure 19, Figure 20, Figure 27, and Figure 29.
  • the coupler 704 of the object manipulator 110 includes a retaining member actuator 750 and a manipulator-defined retaining counterpart 770.
  • the coupler 704 and the first adapter counterpart 302 are co-operatively configured such that the coupler 704 is connectible to the first adapter counterpart 302. While the coupler 704 is connected to the first adapter counterpart 302, the coupler 704 and the first adapter counterpart 302 are co-operatively configurable in a relative movement interference relationship, as depicted in Figure 17, Figure 18, Figure 21 and Figure 22, and a relative movement effectible relationship, as depicted in Figure 19.
  • the retaining member configuration 902 and the manipulator-defined retaining counterpart 770 are co-operatively configured such that interference to displacement of the coupler 704, relative to the first adapter counterpart 302, in a direction away from the first adapter counterpart 302, is established, such that defeating of the connection of the coupler 704 and the first adapter counterpart 302, via displacement of the coupler 704, relative to the first adapter counterpart 302, in a direction away from the first adapter counterpart 302, is opposed.
  • the defeating of the connection of the coupler 704 and the first adapter counterpart 302, via displacement of the coupler 704, relative to the first adapter counterpart 302, in a direction away from the first adapter counterpart 302, is prevented.
  • the retaining member configuration 902 and the manipulator-defined retaining counterpart 770 are co-operatively configured such that relative displacement between the coupler 704 and the first adapter counterpart 302 is opposed.
  • the retaining member configuration 902 and the manipulator-defined retaining counterpart 770 are co-operatively configured such that relative displacement between the coupler 704 and the first adapter counterpart 302 is prevented.
  • the retaining member configuration 902 and the manipulator-defined retaining counterpart 770 are co-operatively configured such that there is an absence of interference to displacement of the coupler 704, relative to the first adapter counterpart 302, in a direction away from the first adapter counterpart 302, such that the coupler 704 is displaceable, relative to the first adapter counterpart 302, in a direction away from the first adapter counterpart 302, for effectuating defeating of the connection of the coupler 704 and the first adapter counterpart 302.
  • the retaining member configuration 902 and the manipulator-defined retaining counterpart 770 are co-operatively configured such that relative displacement between the coupler 704 and the first adapter counterpart 302, is effectible.
  • the retaining member configuration 902 and the retaining member actuator 750 are co-operatively configurable in an interaction-effective relationship, wherein, in the interaction-effective relationship, the retaining member configuration 902 is disposed, relative to the retaining member actuator 750, such that the retaining member configuration 902 is actuatable, by the retaining member actuator 750, for transitioning the retaining member configuration 902 between the first retaining configuration and the second retaining configuration.
  • the first adapter counterpart 302 of the vehicle 13 is configured for connection to the second adapter counterpart 350 of the counterpart-disposed configuration 12 (e.g. trailer 12 or vehicle connector 12).
  • the second adapter counterpart 350 comprises a connector-defined retaining counterpart 790.
  • the connector-defined retaining counterpart 790 is connected to the housing 352 of the second adapter counterpart 350 via mechanical fasteners, for example, screws, rivets, nuts and bolts, and the like.
  • the connector-defined retaining counterpart 790 extends from the housing 352.
  • first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively configured such that, while the first adapter counterpart 302 is connected to the second adapter counterpart 350, the first adapter counterpart 302 and the trailer-defined connection counterpart are co-operatively configurable in a relative movement interference relationship, as depicted in Figure 19 and Figure 20, and a relative movement effectible relationship, as depicted in Figure 18.
  • the retaining member configuration 902 and the connector-defined retaining counterpart 790 are co-operatively configured such that interference to displacement of the first adapter counterpart 302, relative to the second adapter counterpart 350, in a direction away from the second adapter counterpart 350, is established, such that defeating of the connection of the first adapter counterpart 302 and the second adapter counterpart 350, via displacement, of the first adapter counterpart 302, relative to the second adapter counterpart 350, in a direction away from the second adapter counterpart 350, is opposed.
  • the defeating of the connection of the first adapter counterpart 302 and the second adapter counterpart 350, via displacement, of the first adapter counterpart 302, relative to the second adapter counterpart 350, in a direction away from the second adapter counterpart 350, is prevented.
  • the retaining member configuration 902 and the connector-defined retaining counterpart 790 are co-operatively configured such that relative displacement between the first adapter counterpart 302 and the second adapter counterpart 350 is opposed.
  • the retaining member configuration 902 and the connector-defined retaining counterpart 790 are co-operatively configured such that relative displacement between the first adapter counterpart 302 and the second adapter counterpart 350 is prevented.
  • the retaining member configuration 902 and the connector-defined retaining counterpart 790 are co-operatively configured such that there is an absence of interference to displacement of the first adapter counterpart 302, relative to the second adapter counterpart 350, in a direction away from the second adapter counterpart 350, such that the first adapter counterpart 302 is displaceable, relative to the second adapter counterpart 350, in a direction away from the second adapter counterpart 350, for effectuating defeating of the connection of the first adapter counterpart 302 and the second adapter counterpart 350.
  • the retaining member configuration 902 and the connector-defined retaining counterpart 790 are co-operatively configured such that relative displacement between the first adapter counterpart 302 and the second adapter counterpart 350, is effective.
  • the retaining member configuration 902 in response to actuation of the retaining member configuration 902 by the retaining member actuator 750, the retaining member configuration 902 is transitioned from the first retaining configuration to the second retaining configuration, with effect that:
  • the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in the relative movement interference relationship.
  • the disposition of: (i) the coupler 704 and the first adapter counterpart 302 in the relative movement effectible relationship, and (ii) the first adapter counterpart 302 and the second adapter counterpart 350 in the relative movement interference relationship, in response to transition of the retaining member configuration 902 from the first retaining configuration to the second retaining configuration, is effectuated simultaneously.
  • the coupler 704 and the first adapter counterpart 302 are connected such that the retaining member configuration 902 and the retaining member actuator 750 are co-operatively configured in the interaction-effective relationship, and disposed in the relative movement interference relationship, and (ii) the first adapter counterpart 302 is connected to the second adapter counterpart 350, and disposed in the relative movement effectible-relationship:
  • the retaining member configuration 902 in response to actuation of the retaining member configuration 902 by the retaining member actuator 750, the retaining member configuration 902 is transitioned from the second retaining configuration to the first retaining configuration, with effect that:
  • first adapter counterpart 302 and the second adapter counterpart 350 become disposed in the relative movement effectible relationship.
  • the disposition of: (i) the coupler 704 and the first adapter counterpart 302 in the relative movement interference relationship, and (ii) the first adapter counterpart 302 and the second adapter counterpart 350 in the relative movement effectible relationship, in response to transition of the retaining member configuration 902 from the second retaining configuration to the first retaining configuration, is effectuated simultaneously.
  • the retaining member configuration 902 is biased to the second retaining configuration.
  • the bias is effected by a spring 904, as depicted in Figure 26.
  • the bias of the retaining member configuration 902 to the second retaining configuration opposes the transition of the first adapter counterpart 302 and the second adapter counterpart 350 from the relative movement interference relationship to the relative movement effectible relationship.
  • the coupler 704 and the first adapter counterpart 302 are co-operatively configured such that:
  • a force is applicable by the retaining member actuator 750 to the retaining member configuration 902 to effectuate the actuation of the retaining member configuration 902, for transitioning the retaining member configuration 902 from the first retaining configuration to the second retaining configuration, with effect that the coupler 704 and the first adapter counterpart 302 become disposed in the relative movement effectible relationship.
  • the force which is applicable by the retaining member actuator 750 to the retaining member configuration 902 to effectuate the actuation of the retaining member configuration 902, for transitioning the retaining member configuration 902 from the first retaining configuration to the second retaining configuration, cooperates with the bias of the retaining member configuration 902 to the second retaining configuration, the bias effected by the spring 904, to transition the retaining member configuration 902 from the first retaining configuration to the second retaining configuration.
  • the first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively configured such that:
  • a force is applicable to the retaining member configuration 902 to effectuate the actuation of the retaining member configuration 902, for transitioning the retaining member configuration 902 from the first retaining configuration to the second retaining configuration, with effect that the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in the relative movement interference relationship.
  • the coupler 704, the first adapter counterpart 302, and the second adapter counterpart 350 are co-operatively configured such that, while: (i) the coupler 704 is connected to the first adapter counterpart 302, such that the retaining member configuration 902 and the retaining member actuator 750 are disposed in the interactioneffective relationship, and disposed in the relative movement interference relationship, and (ii) the first adapter counterpart 302 and the second adapter counterpart 350 are disposed in the relative movement effectible relationship: the force, which is applicable to the retaining member configuration 902 to effectuate the actuation of the retaining member configuration 902, for transitioning the retaining member configuration 902 from the first retaining configuration to the second retaining configuration, with effect that the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in the relative movement interference relationship, is applicable by the retaining member actuator 750 to the retaining member configuration 902.
  • the force that is applicable to the retaining member configuration 902 to effectuate the actuation of the retaining member configuration 902, for transitioning the retaining member configuration 902 from the first retaining configuration to the second retaining configuration which, in some embodiments, for example, is applicable by the retaining member actuator 750 to the retaining member configuration 902, co-operates with the bias of the retaining member configuration 902 to the second retaining configuration, the bias effected by the spring 904, to transition the retaining member configuration 902 from the first retaining configuration to the second retaining configuration.
  • the coupler 704 and the first adapter counterpart 302 are co-operatively configured such that: [00274] while the coupler 704 is connected to the first adapter counterpart 302, such that: (i) the retaining member configuration 902 and the retaining member actuator 750 are disposed in the interaction-effective relationship, and (ii) the coupler 704 and the first adapter counterpart 302 are disposed in the relative movement effective relationship:
  • a force is applicable by the retaining member actuator 750 to the retaining member configuration 902 to effectuate the actuation of the retaining member configuration 902, for transitioning the retaining member configuration 902 from the second retaining configuration to the first retaining configuration, with effect that the coupler 704 and the first adapter counterpart 302 become disposed in the relative movement interference relationship.
  • the force which is applicable by the retaining member actuator 750 to the retaining member configuration 902 to effectuate the actuation of the retaining member configuration 902, for transitioning the retaining member configuration 902 from the second retaining configuration to the first retaining configuration, overcomes the bias of the retaining member configuration 902 to the second retaining configuration, the bias effected by the spring 904, to transition the retaining member configuration 902 from the second retaining configuration to the first retaining configuration.
  • first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively configured such that:
  • a force is applicable to the retaining member configuration 902 to effectuate the actuation of the retaining member configuration 902, for transitioning the retaining member configuration 902 from the second retaining configuration to the first retaining configuration, with effect that the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in the relative movement effectible relationship.
  • the coupler 704, the first adapter counterpart 302, and the second adapter counterpart 350 are co-operatively configured such that, while: (i) the coupler 704 is connected to the first adapter counterpart 302, such that the retaining member configuration 902 and the retaining member actuator 750 are disposed in the interactioneffective relationship, and disposed in the relative movement effectible relationship, and (ii) the first adapter counterpart 302 and the second adapter counterpart 350 are disposed in the relative movement interference relationship: the force, which is applicable to the retaining member configuration 902 to effectuate the actuation of the retaining member configuration 902, for transitioning the retaining member configuration 902 from the second retaining configuration to the first retaining configuration, with effect that the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in the relative movement effectible relationship, is applicable by the retaining member actuator 750 to the retaining member configuration 902.
  • the force that is applicable to the retaining member configuration 902 to effectuate the actuation of the retaining member configuration 902, for transitioning the retaining member configuration 902 from the second retaining configuration to the first retaining configuration which, in some embodiments, for example, is applicable by the retaining member actuator 750 to the retaining member configuration 902, overcomes the bias of the retaining member configuration 902 to the second retaining configuration, the bias effected by the spring 904, to transition the retaining member configuration 902 from the second retaining configuration to the first retaining configuration.
  • the transition of the retaining member configuration 902 from the first retaining configuration to the second retaining configuration includes a first rotation of the retaining member configuration 902
  • the transition of the retaining member configuration 902 from the second retaining configuration to the first retaining configuration includes a second rotation of the retaining member configuration 902 in a direction that is opposite the first rotation.
  • the retaining member configuration 902 includes a rocker or rocker arm.
  • the rocker includes a a first retaining member 906, disposed on a first end of the rocker; and a second retaining member 908, disposed on a second opposite end of the rocker.
  • the manipulator-defined retaining counterpart 770 includes a hook, as depicted in Figure 17 to Figure 25.
  • the first retaining member 906 is disposed in the hook of the manipulator-defined retaining counterpart 770.
  • the first retaining member 906 is disposed outside of the hook of the manipulator-defined retaining counterpart 770.
  • the hook of the manipulator-defined retaining counterpart 770 includes an angled or chamfered leading edge 771 to effectuate the disposition of the first retaining member 906 into the hook.
  • the connector-defined retaining counterpart 790 includes a hook, as depicted in Figure 17 to Figure 20.
  • the second retaining member 908 is disposed in the hook of the connector-defined retaining counterpart 790.
  • the second retaining member 908 is disposed outside of the hook of the connector-defined retaining counterpart 790.
  • the hook of the connector-defined retaining counterpart 790 includes an angled or chamfered leading edge 791 to effectuate the disposition of the second retaining member 908 into the hook.
  • the retaining member actuator 750 is configurable in a first actuating configuration, as depicted in Figure 23, and in a second actuating configuration, as depicted in Figure 24 and Figure 25.
  • the retaining member actuator 750 is transitionable between the first actuating configuration and the second actuating configuration.
  • the transition of the retaining member actuator 750 from the first actuating configuration to the second actuating configuration includes a first rotation of the retaining member actuator 750
  • the transition of the retaining member actuator 750 from the second actuating configuration to the first actuating configuration includes a second rotation of the retaining member actuator 750 in a direction that is opposite the first rotation.
  • the retaining member actuator 750 is disposed in the first actuating configuration. In some embodiments, for example, while the coupler 704 is connected to the first adapter counterpart 302 and co-operatively configured in the relative movement effectible relationship, the retaining member actuator 750 is disposed in the second actuating configuration.
  • a first interaction-effective relationship is established between the retaining member configuration 902 and the retaining member actuator 750 while: (i) the retaining member configuration 902 is disposed in the first retaining configuration, and (ii) the retaining member actuator 750 is disposed in the first actuating configuration.
  • a second interaction-effective relationship is established between the retaining member configuration 902 and the retaining member actuator 750 while: (i) the retaining member configuration 902 is disposed in the second retaining configuration, and (ii) the retaining member actuator 750 is disposed in the second actuating configuration.
  • the coupler 704 and the first adapter counterpart 302 are connected such that the retaining member configuration 902 and the retaining member actuator 750 are co-operatively configured in the interaction-effective relationship, and disposed in the relative movement interference relationship
  • the first adapter counterpart 302 is connected to the second adapter counterpart 350, and disposed in the relative movement effectible-relationship
  • the retaining member actuator 750 is disposed in the first actuating configuration
  • the retaining member configuration 902 in response to transitioning of the retaining member actuator 750 from the first actuating configuration to the second actuating configuration, the retaining member configuration 902 is actuated by the retaining member actuator 750, such that the retaining member configuration 902 is transitioned from the first retaining configuration to the second retaining configuration, with effect that:
  • the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in the relative movement interference relationship.
  • the coupler 704 is connected to the first adapter counterpart 302 such that the retaining member configuration 902 and the retaining member actuator 750 are co-operatively configured in the interaction-effective relationship, and disposed in the relative movement effectible-relationship, and (iii) the retaining member actuator 750 is disposed in the second actuating configuration:
  • the retaining member configuration 902 in response to transitioning of the retaining member actuator 750 from the second actuating configuration to the first actuating configuration, the retaining member configuration 902 is actuated by the retaining member actuator 750, such that the retaining member configuration 902 is transitioned from the second retaining configuration to the first retaining configuration, with effect that:
  • the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in the relative movement effectible relationship.
  • the retaining member actuator 750 includes a first prong 752 and a second prong 754, as depicted in Figure 25. As depicted, the first prong 752 and the second prong 754 are disposed on opposite sides of the retaining member actuator 750.
  • the coupler 704 and the first adapter counterpart 302 are co-operatively configured such that:
  • the first prong 752 and the first retaining member 906 are co-operatively configured such that a force is applicable by the first prong 752 to the first retaining member 906 to effectuate the actuation of the retaining member configuration 902, for transitioning the retaining member configuration 902 from the first retaining configuration to the second retaining configuration, with effect that the coupler 704 and the first adapter counterpart 302 become disposed in the relative movement effectible relationship.
  • the force is applied by the first prong 752 to the first retaining member 906, for effectuating the actuation of the retaining member configuration 902, to transition the retaining member configuration 902 from the first retaining configuration to the second retaining configuration, in response to transitioning of the retaining member actuator 750 from the first actuating configuration to the second actuating configuration.
  • the force which is applicable by the first prong 752 to the first retaining member 906 to effectuate the actuation of the retaining member configuration 902, for transitioning the retaining member configuration 902 from the first retaining configuration to the second retaining configuration, co-operates with the bias of the retaining member configuration 902 to the second retaining configuration, the bias effected by the spring 904, to transition the retaining member configuration 902 from the first retaining configuration to the second retaining configuration.
  • the coupler 704 and the first adapter counterpart 302 are co-operatively configured such that: while the coupler 704 is connected to the first adapter counterpart 302, such that: (i) the retaining member configuration 902 and the retaining member actuator are disposed in the interaction-effective relationship, (ii) the coupler 704 and the first adapter counterpart 302 are disposed in the relative movement interference relationship, and the (iii) the retaining member actuator 750 is disposed in the first retaining configuration, the first retaining member 906 is disposed between the first prong 752 and the second prong 754.
  • the coupler 704 and the first adapter counterpart 302 are co-operatively configured such that:
  • the coupler 704 is connected to the first adapter counterpart 302, such that: (i) the retaining member configuration 902 and the retaining member actuator are disposed in the interaction-effective relationship, (ii) the coupler 704 and the first adapter counterpart 302 are disposed in the relative movement effectible relationship, and the (iii) the retaining member actuator 750 is disposed in the second retaining configuration: [00308] the second prong 754 and the first retaining member 906 are co-operatively configured such that a force is applicable by the second prong 754 to the first retaining member 906 to effectuate the actuation of the retaining member configuration 902, for transitioning the retaining member configuration 902 from the second retaining configuration to the first retaining configuration, with effect that the coupler 704 and the first adapter counterpart 302 become disposed in the relative movement interference relationship.
  • the force is applied by the second prong 754 to the first retaining member 906, for effectuating the actuation of the retaining member configuration 902, to transition the retaining member configuration 902 from the second retaining configuration to the first retaining configuration, in response to transitioning of the retaining member actuator 750 from the second actuating configuration to the first actuating configuration.
  • the force which is applicable by the second prong 754 to the first retaining member 906 to effectuate the actuation of the retaining member configuration 902, for transitioning the retaining member configuration 902 from the second retaining configuration to the first retaining configuration, overcomes the bias of the retaining member configuration 902 to the second retaining configuration, the bias effected by the spring 904, to transition the retaining member configuration 902 from the second retaining configuration to the first retaining configuration.
  • the coupler 704 and the first adapter counterpart 302 are co-operatively configured such that: while the coupler 704 is connected to the first adapter counterpart 302, such that: (i) the retaining member configuration 902 and the retaining member actuator are disposed in the interaction-effective relationship, (ii) the coupler 704 and the first adapter counterpart 302 are disposed in the relative movement effectible relationship, and the (iii) the retaining member actuator 750 is disposed in the second retaining configuration: the first retaining member 906 is disposed between the first prong 752 and the second prong 754.
  • the coupler 704 includes a coupler body 760, as depicted in Figure 23 to Figure 25.
  • the coupler 704 includes one or more guide pins 322. As depicted in Figure 23 to Figure 25, the coupler 704 has two guide pins 322. In some embodiments, for example, the guide pins 322 are connected to, and extend from, the coupler body 760. The guide pins 322 are configured to be received by corresponding guide ports 240 of the first adapter counterpart 302. As depicted in Figure 4, the first adapter counterpart 302 includes two guide ports 240.
  • each one of the guide ports 240 is defined by a guide port configuration 2400, which, in some embodiments, for example, is mounted to the housing 304 of the first adapter counterpart 302, for example, via friction fit, interference fit, and the like, or via mechanical fasteners.
  • each one of the guide pins 312 extends from a respective guide port configuration 2400.
  • each one of the guide ports 240 independently, is defined by the housing 304.
  • the guide ports 240 are disposed on a side of the first adapter counterpart 302 that is opposite the side on which the electrical connectors 308, fluid connectors 310, and data connectors 314 are defined.
  • the one or more guide pins 322 and the one or more guide ports 240 are cooperatively configured to guide the relative displacement of the first adapter counterpart 302 and the coupler 704 to effect the releasable coupling of the first adapter counterpart 302 and the coupler 704.
  • a sensor 104E for example, a proximity sensor, is mounted to the coupler body 704.
  • the sensor 104E is mounted to the coupler body 704 such that the sensor 104E is facing the hook of the manipulator-defined retaining counterpart 770.
  • the sensor 104E is configured to collect data representative of the disposition, or absence of disposition, of the retaining member configuration 902, for example the first retaining member 906, in the hook of the hook of the manipulator-defined retaining counterpart 770.
  • the controller 102 determines the configuration of the retaining member configuration 902 (e.g. first retaining configuration or second retaining configuration).
  • the retaining member actuator 750 is rotatably connected to the coupler body 760 via a bearing 756.
  • the transition of the retaining member actuator 750 from the first actuating configuration to the second actuating configuration includes the first rotation of the retaining member actuator 750, relative to the coupler body 760, and the transition of the retaining member actuator 750 from the second actuating configuration to the first actuating configuration includes the second rotation of the retaining member actuator 750, relative to the coupler body 760, in a direction that is opposite the first rotation.
  • the coupler 704 includes an actuator 762 that is configured to transition the retaining member actuator 750 between the first actuating configuration and the second actuating configuration.
  • the actuator 762 is a motor, for example, a servo motor. As depicted in Figure 21 and Figure 22, in some embodiments, for example, the actuator 762 is mounted to the coupler body 760.
  • the actuator 762 and the retaining member actuator 750 are co-operative configured such that the retaining member actuator 750 is rotatable, relative to the coupler body 760, in response to actuation by the actuator 762, for transitioning the retaining member actuator 750 between the first actuating configuration and the second actuating configuration.
  • the actuator 762 and the retaining member actuator 750 are disposed in operable communication. As depicted in Figure 21, the actuator 762 and the retaining member actuator 750 are disposed in operable communication via a linkage configuration 764.
  • the linkage configuration 764 is connected, at a first end, to the actuator 762, and at a second opposite end, to the retaining member actuator 750.
  • the actuator 762 is configured to drive rotation of the linkage configuration 764, and in response to rotation of the rotation of the linkage configuration 764, the retaining member 750 is rotated, for transitioning the retaining member actuator 750 between the first actuating configuration and the second actuating configuration.
  • the linkage configuration 764 comprises at least one linkage member 765.
  • the linkage configuration 764 is a four-bar linkage.
  • the coupler 704 includes screws 766.
  • the screws 766 extend from the coupler body 760.
  • the screws 766 are configured to be coupled to rails 730 of the coupler supporter 702, as depicted in Figure 61 , for guiding the displacement of the coupler 704 relative to the coupler supporter 702.
  • the first adapter counterpart 302 includes a first adapter counterpart body 910, which, in some embodiments, for example, is defined by the housing 304, as depicted in Figure 26 and Figure 27.
  • the retaining member configuration 902 is rotatably connected to the counterpart body 910 via a bearing 912, as depicted in Figure 2.
  • the transition of the retaining member configuration 902 from the first retaining configuration to the second retaining configuration includes the first rotation of the retaining member configuration 902, relative to the counterpart body 910
  • the transition of the retaining member configuration 902 from the second actuating configuration to the first actuating configuration includes the second rotation of the retaining member configuration 902, relative to the counterpart body 910, in a direction that is opposite the first rotation.
  • the first adapter counterpart includes a handle configuration 916, the handle configuration 916 defining a handle 918.
  • the handle configuration 916 is connected to the retaining member configuration 902.
  • the retaining member configuration 902 and the handle 918 are co-operatively configured such that a force, for example, an external force, which, in some embodiments, is applied by an external source, is applicable to the handle 916 for transitioning the retaining member configuration 902 between the first retaining configuration and the second retaining configuration.
  • the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in the relative movement interference relationship.
  • the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in the relative movement effectible relationship.
  • the coupler 704 and the first adapter counterpart 302 are co-operatively configured such that:
  • a force for example, an external force
  • the force co-operates with the bias of the retaining member configuration 902 to the second retaining configuration to transition the retaining member configuration 902 from the first retaining configuration to the second retaining configuration.
  • the coupler 704 and the first adapter counterpart 302 are co-operatively configured such that:
  • a force for example, an external force
  • the force for example, the external force
  • first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively configured such that:
  • a force for example, an external force
  • the force overcomes with the bias of the retaining member configuration 902 to the second retaining configuration to transition the retaining member configuration 902 from the second retaining configuration to the first retaining configuration.
  • first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively configured such that:
  • a force for example, an external force
  • the force co-operates with the bias of the retaining member configuration 902 to the second retaining configuration to transition the retaining member configuration 902 from the first retaining configuration to the second retaining configuration.
  • the force is applicable by the object manipulator 110 described herein, for example, the retaining member actuator 750 of the coupler 704, to the retaining member configuration 902 to effectuate the actuation of the retaining member configuration 902, for transitioning the retaining member configuration 902 between the first retaining configuration and the second retaining configuration.
  • the force is applicable to the retaining member configuration 902 by an external source, for example, an operator or an object manipulator (e.g. robot) other than the object manipulator 110 described herein.
  • the force is applied directly to the retaining member configuration 902 to effectuate the actuation of the retaining member configuration 902, for transitioning the retaining member configuration 902 between the first retaining configuration and the second retaining configuration.
  • the force is applied to the retaining member actuator 750, which applies a force to the retaining member configuration 902 to effectuate the actuation of the retaining member configuration 902, for transitioning the retaining member configuration 902 between the first retaining configuration and the second retaining configuration.
  • the force is applied to the handle 918, which applies a force to the retaining member configuration 902 to effectuate the actuation of the retaining member configuration 902, for transitioning the retaining member configuration 902 between the first retaining configuration and the second retaining configuration.
  • the retaining member configuration 902 is transitionable between the first retaining configuration and the second retaining configuration via the object manipulator 110, and also transitionable between the first retaining configuration and the second retaining configuration via an external source, for example, manually, for example, by an operator, or by an object manipulator (e.g. robot) other than the object manipulator 110 described herein.
  • an object manipulator e.g. robot
  • the functionality of the retaining member configuration 902 to transition between the first retaining configuration and the second retaining configuration via an external source is desirable, should the coupler 704 of the object manipulator 110 lack the functionality to transition the retaining member configuration 902 between the first retaining configuration and the second retaining configuration (e.g.
  • an embodiment of the coupler 704 does not include the retaining member actuator 750; the coupler 704, for example, the retaining member actuator 750, the linkage member 765, or the actuator 762, is damaged or malfunctioning; there is an absence of supply of energy such as electrical power to the object manipulator 110, etc.).
  • the relative movement interference relationship and the relative movement effectible relationship between the coupler 704 and the first adapter counterpart 302 are still able to be established, for example, manually, for example, by an operator, and the relative movement interference relationship and the relative movement effectible relationship between the first adapter counterpart 302 and the second adapter counterpart 350 are still able to be established, for example, manually, for example, by an operator.
  • the spring 904 is connected, at a first end, to the counterpart body 910, and at a second opposite end, to the handle configuration 916.
  • the positions of the connections of the spring 904 to the counterpart body 910 and to the handle configuration 916 is adjustable based on the stiffness of the spring.
  • the first adapter counterpart 302 includes sensors 104F.
  • each one of the sensors 104F is a proximity sensor, and is mounted to the counterpart body 910.
  • the sensors 104F are mounted to the counterpart body 910 such that the sensors 104F are disposed in opposing relationship, and are facing a portion of the handle configuration 916, for example, a portion of the handle configuration 916 disposed rearwardly of the handle 918.
  • Each one of the sensors 104F independently, is configured to collect data representative of the proximity of the said portion of the handle configuration 916 relative to the sensor 104F.
  • the controller 102 determines the position of the handle configuration 916, and since the handle configuration 916 is connected to the retaining member configuration 902, the controller 102 also determines the configuration of the retaining member configuration 902 (e.g. first retaining configuration or second retaining configuration).
  • the first adapter counterpart 302 includes more than one retaining member configuration 902, for example, two retaining member configurations 902A and 902B.
  • the coupler 704 includes more than one manipulator defined retaining counterpart 770, for example, two manipulator defined retaining counterparts 770
  • the second adapter counterpart 350 includes more than one connector-defined retaining counterpart 790, for example, two connector-defined retaining counterparts 790.
  • the first retaining member configuration 902A and the second retaining member configuration 902B are co-operatively configured such that the configuration of the first and second retaining member configurations 902A and 902B are the same.
  • the second retaining member configuration 902B is disposed in the first retaining configuration.
  • the second retaining member configuration 902B is disposed in the second retaining configuration.
  • the coupler 704 and the first adapter counterpart 302 are co-operatively configured such that: while the coupler 704 is connected to the first adapter counterpart 302, rotation of the coupler 704, relative to the first adapter counterpart 302, is opposed.
  • the coupler 704 and the first adapter counterpart 302 are co-operatively configured such that: while the coupler 704 is connected to the first adapter counterpart 302, rotation of the coupler 704, relative to the first adapter counterpart 302, is prevented.
  • the coupler 704 and the first adapter counterpart 302 are co-operatively configured such that: while the coupler 704 is connected to the first adapter counterpart 302, the first adapter counterpart 302 is supported by the coupler 704.
  • the coupler 704 and the first adapter counterpart 302 are co-operatively configured such that: while the coupler 704 and the first adapter counterpart 302 are disposed in the relative movement interference relationship, the interference to the displacement of the coupler 704, relative to the towing vehicle defined connection counterpart, is along a displacement axis that is a linear axis.
  • the coupler 704 and the first adapter counterpart 302 are co-operatively configured such that: while the coupler 704 and the first adapter counterpart 302 are disposed in the relative movement interference relationship, the displacement of the coupler 704, relative to the towing vehicle defined connection counterpart, in the direction away from the first adapter counterpart 302, is prevented.
  • the coupler 704 and the first adapter counterpart 302 are co-operatively configured such that: while the coupler 704 and the first adapter counterpart 302 are disposed in the relative movement effectible relationship, the coupler 704 is displaceable, relative to the towing vehicle defined connection counterpart, along a displacement axis that is a linear axis.
  • the first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively configured such that: while the first adapter counterpart 302 is connected to the second adapter counterpart 350, rotation of the first adapter counterpart 302, relative to the second adapter counterpart 350, is opposed.
  • the first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively configured such that: while the first adapter counterpart 302 is connected to the second adapter counterpart 350, rotation of the first adapter counterpart 302, relative to the second adapter counterpart 350, is prevented.
  • the first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively configured such that: while the first adapter counterpart 302 is connected to the second adapter counterpart 350, the first adapter counterpart 302 is supported by the second adapter counterpart 350.
  • the first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively configured such that: while the first adapter counterpart 302 is connected to the second adapter counterpart 350, operable communication (e.g. fluid communication, electrical communication, data communication, etc.) is established between the first adapter counterpart 302 and the second adapter counterpart 350.
  • operable communication e.g. fluid communication, electrical communication, data communication, etc.
  • the vehicle 13 is a towing vehicle 13, the counterpart-disposed configuration 12 is a trailer 12, and the establishment of the communication between the towing vehicle 13 and the trailer 12 is for actuating a vehicular operation.
  • the vehicle 13 is a towing vehicle 13, the counterpart-disposed configuration 12 is a trailer 12, and the establishment of the communication between the towing vehicle 13 and the trailer 12 is for replenishing an energy storage device of the towing vehicle 13 via an energy source of the trailer 12.
  • the vehicle 13 is a towing vehicle 13
  • the counterpart-disposed configuration 12 is a charging dock 12
  • the establishment of the communication between the towing vehicle 13 and the charging dock 12 is for replenishing an energy storage device of the towing vehicle 13 via an energy source of the charging dock 12.
  • the first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively configured such that: while the first adapter counterpart 302 and the second adapter counterpart 350 are disposed in the relative movement interference relationship, the interference to the displacement of the first adapter counterpart 302, relative to the second adapter counterpart 350, is along a displacement axis that is a linear axis.
  • the first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively configured such that: while the first adapter counterpart 302 and the second adapter counterpart 350 are disposed in the relative movement interference relationship, the displacement of the first adapter counterpart 302, relative to the second adapter counterpart 350, in the direction away from the second adapter counterpart 350, is prevented.
  • the first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively configured such that: while the first adapter counterpart 302 and the second adapter counterpart 350 are disposed in the relative movement first adapter counterpart 302, the first adapter counterpart 302 is displaceable, relative to the second adapter counterpart 350, along a displacement axis that is a linear axis.
  • Figure 1 depicts the towing vehicle 13 connected to the trailer 12 via the fifth wheel 15 and kingpin 14.
  • the object manipulator 110 is mounted to the frame 40 of the towing vehicle 13, wherein the object manipulator 110 is disposed in a manipulator retracted configuration, the end effector alignment effector 500 is disposed in an alignment effected retracted configuration, the end effector 700 is disposed in an end effector retracted configuration, and the coupler 704 is disposed in a coupler retracted configuration.
  • the object manipulator 110 While the object manipulator 110 is disposed in the manipulator retracted configuration, the object manipulator 110 is disposed within the frame 40 of the towing vehicle 13, below of the swing radius 21 of the trailer 12, for example, the swing radius 21 of the front corners of the trailer 12, and there is an absence of engagement between the platform 400 and a bottom surface 50 of the trailer 12, wherein the bottom surface 50 is defined by the base plate 51 of the trailer 12.
  • the disposition of the platform 400 within the frame 40 of the towing vehicle 13 is such that the platform 400 is nested within the frame 40 of the towing vehicle 13. While the object manipulator 110 is disposed in the manipulator retracted configuration, the disposition of the platform 400 within the frame 40 of the towing vehicle 13 is such that the platform 400 is nested within a recess 41 within the frame 40 of the towing vehicle 13.
  • the end effector alignment effector 500 is disposed in the alignment effector retracted configuration
  • the end effector alignment effector 500 is disposed within the frame 402 of the platform 400, in particular, within an alignment effector receiving space 406 defined by the frame 402, such that the end effector alignment effector 500 is nested within the alignment effector receiving space 406.
  • the end effector 700 is disposed in the end effector retracted configuration, the end effector 700 is disposed forwardly of a front surface 52 of the trailer 12, the front surface 52 defined by a front wall 53 of the trailer 12, and there is an absence of contact engagement between the end effector 700 and the front surface 52 of the trailer 12.
  • While the coupler 704 is disposed in the coupler retracted configuration, and while the coupler 704 is coupled to the first adapter counterpart 302, there is an absence of operable communication between the first adapter counterpart 302 and the second adapter counterpart 350. While the coupler 704 is disposed in the coupler retracted configuration, the coupler 704 is disposed at a front end of the coupler supporter 702.
  • the object manipulator 110 is mounted to the frame 40 of the towing vehicle 13
  • at least a portion of the platform 400 is disposed below the base plate 51 of the trailer 12
  • the end effector alignment effector 500 is disposed forward of the front surface 52 of the trailer 12.
  • the object manipulator 110 is mounted to the frame 40 such that it is disposed forwardly of the fifth wheel 15 of the towing vehicle 13, and between the fifth wheel 15 and the cab of the towing vehicle 13.
  • the second adapter counterpart 350 is mounted under the floor 16 and disposed within the subfloor 17 of the trailer 12.
  • the subfloor 17 of the trailer 12 is defined between: a floor 16 of the trailer defining a support surface that is configured to support cargo disposed within the trailer 12, and the base plate 51.
  • the mounting of the second adapter counterpart 350 is such that the second adapter counterpart 350 is aligned with the center of the kingpin 14 along the central longitudinal axis 18 of the trailer 12.
  • the central longitudinal axis 18 of the trailer 12 is coincident with the center of the second adapter counterpart 350, and also coincident with the center of the kingpin 14.
  • a central longitudinal axis of the second adapter counterpart 350, and the central longitudinal axis 18 of the trailer 12 are disposed in a parallel relationship.
  • the second adapter counterpart 350 under the floor 16 of the trailer 12 and within the subfloor 17 of the trailer 12, as it is relatively easy to retrofit existing trailers 12 to mount the second adapter counterpart 350 under the floor 16 and within the subfloor 17.
  • the second adapter counterpart 350 is protected from the elements.
  • collision between the cargo of the trailer 12 and the second adapter counterpart 350 is undesirable as it can damage the second adapter counterpart 350.
  • the second adapter counterpart 350 is facing in a forward direction, towards the front surface 52 of the trailer 12.
  • the bottom portion of the front wall 53 of the trailer 12 includes a panel 55 that conceals the subfloor 17, as depicted in Figure 1.
  • the panel 55 it is relatively easy to cut the panel 55 to define the opening 54.
  • the front surface 52 of the trailer 12 includes the front surface 56 of the panel 55.
  • the connection of the second adapter counterpart 350 to the first adapter counterpart 302 is effectible via the opening 54 defined on the front surface 52 of the trailer 12.
  • the opening 54 is configured for receiving the first adapter counterpart 302 for effectuating the connection of the second adapter counterpart 350 and the first adapter counterpart 302.
  • the base plate 51 of the trailer 12 is the thickest part of the trailer 12.
  • the base plate 51 of the trailer 12 is defined by a steel plate that has a thickness, for example, of 5/8”.
  • the mounting of the second adapter counterpart 350 to the trailer 12 is such that the second adapter counterpart 350 is disposed rearwardly of the front surface 52 of the towing vehicle 12, and there is an absence of disposition of at least a portion of the second adapter counterpart 350 forwardly of the front surface 52 of the trailer 12.
  • the mounting of the second adapter counterpart 350 to the trailer 12 is such that the entirety of the second adapter counterpart 350 is disposed rearwardly of the front surface 52 of the towing vehicle 12.
  • the mounting of the second adapter counterpart 350 under the floor 16 and within the subfloor 17, is effectuated by a counterpart housing 380, as depicted in Figure 7 and Figure 8.
  • the counterpart housing 380 is mounted to the front-facing surface 52 of the trailer 12.
  • at least a portion of the second adapter counterpart 350 is disposed in the counterpart housing 380.
  • the housing 380 defines an opening 382, through which the first adapter counterpart 302 is displaceable for establishing operable communication between the first adapter counterpart 302 and the second adapter counterpart 350.
  • the opening 382 and the opening 54 are disposed in alignment, for example, axial alignment.
  • connection of the second adapter counterpart 350 to the first adapter counterpart 302 is effectible via the opening 382.
  • the opening 382 is configured for receiving the first adapter counterpart 302 for effectuating the connection of the second adapter counterpart 350 and the first adapter counterpart 302.
  • the disposition of the second adapter 350 in the counterpart housing 380 is such that the second adapter counterpart 350 is facing in a direction towards the opening 382.
  • the housing 380 includes flanges 384 that are configured to connect to the front-facing surface 52 of the trailer 12, for example, via mechanical fasteners, such that the housing 380 is mounted to the front-facing surface 52 of the trailer 12.
  • the flanges 384 are connected to the front-facing surface 52 of the trailer 12, the flanges 384 are flush with the front-facing surface 52 of the trailer 12.
  • the housing 380 while the housing 380 is connected to the front-facing surface 52 of the trailer 12 via the flanges 384, the housing 380, for example, a front-facing surface 381 of the housing 380, which, in some embodiments, for example, includes a front-facing surface of the flanges 384, defines a portion of the front-facing surface 52 of the trailer 12.
  • the frontfacing surface 52 of the trailer 12 includes the front-facing surfaces of the flanges 384.
  • the mounting of the housing 380 to the front-facing surface 52 of the trailer 12 is such that at least a portion of the housing 380 is disposed forwardly of the frontfacing surface 52 of the trailer 12.
  • the front facing surface 381 of the housing 380 is disposed forwardly of the front facing surface 52 of the trailer 12. In some embodiments, for example, the front facing surfaces of the flanges 384 are disposed forwardly of the front facing surface 52 of the trailer 12.
  • the disposition of the second adapter 350 in the counterpart housing 380 is such that the second adapter counterpart 350 is facing the frontfacing surface of the counterpart housing 380.
  • the bottom surface 50 is disposed below and rearwardly of the front-facing surface.
  • a normal axis defined by the front-facing surface and a normal axis defined by the bottom surface 50 are disposed in a non-parallel relationship.
  • a normal axis defined by the front- facing surface and a normal axis defined by the bottom surface 50 are disposed in a perpendicular relationship.
  • the mounting of the counterpart housing 380 to the front-facing surface 52 of the trailer 12 is such that an outermost front-facing surface portion of the front-facing surface 381 of the counterpart housing 380 is spaced apart from the front-facing surface 52 of the trailer 12 by a minimum spacing distance having a minimum value of at least 1/16 inches, for example, at least 1/8 inches, for example, at least 0.5 inches, for example, at least one (1) inch, for example, at least two (2) inches.
  • the housing 380 includes an extended portion 386 that is configured to extend through the opening 54 and be disposed within the subfloor 17.
  • the second adapter counterpart 350 is configured to connect to the extended portion 386, for example, via the mechanical fasteners that connect the connector-defined retaining counterpart 790 to the housing 352 of the second adapter counterpart 350.
  • at least a portion of the second adapter counterpart 350 is disposed in the extended portion 386.
  • the extended portion 386 functions as a protective shroud.
  • the extended portion 386 is manufactured with sheet metal.
  • the second adapter counterpart 350 While the second adapter counterpart 350 is connected to the extended portion 386, the second adapter counterpart 350 is aligned with the center of the kingpin 14 along the central longitudinal axis 18 of the trailer 12, with the electrical ports 3080 (or electrical connectors 308), fluid ports 3100 (or fluid connectors 310), data ports 3140 (or data connectors 314), and guide ports 3120 (or guide pins 312) are facing the front-facing surface 52 and aligned with the central longitudinal axis 18 of the trailer 12, as depicted in Figure 12 and Figure 31.
  • the extended portion 386 defines openings to allow the towing vehicle communicator-defined fluid conductors 1302, towing vehicle communicator-defined electrical conductors 1304, and the towing vehicle communicator-defined data conductors 1305 to extend out of the extended portion 386.
  • the extended portion 386 defines one or more drain ports 388 for draining liquid and debris that enters the extended portion 386.
  • the housing 380 includes a protective cover 390 for selectively establishing communication through the opening 382, as depicted in Figure 8 to Figure 11.
  • the cover 390 is coupled to the extended portion 386.
  • the protective cover 390 is configured to protect the second adapter counterpart 350 from the elements or unintentional engagement through the opening 382.
  • the protective cover 390 is transitionable between a closed configuration, as depicted in Figure 10, and an open configuration, as depicted in Figure 11.
  • the cover 390 is disposed in the closed configuration, wherein communication through the opening 382 is occluded by the cover 390.
  • the cover 390 is disposed in the open configuration, wherein occlusion of the opening 382 by the cover is defeated, such that communication through the opening 382 with the second adapter counterpart 350 is effectible.
  • the abutting engagement of the trailer engaging surface 404 with the bottom surface 51 of the trailer 12 is with effect that an actuator, for example, a lever arm, is actuated, for transitioning the protective cover 390 from the closed configuration to the open configuration.
  • an actuator for example, a lever arm
  • the cover 390 is pivotably coupled to the extended portion 386 about a pivot 392, as depicted in Figure 9.
  • a spring 394 is coupled to cover 390, and biases the cover 390 to the closed configuration, as depicted in Figure 10, to protect the second adapter counterpart 350 from the elements or unintentional engagement through the opening 382.
  • the first adapter counterpart 302 applies a force to the cover 390, which overcomes the spring force applied to the cover 390 by the spring 394, such that the cover 390 is transitioned to the open configuration, as depicted in Figure 11.
  • Figure 30 depicts the towing vehicle 13 connected to the trailer 12 via the fifth wheel 15 and kingpin 14, such that a connected towing vehicle 13 and trailer 12 is established, with the towing vehicle 13 misaligned, relative to the trailer 12, for example, angularly misaligned, relative to the trailer 12, about the pitch axis (lateral axis; left-to-right axis), and also angularly misaligned about the yaw axis (vertical axis).
  • connection of the towing vehicle 13 connected to the trailer 12 via the fifth wheel 15 and kingpin 14 is with effect that the towing vehicle 13 and the trailer 12 are angularly aligned about the roll axis (longitudinal axis, such that the first adapter counterpart 302 and the second adapter counterpart 302 are disposed in angular alignment about the roll axis.
  • the roll axis and a normal axis defined by the front surface 52 of the trailer 12 are disposed in a parallel relationship.
  • the yaw axis and a central longitudinal axis of the kingpin 14 are disposed in a parallel relationship.
  • the object manipulator 110 is disposed in the manipulator retracted configuration
  • the end effector alignment effector 500 is disposed in the alignment effector retracted configuration
  • the end effector 700 is disposed in the end effector retracted configuration
  • the coupler 704 is disposed in the coupler retracted configuration.
  • the misalignment between the towing vehicle 13 and the trailer 12 is due to surface grade, pit docks, the models of the towing vehicle 13 and the trailer 12, trailer’s landing gear 14A, tire pressure of the towing vehicle 13 or the trailer 12, parked position of the trailer 12, access position of the towing vehicle 13 to the trailer 12, and the like.
  • the object manipulator 110 is releasably coupled the first adapter counterpart 302, for example, via the coupler 704, such that the coupled object manipulator 110 is established.
  • the coupler 704 and the first adapter counterpart 302 are co-operatively configured in the relative movement interference relationship
  • the retaining member actuator 750 is disposed in the first actuating configuration
  • the retaining member configuration 902 and the retaining member actuator 750 are cooperatively configured in the interaction-effective relationship (e.g. first interaction-effective relationship).
  • the coupled object manipulator 110 is disposed in the coupled object manipulator retracted configuration.
  • the towing vehicle 13 is configured to co-operate with the trailer 12 such that, while the coupled object manipulator 110 is disposed in the coupled object manipulator retracted configuration, the first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively disposed in a misaligned relationship, wherein, in the misaligned relationship, there is an absence of alignment between the first adapter counterpart 302 and the second adapter counterpart 350.
  • said misalignment of the first adapter counterpart 302 and the second adapter counterpart 350 is due, in part, by the misalignment of the towing vehicle 13 and the trailer 12.
  • the towing vehicle 13 is configured to cooperate with the trailer 12 such that, while the coupled object manipulator 110 is disposed in the coupled object manipulator retracted configuration, the coupled object manipulator 110 is nested within the frame 40 of the towing vehicle 13.
  • the nesting of the object manipulator within the frame of the vehicle is such that the coupled object manipulator 110 is nested within the recess 41 defined within the frame 40 of the towing vehicle.
  • the recess 41 is defined between opposing frame members 40A and 40B of the frame 40, as depicted in Figure 64 and Figure 65.
  • the towing vehicle 13 is configured to cooperate with the trailer 12 such that, while the coupled object manipulator 110 is disposed in the coupled object manipulator retracted configuration, the coupled object manipulator 110 is disposed below a swing radius 21 of the trailer 12, for example, the swing radius 21 of the trailer corners, as depicted in Figure 66.
  • the towing vehicle 13 and the trailer 12 are rotatable, relative to each other, about the connection of the towing vehicle 13 and trailer 12.
  • the towing vehicle 13 and trailer 12 rotate, relative to each other, as the towing vehicle 13 turns in a left or right direction during operation of the towing vehicle 13.
  • one of the front corners of the trailer 12 overlaps the frame 40 of the towing vehicle 13, to which the object manipulator 110 is mounted.
  • the coupled object manipulator 110 While the towing vehicle 13 and the trailer 12 are connected, and during operation of the towing vehicle 13, it is desirable for the coupled object manipulator 110 to be disposed in the coupled object manipulator retracted configuration, such that there will be an absence of collision between the object manipulator 110 and the trailer 12, to prevent damage to the object manipulator 110.
  • the misalignment between the connected towing vehicle 13 and trailer 12 is such that, while: (i) the object manipulator 110 is disposed in the manipulator retracted configuration, (ii) the effector alignment effector 500 is disposed in the alignment effector retracted configuration, (iii) the end effector 700 is disposed in the end effector retracted configuration, (iv) the coupler 704 is disposed in a coupler retracted configuration, and (v) the first adapter counterpart 302 is coupled to the coupler 704 (e.g.
  • the coupler 704 and the first adapter counterpart 302 are co-operatively configured in the relative movement interference relationship
  • the first adapter counterpart 302 and the second adapter counterpart 350 are angularly misaligned, for example, about the pitch axis (lateral axis; left-to-right axis), axially misaligned about the pitch axis, and angularly misaligned about the yaw axis (vertical axis).
  • the towing vehicle 13 is connected to the trailer 12, wherein the towing vehicle 13 is angularly misaligned, relative to the trailer 12, about the pitch axis (lateral axis; left-to-right axis), and also about the yaw axis (vertical axis)
  • the object manipulator 110 is disposed in the manipulator retracted configuration
  • the end effector alignment effector 500 is disposed in the alignment effector retracted configuration
  • the end effector 700 is disposed in the end effector retracted configuration
  • the coupler 704 is disposed in an coupler retracted configuration
  • the first adapter counterpart 302 is coupled to the coupler 704 (e.g.
  • the coupler 704 and the first adapter counterpart 302 are co-operatively configured in the relative movement interference relationship), the first adapter counterpart 302 is disposed on a horizontal plane HP1 and the second adapter counterpart 350 is disposed on a horizontal plane HP2, wherein the horizontal plane HP1 and the horizontal plane HP2 are nonparallel.
  • connection of the towing vehicle 13 and the trailer 12 via the fifth wheel 15 and the kingpin 14 is such that the frame 40 of the towing vehicle 13 is disposed below the trailer 12.
  • the object manipulator 110 is disposed in the manipulator retracted configuration
  • the effector alignment effector 500 is disposed in the alignment effector retracted configuration
  • the end effector 700 is disposed in the end effector retracted configuration
  • the coupler 704 is disposed in an coupler retracted configuration
  • the first adapter counterpart 302 is coupled to the coupler 704 (e.g.
  • the coupler 704 and the first adapter counterpart 302 are co-operatively configured in the relative movement interference relationship), the first adapter counterpart 302 and the second adapter counterpart 350 are axially misaligned about the yaw axis (vertical axis).
  • connection of the towing vehicle 13 and the trailer 12 via the fifth wheel 15 and the kingpin 14 is such that the end effector alignment effector 500 is disposed forward of the front surface 52 of the trailer 12.
  • the object manipulator 110 is disposed in the manipulator retracted configuration
  • the effector alignment effector 500 is disposed in the alignment effector retracted configuration
  • the end effector 700 is disposed in the end effector retracted configuration
  • the coupler 704 is disposed in an coupler retracted configuration
  • the first adapter counterpart 302 is coupled to the coupler 704 (e.g.
  • the coupler 704 and the first adapter counterpart 302 are co-operatively configured in the relative movement interference relationship), the first adapter counterpart 302 and the second adapter counterpart 350 are axially misaligned about the roll axis (longitudinal axis; front to back axis).
  • the platform 400 and the end effector alignment effector 500 which includes the end effector supporter 600 function as a guide to guide the displacement of the coupled end effector 700 to align the first adapter counterpart 302 and the second adapter counterpart 350, such that the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in an alignment relationship for establishing connection between the first adapter counterpart 302 and the second adapter counterpart 350.
  • the towing vehicle 13 is configured to cooperate with the trailer 12 such that: while: (i) the coupled end effector 700 is established, (ii) the first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively disposed in a misaligned relationship, wherein, in the misaligned relationship, there is an absence of alignment between the first adapter counterpart 302 and the second adapter counterpart 350, and (iii) the object manipulator 110 is disposed in a guiding-effective relationship with the trailer 12, wherein, in the guiding-effective relationship, contact engagement between the object manipulator 110 and the trailer 12 is effectible, for example, contact engagement between the object manipulator 110 and a reaction surface of the trailer 12 is effectible (e.g. contact engagement between the object manipulator 110 and the front-facing surface 52 and bottom-facing surface 50 is effectible):
  • the object manipulator 110 while the object manipulator 110 is disposed in contact engagement with the trailer 12, for example, the reaction surface of the trailer 12 (e.g. the front-facing surface 52 and bottom-facing surface 50), in response to a force applied to the object manipulator 110 for urging displacement of the object manipulator 110 towards the trailer 12, for example, the reaction surface, an alignment reaction force is applied by trailer 12, for example, the reaction surface, to the object manipulator 110 to urge displacement of the object manipulator 110, with effect that an alignment relationship-obtaining displacement of the coupled end effector 700, relative to the second adapter counterpart 350, is effectuated by the alignment reaction force, wherein the alignment relationship-obtaining displacement is guided by the guide (e.g.
  • the alignment reaction force includes a platform-urging reaction force and an end effector-urging reaction force, as described in greater detail herein.
  • the object manipulator 110 is disposed in the guiding-effective relationship with the trailer 12 while the fifth wheel coupling 15 and the kingpin 14 are coupled.
  • the object manipulator 110 is transitioned from the manipulator retracted configuration to a manipulator extended configuration.
  • Figure 33 and Figure 35 depicts the object manipulator 110 disposed in the manipulator extended configuration.
  • the first adapter counterpart 302 and the second adapter counterpart 350 are angularly aligned about the pitch axis.
  • the towing vehicle 13 is configured to cooperate with the trailer 12 such that: while: (i) the coupled end effector 700 is established (e.g. the coupler 704 and the first adapter counterpart 302 are co-operatively configured in the relative movement interference relationship), (ii) the first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively disposed in a misaligned relationship, wherein, in the misaligned relationship, there is an absence of alignment between the first adapter counterpart 302 and the second adapter counterpart 350, and (iii) the object manipulator 110 is disposed in a guiding-effective relationship with the trailer 12, wherein, in the guiding-effective relationship, contact engagement between the pivotable platform 400 and the trailer 12, for example, the bottom surface 50 defined by the base plate 51 , is effectible: the object manipulator 110 is displaced towards the trailer 12, for example, in an upwards direction towards the bottom surface 50.
  • the coupled end effector 700 e.g. the coupler 704 and the first adapter counterpart 302 are co-operatively configured in
  • the displacement of the object manipulator 110 in the upward direction is such that the platform 400 and end effector alignment effector 500 (which includes the end effector supporter 600 and end effector 700), together, displace in the upwards direction.
  • the displacement of the object manipulator 110 towards the trailer 12, for example, in an upwards direction towards the bottom surface 50, is with effect that the platform 400 becomes disposed in contact engagement with the bottom surface 50.
  • the pivotable platform 400 and the trailer 12 are co-operatively configured such that, while the pivotable platform 400 is disposed in contact engagement with the trailer 12, for example, the bottom surface 50, in response to a platform-displacement force applied to the pivotable platform 400, for example, by actuators 106A and 106B, to urge displacement of the pivotable platform 400 towards the trailer 12, for example, the bottom surface 50, a platformurging reaction force is applied by the trailer 12, for example, the bottom surface 50, to the pivotable platform 400 to urge pivoting of the object manipulator 110, with effect that a pivoting of the coupled end effector 700, relative to the second adapter counterpart 350, is effectuated by the platform-urging reaction force.
  • the pivoting is effective for emplacing the first adapter counterpart 302 in angular alignment with the second adapter counterpart 350 about a pitch axis.
  • the pivoting of the coupled end effector 700 is for emplacing the first adapter counterpart 302 in alignment with the second adapter counterpart 350, such that the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in an alignment relationship for establishing connection between the first adapter counterpart 302 and the second adapter counterpart 350.
  • the guide of the object manipulator 110 includes the pivotable platform 400.
  • the displacement of the first adapter counterpart 302, relative to the second adapter counterpart 350, for emplacing the first adapter counterpart 302 in alignment with the second adapter counterpart 350, such that the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in the alignment relationship for establishing connection between the first adapter counterpart 302 and the second adapter counterpart 350 includes the displacement of the coupled end effector 700, for example, the pivoting and the vertical displacement of the coupled end effector 700, that is effectuated via the transitioning of the object manipulator 110 from the manipulator-retracted configuration to the manipulator extended configuration.
  • the platform 400 is disposed in contact engagement, for example, abutting engagement with the base plate 51 of the trailer 12, for example, the bottom surface 50 of the trailer 12.
  • the platform 400 includes a trailer engaging surface 404.
  • the trailer engaging surface 404 is configured to become disposed in contact engagement, for example, abutting engagement with the bottom surface 50, for example, the base plate 51, of the trailer 12.
  • the trailer engaging surface 404 is disposed in abutting engagement with the bottom surface 50 of the trailer 12.
  • the trailer engaging surface 404 is disposed in abutting engagement with the bottom surface 50 of the trailer 12, the trailer engaging surface 404 is parallel with the bottom surface 50 of the trailer 12. In some embodiments, for example, while the trailer engaging surface 404 is parallel with the bottom surface 50 of the trailer 12, the frame 402 is parallel with the bottom surface 50 of the trailer 12.
  • the trailer engaging surface 404 is disposed in abutting engagement with the base plate 51 of the trailer 12.
  • the disposition of the trailer engaging surface 404 in abutting engagement with the base plate 51 of the trailer 12 is with effect that the platform 400 becomes disposed in parallel with the bottom surface 50 of the trailer 12, such that the first adapter counterpart 302 and the second adapter counterpart 350 become angularly aligned about the pitch axis (lateral axis; left-to-right axis).
  • the disposition of the trailer engaging surface 404 in abutting engagement with the base plate 51 of the trailer 12 is with effect that the platform 400 becomes disposed in parallel with the bottom surface 50 of the trailer 12, such that the first adapter counterpart 302 and the second adapter counterpart 350 become angularly aligned about the roll axis (longitudinal axis; front-to-back axis).
  • the object manipulator 110 is mounted to the frame 40 of the towing vehicle 13 while the object manipulator 110 is mounted to the frame 40 of the towing vehicle 13, at least a portion of the trailer engaging surface 404 and the bottom surface 50 of the trailer 12 are disposed in opposing relationship. In some embodiments, for example, while the object manipulator 110 is mounted to the frame 40 of the towing vehicle 13, at least a portion of the trailer engaging surface 404 is disposed below the bottom surface 50 of the trailer 12.
  • the object manipulator 110 while the object manipulator 110 is disposed in the manipulator extended configuration, relative to its disposition in the manipulator-retracted configuration, the object manipulator 110 is disposed at a higher vertical position.
  • transitioning of the object manipulator 110 from the manipulator-retracted configuration to the manipulator extended configuration includes displacement of the object manipulator 110, relative to the frame 40 of the towing vehicle 13, in an upward direction.
  • the mounting of the object manipulator 110 to the frame 40 of the towing vehicle 13 is such that the object manipulator 110 is vertically displaceable, relative to the frame 40.
  • transitioning of the object manipulator 110 from the manipulator-retracted configuration to the manipulator extended configuration includes rotation of the object manipulator 110 about the pitch axis.
  • the mounting of the object manipulator 110 to the frame 40 of the towing vehicle 13 is such that the object manipulator 110 is rotatable, relative to the frame 40, about the pitch axis.
  • transitioning of the object manipulator 110 from the manipulator retracted configuration to the manipulator extended configuration includes displacement of the object manipulator 110, relative to the frame 40 of the towing vehicle 13, in a direction towards the trailer 12, for example, along the roll axis.
  • the displacement of the object manipulator 110 towards the trailer 12, for example, along the roll axis, for effecting the transitioning of the object manipulator 110 from the manipulator retracted configuration to the manipulator extended configuration is due to the angular misalignment of the towing vehicle 13 and the trailer 12 about the pitch axis.
  • the mounting of the object manipulator 110 to the frame 40 of the towing vehicle 13 is such that the object manipulator 110 is displaceable, relative to the frame 40, in a direction towards the trailer 12, for example, along the roll axis.
  • the first adapter counterpart 302 is disposed on the horizontal plane HP1 and the second adapter counterpart 350 is disposed on the horizontal plane HP2, wherein the horizontal plane HP1 and the horizontal plane HP2 are parallel.
  • the end effector alignment effector 500 remains disposed in the alignment effector retracted configuration, wherein the end effector alignment effector 500 is disposed within the frame 402 of the platform 400.
  • the displacement of the platform 400 towards the trailer 12, for example, towards the bottom surface 50, for example, to effectuate the transition of the object manipulator 110 from the manipulator retracted configuration to the manipulator extended configuration is effected by actuation of an actuator 106A and an actuator 106B of the actuator assembly 106.
  • the actuator 106A and 106B are pneumatic actuators.
  • object manipulator 110 includes more than one actuator 106A, for example, two actuators 106A, and more than one actuator 106B, for example, two actuators 106B.
  • the actuator 106A and 106B are actuated by the controller 102, in response to a process initiation signal, for example, a signal provided by an operator of the towing vehicle 13, or a signal representative of the coupling of the towing vehicle 13 and the trailer 12, or a signal representative of an absence of operable communication between the first adapter counterpart 302 and the second adapter counterpart 350.
  • a process initiation signal for example, a signal provided by an operator of the towing vehicle 13, or a signal representative of the coupling of the towing vehicle 13 and the trailer 12, or a signal representative of an absence of operable communication between the first adapter counterpart 302 and the second adapter counterpart 350.
  • the actuator 106A is connected, at a first end, to a crossbar 42A of the frame 40, and at a second end, to the platform 400, such that relative displacement between the frame 40 and the platform 400 is effectuatable.
  • the actuator 106B is connected, at a first end, to a crossbar 42B of the frame 40, and at a second
  • connection of the actuators 106A and 106B to the crossbars 42 of the frame 40 and to the platform 400 is such that the actuators 106A and 106B are disposed in a scissor configuration, such that the transition of the object manipulator 110 from the manipulator retracted configuration to the manipulator extended configuration includes a scissor lift displacement, the scissor lift displacement effected by the actuators 106A and 106B.
  • the platform 400 is rested on the crossbar 42A and the crossbar 42B.
  • sensors 104A and 104B are configured to collect data representative of the proximity of the trailer engaging surface 404 relative to the bottom surface 50 of the trailer 12. Based on the data from the sensors 104A and 104B, the controller 102 determines that the trailer engaging surface 404 is disposed in abutting engagement with the bottom surface 50, for example, the base plate 51, of the trailer 12.
  • the apparatus 100 includes a displacement restrictor 900, configured to resist the rotation of the platform 400, relative to the frame 40 of the towing vehicle 13, about the roll axis, and also about the yaw axis.
  • a first end of the displacement restrictor 900 is connected to the frame 40 of the towing vehicle 13, and a second end of the displacement restrictor 900 is connected to the platform 400.
  • the end effector alignment effector 500 is transitioned from the alignment effector retracted configuration to an alignment effector extended configuration.
  • Figure 36 depicts the end effector alignment effector 500 disposed in the alignment effector extended configuration.
  • the first adapter counterpart 302 and the second adapter counterpart 350 are axially aligned about the yaw axis (e.g. vertical axis).
  • the end effector alignment effector 500 is disposed in the alignment effector extended configuration, the end effector alignment effector 500 and the front surface 52 of the trailer 12 are disposed in opposing relationship.
  • the end effector alignment effector 500 is disposed in the alignment effector extended configuration, relative to its disposition in the alignment effector retracted configuration, the end effector alignment effector 500 is disposed at a higher vertical position.
  • transitioning of the end effector alignment effector 500 from the alignment effector retracted configuration to the alignment effector extended configuration includes displacement of the end effector alignment effector 500, relative to the platform 400, in an upward direction.
  • the supporting of the end effector alignment effector 500 by the platform 400 is such that the end effector alignment effector 500 is displaceable, relative to the platform 400.
  • the displaceability of the end effector alignment effector 500, relative to the platform 400 includes a vertical displaceability.
  • the displacement of the first adapter counterpart 302, relative to the second adapter counterpart 350, for emplacing the first adapter counterpart 302 in alignment with the second adapter counterpart 350, such that the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in the alignment relationship for establishing connection between the first adapter counterpart 302 and the second adapter counterpart 350 includes the displacement of the coupled end effector 700, for example, the vertical displacement of the coupled end effector 700, that is effectuated via the transitioning of the end effector alignment effector 500 from the alignment effector retracted configuration to the alignment effector extended configuration.
  • the vertical displacement of the end effector alignment effector 500, for transitioning from the alignment effector retracted configuration to the alignment effector extended configuration is predetermined, based on the mounting of the second adapter counterpart 350 to the trailer 12.
  • the mounting of the second adapter counterpart 350 to each one of a plurality of trailers 12 is such that, for each one of the plurality of trailers 12, the minimum spacing distance between the second adapter counterpart 350 and the bottom surface 50 of the trailer 12 is consistent.
  • Such mounting is with effect that the vertical displacement of the end effector alignment effector 500, for transitioning from the alignment effector retracted configuration to the alignment effector extended configuration, is the same, for different models of towing vehicle 13 and trailer 12, for which the apparatus 100 is used to operable communicate the first adapter counterpart 302 and the second adapter counterpart 350.
  • the controller 102 determines that the end effector alignment effector 500 is disposed in the alignment effector extended configuration.
  • the vertical displacement of the end effector alignment effector 500, for transitioning from the alignment effector retracted configuration to the alignment effector extended configuration is predetermined, based on the specifications (e.g. dimensions) of the models of the towing vehicle 13 and the trailer 12 for which the apparatus 100 is used to operable communicate the first adapter counterpart 302 and the second adapter counterpart 350.
  • the controller 102 determines that the end effector alignment effector 500 is disposed in the alignment effector extended configuration.
  • the vertical displacement of the end effector alignment effector 500, for transitioning from the alignment effector retracted configuration to the alignment effector extended configuration is determined based on detection of a feature of the front surface 52 of the trailer 12, for example, a marker disposed on the front surface 52 of the trailer 12, on the flange 384 of the housing 380, or on the edge of the opening 382 defined by the housing 380 that is mounted to the front surface 52 of the trailer 12, through which the towing-defined adapter counterpart 350 is displaceable for effecting communication with the second adapter counterpart 350, by a sensor, for example, an optical sensor.
  • the controller 102 determines that the end effector alignment effector 500 is disposed in the alignment effector extended configuration.
  • the vertical displacement of the end effector alignment effector 500, for transitioning from the alignment effector retracted configuration to the alignment effector extended configuration is effected by vertical displacement of the end effector supporter 600 together with the end effector 700.
  • the transition of the end effector alignment effector 500 from the alignment effector retracted configuration to the alignment effector extended configuration is effected by actuation of the actuator 106C.
  • the actuator 106C is a pneumatic actuator.
  • the object manipulator 110 includes more than one actuator 106C, for example, two actuators 106C.
  • the actuator 106C is actuated by the controller 102, in response to determination by the controller 102 that the object manipulator 110 is disposed in the manipulator extended configuration, for example, in response to determination that the trailer engaging surface 404 is disposed in abutting engagement with the bottom surface 50 of the trailer 12.
  • the actuator 106C is connected to the frame 402 of the platform 400 and also to the end effector supporter 600, such that relative displacement between the platform 400 and the end effector alignment effector 500 is effectuatable.
  • Figure 36 depicts the end effector 700 disposed in the end effector retracted configuration
  • Figure 37 depicts the end effector 700 disposed in the end effector alignment-ready configuration.
  • the coupler supporter 702 is disposed in contact engagement with the front wall 53 of the trailer 12, for example, disposed in contact engagement with the front surface 52 of the trailer 12.
  • transitioning of the end effector 700 from the end effector retracted configuration to the end effector alignment-ready configuration includes displacement of the coupler supporter 702, relative to the end effector supporter 600, towards the trailer 12.
  • the transitioning of the end effector 700 from the end effector retracted configuration to the end effector alignment-ready configuration includes displacement of the coupler supporter 702, relative to the end effector supporter 600, and along an axis that is parallel to a longitudinal axis of the towing vehicle 13, towards the trailer 12.
  • the supporting of the end effector 700 by the end effector supporter 600 is such that the coupler supporter 702 is displaceable, relative to the end effector supporter 600, towards the trailer 12.
  • the displacement of the first adapter counterpart 302, relative to the second adapter counterpart 350, for emplacing the first adapter counterpart 302 in alignment with the second adapter counterpart 350, such that the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in the alignment relationship for establishing connection between the first adapter counterpart 302 and the second adapter counterpart 350 includes the displacement of the coupled end effector 700, for example, the displacement of the coupler supporter 702 towards the trailer 12, that is effectuated via the transitioning of the end effector 700 from the end effector retracted configuration to the end effector alignment-ready configuration.
  • transitioning of the end effector 700 from the end effector retracted configuration to the end effector alignment-ready configuration includes displacement of the coupler supporter 702, relative to the end effector supporter 600, away from the end effector supporter 600, and towards the front surface 52 of the trailer 12, which, in some embodiments, for example, is defined by the front wall 53 of the trailer 12.
  • the supporting of the end effector 700 by the end effector supporter 600 is such that the coupler supporter 702 is displaceable, relative to the end effector supporter 600, away from the end effector supporter 600, and towards the front surface 52 of the trailer 12.
  • the end effector 700 includes a mounting plate 722 that includes rails 724, wherein the coupler supporter 702 is slidably coupled to the rails 724 of the mounting plate 722.
  • the rails 724 are configured to guide the displacement of the coupler supporter 702, relative to the mounting plate 722.
  • the displacement of the coupler supporter 702, relative to the end effector supporter 600, towards the front surface 52 of the trailer 12, for transitioning the end effector 700 from the end effector retracted configuration to the end effector alignment-ready configuration includes displacement of the coupler supporter 702, relative to the mounting plate 722, towards the front surface 52 of the trailer 12.
  • the displacement of the coupler supporter 702, relative to the mounting plate 722 is guided by the rails 724.
  • the displacement of the coupler supporter 702, relative to the end effector supporter 600, away from the end effector supporter 600, and towards the front surface 52 of the trailer 12, for transitioning the end effector 700 from the end effector retracted configuration to the end effector alignment-ready configuration includes displacement of the coupler supporter 702, relative to the mounting plate 722 away from the end effector supporter 600, and towards the front surface 52 of the trailer 12.
  • the displacement of the coupler supporter 702, relative to the mounting plate 722 is guided by the rails 724.
  • the coupler supporter 702 is disposed further from the end effector supporter 600 and closer to the front surface 52 of the trailer 12.
  • the transition of the end effector 700 from the end effector retracted configuration to the end effector alignment-ready configuration is effected by actuation of the actuators 106D.
  • the actuators 106D are pneumatic actuators.
  • the actuators 106D actuated by the controller 102, in response to determination by the controller 102 that the end effector alignment effector 500 is disposed in the alignment effector extended configuration.
  • each one of the actuators 106D independently, is connected, at a first end, to the mounting plate 722 of the end effector 700, and at a second end, to the coupler supporter 702 of the end effector 700, such that relative displacement between the coupler supporter 702 and the mounting plate 722 is effectuatable.
  • the actuators 106D are actuated to displace the coupler supporter 702, relative to the mounting plate 722, towards the front surface 52 of the trailer 12.
  • the displacement of the coupler supporter 702, relative to the mounting plate 722, towards the front surface 52 of the trailer 12, is with effect that the coupler supporter 702 becomes disposed in contact engagement with the front wall 53 of the trailer 12, for example, the front surface 52 of the trailer 12.
  • the coupler supporter 702 defines a first engagement surface 706A and a second engagement surface 706B, as depicted in Figure 61 to Figure 63.
  • the displacement of the coupler supporter 702, relative to the mounting plate 722, towards the front wall 53 of the trailer 12 is with effect that at least one of the first engagement-ready surface 706A and the second engagement-ready surface 706B of the end effector 700 becomes disposed in contact engagement with the front wall 53, for example, front surface 52, of the trailer 12.
  • the displacement of the coupler supporter 702, relative to the mounting plate 722, towards the front wall 53, for example, front surface 52, of the trailer 12 is with effect that the first engagement-ready surface 706A becomes disposed in contact engagement with the front wall 53, for example, front surface 52, of the trailer 12.
  • the displacement of the coupler supporter 702, relative to the mounting plate 722, towards the front wall 53, for example, front surface 52, of the trailer 12 is with effect that the second engagement-ready surface 706B becomes disposed in contact engagement with the front wall 53, for example, front surface 52, of the trailer 12.
  • each one of the first engagement surface 706A and the second engagement surface 706B independently, is a planar surface.
  • the end effector 700 includes rollers 705, as depicted in Figure 61 to Figure 63.
  • the first engagement surface 706A is defined by a first roller 705
  • the second engagement surface 706B is defined by a second roller 705
  • Figure 38 and Figure 39 depict the end effector 700 disposed in the end effector alignment-effective configuration.
  • the first adapter counterpart 302 and the second adapter counterpart 350 are (i) angularly aligned about the yaw axis (e.g. vertical axis), (ii) axially aligned about the pitch axis (e.g. lateral axis; left to right axis), (iii) axially aligned about the roll axis (e.g. longitudinal axis; front to back axis), and (iv) axially aligned about the yaw axis (e.g. vertical axis), such that the first adapter counterpart 302 and the second adapter counterpart 350 are disposed in the operable communication-effectible alignment.
  • the yaw axis e.g. vertical axis
  • the pitch axis e.g. lateral axis; left to right axis
  • the roll axis e.g. longitudinal axi
  • each one of the first engagement-ready surface 706A and the second engagement-ready surface 706B independently, is configured to become disposed in abutting engagement with the front surface 52 of the trailer 12.
  • each one of the first engagement-ready surface 706A and the second engagement-ready surface 706B, independently, is disposed in abutting engagement with the front surface 52 of the trailer 12.
  • each one of the first engagement-ready surface 706A and the second engagement-ready surface 706B, independently, is parallel with the front surface 52 of the trailer 12.
  • the first engagement-ready surface 706A and the second engagement-ready surface 706B are disposed in abutting engagement with the front surface 52 of the trailer 12.
  • the abutting engagement of the of the first engagement-ready surface 706A and the second engagement-ready surface 706B with the front surface 52 of the trailer 12 is with effect that, while the fist adapter counterpart 302 is coupled to the coupler 704, the first adapter counterpart 302 and the second adapter counterpart 350 become (i) angularly aligned about the yaw axis (vertical axis) (ii) axially aligned about the pitch axis (e.g.
  • first adapter counterpart 302 and the second adapter counterpart 350 are disposed in the operable communication-effectible alignment.
  • transitioning of the end effector 700 from the end effector alignment-ready configuration (drawn in broken line in Figure 40) to the end effector alignment-effective configuration (drawn in solid line in Figure 40) includes (i) displacement of the end effector 700, relative to the end effector supporter 600, in a direction parallel to the front surface 52 of the trailer 12, for example, in a lateral direction, for example, along the pitch axis (displacement D1), (ii) displacement of the end effector 700, relative to the end effector supporter 600, towards the front surface 52 of the trailer 12, in a longitudinal direction, for example, along the roll axis (displacement D2), and (iii) rotation of the end effector 700, relative to the end effector supporter 600, about the yaw axis (vertical axis) (displacement D3).
  • the supporting of the end effector 700 by the end effector supporter 600 is such that the end effector 700 is: (i) displaceable, relative to the end effector supporter 600, away from the front surface 52 of the trailer 12, in a direction, for example, along the pitch axis of the towing vehicle 13, (ii) displaceable, relative to the end effector supporter 600, towards the front surface 52 of the trailer 12, in a direction, for example, along the roll axis of the towing vehicle 13, and (iii) rotatable, relative to the end effector supporter 600, about the yaw axis of the towing vehicle 13.
  • the end effector supporter 600 includes a guide assembly 606, which includes: (i) a displacement guiding configuration 610, and (ii) a curved track or a curved guide 602.
  • the displacement guiding configuration 610 is configured to guide the displacement of the end effector 700, relative to the end effector supporter 600.
  • the displacement guiding configuration 610 includes a first guide bracket 612, a first rail 614, a slew ring 616, a second guide bracket 618, and a second rail 620.
  • the first guide bracket 612 is configured to be connected to the mounting plate 722 of the end effector 700.
  • the first guide bracket 612 is configured to be connected to a first mounting plate portion 722A of the end effector 700.
  • the first guide bracket 612 and the first rail 614 are co-operatively configured such that the first guide bracket 612 is slidably connected to the first rail 614, such that the first guide bracket 612 is displaceable relative to the first rail 614.
  • the first guide bracket 612 includes couplings 613 that are coupled to the first rail 614.
  • the first guide bracket 612 and the first rail 614 are co-operatively configured such that the displacement of the first guide bracket 612, relative to the first rail 614, is guided by the first rail 614.
  • the guided displacement of the first guide bracket 612, relative to the first rail 614 is a longitudinal displacement (e.g.
  • the guided displacement of the first guide bracket 612, relative to the first rail 614 is along an axis that is parallel to a longitudinal axis 615 of the first rail 614.
  • the longitudinal axis 615 of the first rail 614 extends along the length of the first rail 614, as depicted in Figure 56.
  • the longitudinal axis 615 of the first rail 614 is a linear axis.
  • the second guide bracket 618 is configured to be connected to a support plate 608 of the end effector supporter 600, such that, while the second guide bracket 618 is connected to the support plate 608, the second guide bracket 618 is supported by the support plate 608.
  • the second guide bracket 618 and the second rail 620 are co-operatively configured such that the second guide bracket 618 is slidably connected to the second rail 620, such that the second guide bracket 618 is displaceable relative to the second rail 620.
  • the second guide bracket 618 includes couplings 619 that are coupled to the second rail 620.
  • the second guide bracket 618 and the second rail 620 are co-operatively configured such that the displacement of the second guide bracket 618, relative to the second rail 620, is guided by the second rail 620.
  • the guided displacement of the second guide bracket 618, relative to the second rail 620 is a lateral displacement (e.g. side to side displacement).
  • the guided displacement of the second guide bracket 618, relative to the second rail 620 is along an axis that is parallel to a longitudinal axis 621 of the second rail 620.
  • the longitudinal axis 621 of the second rail 620 extends along the length of the second rail 620, as depicted in Figure 56.
  • the longitudinal axis 621 of the second rail 620 is a linear axis.
  • the connection of the second guide bracket 618 to the support plate 608 is such that the longitudinal axis 621 of the second rail 620 is parallel to the pitch axis (e.g. lateral axis) of the towing vehicle 13.
  • the longitudinal axis 615 of the first rail 614 and the longitudinal axis 621 of the second rail 620 are disposed in a non-parallel relationship.
  • the slew ring 616 is configured to be connected to the first rail 614 and to the second guide bracket 618.
  • the slew ring 616, the first rail 614, and the second guide bracket 618 are co-operatively configured such that relative rotational displacement between the first rail 614 and the second guide bracket 618 is effectuatable via the slew ring 616.
  • the displacement guiding configuration 610 is configured such that relative rotational displacement between: (i) the first guide bracket 612 and the first rail 614, and (ii) the second guide bracket 618 and the second rail 620, is effectuatable via the slew ring 616.
  • said relative rotational displacement is along a rotational axis 617 of the slew ring 616 that is perpendicular to both the longitudinal axis 615 of the first rail 614 and the longitudinal axis 621 of the second rail 620, as depicted in Figure 55.
  • the axis 617 is a linear axis.
  • the connection of the displacement guiding configuration 610, for example, the second guide bracket 618, to the support plate 608 is such that the axis 617 is parallel to the yaw axis (e.g. vertical axis) of the towing vehicle 13.
  • the end effector 700, the displacement guiding configuration 610, and the end effector supporter 600 are co-operatively configured such that the end effector 700 is: (i) displaceable, relative to the end effector supporter 600, in a direction along the longitudinal axis 615 of the first rail 614, (ii) displaceable, relative to the end effector supporter 600, in a direction along the longitudinal axis 621 of the second rail 620, and (iii) rotatable, relative to the end effector supporter 600, about the axis 617 of the slew ring 616.
  • the displacement of the end effector 700, relative to the end effector supporter 600, that is effectuatable by the displacement guiding configuration 610, is constrained by the curved guide 602.
  • the curved guide 602 is configured to be connected to a support plate 608 of the end effector supporter 600, such that, while the curved guide 602 is connected to the support plate 608, the curved guide 602 is supported by the support plate 608.
  • the curved guide 602 is further configured to be connected to the mounting plate 722 of the end effector 700.
  • the curved guide 602 is configured to be connected to a second mounting plate portion 722B of the mounting plate 722 of the end effector 700.
  • the curved guide 602 and the mounting plate 722 are co-operatively configured such that the mounting plate 722 is slidably connected to the curved guide 602, such that the mounting plate 722 is displaceable relative to the curved guide 602 along a curvilinear path defined by the curved guide 602.
  • the end effector 700, the displacement guiding configuration 610, the curved guide 602, and the end effector supporter 600 are cooperatively configured such that: (i) the displaceability, of the end effector 700, relative to the end effector supporter 600, in a direction along the longitudinal axis 615 of the first rail 614, is constrained by the curvature of the curved guide 602, (ii) the displaceability, of the end effector 700, relative to the end effector supporter 600, in a direction along the longitudinal axis 621 of the second rail 620, is constrained by the curvature of the curved guide 602, and (iii) the rotatability, of the end effector 700, relative to the end effector supporter 600, about the axis 617 of the slew ring 616, is constrained by the curvature of the curved guide 602.
  • the end effector 700, the displacement guiding configuration 610, the curved guide 602, and the end effector supporter 600 are cooperatively configured such that: (i) the forwardmost and rearmost positions, of the end effector 700, relative to the end effector supporter 600, defined on the longitudinal axis 615 of the first rail 614, is defined by the curvature of the curved guide 602, (ii) the leftmost and rightmost positions, of the end effector 700, relative to the end effector supporter 600, defined on the longitudinal axis 621 of the second rail 620, is defined by the curvature of the curved guide 602, and (iii) the limits of rotation, of the end effector 700, relative to the end effector supporter 600, about the axis 617 of the slew ring 616, is defined by the curvature of the curved guide 602.
  • the end effector 700 includes bearings 720 that are receivable in the curved guide 602, wherein the bearings 720 are mounted to the mounting plate 722.
  • the bearings 720 are cam followers or rollers.
  • the end effector 700 includes four bearings 720. While the bearings 720 are received in the curved guide 602, the end effector 700 is slidably coupled to the curved guide 602. In some embodiments, for example, the bearings 720 are connected to a second mounting plate portion 722B of the end effector 700.
  • the end effector 700 is supported by the guide 602.
  • the end effector 700 and the curved guide 602 are cooperatively configured such that the end effector 700 is slidable along the curved guide 602, for example, via the co-operation between the bearings 720 and the curved guide 602.
  • the end effector 700 and the curved guide 602 are co-operatively configured such that the coupler 704 is facing the center 601 of the curved guide 602.
  • the coupler 704 is facing the center 601 of the curved guide 602 and while the end effector 700 is coupled to the curved guide 602 and disposed at a second position of the curved guide 602 that is different from the first position, the coupler 704 is also facing the center 601 of the curved guide 602.
  • the end effector 700 is being displaced, relative to the curved guide 602
  • the end effector 700 is facing the center 601 of the curved guide 602.
  • the center 601 of the curved guide 602 is coincident with a center 15A of the fifth wheel 15.
  • the coupling of the fifth wheel 15 and the kingpin 14 is effectuated at the center 15A of the fifth wheel 15.
  • the length of the radius of curvature 603 of the curved guide 602 is the same as the minimum spacing distance from the curved guide 602 to the center 15A of the fifth wheel 15.
  • the displacement of the first adapter counterpart 302, relative to the second adapter counterpart 350, for emplacing the first adapter counterpart 302 in alignment with the second adapter counterpart 350, such that the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in the alignment relationship for establishing connection between the first adapter counterpart 302 and the second adapter counterpart 350 includes the displacement of the coupled end effector 700, for example, the displacement of the coupled end effector 700 that is guided by the guide assembly 606, that is effectuated via the transitioning of the end effector 700 from the end effector alignment-ready configuration to the end effector alignment-effective configuration.
  • the supporting of the end effector 700 on the guide assembly 606, for example, the curved guide 602, or the displacement guiding configuration 610 and the curved guide 602, is such that, while the end effector 700 is guidedly displaced, relative to the end effector supporter 600, via the guide assembly 606, the coupler 704, which is supported by the coupler supporter 702, is facing the center 601 of the curved guide 602 during the guided displacement of the end effector 700.
  • the coupler 704 is facing the center 15A of the fifth wheel 15, and while the end effector 700 is supported on the guide assembly 606 and disposed at a second position of the curved guide 602 that is different from the first position, the coupler 704 is also facing the center 15A of the fifth wheel 15.
  • the supporting of the end effector 700 on the guide assembly 606 is such that, while the end effector 700 is guidedly displaced, relative to the end effector supporter 600, via the displacement guiding configuration 610 and the curved guide 602, the coupler 704 is facing the center 15A of the fifth wheel 15 during the guided displacement.
  • the center 601 of the curved guide 602 is coincident with the kingpin 14, as depicted in Figure 40.
  • the center 601 of the curved guide 602 is coincident with the central longitudinal axis of the kingpin 14 (e.g. the central longitudinal axis of the kingpin 14 is parallel to a vertical axis, for example, the yaw axis).
  • the curved guide 602 has an arc length of at least 300 millimeters, for example, 400 millimeters, for example, 500 millimeters, for example, 600 millimeters.
  • the radius of curvature 603 of the curved guide 602 has a value of at least 1.0 meters, for example, 1.25 meters.
  • the end effector 700 is disposed, relative to the curved guide 602, at an engagement-absent position, wherein there is an absence of engagement between the end effector 700 and the front surface 52 of the trailer 12.
  • the engagement-absent position is defined at the middle of the curved guide 602.
  • the end effector 700 is disposed, relative to the curved guide 602, at an urging-absent position, wherein there is an absence of urging of displacement of the end effector 700 by the front surface 52 of the trailer 12.
  • the urging-absent position is defined at the middle of the curved guide 602.
  • the transition of the end effector 700 from the end effector alignment-ready configuration to the end effector alignment-effective configuration is effected by actuation of the actuators 106D.
  • the actuators 106D are actuated by the controller 102, in response to determination by the controller 102 that the end effector 700 is disposed in the end effector alignment-ready configuration.
  • the controller 102 determines that the end effector 700 is disposed in the end effector alignment-ready configuration, in response to detection that displacement of the end effector supporter 702, towards the front surface 52 of the trailer 12, is being opposed, for example, by the front surface 52 of the trailer 12.
  • Actuation of the actuators 106D, while the end effector 700 is disposed in the end effector alignment-ready configuration, is with effect that the end effector supporter 702 is urged to displace towards the front surface 52 of the trailer 12.
  • the first engagement-ready surface 706A applies a force to the front surface 52 of the trailer 12, and the front surface 52 of the trailer 12 applies a reaction force to the first engagement-ready surface 706A.
  • the supporting of the end effector 700 on the guide assembly 606 is such that the application of the reaction force from the front surface 52 of the trailer 12 to the first engagement-ready surface 706A is with effect that the end effector 700 is guidedly displaced, relative to the end effector supporter 600, by the curved guide 602 and, in some embodiments, for example, the displacement guiding configuration 610 of the guide assembly 606, such that the second engagement-ready surface 706B becomes disposed in contact engagement with the front wall 53 of the trailer 12, and that the end effector 700 become disposed in the end effector alignment-ready configuration.
  • the rollers 705 are configured to reduce interference (e.g. friction between the front surface 52 of the trailer 12 and the first engagement-ready surface 706A of the end effector 700) to the guided displacement of the end effector 700, relative to the end effector supporter 600.
  • the guide of the object manipulator 110 includes the curved guide 602, wherein the coupled end effector 700 and the curved guide 602 are co-operatively configured such that displacement of the coupled end effector 700 is guided by the curved guide 602 along a curvilinear path defined by the curved guide 602.
  • the guide of the object manipulator includes the displacement guiding configuration 610.
  • the towing vehicle 13 is configured to cooperate with the trailer 12 such that: while: (i) the coupled end effector 700 is established, (ii) the first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively disposed in a misaligned relationship, wherein, in the misaligned relationship, there is an absence of alignment between the first adapter counterpart 302 and the second adapter counterpart 350, and (iii) the object manipulator 110 is disposed in a guiding-effective relationship with the trailer 12, wherein, in the guiding-effective relationship, contact engagement between the coupled end effector 700 and the trailer 12, for example, the front surface 52, is effectible: the coupled end effector 700 is displaced towards the trailer 12, for example, in a direction towards the front surface 52, with effect that the coupled end effector 700 becomes disposed in contact engagement with the front surface 52 (e.g. transitioning the coupled end effector 700 from the end effector retracted configuration to the end effector extended alignment-ready configuration).
  • the guide assembly 606, the coupled end effector 700, and the trailer 12 are cooperatively configured such that, while the coupled end effector 700 is disposed in contact engagement with the trailer 12, for example, the front surface 52, in response to an end effectordisplacement force applied to the coupled end effector 700, for example, by the actuators 106D, to urge displacement of the coupled end effector 700 towards the trailer 12, for example, the front surface 52, an end effector-urging reaction force is applied by the trailer 12, for example, the front surface 52, to the coupled end effector 700 to urge displacement of the end effector 700, with effect that a curvilinear displacement of the coupled end effector 700, relative to the second adapter counterpart 350, is effectuated by the end effector-urging reaction force, wherein the curvilinear displacement is guided by the guide assembly 606 along the curved path, which, in some embodiments, for example, is defined by the curved guide 602.
  • the curvilinear displacement is effective for emplacing the first adapter counterpart 302 in angular alignment with the second adapter counterpart 350 about a yaw axis.
  • the curvilinear displacement of the coupled end effector 700 is for emplacing the first adapter counterpart 302 in alignment with the second adapter counterpart 350, such that the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in an alignment relationship for establishing connection between the first adapter counterpart 302 and the second adapter counterpart 350.
  • the reaction surface of the trailer 12 includes a front-facing reaction surface, for example, the front-facing surface 52 of the trailer 12.
  • Ill adapter counterpart 350 such that the center of the second adapter counterpart 350 is aligned with the center of the kingpin 14 along the central longitudinal axis 18 of the trailer 12, (iii) the supporting of the end effector 700 on the guide assembly 606 such that the coupler 704 is facing the center 601 of the curved guide 602, (iv) the mounting of the object manipulator 110 on the frame 40 of the towing vehicle 13 such that the center 601 of the curved guide 602 is disposed at the center 15A of the fifth wheel 15, and (v) the supporting of the coupler 704 by the coupler supporter 702, are with effect that, while the end effector 700 is disposed in the end effector extended configuration, and while the first adapter counterpart 302 is releasably coupled to the coupler 704 (e.g.
  • the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in: (i) angular alignment about the yaw axis, (ii) axial alignment about the pitch axis, and (iii) axial alignment about the roll axis, such that the first adapter counterpart 302 and the second adapter counterpart 350 are disposed in the operable communication-effectible alignment.
  • the first adapter counterpart 302 and the second adapter counterpart 350 are disposed in opposing relationship.
  • the transitioning of the end effector 700 from the end effector alignment-ready configuration to the end effector alignment-effective configuration includes displacement of the end effector 700, relative to the end effector supporter 600, as guided by the guide assembly 606.
  • transitioning of the end effector 700 from the end effector alignment-ready configuration to the end effector alignment-effective configuration includes: (i) displacement, of the end effector 700, relative to the end effector supporter 600, in a direction along the longitudinal axis 615 of the first rail 614, defined by the curvature of the curved guide 602, (ii) displacement, of the end effector 700, relative to the end effector supporter 600, in a direction along the longitudinal axis 621 of the second rail 620, defined by the curvature of the curved guide 602, and (iii) rotation, of the end effector 700, relative to the end effector supporter 600, about the axis 617 of the slew ring 616, defined by the curvature of the curved guide 602.
  • a sensor 104C for example, a proximity sensor, mounted to the coupler supporter 702, is configured to collect data representative of the proximity of the first engagement-ready surface 706A relative to the front surface 52, defined by the front wall 53 of the trailer 12. Based on the data from the sensor 104C, the controller 102 determines that the first engagement-ready surface 706A is disposed in abutting engagement with the front surface 52 of the trailer 12.
  • a sensor 104D for example, a proximity sensor, mounted to the coupler supporter 702, is configured to collect data representative of the proximity of the second engagement-ready surface 706B relative to the front surface 52 of the trailer 12. Based on the data from the sensor 104D, the controller 102 determines that the second engagement-ready surface 706B is disposed in abutting engagement with the front surface 52 of the trailer 12.
  • the end effector 700 in response to transitioning of the end effector 700 from end effector retracted configuration to the end effector alignment-ready configuration, the end effector 700 (e.g. the first engagement-ready surface 706A or the second engagement-ready surface 706B) becomes disposed in contact engagement with the frontfacing surface 381 of the housing 380.
  • the end effector 700 is disposed in contact engagement with the front-facing surface of the housing 380, and it is the front-facing surface of the housing 380, for example, one of the flanges 384, that applies the end effector-urging reaction force to the coupled end effector 700 to transition the end effector 700 from the end effector alignment-ready configuration to the end effector alignment-effective configuration, and while the end effector 700 is disposed in the end effector alignment-effective configuration, the end effector 700 is disposed in abutting engagement with the front-facing surface of the housing 380.
  • the reaction surface of the trailer 12 includes a front-facing reaction surface, for example, the front-facing surface of the housing 380.
  • the vehicle 13 is configured to co-operate with the vehicle connector 12 (e.g. the trailer 12) such that: while: (i) the coupled end effector 700 is established, (ii) the first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively disposed in a misaligned relationship, wherein, in the misaligned relationship, there is an absence of alignment between the first adapter counterpart 302 and the second adapter counterpart 350, and (iii) the object manipulator 110 is disposed in a guiding-effective relationship with the vehicle connector 12, wherein, in the guiding-effective relationship, contact engagement between the coupled end effector 700 and the vehicle connector 12, for example, the front-facing surface of the housing 380, for example, one of the flanges 384, is effectible (e.g.
  • the coupled end effector 700 is displaced towards the vehicle connector 12, for example, in a direction towards the front-facing surface of the housing 380, with effect that the coupled end effector 700 becomes disposed in contact engagement with the frontfacing surface of the housing 380 (e.g. transitioning the coupled end effector 700 from the end effector retracted configuration to the end effector extended alignment-ready configuration).
  • the guide assembly 606, the coupled end effector 700, and the vehicle connector 12 are co-operatively configured such that, while the coupled end effector 700 is disposed in contact engagement with the vehicle connector 12, for example, one of the flanges 384 (e.g.
  • an end effector-urging reaction force is applied by the vehicle connector 12, for example, the one of the flanges 384, to the coupled end effector 700 to urge displacement of the end effector 700, with effect that a curvilinear displacement of the coupled end effector 700, relative to the second adapter counterpart 350, is effectuated by the end effector-urging reaction force, wherein the curvilinear displacement is guided by the guide assembly 606 along the curved path, which, in some embodiments, for example, is defined by the curved guide 602.
  • the curvilinear displacement is effective for emplacing the first adapter counterpart 302 in angular alignment with the second adapter counterpart 350 about a yaw axis.
  • the curvilinear displacement of the coupled end effector 700 is for emplacing the first adapter counterpart 302 in alignment with the second adapter counterpart 350, such that the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in an alignment relationship for establishing connection between the first adapter counterpart 302 and the second adapter counterpart 350 (e.g. the end effector 700 is disposed in the end effector alignment-effective configuration).
  • each one of the first engagement-ready surface 706A and the second engagement-ready surface 706B independently, is configured to become disposed in abutting engagement with the front facing surface of the housing 380.
  • each one of the first engagement-ready surface 706A and the second engagement-ready surface 706B is disposed in abutting engagement with the front facing surface of the housing 380.
  • the first engagement-ready surface 706A and the second engagement-ready surface 706B are disposed in abutting engagement with the front facing surface of the housing 380.
  • the abutting engagement of the of the first engagement-ready surface 706A and the second engagement-ready surface 706B with the front facing surface of the housing 380 is with effect that, while the first adapter counterpart 302 is coupled to the coupler 704, the first adapter counterpart 302 and the second adapter counterpart 350 become (i) angularly aligned about the yaw axis (vertical axis) (ii) axially aligned about the pitch axis (e.g.
  • first adapter counterpart 302 and the second adapter counterpart 350 are disposed in the operable communication-effectible alignment.
  • the coupled object manipulator 110 is disposed in a coupled object manipulator alignment-effective configuration.
  • the towing vehicle 13 is configured to co-operate with the trailer 12 such that, while the coupled object manipulator 110 is disposed in the coupled object manipulator alignment-effective configuration, the first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively disposed in an aligned relationship or in an alignment relationship, for example, the operable communication-effectible alignment, wherein, in the aligned relationship, the first adapter counterpart 302 is disposed in alignment with the second adapter counterpart 350, for establishing connection between the first adapter counterpart 302 and the second adapter counterpart 350.
  • the coupled object manipulator 110 is disposed in the coupled object manipulator alignment-effective configuration, the coupled object manipulator 100 is elevated relative to its disposition in the coupled object manipulator retracted configuration. In some embodiments, for example, while the coupled object manipulator 110 is disposed in the coupled object manipulator alignment-effective configuration, the coupled object manipulator 110 is disposed above the frame 40 of the towing vehicle 13.
  • the coupled object manipulator 110 is transitionable between the coupled object manipulator retracted configuration and the coupled object manipulator alignment-effective configuration.
  • the transitioning of the coupled object manipulator 110 from the coupled object manipulator retracted configuration and the coupled object manipulator alignment-effective configuration is effected by displacement of the coupled end effector 700 by the alignment relationship-obtaining displacement, as described above.
  • the emplacement of the first adapter counterpart 302 and the second adapter counterpart 350 in the alignment relationship is obtained while the fifth wheel 15 is coupled to the fifth wheel guiding counterpart 14 of the trailer 12 (e.g. the kingpin), such that a fifth wheel coupling relationship is established.
  • the connection of the first adapter counterpart 302 to the second adapter counterpart 350 is effectuatable while the fifth wheel coupling relationship is established.
  • the end effector 700 is disposed in the end effector alignment-effective configuration, and (ii) the first adapter counterpart 302 is coupled to the coupler 704 (e.g. the coupler 704 and the first adapter counterpart 302 are disposed in the relative movement interference relationship), such that the first adapter counterpart 302 and the second adapter counterpart 350 are disposed in the operable communication-effectible alignment, for example, in opposing relationship, the coupler 704, to which the first adapter counterpart 302 is coupled, is transitioned from a coupler retracted configuration to a coupler extended configuration.
  • the coupler 704 e.g. the coupler 704 and the first adapter counterpart 302 are disposed in the relative movement interference relationship
  • Figure 38 and Figure 39 depicts the coupler 704 disposed in the coupler retracted configuration
  • Figure 41 depicts the coupler 704 disposed in the coupler extended configuration.
  • the coupler 704 While the coupler 704 is disposed in the coupler extended configuration, relative to its disposition in the coupler retracted configuration, the coupler 704 is disposed further from a front surface 708 of the coupler supporter 702, along a displacement axis of the coupler 704, and closer towards the front wall 53 of the trailer 12.
  • the displacement axis of the coupler 704 is parallel to the central longitudinal axis 18 of the trailer 12.
  • the displacement axis of the coupler 704 is a linear axis.
  • transitioning of the coupler 704 from the coupler retracted configuration to the coupler extended configuration includes displacement of the coupler 704, relative to the coupler supporter 702, includes displacement of the coupler 704 along the displacement axis of the coupler 704.
  • the first engagement-ready surface 706A and the second engagement-ready surface 706B of the coupler supporter 702 are disposed in contact engagement with the front surface 52 of the trailer 12 or with the front-facing surface of the housing 380, and while the first adapter counterpart 302 is releasably coupled to the coupler 704, such that the coupled first adapter counterpart 302 is established, the first adapter counterpart 302 and the second adapter counterpart 350 are disposed in alignment, wherein the alignment of the first adapter counterpart 302 and the second adapter counterpart 350 is along the displacement axis of the coupler 704.
  • transitioning of the coupler 704 from the coupler retracted configuration to the coupler extended configuration includes displacement of the coupler 704, relative to the coupler supporter 702, away from the front surface 708 of the coupler supporter 702, and towards the second adapter counterpart 350.
  • the transitioning the coupler 704 from the coupler retracted configuration to the coupler extended configuration is with effect that the first adapter counterpart 302 is displaced in a direction towards the second adapter counterpart 350.
  • the displacement of the first adapter counterpart 302 towards the second adapter counterpart 350 is along the displacement axis of the coupler 704.
  • the first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively configured such that, in response to emplacement of the first adapter counterpart 302 and the second adapter counterpart 350 in the operable communication-effectible alignment, the first adapter counterpart 302 and the second adapter counterpart 350 become connected.
  • the connection, obtained in response to the emplacement of the first adapter counterpart 302 and the second adapter counterpart 350 in the operable communication-effectible alignment is obtained autonomously.
  • the transition of the coupler 704 from the coupler retracted configuration to the coupler extended configuration is effected by actuation of the actuator 106E.
  • the actuator 106E is a pneumatic actuator.
  • the actuator 106E is actuated by the controller 102, in response to determination by the controller 102 that the end effector 700 is disposed in the end effector alignment-effective configuration (e.g. the first engagement-ready surface 706A and the second engagement-ready surface 706B are disposed in contact engagement with the front surface 52 of the trailer 12 or with the front-facing surface of the housing 380).
  • the actuator 106E is connected to the coupler supporter 702 and to the coupler 704, such that relative displacement between the coupler supporter 702 and the coupler 704 is effectuatable.
  • the actuator 106E, the first adapter counterpart 302, and the second adapter counterpart 350 are co-operatively configured such that, in response to emplacement of the first adapter counterpart 302 and the second adapter counterpart 350 in the operable communication-effectible alignment, the actuator 106E urges connection of the first adapter counterpart 302 and the second adapter counterpart 350.
  • the connection is obtained autonomously.
  • the displacement of the first adapter counterpart 302 towards the second adapter counterpart 350 is with effect that the first adapter counterpart 302 is displaced through the opening 382 of the housing 380.
  • the guide pins 312 of the first adapter counterpart 302 are received into the guide ports 3120 of the second adapter counterpart 350 to guide further displacement of the first adapter counterpart 302 towards the second adapter counterpart 350.
  • the first adapter counterpart 302 becomes connected with the second adapter counterpart 350, as depicted in Figure 12B, with effect that the first adapter counterpart 302 and the second adapter counterpart 350 becomes disposed in operable communication, for example, electrical communication, fluid communication, and data communication.
  • operable communication for example, electrical communication, fluid communication, and data communication.
  • the displacement of the first adapter counterpart 302 towards the second adapter counterpart 350 is with effect that the electrical connectors 308 of the first adapter counterpart 302 become disposed within the electrical ports 3080 of the second adapter counterpart 350.
  • the disposition of the electrical connectors 308 within the electrical ports 3080 is with effect that electrical communication is established between the first adapter counterpart 302 and the second adapter counterpart 350.
  • the establishment of electrical communication between the first adapter counterpart 302 and the second adapter counterpart 350 is with effect that electrical communication is established between the trailer communicator-defined electrical conductor 1204 and the towing vehicle communicator-defined electrical conductor 1304.
  • the establishment of electrical communication between the trailer communicator-defined electrical conductor 1204 and the towing vehicle communicator-defined electrical conductor 1304 is with effect that electrical communication is established between the electrical energy storage device of the towing vehicle 13 and the electrical system of the trailer 12.
  • the establishment of electrical communication between the first adapter counterpart 302 and the second adapter counterpart 350 is with effect that the electrical energy storage device of the towing vehicle 13 becomes disposed in electrical communication with the electrical system of the trailer 12.
  • the displacement of the first adapter counterpart 302 towards the second adapter counterpart 350 is with effect that the fluid connectors 310 of the first adapter counterpart 302 become disposed within the fluid ports 3100 of the second adapter counterpart 350.
  • the disposition of the fluid connectors 310 within the fluid ports 3100 is with effect that fluid communication is established between the first adapter counterpart 302 and the second adapter counterpart 350.
  • the establishment of fluid communication between the first adapter counterpart 302 and the second adapter counterpart 350 is with effect that fluid communication is established between the trailer communicator-defined fluid conductor 1202 and the towing vehicle communicator-defined fluid conductor 1302.
  • the establishment of fluid communication between the trailer communicator-defined fluid conductor 1202 and the towing vehicle communicator-defined fluid conductor 1302 is with effect that fluid communication is established between the fluid energy storage device of the towing vehicle 13 and the fluid system of the trailer 12.
  • the establishment of fluid communication between the first adapter counterpart 302 and the second adapter counterpart 350 is with effect that the fluid energy storage device of the towing vehicle 13 becomes disposed in fluid communication with the fluid system of the trailer 12.
  • the displacement of the first adapter counterpart 302 towards the second adapter counterpart 350 is with effect that the data connectors 314 of the first adapter counterpart 302 become disposed within the data ports 3140 of the second adapter counterpart 350.
  • the disposition of the data connectors 314 within the data ports 3140 is with effect that data communication is established between the first adapter counterpart 302 and the second adapter counterpart 350.
  • the establishment of data communication between the first adapter counterpart 302 and the second adapter counterpart 350 is with effect that data communication is established between the trailer communicator-defined data conductor 1205 and the towing vehicle communicator-defined data conductor 1305.
  • the establishment of data communication between the trailer communicator-defined data conductor 1205 and the towing vehicle communicator-defined data conductor 1305 is with effect that data communication is established between the data communication devices of the towing vehicle 13 and the data communication devices of the trailer 12.
  • the establishment of data communication between the first adapter counterpart 302 and the second adapter counterpart 350 is with effect that the data communication devices of the towing vehicle 13 becomes disposed in data communication with the data communication devices of the trailer 12.
  • the disposition of the first adapter counterpart 302 in operable communication, for example, electrical communication, fluid communication, and data communication, with the second adapter counterpart 350, by the connection apparatus 100 is for actuating a vehicle operation, such that: (i) electrical communication between the electrical energy storage device of the towing vehicle 13 and the electrical system of the trailer 12 is established, for actuating a vehicular operation via actuation of an actuatable electrical system (e.g. ABS brakes and turn signals), (ii) fluid communication between the fluid energy storage device of the towing vehicle 13 and the fluid system of the trailer 12, is established, for actuating a vehicular operation via actuation of an actuatable fluid system (e.g. service and parking brakes), and (iii) data communication between the data communication devices of the towing vehicle 13 and the data communication devices of the trailer 12, is established, for controlling the actuation of a vehicular operation.
  • an actuatable electrical system e.g. ABS brakes and turn signals
  • the disposition of the first adapter counterpart 302 in operable communication, for example, electrical communication, fluid communication, and data communication, with the second adapter counterpart 350, by the connection apparatus 100 is for replenishing an energy storage device of the towing vehicle 13 by an energy source of the trailer 12, such that: (i) electrical communication between the electrical energy storage device of the towing vehicle 13 and the electrical system of the trailer 12 is established, for replenishing the electrical energy storage device (e.g. battery) of the towing vehicle 13 by an electrical energy source (e.g.
  • the first adapter counterpart 302 and the second adapter counterpart 350 in response to disposition of the first adapter counterpart 302 and the second adapter counterpart 350 in operable communication, the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in a coupled relationship.
  • the controller 102 determines that the first adapter counterpart 302 and the second adapter counterpart 350 are disposed in operable communication via detection of: (i) the establishment of the electrical communication between the electrical connectors 308 and the electrical ports 3080, (ii) the establishment of the fluid communication between the fluid connectors 310 and the fluid ports 3100, (iii) the establishment of the data communication between the data connectors 314 and the data ports 3140, or (iv) the establishment of the electrical communication between the electrical connectors 308 and the electrical ports 3080, the establishment of the fluid communication between the fluid connectors 310 and the fluid ports 3100, and the establishment of the data communication between the data connectors 314 and the data ports 3140.
  • the controller 102 in response to determination by the controller 102 that: (i) the first adapter counterpart 302 and the second adapter counterpart 350 are disposed in operable communication, (ii) the coupler 704 and the first adapter counterpart 302 are connected, and disposed in the relative movement interference relationship, and the retaining member actuator 750 is disposed in the first actuating configuration (e.g. via data from the sensors 104E and 104F), and (iii) the first adapter counterpart 302 and the second adapter counterpart 350 are connected, and disposed in the relative movement effective relationship (e.g.
  • the controller 102 sends a control command to the actuator 762 to actuate the retaining member actuator 750, to effectuate transition of the retaining member actuator 750 from the first actuating configuration to the second actuating configuration.
  • the retaining member configuration 902 is actuated to transition the retaining member configuration 902 from the first retaining configuration to the second retaining configuration, with effect that:
  • the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in the relative movement interference relationship.
  • the coupler 704 in response to disposition of the coupler 704 and the first adapter counterpart 302 in the relative movement effectible relationship and disposition of the first adapter counterpart 302 and the second adapter counterpart 350 in the relative movement interference relationship, the coupler 704 is transitioned from the coupler extended configuration to the coupler retracted configuration, by being displaced away from the second adapter counterpart 350 and towards the coupler supporter 702.
  • the friction established between the: (i) electrical connectors 308 and electrical ports 3080, (ii) fluid connectors 310 and fluid ports 3100, (iii) data connectors 314 and data ports 3140, and/or (iv) guide pins 312 and guide ports 3120, is with effect that the connection between the first adapter counterpart 302 and the second adapter counterpart 350 is retained.
  • such friction interferes with relative displacement between the first adapter counterpart 302 and the second adapter counterpart 350.
  • the retention of the connection of the first adapter counterpart 302 and the second adapter counterpart 350 is such that, while the coupling between the coupler 704 and the first adapter counterpart 302 is defeated, there is an absence of defeating of the connection while the coupler 704 is transitioned from the coupler extended configuration to the coupler retracted configuration.
  • first adapter counterpart 302 and the second adapter counterpart 350 are connected, and the connection between the first adapter counterpart 302 and the second adapter counterpart 350 is retained, for example, via the co-operation between the retaining member configuration 902 and the connector defined retaining counterpart 790, and, in some embodiments, for example, via friction, the first adapter counterpart 302 and the second adapter counterpart 350 are disposed in a relative movement interference relationship.
  • the end effector 700 is transitioned from the end effector alignment-effective configuration to the end effector alignment-ready configuration, by displacing the coupler supporter 702 away from the front surface 52 of the trailer 12, with effect that the contact engagement of at least one of the first engagement-ready surface 706A and the second engagement-ready surface 706B with the front surface 52 of the trailer 12 or with the front-facing surface of the housing 380 is defeated.
  • the transitioning of the end effector 700 from the end effector alignment-effective configuration to the end effector alignment-ready configuration is with effect that the contact engagement of the second engagement-ready surface 706B with the front surface 52 of the trailer 12 is defeated.
  • the end effector 700 at the center of the curved guide 602, or to displace the end effector 700 towards the center of the curved guide 602, relative to its disposition in the end effector alignment-effective configuration, such that there is an absence of engagement of the end effector 700 with the platform 400 or frame 40 of the towing vehicle 13 while the object manipulator 110 is transitioned to the manipulator retracted configuration.
  • the central longitudinal axis 19 of the towing vehicle 13 is coincident with the center of the curved guide 602, and also coincident with the center 15A of the fifth wheel 15.
  • the displacement axis of the coupler 704 and the central longitudinal axis 19 of the towing vehicle 13 are disposed in a parallel relationship.
  • the displacement of the coupler supporter 702, relative to the mounting plate 722 is along a displacement axis that is parallel to the central longitudinal axis 19 of the towing vehicle 13.
  • the end effector alignment effector 500 includes a re-centering assembly 800 that, in some embodiments, for example, is a pulley assembly 800, as depicted in Figure 50 to Figure 53.
  • the pulley assembly 800 includes a first pulley 802, a second pulley 804, a third pulley 806, an actuator 808, and a transmission component 810.
  • the actuator 808 is a pneumatic actuator. In some embodiments, for example, the actuator 808 is actuatable by the controller 102. In some embodiments, for example, the actuator 808 is actuated by the controller 102, in response to determination by the controller 102 that the end effector 700 is being transitioned from the end effector alignment-effective configuration to the end effector alignment-ready configuration. In some embodiments, for example, while the controller 102 sends a control command to the actuators 106D to displace the coupler supporter 702 away from the front surface 52 of the trailer 12, the controller 102 sends a control command to the actuator 808 to retract.
  • the transmission component 810 is defined by a drive belt, a chain, a cable, and the like.
  • the first pulley 802, the second pulley 804, and the actuator 808 are mounted to the support plate 608 of the end effector supporter 600, and the third pulley 806 is mounted to the displaceable actuator rod of the actuator 808, such that the third pulley 806 is displaceable with the rod of the actuator 808.
  • the actuator 808 is configurable in a retracted configuration, as depicted in Figure 51, and an extended configuration, as depicted in Figure 52 and Figure 53. Relative to its disposition while the actuator 808 is disposed in the retracted configuration, the rod of the actuator 808 is extended, while the actuator 808 is disposed in the extended configuration.
  • the third pulley 806 is disposed in a first position. In some embodiments, for example, while the actuator 808 is disposed in the extended configuration, the third pulley 806 is disposed in a second position.
  • the actuator 808 is disposed in the retracted configuration, and the third pulley 806 is disposed in the first position.
  • the actuator 808 is disposed in the retracted configuration, and the third pulley 806 is disposed in the first position.
  • the actuator 808 is disposed in the retracted configuration, and the third pulley 806 is disposed in the first position.
  • the actuator 808 is disposed in the extended configuration, and the third pulley 806 is disposed in the second position.
  • the actuator 808 is disposed in the extended configuration, and the third pulley 806 is disposed in the second position.
  • a first end of the transmission component 810 is connected to the mounting plate 722 of the end effector 700, for example, the second mounting plate portion 722B.
  • the transmission component 810 extends from the mounting plate 722 to the first pulley 802, then from the first pulley 802 to the second pulley 804, then from the second pulley 804 to the third pulley 806, and then extends to the second pulley 804.
  • the second end of the transmission component 810 is connected to the second pulley 804.
  • the transmission component 810 defines a transmission component portion 810A.
  • the transmission component portion 810A is defined between the first end of the transmission component 810 and the first pulley 802.
  • the mounting plate 722 is disposed relative to the first pulley 802 such that the length of the transmission component portion 810A is the minimum length of the transmission component portion 810A.
  • the mounting plate 722 is disposed relative to the first pulley 802 such that the length of the transmission component portion 810A is the minimum length of the transmission component portion 810A.
  • the mounting plate 722 is disposed relative to the first pulley 802 such that the length of the transmission component portion 810A is the minimum length of the transmission component portion 810A.
  • the mounting plate 722 is disposed relative to the first pulley 802 such that the length of the transmission component portion 810A is greater than the minimum length of the transmission component portion 810A.
  • the mounting plate 722 is disposed relative to the first pulley 802 such that the length of the transmission component portion 810A is greater than the minimum length of the transmission component portion 810A.
  • the end effector 700 in response to the transition of the end effector 700 1 from the end effector alignment-ready configuration to the end effector alignment-effective configuration, applies a force to the transmission component 810.
  • a force is applied to the third pulley 806 and the actuator 808, with effect that: (i) the actuator 808 is transitioned from the retracted configuration to the extended configuration, and (ii) the third pulley 806 is transitioned from the first position to the second position.
  • the actuator 808 is transitioned from the retracted configuration to the extended configuration via the force applied to the transmission component 810 by the end effector 700.
  • the controller 102 sends a control command to the actuator 808, with effect that: (i) the actuator 808 is transitioned from the extended configuration to the retracted configuration (e.g. the actuator 808 is retracted), and (ii) the third pulley 806 is transitioned from the second position to the first position.
  • the actuator 808 is transitioned from the extended configuration to the retracted configuration (e.g. the actuator 808 is retracted)
  • the third pulley 806 is transitioned from the second position to the first position.
  • the transitioning of the actuator 808 from the extended configuration to the retracted configuration e.g.
  • the actuator 808 is retracted), and (ii) the transitioning of the third pulley 806 from the second position to the first position, a force is applied to the transmission component 810 to the mounting plate 722, such that the end effector 700 is guidedly displaced, by the guide assembly 606, with effect that the end effector 700 becomes disposed at the center position of the curved guide 602.
  • a force is applied to the transmission component 810 to the mounting plate 722, such that the end effector 700 is guidedly displaced, by the guide assembly 606, with effect that the end effector 700 becomes disposed at the center position of the curved guide 602.
  • the actuator 808 is retracted), and (ii) the transitioning of the third pulley 806 from the second position to the first position, a force is applied to the transmission component 810 to the mounting plate 722, such that the end effector 700 is guidedly displaced, by the guide assembly 606, towards the center position of the curved guide 602.
  • the end effector 700 becomes disposed at the urging-absent position, relative to the curved guide 602 (e.g. a position disposed at the center of the curved guide 602).
  • the coupler supporter 702 continues to be displaced, relative to the mounting plate 722, in a direction away from the front surface 52 of the trailer 12 such that the end effector 700 becomes disposed in the end effector alignment-ready configuration.
  • the retraction portions of the actuators 106D and the retraction portion of the actuator 808 are disposed in fluid communication, such that retraction of the actuators 106D and the retraction of the actuator 808 occurs at the same time.
  • the actuator 808 has to apply twice as much force to the transmission component 810 to displace the end effector 700, and the end effector 700 has to apply half as much force to the transmission component 810 to extend the actuator 808.
  • the end effector-urging reaction force that is applied by the front surface 52 of the trailer 12 to the end effector 700 overcomes a resistance force, for example, due to friction in the actuator 808, applied by the actuator 808 to the mounting plate 722, for example, via the transmission component 810, for transitioning the end effector 700 to the end effector alignment-effective configuration.
  • the end effector 700 While the end effector 700 is disposed in the end effector alignment-ready configuration, as depicted in Figure 43, the end effector 700 is transitioned from the end effector alignment-ready configuration to the end effector retracted configuration, as depicted in Figure 44, for example, via actuation of the actuators 106D.
  • the end effector 700 While the end effector 700 is disposed in the end effector retracted configuration, as depicted in Figure 44, the end effector alignment effector 500 is transitioned from the alignment effector extended configuration to the alignment effector retracted configuration, as depicted in Figure 45, for example, via actuation of the actuators 106C.
  • the object manipulator 110 is transitioned from the manipulator extended configuration to the manipulator retracted configuration, as depicted in Figure 46 and Figure 47, for example, via actuation of the actuators 106A and 106B.
  • the object manipulator 110 is disposed outside the swing path of the trailer 12, such that the towing vehicle 13 can tow the trailer 12, for example, about a truck yard or on a road.
  • the towing of the trailer 12 by the towing vehicle 13 is effectible due to the establishment of electrical communication between the electrical energy storage device of the towing vehicle 13 and the electrical system of the trailer
  • the actuatable electrical system e.g. ABS brakes and turn signals
  • the actuatable fluid system e.g. service brakes and parking brakes
  • the controller 102 or the controller of the towing vehicle 13 sends a control command to the data communication systems of the trailer 12 for controlling the actuation of the vehicular operation.
  • operable communication between the energy sources and data communication devices of the trailer 12 and the energy storage devices and data communication devices of the towing vehicle 13 is established, via the adapter 300, as depicted in Figure 12B, such that energy is transferrable from the energy source of the trailer 12 to the energy storage device of the towing vehicle 13.
  • the towing vehicle 13 and the trailer 12 are disposed in operable communication via the adapter 300.
  • the controller 102 While operable communication between the energy sources and data communication devices of the trailer 12 and the energy storage devices and data communication devices of the towing vehicle 13, via the adapter 300, is established, the controller 102 sends a control command to the energy sources and data communication devices of the trailer 12, via the one or more trailer communicator-defined data conductors 1205 and the one or more towing vehicle communicator-defined data conductors 1305, to effect the transfer of one or more kinds of energy (e.g.
  • the adapter 300 diesel, hydrogen, natural gas, pneumatic gas, electricity from the energy source of the trailer 12 to the energy storage device of the towing vehicle 13 via the adapter 300, the one or more trailer communicator-defined fluid conductors 1202, the one or more towing vehicle communicator-defined fluid conductors 1302, the one or more trailer communicator-defined electrical conductors 1204, and the one or more towing vehicle communicator-defined fluid conductors 1304, to replenish the energy storage devices of the towing vehicle 13.
  • it is a controller of the towing vehicle 13 that sends the control command to the to the energy sources and data communication devices of the trailer 12 to effect the transfer of one or more kinds of energy (e.g.
  • the energy storage devices of the towing vehicle 13 are replenished while the first adapter counterpart 302 and the second adapter counterpart 350 are releasably coupled, and also while the coupler 704 is releasably coupled to the first adapter counterpart 302.
  • the coupler 704 is retracted and the object manipulator 110 is transitioned to the manipulator retracted configuration, and then the energy storage devices of the towing vehicle 13 are replenished.
  • the trailer 12 is towed by the towing vehicle 13 to a desired destination, and/or after it is determined by the controller 102 or the controller of the towing vehicle 13, for example, that the energy storage devices of the towing vehicle 13 are replenished, for example, via detection of the capacity of the energy storage devices, it is desirable to decouple the towing vehicle 13 from the trailer 12, such that the towing vehicle 13 can be driven, separately from the trailer 12, for example, to park the towing vehicle 13, to tow another trailer 12, or to establish operable communication with a trailer 12 having a desired energy source for replenishing an energy storage device of the towing vehicle 13.
  • the object manipulator 110 is configured to align the coupler 704 and first adapter counterpart 302 and effect connection between the coupler 704 and the first adapter counterpart 302, for displacing the first adapter counterpart 302, relative to the second adapter counterpart 350, to defeat the operable communication between the first adapter counterpart 302 and the second adapter counterpart 350.
  • first adapter counterpart 302 and the second adapter counterpart 350 are connected such that the first adapter counterpart 302 is disposed in operable communication with the second adapter counterpart 350, and disposed in the relative movement interference relationship, there is an absence of connection between the coupler 302 and the first adapter counterpart 302, and the retaining member actuator 750 is disposed in the second actuating configuration.
  • the object manipulator 110 is disposed in the manipulator extended configuration
  • the end effector alignment effector 500 is disposed in the alignment effector extended configuration
  • the end effector 700 is disposed in the end effector alignment-effective configuration, such that the coupler 704 becomes disposed in a coupling-effectible alignment, for example, in alignment along a linear alignment axis such as axis 360, for example, in opposing relationship, with the first adapter counterpart 302, similar to the manner by which the first adapter counterpart 302 is disposed in the operable communication-effectible alignment with the second adapter counterpart 350 for effecting operable communication between the first adapter counterpart 302 with the second adapter counterpart 350, as described above.
  • connection between the coupler 704 and the first adapter counterpart 302 is effectible in response to displacement of the coupler 704 towards the first adapter counterpart 302.
  • coupler 704 and the first adapter counterpart 302 are aligned along an axis that is parallel to the central longitudinal axis of the trailer 12.
  • coupler 704 and the first adapter counterpart 302 are disposed in the coupling-effectible alignment or operable communication-effectible alignment, the coupler 704 and the first adapter counterpart 302 are axially aligned along the roll axis.
  • the coupler 704 While the coupler 704 is disposed in the coupling-effectible alignment or operable communication-effectible alignment with the first adapter counterpart 302, the coupler 704 is transitioned from the coupler retracted configuration to the coupler extended configuration, with effect that connection of the coupler 704 with the first adapter counterpart 302 is established.
  • the displacement of the coupler 704 towards the first adapter counterpart 302, for effecting establishment of connection between the coupler 704 and the first adapter counterpart 302, is guided by the co-operation of the guide pins 322 of the coupler 704 and the guide ports 240 of the first adapter counterpart 302.
  • the displacement of the coupler 704 towards the first adapter counterpart 302 is with effect that the coupler 704 is displaced through the opening 382 of the housing 380.
  • the guide pins 322 of the coupler 704 are received into the guide ports 240 of the first adapter counterpart 302 to guide further displacement of the coupler 704 towards the first adapter counterpart 302.
  • the coupler 704 In response to further displacement of the coupler 704 towards the first adapter counterpart 302, the coupler 704 becomes connected with the first adapter counterpart 302, with effect that the retaining member configuration 902 and the retaining member actuator 750 are co-operatively configured in the interaction-effective relationship.
  • the controller 102 in response to determination by the controller 102 that: (i) the first adapter counterpart 302 and the second adapter counterpart 350 are disposed in operable communication, (ii) the coupler 704 and the first adapter counterpart 302 are connected, and disposed in the relative movement effectible relationship, and the retaining member actuator 750 is disposed in the second actuating configuration (e.g. via data from the sensors 104E and 104F), and (iii) the first adapter counterpart 302 and the second adapter counterpart 350 are connected, and disposed in the relative movement interference relationship (e.g.
  • the controller 102 sends a control command to the actuator 762 to actuate the retaining member actuator 750, to effectuate transition of the retaining member actuator 750 from the second actuating configuration to the first actuating configuration.
  • the retaining member configuration 902 is actuated to transition the retaining member configuration 902 from the second retaining configuration to the first retaining configuration, with effect that:
  • the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in the relative movement effectible relationship.
  • the coupler 704 in response to disposition of the coupler 704 and the first adapter counterpart 302 in the relative movement interference relationship and disposition of the first adapter counterpart 302 and the second adapter counterpart 350 in the relative movement effectible relationship, the coupler 704 is transitioned from the coupler extended configuration to the coupler retracted configuration, with effect that the operable communication between the first adapter counterpart 302 and the trailer defined adapter counterpart 350 is defeated.
  • the transitioning of the coupler 704 from the coupler extended configuration to the coupler retracted configuration overcomes the friction established between the: (i) electrical connectors 308 and electrical ports 3080, (ii) fluid connectors 310 and fluid ports 3100, (iii) data connectors 314 and data ports 3140, and/or (iv) guide pins 312 and guide ports 3120, for defeating the connection between the first adapter counterpart 302 and the second adapter counterpart 350.
  • the first adapter counterpart 302 and the second adapter counterpart 350 are disposed in a relative movement effectible relationship.
  • the end effector 700 is transitioned to the end effector retracted configuration
  • the end effector alignment effector 500 is transitioned to the alignment effector retracted configuration
  • the object manipulator 110 is transitioned to the manipulator retracted configuration, similar to the manner as described above.
  • the controller 102 or controller of the towing vehicle 13 sends a control command to the fifth wheel coupling 15 to decouple from the kingpin 14, and in other embodiments, for example, the fifth wheel coupling 15 and the kingpin 14 are decoupled manually, for example, by an operator With the fifth wheel coupling 15 decoupled from the kingpin 14, the towing vehicle 13 is decoupled from the trailer 12, and the towing vehicle 13 can drive elsewhere, for example, to effect operable communication between the first adapter counterpart 302 and a second adapter counterpart 350 that is mounted on another trailer 12, for actuating a vehicular operation of the another trailer 12, or for replenishing an energy storage device of the towing vehicle 13.
  • the counterpart-disposed configuration 12 is a charging dock 12.
  • the charging dock 12 has substantially the same features as the trailer 12, including fluid systems including one or more fluid energy sources (e.g. pneumatic gas, diesel, natural gas, hydrogen, etc.), electrical systems including one or more electrical energy sources, data communication devices, the front surface 52, the bottom surface 50, the opening 54, the housing 380, the second adapter counterpart 350 mounted to the charging dock 12 such that it is facing in a direction towards the front surface 52, the fluid connector 20, the fuel connector 22, the electrical connector 30, and the data connector 40, and the kingpin 14, except the charging dock 12 is not towable by the vehicle 13.
  • fluid energy sources e.g. pneumatic gas, diesel, natural gas, hydrogen, etc.
  • electrical systems including one or more electrical energy sources, data communication devices
  • the charging dock 12 is part of a building, for example, comprising a plurality of charging docks 12, a loading bay, a warehouse, a shipping area, and the like. In some embodiments, for example, the charging dock 12 is a standalone charging dock 12. In some embodiments, for example, the charging dock 12 and the vehicle 13 are supported by the same reaction surface (e.g. the ground). In some embodiments, for example, the charging dock 12 is secured to the reaction surface, such that the charging dock 12 is not displaceable, relative to the reaction surface.
  • connection of the first adapter counterpart 302 of the vehicle 13 and the second adapter counterpart 350 of the charging dock 12, for establishing operable communication between the fluid systems, electrical systems, and data communication devices of the charging dock 12 and the energy storage devices and data communication devices of the vehicle 13, is effectuated in a manner that is substantially similar to the manner by which the connection of the first adapter counterpart 302 of the vehicle 13 and the second adapter counterpart 350 of the trailer 12 is effectuated, as described herein.
  • actuatable systems of the charging dock 12 can be actuated by the energy sources of the vehicle 13, and the energy storage devices of the vehicle 13 can be replenished by the energy sources of the charging dock 12, in a manner that is substantially similar to the manner by which the actuatable systems of the trailer 12 can be actuated by the energy sources of the vehicle 13, and the energy storage devices of the vehicle 13 can be replenished by the energy sources of the trailer 12, as described herein.
  • the kingpin 14 of the charging dock 12 is connected to a charging dock body 3802, such that the kingpin 14 extends from the charging dock body 3802, for example, in a downward direction.
  • a kit for modifying a vehicle 13, such as a towing vehicle 13, and a counterpart-absent configuration 12 or vehicle connector 12, such as a trailer 12 includes vehicle adaptor components and configuration or vehicle connector adapter components.
  • the vehicle adaptor components include a vehicle-defined connection counterpart, for example, the first adapter counterpart 302, and the object manipulator 110, for example, the end effector 704.
  • the configuration adaptor components include a configuration- defined connection counterpart, for example, the second adapter counterpart 350.
  • the object manipulator 110 and the first adapter counterpart 302 are co-operatively configured such that the object manipulator 110, for example, the coupler 704, is connectible to the first adapter counterpart 302. While the object manipulator 110, for example, the coupler 704, is connected to the first adapter counterpart 302, the object manipulator 110 and the first adapter counterpart 302 are co-operatively configurable in the relative movement interference relationship and the relative movement effectible relationship, as described herein.
  • the retaining member configuration 902 and the retaining member actuator 750 are co-operatively configurable in the interaction-effective relationship, as described herein.
  • the modified vehicle while: (i) the modified vehicle is established, and (ii) the configuration adaptor components are installed within the counterpart-absent configuration 12 with effect that a modified configuration is established, such that the modified configuration includes the second adapter counterpart 350, the modified vehicle and the modified configuration are co-operatively configured such that the first adapter counterpart 302 is connectible to the second adapter counterpart 350. While the first adapter counterpart 302 is connected to the second adapter counterpart 350, the first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively configurable in the relative movement interference relationship and the relative movement effectible relationship, as described herein.
  • the object manipulator 110 for example, the coupler 704, and the first adapter counterpart 302 are connected such that the retaining member configuration 902 and the retaining member actuator 750 are co-operatively configured in the interaction-effective relationship, and disposed in the relative movement interference relationship
  • the first adapter counterpart 302 is connected to the second adapter counterpart 350, and disposed in the relative movement effectible-relationship:
  • the retaining member configuration 902 in response to actuation of the retaining member configuration 902 by the retaining member actuator 750, the retaining member configuration 902 is transitioned from the first retaining configuration to the second retaining configuration, with effect that:
  • the object manipulator 110 for example, the coupler 704, and the first adapter counterpart 302 become disposed in the relative movement effectible relationship;
  • the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in the relative movement interference relationship.
  • the object manipulator 110 for example, the coupler 704, and the first adapter counterpart 302 are connected such that the retaining member configuration 902 and the retaining member actuator 750 are co-operatively configured in the interaction-effective relationship, and disposed in the relative movement effectible relationship, and (iii) the first adapter counterpart 302 is connected to the second adapter counterpart 350, and disposed in the relative movement interference-relationship:
  • the retaining member configuration 902 in response to actuation of the retaining member configuration 902 by the retaining member actuator 750, the retaining member configuration 902 is transitioned from the second retaining configuration to the first retaining configuration, with effect that:
  • the object manipulator 110 for example, the coupler 704, and the first adapter counterpart 302 become disposed in the relative movement interference relationship;
  • the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in the relative movement effectible relationship.
  • the object manipulator 110 for example, the coupler 704, and the first adapter counterpart 302 become disposed in the relative movement effectible relationship;
  • the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in the relative movement interference relationship.
  • the object manipulator 110 for example, the coupler 704, and the first adapter counterpart 302 become disposed in the relative movement interference relationship;
  • the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in the relative movement effectible relationship.
  • a system includes the vehicle 13 and the counterpart-disposed configuration 12, for example, the trailer 12 or the charging dock 12.
  • a vehicle 13 includes an object manipulator 110 for coupling with a first adapter counterpart 302
  • the vehicle 13 is coupled to a counterpart-absent configuration, such as a trailer or charging dock that does not include a second adapter counterpart 350
  • a counterpart-absent configuration such as a trailer or charging dock that does not include a second adapter counterpart 350
  • communication between the vehicle 13 and the counterpart- absent configuration is effectible for actuating a vehicular operation, or for replenishing an energy storage device of the vehicle 13.
  • the vehicle 13 comprises a vehicle-defined counterpart, such as the first adapter counterpart 302, an energy storage device (e.g. pneumatic gas storage device, fuel storage device, or electrical energy storage device), and a vehicle-defined communicator 120 that is disposed in communication with the energy storage device.
  • the vehicle-defined communicator 120 is configured for connection with the first adapter counterpart 302, such that a communicating counterpart is established, with effect that communication is established between the first adapter counterpart 302 and the energy storage device.
  • the vehicle 13 includes more than one energy storage device.
  • the vehicle 13 is configured to co-operate with a counterpart-present configuration 12, for example, the trailer 12 as depicted in Figure 1 or the charging dock 12 as depicted in Figure 67.
  • the counterpart-present configuration comprises a configuration-defined connection counterpart, such as the second adapter counterpart 350, and a counterpart-present configuration system (e.g. fluid system or electrical system of the configuration 12) that is disposed in communication with the second adapter counterpart 350.
  • a counterpart-present configuration system e.g. fluid system or electrical system of the configuration 12
  • the co-operation of the vehicle 13 and the counterpart-present configuration 12 is such that while: (i) the communicating counterpart is established, and (ii) vehicle-defined connection counterpart is connected to the configuration-defined connection counterpart, operable communication between the energy storage device and the counterpart-present configuration system is established for actuating a vehicular operation or actuatable system of the counterpart-present configuration 12, and controlling the actuation of the vehicular operation or the actuatable system, and/or for replenishing the energy storage device of the vehicle 13 by an energy source of the counterpart-present configuration system of the counterpart-present configuration 12, for example, as described herein with respect to the vehicle 13 and trailer 12, and/or the vehicle 13 and docking station 12.
  • the vehicle 13 is further configured to co-operate with a counterpart-absent configuration, wherein the second adapter counterpart 350 is absent from the counterpart- absent configuration 12 (e.g. a trailer or a charging dock that does not include the counterpart- defined connection counterpart).
  • the counterpart-absent configuration 12 further comprises an actuatable counterpart-absent configuration system (e.g. fluid system or electrical system) and a counterpart-absent configuration-defined connector that is disposed in communication with the actuatable counterpart-absent configuration system.
  • the co-operation of the vehicle 13 and the counterpart-absent configuration 12 is such that, while there is an absence of connection between the vehicle-defined communicator 120 and the vehicle-defined connection counterpart, the vehicle-defined communicator 120 is connectible with the counterpart-absent configuration- defined connector, with effect that communication between the energy storage device of the vehicle and the actuatable counterpart-absent configuration system is established for actuating a vehicular operation or actuatable system of the counterpart-absent configuration 12 and controlling the actuation of the vehicular operation or the actuatable system, and/or for replenishing the energy storage device of the vehicle 13 by an energy source of the counterpart- absent configuration system of the counterpart-absent configuration.
  • the absence of connection between the vehicle-defined communicator 120 and the vehicle-defined connection counterpart is in response to defeating of the connection between the vehicle-defined communicator 12 and the vehicle-defined connection counterpart.
  • the energy storage device of the vehicle 13 is a fluid energy storage device
  • the vehicle-defined communicator 120 is a vehicle-defined fluid conductor 1202
  • the counterpart-absent configuration-defined connector is a fluid connector 20, which, in some embodiments, for example, includes as a glad hand
  • the counterpart-absent configuration system is an actuatable counterpart-absent configuration fluid system (e.g. pneumatic gas system), wherein the actuatable counterpart-absent configuration fluid system is disposed in fluid communication with the fluid connector 20.
  • the vehicle-defined fluid conductor 1202 is connectible with the fluid connector 20, with effect that fluid communication between the fluid energy storage device and the counterpart-absent configuration fluid system is established for actuating the vehicular operation of the counterpart-absent configuration 12.
  • the counterpart-absent configuration fluid system comprises service brakes, and the vehicular operation that is actuatable, in response to the establishment of fluid communication between the fluid energy storage device and the counterpart-absent configuration fluid system, is actuation of the service brakes.
  • the counterpart-absent configuration fluid system comprises parking brakes, and the vehicular operation that is actuatable, in response to the establishment of fluid communication between the fluid energy storage device and the counterpart-absent configuration fluid system, is actuation of the parking brakes.
  • the vehicle-defined fluid conductor 1202 while there is an absence of connection between the vehicle-defined fluid conductor 1202 and the vehicle- defined connection counterpart, the vehicle-defined fluid conductor 1202 is connectible with the fluid connector 20, with effect that fluid communication between the fluid energy storage device and the counterpart-absent configuration fluid system is established for transferring fluid energy from the fluid energy source of the counterpart-absent configuration to the fluid energy storage device of the vehicle 13.
  • the fluid energy includes pneumatic gas.
  • the fluid energy includes natural gas.
  • the fluid energy includes hydrogen.
  • the energy storage device of the vehicle 13 is a fuel storage device
  • the vehicle-defined communicator 120 includes a vehicle-defined fluid conductor 1202
  • the counterpart-absent configuration-defined connector is a fuel connector 22, as depicted in Figure 1
  • counterpart-absent configuration system of the counterpart-absent configuration is an counterpart-absent configuration fluid system that includes a fluid energy source that is a fuel source, wherein the fuel source is disposed in fluid communication with the fuel connector 22.
  • the vehicle-defined fluid conductor 1202 is connectible with the fuel connector 22, with effect that fluid communication between the fuel storage device of the vehicle 13 and the fuel source of the counterpart-absent configuration is established for transferring fuel from the fuel energy source of the counterpart-absent configuration to the fuel storage device of the vehicle 13.
  • the fuel includes diesel.
  • the energy storage device is an electrical energy storage device
  • the vehicle-defined communicator 120 is a vehicle-defined electrical conductor 1204
  • the counterpart-absent configuration-defined connector is an electrical connector 30, which, in some embodiments, for example, includes a pin connector, 7-pin connector, 30-pin connector, fast charge adapter, and the like
  • the counterpart-absent configuration system is a counterpart-absent configuration electrical system, wherein the counterpart-absent configuration electrical system is disposed in electrical communication with the electrical connector 30.
  • the vehicle-defined electrical conductor 1204 is connectible with the electrical connector 30, with effect that electrical communication between the electrical energy storage device and the counterpart-absent configuration electrical system is established for actuating the vehicular operation of the counterpart-absent configuration.
  • the counterpart-absent configuration electrical system comprises ABS brakes, and the vehicular operation that is actuatable, in response to the establishment of electrical communication between the electrical energy storage device and the counterpart- absent configuration electrical system, is actuation of the ABS brakes.
  • the counterpart-absent configuration electrical system comprises turn signals, and the vehicular operation that is actuatable, in response to the establishment of electrical communication between the electrical energy storage device and the counterpart-absent configuration electrical system, is actuation of the turn signals.
  • the vehicle-defined electrical conductor 1204 while there is an absence of connection between the vehicle-defined electrical conductor 1204 and the vehicle-defined connection counterpart, the vehicle-defined electrical conductor 1204 is connectible with the electrical connector 30, with effect that electrical communication between the electrical energy storage device of the vehicle 13 and the electrical energy source of the counterpart-absent configuration is established for transferring electrical energy from the electrical energy source of the counterpart-absent configuration to the electrical energy storage device of the vehicle 13.
  • the vehicle 13 includes one or more data communication devices
  • the vehicle-defined communicator 120 includes a vehicle-defined data conductor 1205 disposed in data communication with the data communication devices, for example, via a data communication system (e.g. databus)
  • the counterpart-absent configuration- defined connector is a data connector 40, which, in some embodiments, for example, includes a data port
  • the counterpart-absent configuration includes one or more data communication devices, wherein the data communication devices is disposed in data communication with the data connector 40.
  • the vehicle-defined data conductor 1205 is connectible with the data connector 40, with effect that data communication between the data communication devices of the vehicle 13 and the data communication devices of the counterpart-absent configuration is established for controlling the actuation of the vehicular operation, and for controlling the transferring of energy from the energy source of the counterpart-absent configuration to the energy storage device of the vehicle 13.
  • the second adapter counterpart 350 is disposed in fluid communication with a fluid connector 20, which, in some embodiments, for example, includes a glad hand 20, that is mounted to the front wall 53 of the counterpart-present configuration 12, as depicted in Figure 1 , via, for example, a parallel circuit.
  • the fluid connector 20 is disposed in fluid communication with the fluid system of the counterpart-present configuration 12.
  • an operator can manually establish said fluid communication.
  • an operator can decouple the configuration communicator-defined fluid conductor 1202 from the first adapter counterpart 302 via the configuration communicator- defined fluid communication counterpart 1206. Then, the operator can couple the configuration communicator-defined fluid communication counterpart 1206 with the fluid connector 20, with effect that the fluid energy storage device of the vehicle 13 and the fluid system of the counterpart-present configuration 12 become disposed in fluid communication.
  • the second adapter counterpart 350 is disposed in fluid communication with a fuel connector 22 that is mounted to the counterpartpresent configuration 12, for example, the front wall 53 of the counterpart-present configuration 12, via, for example, a parallel circuit.
  • the fuel connector 22 is disposed in fluid communication with a fuel source of the fluid system of the counterpart-present configuration 12.
  • an operator can manually establish said fluid communication.
  • an operator can decouple the configuration communicator-defined fluid conductor 1202 from the first adapter counterpart 302 via the configuration communicator-defined fluid communication counterpart 1206. Then, the operator can couple the configuration communicator-defined fluid communication counterpart 1206 with the fuel connector 22, with effect that the fuel storage device the vehicle 13 and the fuel source of the counterpart-present configuration 12 become disposed in fluid communication.
  • the second adapter counterpart 350 is disposed in electrical communication with an electrical connector 30, which, in some embodiments, for example, includes a 7-pin electrical connector, 30-pin electrical connector, fast charge adapter, and the like, that is mounted to the front wall 53 of the counterpart-present configuration 12, as depicted in Figure 1 , via, for example, a parallel circuit.
  • the electrical connector 30 is disposed in electrical communication with the electrical system of the counterpart-present configuration 12.
  • an operator can manually establish said electrical communication.
  • an operator can decouple the configuration communicator-defined electrical conductor 1204 from the first adapter counterpart 302 via the configuration communicator-defined electrical communication counterpart 1208.
  • the operator can couple the configuration communicator-defined electrical communication counterpart 1208 with the electrical connector 30, with effect that the electrical energy storage device of the vehicle 13 and the electrical system of the counterpartpresent configuration 12 become disposed in electrical communication.
  • the second adapter counterpart 350 is disposed in data communication with a data connector 40, which, in some embodiments, for example, includes a data port, pin connector, and the like, that is mounted to the counterpartpresent configuration 12, for example, the front wall 53 of the counterpart-present configuration 12, as depicted in Figure 1 , via, for example, a parallel circuit.
  • the data connector 40 is disposed in data communication with the data communication devices of the counterpartpresent configuration 12.
  • an operator can manually establish said data communication.
  • an operator can decouple the configuration communicator-defined data conductor 1205 from the first adapter counterpart 302 via the configuration communicator-defined data communication counterpart 1209. Then, the operator can couple the configuration communicator-defined data communication counterpart 1209 with the data connector 40, with effect that the data communication devices of the vehicle 13 and the data communication devices of the counterpart-present configuration 12 become disposed in data communication.
  • the vehicle 13, including the object manipulator 110 is coupled to a counterpart-absent configuration, for example, via the fifth wheel 15 and kingpin 14, wherein the counterpart-absent configuration does not have a second adapter counterpart 350 mounted thereon, but includes the fluid connector 20, fuel connector 22, electrical connector 30, and data connector 40.
  • an operator can decouple the configuration communicator-defined fluid conductor 1202 from the first adapter counterpart 302 via the configuration communicator-defined fluid communication counterpart 1206. Then, the operator can couple the configuration communicator-defined fluid conductor 1202 with the fluid connector 20, for example, by coupling the configuration communicator-defined fluid communication counterpart 1206 with the fluid connector 20, with effect that the fluid energy storage device of the vehicle 13 and the fluid system of the counterpart-absent configuration become disposed in fluid communication. Similarly, an operator can decouple the configuration communicator- defined fluid conductor 1202 from the first adapter counterpart 302 via the configuration communicator-defined fluid communication counterpart 1206.
  • the operator can couple the configuration communicator-defined fluid conductor 1202 with the fuel connector 22, for example, by coupling the configuration communicator-defined fluid communication counterpart 1206 with the fuel connector 22, with effect that the fuel storage device of the vehicle 13 and the fuel source of the counterpart-absent configuration become disposed in fluid communication.
  • an operator can decouple the configuration communicator-defined electrical conductor 1204 from the first adapter counterpart 302 via the configuration communicator-defined electrical communication counterpart 1208.
  • the operator can couple the configuration communicator-defined electrical conductor 1204 with the electrical connector 30, for example, by coupling the configuration communicator-defined electrical communication counterpart 1208 with the electrical connector 30, with effect that the electrical energy storage device of the vehicle 13 and the electrical system of the counterpart-absent configuration become disposed in electrical communication.
  • an operator can decouple the configuration communicator- defined data conductor 1205 from the first adapter counterpart 302 via the configuration communicator-defined data communication counterpart 1209.
  • the operator can couple the configuration communicator-defined data conductor 1205 with the data connector 40, for example, by coupling the configuration communicator-defined data communication counterpart 1209 with the data connector 40, with effect that the data communication devices of the vehicle 13 and the data communication devices of the counterpart-absent configuration become disposed in data communication.
  • a counterpart-present configuration 12 includes the second adapter counterpart 350, the fluid connector 20, the fuel connector 22, the electrical connector 30, and the data connector 40, and the counterpart-present configuration 12 is coupled to a vehicle 13 wherein the first adapter counterpart 302 is absent from the vehicle 13 (e.g.
  • the operator can: (i) operably couple the vehicle-defined fluid conductor 1202 with the fluid connector 20 of the counterpart-present configuration 12, with effect that the fluid energy storage device of the vehicle 13 and the fluid system of the counterpart-present configuration 12 become disposed in fluid communication, (ii) operably couple the vehicle-defined fluid conductor 1202 with the fuel connector 22 of the counterpart-present configuration 12, with effect that the fuel storage device of the vehicle 13 and the fuel source of the counterpart-present configuration 12 become disposed in fluid communication, (iii) operably couple the vehicle-defined electrical conductor 1204 with the electrical connector 30, with effect that the electrical energy storage device of the vehicle 13 and the electrical system of the counterpart-present configuration 12 become disposed in electrical communication, and (iv) operably couple the vehicle-defined data conductor 1205 with the data connector 40, with effect that the data communication devices of the vehicle 13 and the data communication devices of the counterpart-present configuration 12 become disposed in data communication.
  • a kit for modifying a vehicle includes vehicle adapter components, comprising: a vehicle-defined connection counterpart, for example, the first adapter counterpart 302, and a vehicle-defined communicator, for example, the vehicle-defined communicator 120, configured to be disposed in communication with the energy storage device, and configured to be disposed for connection with the vehicle-defined connection counterpart, such that a communicating counterpart is established, with effect that communication is established between the vehicle- defined connection counterpart and the energy storage device.
  • the modified vehicle is configured to co-operate with a counterpart-present configuration, wherein the counterpart-present configuration comprises: a configuration-defined connection counterpart; and a counterpart-present configuration system that is disposed in communication with the configuration-defined connection counterpart.
  • the modified vehicle is further configured to co-operate with a counterpart- absent configuration, wherein the configuration-defined connection counterpart is absent from the counterpart-absent configuration, the counterpart-absent configuration further comprising: a counterpart-absent configuration system; and a counterpart-absent configuration-defined connector that is disposed in communication with the counterpart-absent configuration system.
  • the vehicle-defined communicator while there is an absence of connection between the vehicle-defined communicator and the vehicle-defined connection counterpart, the vehicle-defined communicator is connectible with the counterpart-absent configuration-defined connector, with effect that communication between the energy storage device and the counterpart-absent configuration system is established.
  • a system includes the vehicle 13, the counterpart-absent configuration, and the counterpart-present configuration 12.
  • the object manipulator 110 is mounted on the frame 40 in a recess 41 defined forwardly of the fifth wheel 15. In some embodiments, for example, wherein the towing vehicle 13 is a terminal tractor, the object manipulator 110 is mounted on a fifth wheel boom in a recess defined by the fifth wheel boom.
  • the guided displacement of the end effector 700, by the guide assembly 606, is effected mechanically, for example, by a reaction force applied to the end effector 700 by the front surface 52.
  • the guided displacement of the end effector 700, by the guide assembly 606, is not effected electrically, for example, by a motor, such that, in the absence of electrical power to such a motor, the end effector 700 is still guidedly displaceable by the guide assembly 606.
  • the disposition of the object manipulator 110 between the fifth wheel 15 and cab of the towing vehicle 13 provides relative ease of access by an operator to the object manipulator 110, towing vehicle defined fluid conductor 1202, towing vehicle defined electrical conductor 1204, and towing vehicle defined data conductor 1205, in the event that manual connection between the towing vehicle 13 and the configuration 12 is needed.
  • the first adapter counterpart 302 prior to establishing the connection between the vehicle 13 and the vehicle connector 12, it is desirable to determine whether the first adapter counterpart 302 is to be displaced by the apparatus 100 to align the first adapter counterpart 302 and the second adapter counterpart 350, and to connect the first adapter counterpart 302 and the second adapter counterpart 350. Based on the determination, in some embodiments, for example, the first adapter counterpart 302 can be displaced by the apparatus 100 to align the first adapter counterpart 302 and the second adapter counterpart 350 to connect the first adapter counterpart 302 and the second adapter counterpart 350.
  • the displacement of the first adapter counterpart 302 by the apparatus 100 to align the first adapter counterpart 302 and the second adapter counterpart 350 to connect the first adapter counterpart 302 and the second adapter counterpart 350 is adjustable.
  • the first adapter counterpart 302 is not displaced by the apparatus 100.
  • the determination is based on information related to the vehicle connector 12 (e.g. features or configurations of the vehicle connector 12, the state of the vehicle connector 12, prior states of the vehicle connector 12, etc.).
  • the information includes information related to the presence or absence of the second adapter counterpart 350.
  • the vehicle 13 e.g. tractor, autonomous vehicle, etc.
  • the vehicle connector 12 e.g. a trailer 12 or a charging dock 12
  • the vehicle connector 12 does not include the second adapter counterpart 350.
  • the vehicle 13 includes an embodiment of a first adapter counterpart 302 comprising a particular configuration or layout
  • the vehicle connector 12 includes an embodiment of a second adapter counterpart 350 comprising a particular configuration or layout.
  • it is desirable to determine whether the embodiment of the first adapter counterpart 302 of the vehicle 13 and the embodiment of the second adapter counterpart 350 of the vehicle connector 12 are compatible e.g.
  • first adapter counterpart 302 and the second adapter counterpart 350 are connectible, whether the first adapter counterpart 302 and the second adapter counterpart 350 are able to be aligned, whether fluid, electrical, and/or data communication can be established between the first adapter counterpart 302 and the second adapter counterpart 350, etc.) in order to control the object manipulator 110 for displacing the first adapter counterpart 302.
  • the vehicle connector 12 includes a transmitter 1902 and the second adapter counterpart 350, wherein the transmitter 1902 is configured to transmit data representative of information related to the vehicle connector 12, and the vehicle 13 comprises the first adapter counterpart 302, a receiver 1904, configured to receive the data from the transmitter and process the received data, such that processed data is generated, and the apparatus 100, which comprises the controller 102 that is operably coupled to the receiver 1904 for receiving the processed data, and the object manipulator 110, operably coupled to the controller 102, and releasably coupled with the first adapter counterpart 302, such that a coupled object manipulator 110 is established.
  • the apparatus 100 which comprises the controller 102 that is operably coupled to the receiver 1904 for receiving the processed data
  • the object manipulator 110 operably coupled to the controller 102, and releasably coupled with the first adapter counterpart 302, such that a coupled object manipulator 110 is established.
  • the first adapter counterpart 302 and the second adapter counterpart 350 are co-operatively configured for connection to effectuate communication between the vehicle 13 and the vehicle connector 12, as described herein.
  • the first adapter counterpart 302 and the second adapter counterpart 350 are not connectible, or should not be connected.
  • the first adapter counterpart 302 and the second adapter counterpart 350 are connectible, but is to be connected manually rather than via the object manipulator 110.
  • the controller 102 is configured to control the object manipulator 110 to displace the first adapter counterpart 302.
  • the vehicle 13 and the vehicle connector 12 are co-operatively configured such that, in response to receiving of the data by the receiver 1904 from the transmitter 1902, the received data is processed by the receiver 1904 to generate the processed data, and the processed data is communicated to the controller 102, for example, via CAN bus.
  • the controlling of the object manipulator 110 is based at least in part on the processed data, which is generated from the information related to the vehicle connector 12.
  • the transmitter 1902 is mounted to a surface of the vehicle connector 12 that faces in a forward direction. In some embodiments, for example, the transmitter 1902 is mounted to the front-facing surface 52 of the vehicle connector 12. As depicted, in some embodiments, for example, the vehicle connector 12 includes a manifest box 1906 and a recessed connection box 1908. In some embodiments, for example, the transmitter 1902 is mounted to the connection box 1908, which, in some embodiments, for example, defines a portion of the surface of the vehicle connector 12 that faces in a forward direction. In some embodiments, for example, the transmitter 1902 is mounted to a bottom-facing surface 50 of the vehicle connector 12. In some embodiments, for example, wherein the vehicle connector 12 includes a kingpin 14, the transmitter 1902 is mounted to the kingpin 14.
  • the receiver 1904 is mounted to a rear-facing surface of the vehicle 13.
  • the receiver 1904 is disposed rearwardly of the cab of the vehicle 13.
  • the receiver 1904 is mounted to a rear-facing surface of the cab of the vehicle 13.
  • the receiver 1904 is mounted to a frame of the vehicle 13, for example, the frame 40.
  • the vehicle 13 includes a fifth wheel 15, the receiver 1904 is mounted to the fifth wheel 15.
  • the transmitter 1902 and the receiver 1904 are disposed within a wireless communication distance or range, the transmitter 1902 and the receiver 1904 are disposed in data communication (e.g. a wireless communication channel is established), such that the data that is transmitted by the transmitter 1902 is receivable by the receiver 1904.
  • the transmitter 1902 and the receiver 1904 are disposed between the vehicle 13 and the vehicle connector 12, as depicted in Figure 72.
  • the wireless communication distance is at least 10 centimeters, for example, at least 60 centimeters, for example, at least one meter, for example, at least 1.5 meters.
  • the wireless communication distance is a function of the communication technology employed by the transmitter 1902 and the receiver 1904.
  • the transmitter 1902 and the receiver 1904 are disposed in data communication while a line of sight is present between the transmitter 1902 and the receiver 1904, as depicted in Figure 72.
  • FIG. 73 depicts a block diagram of the vehicle 13.
  • the vehicle 13 comprises the receiver 1904.
  • the receiver 1904 comprises a microcontroller unit 1910, a radio frequency (RF) front end 1912, and an antenna 1914.
  • the RF front end 1912 comprises the circuitry that communicates the microcontroller unit 1910 and the antenna 1914.
  • the antenna 1914 receives the data transmitted by the transmitter 1902, and the data is communicated to the microcontroller unit 1910 via the RF front end 1912.
  • the microcontroller unit 1910 processes the received data to generate the processed data.
  • the microcontroller unit 1910 is disposed in operable communication with power management 1916 or a power supply, which supplies power to the microcontroller unit 1910.
  • the power management 1916 includes an external power source, such as a battery or a generator.
  • the power management 1916 includes the power source of the vehicle 13.
  • the microcontroller unit 1910 is disposed in operable communication with the components 1918 of the vehicle 13, for example, the controller of the vehicle 13, the controller 102 of the apparatus 100, the user interface 116, and the like, as described herein. As depicted, in some embodiments, for example, The microcontroller unit 1910 is disposed in operable communication with the components 1918 of the vehicle 13 via the CAN bus 1922.
  • microcontroller unit 1910 is disposed in operable communication with the components 1918 of the vehicle 13 via the CAN bus 1922
  • the microcontroller unit 1910 can be disposed in operable communication with the components 1918 of the vehicle 13 by other communication methods, which effectuates wired or wireless communication between the microcontroller unit 1910 and the components 1918 of the vehicle 13.
  • the microcontroller unit 1910 is disposed in operable communication with a memory 1920, such as non-volatile flash storage, ROM, RAM, persistent memory, or flash memory for storing data.
  • the memory 1920 stores information about the vehicle 13, which, in some embodiments, for example, includes the first adapter counterpart 302 and the apparatus 100.
  • the memory 1920 stores the program/logic applied by the microcontroller unit 1910 to the received data to process the received data and generate the processed data.
  • the microcontroller unit 1910 is disposed in operable communication with programming ports 1924, which are configured to operably communicate to another controller for reprogramming the microcontroller unit 1910.
  • the controller is an external controller.
  • Figure 74 depicts a block diagram of the vehicle connector 12.
  • the vehicle connector comprises the transmitter 1902.
  • the transmitter 1902 comprises a microcontroller unit 1930, a radio frequency (RF) front end 1932, and an antenna 1934.
  • the RF front end 1932 comprises the circuitry that communicates the microcontroller unit 1930 and the antenna 1934.
  • the control command is communicated to the microcontroller unit 1930, and, in response to the control command, the microcontroller unit 1930 sends the information related to the vehicle connector 12 to the antenna 1934 via the RF front end 1932 for transmission.
  • the microcontroller unit 1930 is disposed in operable communication with power management 1936, substantially similar to power management 1916.
  • the microcontroller unit 1930 is powered by passive radio frequency strategy or beamed RF power.
  • the microcontroller unit 1930 is powered by the on-board power source of the vehicle 13.
  • the microcontroller unit 1930 is powered by an onboard power source of the vehicle connector 12.
  • the microcontroller unit 1930 is powered by a battery or a generator.
  • the microcontroller unit 1930 is disposed in operable communication with a memory 1940, substantially similar to the memory 1920, such as non-volatile flash storage, ROM, RAM, persistent memory, or flash memory for storing data.
  • the memory 1940 stores information about the vehicle connector 12, which, in some embodiments, for example, includes the second adapter counterpart 350.
  • the memory 1940 stores the program/logic applied by the microcontroller unit 1930.
  • Figure 75 depicts an example block diagram of the data, data payload, or data package 1950 representative of information related to the vehicle connector 12 that is transmitted by the transmitter 1902.
  • the bit width of the information is related to the size of the information.
  • the data 1950 includes a version number.
  • the version number characterizes the information that is transmitted in the data 1950.
  • the version number indicates the types of information that is transmitted in the data 1950.
  • the data 1950 includes a serial number of the transmitter 1902, an identification number of the vehicle connector 12 (e.g. trailer vehicle identification number), a fleet number, a trailer number, a kingpin setback in millimeters, a receptacle height in millimeters, a receptacle configuration number, and a number related to the configuration and accessories of the vehicle connector 12 (e.g. trailer configuration and trailer accessories).
  • the data 1950 can include a subset of the information depicted in Figure 75, or can include other information, or can include more information.
  • the bit width of the version number is one byte.
  • the data 1950 includes a serial number of the transmitter 1902.
  • the serial number is assigned to the transmitter 1902 at the time of programming the transmitter 1902.
  • the microcontroller can process the serial number by cross-referencing the serial number of the transmitter 1902 with a list of transmitter serial numbers, which, in some embodiments, for example, is stored in the memory 1920, to generate processed data, which includes a determination, for example, as to whether the vehicle 13 should be connected to the vehicle connector 12, whether the first adapter counterpart 302 and the second adapter counterpart 350 are connectible, and whether the first adapter counterpart 302 and the second adapter counterpart 350 should be connected.
  • the determination is communicated to the controller 102, as part of the processed data, and the controlling of the object manipulator 110 by the controller 102 is based at least in part on the determination.
  • the bit width of the serial number is four bytes.
  • the data 1950 includes an identification number of the vehicle connector 12 (e.g. trailer vehicle identification number).
  • the microcontroller can process the identification number by cross- referencing the identification number of the vehicle connector with a list of identification numbers, which, in some embodiments, for example, is stored in the memory 1920, to generate processed data, which includes a determination, for example, as to whether the vehicle 13 should be connected to the vehicle connector 12, whether the first adapter counterpart 302 and the second adapter counterpart 350 are connectible, and whether the first adapter counterpart 302 and the second adapter counterpart 350 should be connected.
  • the determination is communicated to the controller 102, as part of the processed data, and the controlling of the object manipulator 110 by the controller 102 is based at least in part on the determination.
  • the bit width of the identification number is 17 bytes.
  • the data 1950 includes a fleet number.
  • each fleet owner assigns a number to their fleet. Different fleet owners may buy different embodiments of the second adapter counterpart 350 and housing 380 for their fleet.
  • the microcontroller can process the fleet number by cross-referencing the fleet number of the vehicle connector 12 with a list of fleet numbers, which, in some embodiments, for example, is stored in the memory 1920, to generate processed data, which includes a determination, for example, as to whether the vehicle 13 should be connected to the vehicle connector 12, whether the first adapter counterpart 302 and the second adapter counterpart 350 are connectible, and whether the first adapter counterpart 302 and the second adapter counterpart 350 should be connected.
  • the determination is communicated to the controller 102, as part of the processed data, and the controlling of the object manipulator 110 by the controller 102 is based at least in part on the determination.
  • the bit width of the fleet number is two bytes.
  • the data 1950 includes a vehicle connector number (e.g. trailer number).
  • each vehicle connector 12 includes a vehicle number.
  • the microcontroller can process the vehicle connector number by cross-referencing the vehicle connector number of the vehicle connector 12 with a list of vehicle connector numbers, which, in some embodiments, for example, is stored in the memory 1920, to generate processed data, which includes a determination, for example, as to whether the vehicle 13 should be connected to the vehicle connector 12 (e.g.
  • autonomous tractors 13 are dispatched based on a target trailer 12, and the target trailer 12 is identified by the trailer number), whether the first adapter counterpart 302 and the second adapter counterpart 350 are connectible, and whether the first adapter counterpart 302 and the second adapter counterpart 350 should be connected.
  • the determination is communicated to the controller 102, as part of the processed data, and the controlling of the object manipulator 110 by the controller 102 is based at least in part on the determination.
  • the bit width of the vehicle connector number is four bytes.
  • the vehicle connector 12 includes a kingpin 14, wherein the kingpin 14 is spaced rearwardly from a front-facing surface of the vehicle connector 12, such as front-facing surface 52, along a longitudinal axis (e.g. roll axis) of the vehicle connector 12, by a kingpin setback distance.
  • the data 1950 includes the kingpin setback distance.
  • the microcontroller can process the kingpin setback distance by cross-referencing the kingpin setback with a stroke length of the actuators 106D, which, in some embodiments, for example, is stored in the memory 1920, to generate processed data, which includes a determination, for example, as to whether the vehicle 13 should be connected to the vehicle connector 12, whether the first adapter counterpart 302 and the second adapter counterpart 350 are connectible, and whether the first adapter counterpart 302 and the second adapter counterpart 350 should be connected.
  • the determination is communicated to the controller 102, as part of the processed data, and the controlling of the object manipulator 110 by the controller 102 is based at least in part on the determination.
  • the controlling of the object manipulator 110 by the controller 102 includes adjusting the displacement of the end effector 700 to transition the end effector 700 between the end effector retracted configuration and the end effector alignment-ready configuration.
  • the bit width of the kingpin setback distance is two bytes.
  • the second adapter counterpart 350 of the vehicle connector 12 is upwardly spaced apart from a bottom-facing surface of the vehicle connector, along a vertical axis (e.g. yaw axis), by a vertical distance.
  • the data 1950 includes the vertical distance.
  • the microcontroller can process the vertical distance by cross-referencing the vertical distance with a stroke length of the actuator 106C, which, in some embodiments, for example, is stored in the memory 1920, to generate processed data, which includes a determination, for example, as to whether the vehicle 13 should be connected to the vehicle connector 12, whether the first adapter counterpart 302 and the second adapter counterpart 350 are connectible, and whether the first adapter counterpart 302 and the second adapter counterpart 350 should be connected.
  • the determination is communicated to the controller 102, as part of the processed data, and the controlling of the object manipulator 110 by the controller 102 is based at least in part on the determination.
  • the controlling of the object manipulator 110 by the controller 102 includes adjusting the displacement of the end effector alignment effector 500 to transition the end effector alignment effector 500 between the alignment effector retracted configuration and the alignment effector extended configuration.
  • the bit width of the vertical distance is one byte.
  • the data 1950 includes a configuration identifier of the second adapter counterpart 350.
  • the configuration identifier identifies the configuration of the second adapter counterpart 350, for example, geometry, size, model, functionality, layout of the ports and/or connectors, and the like, of the second adapter counterpart 350.
  • the microcontroller can process the configuration identifier by cross-referencing the configuration identifier with information related to the first adapter counterpart 302, for example, a configuration identifier of the first adapter counterpart 302, which, in some embodiments, for example, is stored in the memory 1920, to generate processed data, which includes a determination, for example, as to whether the vehicle 13 should be connected to the vehicle connector 12, whether the first adapter counterpart 302 and the second adapter counterpart 350 are connectible, and whether the first adapter counterpart 302 and the second adapter counterpart 350 should be connected.
  • the determination is communicated to the controller 102, as part of the processed data, and the controlling of the object manipulator 110 by the controller 102 is based at least in part on the determination.
  • the bit width of the configuration identifier is four bytes.
  • the data 1950 includes information identifying the configuration of the vehicle connector 12 and the accessories of the vehicle connector 12.
  • the information identifies the configuration of the vehicle connector 12, for example, geometry, size, model, functionality, the type of accessories on the vehicle connector 12, and the like.
  • the microcontroller can process the information by cross-referencing the information with information related to the vehicle 13 and/or the first adapter counterpart 302, for example, a configuration identifier of the first adapter counterpart 302 and or the geometry, size, model, functionality, the type of accessories on the vehicle 13, and the like, which, in some embodiments, for example, is stored in the memory 1920, to generate processed data, which includes a determination, for example, as to whether the vehicle 13 should be connected to the vehicle connector 12, whether the accessories of the vehicle connector 12 are controllable in response to connection between the first adapter counterpart 302 and the second adapter counterpart 350, whether the first adapter counterpart 302 and the second adapter counterpart 350 are connectible, and whether the first adapter counterpart 302 and the second adapter counterpart 350 should be connected.
  • the determination is communicated to the controller 102, as part of the processed data, and the controlling of the object manipulator 110 by the controller 102 is based at least in part on the determination.
  • the bit width of the information is based on the size of the information. In some embodiments, for example, the bit width of the information is four bytes.
  • the data transmitted by the transmitter 1902 representative of information related to the vehicle connector 12 includes a manufacturer of the vehicle connector 12. In some embodiments, for example, the data transmitted by the transmitter 1902 representative of information related to the vehicle connector 12 includes a serai number of the transmitter 1902. In some embodiments, for example, the data transmitted by the transmitter 1902 representative of information related to the vehicle connector 12 includes a vehicle identification number of the vehicle connector 12. In some embodiments, for example, the data transmitted by the transmitter 1902 representative of information related to the vehicle connector 12 includes a fleet number of the vehicle connector 12. In some embodiments, for example, the data transmitted by the transmitter 1902 representative of information related to the vehicle connector 12 includes a vehicle connector number of the vehicle connector 12.
  • the data transmitted by the transmitter 1902 representative of information related to the vehicle connector 12 includes a configuration of the vehicle connector 12, which, in some embodiments, for example, includes a configuration of the accessories of the vehicle connector 12.
  • the data transmitted by the transmitter 1902 representative of information related to the vehicle connector 12 includes a configuration of the vehicle connector 12, which, in some embodiments, for example, includes the presence of a kingpin 14.
  • the data transmitted by the transmitter 1902 representative of information related to the vehicle connector 12 includes information related to the second adapter counterpart 350.
  • the data transmitted by the transmitter 1902 representative of information related to the second adapter counterpart 350 includes information related to the presence of the second adapter counterpart 350 (e.g.
  • the vehicle connector 12 includes the second adapter 350).
  • the data transmitted by the transmitter 1902 representative of information related to the second adapter counterpart 350 includes information related to the model of the second adapter counterpart 350.
  • the data transmitted by the transmitter 1902 representative of information related to the second adapter counterpart 350 includes information related to the functionality of the second adapter counterpart 350.
  • the data transmitted by the transmitter 1902 representative of information related to the second adapter counterpart 350 includes information related to the geometry of the second adapter counterpart 350 (e.g. size and shape of the second adapter counterpart 350).
  • the data transmitted by the transmitter 1902 representative of information related to the second adapter counterpart 350 includes information related to the configuration of the second adapter counterpart 350 (e.g. layout of the fluid ports 3100, electrical ports 3080, data ports 3140, and guide ports 3120; presence or absence of the connector-defined retaining counterpart 790, etc.)
  • the data transmitted by the transmitter 1902 representative of information related to the second adapter counterpart 350 includes information related to the presence of a plurality of second adapter counterparts 350 (e.g. the vehicle connector 12 includes more than one second adapter 350).
  • the data transmitted by the transmitter 1902 representative of information related to the second adapter counterpart 350 includes information related to the model of each one of the second adapter counterparts 350.
  • the data transmitted by the transmitter 1902 representative of information related to the second adapter counterpart 350 includes information related to the functionality of each one of the second adapter counterparts 350.
  • the data transmitted by the transmitter 1902 representative of information related to the second adapter counterpart 350 includes information related to the geometry of each one of the second adapter counterparts 350 (e.g. size and shape of the second adapter counterpart 350).
  • the data transmitted by the transmitter 1902 representative of information related to the second adapter counterpart 350 includes information related to the configuration of each one of the second adapter counterparts 350 (e.g. layout of the fluid ports 3100, electrical ports 3080, data ports 3140, and guide ports 3120; presence or absence of the connector-defined retaining counterpart 790, etc.)
  • the receiver 1904 is operably coupled to a memory 1920 for storing data representative of information related to the vehicle 13.
  • the vehicle 13 and the vehicle connector 12 are co-operatively configured such that, in response to receiving of the data by the receiver 1904 from the transmitter 1902, the received data and the data representative of information related to the vehicle 13 are processed by the receiver 1904 to generate the processed data, and the processed data is communicated to the controller 102, for example, via the CAN bus 1922.
  • the controlling of the object manipulator 110, by the controller 102 is based at least in part on the processed data, which is generated from: (i) the information related to the vehicle connector 12, and (ii) information related to the vehicle 13.
  • the data representative of information related to the vehicle 13 includes a manufacturer of the vehicle 13. In some embodiments, for example, the data representative of information related to the vehicle 13 includes a serai number of the receiver 1904. In some embodiments, for example, the data representative of information related to the vehicle 13 includes a vehicle identification number of the vehicle 13. In some embodiments, for example, the data representative of information related to the vehicle 13 includes a fleet number of the vehicle 13. In some embodiments, for example, the data representative of information related to the vehicle 13 includes a vehicle number of the vehicle 13. In some embodiments, for example, the data representative of information related to the vehicle 13 includes a configuration of the vehicle 13, which, in some embodiments, for example, includes a configuration of the accessories of the vehicle 13.
  • the data representative of information related to the vehicle 13 includes information related to the first adapter counterpart 302.
  • the data representative of information related to the first adapter counterpart 302 includes information related to the model of the first adapter counterpart 302.
  • the data representative of information related to the first adapter counterpart 302 includes information related to the functionality of the first adapter counterpart 302.
  • the data representative of information related to the first adapter counterpart 302 includes information related to the geometry of the first adapter counterpart 302 (e.g. size and shape of the first adapter counterpart 302).
  • the data representative of information related to the first adapter counterpart 302 includes information related to the configuration of the first adapter counterpart 302 (e.g. layout of the fluid pins 310, electrical pins 308, data pins 314, and guide pins 312; presence or absence of the retaining member configuration 902, etc.).
  • the data representative of information related to the vehicle 13 includes information related to the apparatus 100, for example, the object manipulator 110 (e.g. configuration, such as functionality, of the actuator assembly 106, configuration, such as geometry and functionality of the guide assembly 600, and the like).
  • Figure 76 depicts a process flow chart S1960 for the decision process of connecting the first adapter counterpart 302 and the second adapter counterpart 350.
  • the decision process begins as the vehicle 13 is backing up towards the vehicle connector 12.
  • the transmitter 1902 and the receiver 1904 are disposed in data communication (e.g. the transmitter 1902 and the receiver 1904 are disposed within a wireless communication distance or range, and a wireless communication channel is established), and the transmitter 1902 is turned on, for example, in response to a signal from the receiver 1904 to receive or request the data from the transmitter 1902.
  • the receiver 1904 attempts to detect the transmitter 1902. If the detection fails, detection of the transmitter 1902 will be attempted again for a certain number of times. If, after multiple attempts, there is a failure to detect the transmitter 1902, and the vehicle 13 is a tractor, the microcontroller unit 1910 sends a control command to the user interface 116 to prompt the driver of the error and to stop all actions, or sends a control command to the vehicle controller, which sends a control command to the user interface 116 to prompt the driver of the error and to stop all actions.
  • the microcontroller unit 1910 sends a control command to the user interface 116 to prompt the driver to not connect the first adapter counterpart 302 and the second adapter counterpart 350, to manually connect the first adapter counterpart 302 and the second adapter counterpart 350, to initiate a repair, and the like, or sends a control command to the vehicle controller, which sends a control command to the user interface 116 to prompt the driver to not connect the first adapter counterpart 302 and the second adapter counterpart 350, to manually connect the first adapter counterpart 302 and the second adapter counterpart 350, to initiate a repair, and the like.
  • the microcontroller unit 1910 sends a control command to the vehicle controller for the vehicle controller to make a determination as to the action to be taken (e.g. stop all actions, not connect the first adapter counterpart 302 and the second adapter counterpart 350, to attempt to connect the first adapter counterpart 302 and the second adapter counterpart 350, to drive to a repair depot, and the like).
  • the receiver 1904 successfully detect the transmitter 1902, then, at S1966, the receiver 1904 attempts to read the data that is wirelessly transmitted from the transmitter 1902. If the reading of the data fails, reading of the data from the transmitter 1902 will be attempted again for a certain number of times.
  • the microcontroller unit 1910 sends a control command to the user interface 116 to prompt the driver of the error and to stop all actions, or sends a control command to the vehicle controller, which sends a control command to the user interface 116 to prompt the driver of the error and to stop all actions.
  • the microcontroller unit 1910 sends a control command to the user interface 116 to prompt the driver to not connect the first adapter counterpart 302 and the second adapter counterpart 350, to manually connect the first adapter counterpart 302 and the second adapter counterpart 350, to initiate a repair, and the like, or sends a control command to the vehicle controller, which sends a control command to the user interface 116 to prompt the driver to not connect the first adapter counterpart 302 and the second adapter counterpart 350, to manually connect the first adapter counterpart 302 and the second adapter counterpart 350, to initiate a repair, and the like.
  • the microcontroller unit 1910 sends a control command to the vehicle controller for the vehicle controller to make a determination as to the action to be taken (e.g. stop all actions, not connect the first adapter counterpart 302 and the second adapter counterpart 350, to attempt to connect the first adapter counterpart 302 and the second adapter counterpart 350, to drive to a repair depot, and the like).
  • the receiver 1904 If the receiver 1904 successfully reads the data from the transmitter 1902, then, at S1968, the receiver 1904 attempts to decode the data from the transmitter 1902. If the decoding of the data fails, decoding of the data from the transmitter 1902 will be attempted again for a certain number of times. If, after multiple attempts, there is a failure to decode the data from the transmitter 1902, and the vehicle 13 is a tractor, the microcontroller unit 1910 sends a control command to the user interface 116 to prompt the driver of the error and to stop all actions, or sends a control command to the vehicle controller, which sends a control command to the user interface 116 to prompt the driver of the error and to stop all actions.
  • the microcontroller unit 1910 sends a control command to the user interface 116 to prompt the driver to not connect the first adapter counterpart 302 and the second adapter counterpart 350, to manually connect the first adapter counterpart 302 and the second adapter counterpart 350, to initiate a repair, and the like, or sends a control command to the vehicle controller, which sends a control command to the user interface 116 to prompt the driver to not connect the first adapter counterpart 302 and the second adapter counterpart 350, to manually connect the first adapter counterpart 302 and the second adapter counterpart 350, to initiate a repair, and the like.
  • the microcontroller unit 1910 sends a control command to the vehicle controller for the vehicle controller to make a determination as to the action to be taken (e.g. stop all actions, not connect the first adapter counterpart 302 and the second adapter counterpart 350, to attempt to connect the first adapter counterpart 302 and the second adapter counterpart 350, to drive to a repair depot, and the like).
  • the receiver 1904 successfully decodes the data from the transmitter 1902, then, at S1970, the data can be processed by the receiver 1904, and the recognition of the vehicle connector 12 is complete.
  • the processed data includes a determination that the first adapter counterpart 302 and the second adapter counterpart 350 are connectible. In some embodiments, for example, the processed data includes a determination that the first adapter counterpart 302 and the second adapter counterpart 350 are connectible and should be connected.
  • the controlling of the object manipulator 110, by the controller 102, based at least in part on the processed data is such that the object manipulator is displaceable for displacing the first adapter counterpart 302, relative to the second adapter counterpart 350, by the object manipulator 110, for example, via the actuator assembly 116, to effectuate emplacement of the first adapter counterpart 302 in alignment with the second adapter counterpart 350.
  • the receiver 1904 determines that the second adapter counterpart 350 is present on the vehicle connector 12.
  • the processed data including the determination, is communicated to the apparatus 100 (e.g.
  • the vehicle 13 is a tractor
  • the controller 102 to control the object manipulator 110 to emplace the first adapter counterpart 302 in alignment with the second adapter counterpart 350, such that the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in an alignment relationship for establishing connection between the first adapter counterpart 302 and the second adapter counterpart 350.
  • the receiver 1904 determines that the second adapter counterpart 350 is present on the vehicle connector 12.
  • the processed data including the determination, is communicated to the vehicle controller (e.g.
  • the vehicle 13 is an autonomous vehicle), which communicates the processed data to the apparatus 100, for example, the controller 102, to control the object manipulator 110 to emplace the first adapter counterpart 302 in alignment with the second adapter counterpart 350, such that the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in an alignment relationship for establishing connection between the first adapter counterpart 302 and the second adapter counterpart 350.
  • the receiver 1904 determines that the particular embodiment of the first adapter counterpart 302 is compatible with the particular embodiment of the second adapter counterpart 350 (e.g.
  • the processed data is communicated to the apparatus 100 (e.g. the vehicle is a tractor), for example, the controller 102, to control the object manipulator 110 to emplace the first adapter counterpart 302 in alignment with the second adapter counterpart 350, such that the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in an alignment relationship for establishing connection between the first adapter counterpart 302 and the second adapter counterpart 350.
  • the apparatus 100 e.g. the vehicle is a tractor
  • the controller 102 to control the object manipulator 110 to emplace the first adapter counterpart 302 in alignment with the second adapter counterpart 350, such that the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in an alignment relationship for establishing connection between the first adapter counterpart 302 and the second adapter counterpart 350.
  • the receiver 1904 determines that the particular embodiment of the first adapter counterpart 302 is compatible with the particular embodiment of the second adapter counterpart 350 (e.g. fluid, electrical, and/or data communication is effectuated in response to connection of the first adapter counterpart 302 and the second adapter counterpart 350; the first adapter counterpart 302 and the second adapter counterpart 350 are connectible; the connection between the first adapter counterpart 302 and the second adapter counterpart 350 is retainable etc.).
  • the processed data including the determination, is communicated to the vehicle controller (e.g.
  • the vehicle 13 is an autonomous vehicle), which communicates the processed data to the apparatus 100, for example, the controller 102, to control the object manipulator 110 to emplace the first adapter counterpart 302 in alignment with the second adapter counterpart 350, such that the first adapter counterpart 302 and the second adapter counterpart 350 become disposed in an alignment relationship for establishing connection between the first adapter counterpart 302 and the second adapter counterpart 350.
  • the receiver 1904 determines that at least one second adapter counterpart 350 is present on the vehicle connector 12.
  • the processed data including the determination, is communicated to the apparatus 100 (e.g. the vehicle 13 is a tractor), for example, the controller 102, to control the object manipulator 110 to emplace the first adapter counterpart 302 in alignment with the at least one second adapter counterpart 350, such that the first adapter counterpart 302 and the at least one second adapter counterpart 350 become disposed in an alignment relationship for establishing connection between the first adapter counterpart 302 and the at least one second adapter counterpart 350.
  • the receiver 1904 determines that at least one of the second adapter counterparts 350 is present on the vehicle connector 12.
  • the processed data including the determination, is communicated to the vehicle controller (e.g. the vehicle 13 is an autonomous vehicle), which communicates the processed data to the apparatus 100, for example, the controller 102, to control the object manipulator 110 to emplace the first adapter counterpart 302 in alignment with the at least one second adapter counterpart 350, such that the first adapter counterpart 302 and the at least one second adapter counterpart 350 become disposed in an alignment relationship for establishing connection between the first adapter counterpart 302 and the at least one second adapter counterpart 350.
  • the vehicle controller e.g. the vehicle 13 is an autonomous vehicle
  • the object manipulator 110 emplace the first adapter counterpart 302 in alignment with the at least one second adapter counterpart 350, such that the first adapter counterpart 302 and the at least one second adapter counterpart 350 become disposed in an alignment relationship for establishing connection between the first adapter counterpart 302 and the at least one second adapter counterpart 350.
  • the receiver 1904 determines that the particular embodiment of the first adapter counterpart 302 is compatible with the particular embodiment of at least one of the second adapter counterparts 350 (e.g. fluid, electrical, and/or data communication is effectuated in response to connection of the first adapter counterpart 302 and the second adapter counterpart 350; the first adapter counterpart 302 and the second adapter counterpart 350 are connectible; the connection between the first adapter counterpart 302 and the second adapter counterpart 350 is retainable etc.).
  • the processed data including the determination, is communicated to the apparatus 100 (e.g.
  • the vehicle 13 is a tractor
  • the controller 102 to control the object manipulator 110 to emplace the first adapter counterpart 302 in alignment with the at least one second adapter counterpart 350, such that the first adapter counterpart 302 and the at least one second adapter counterpart 350 become disposed in an alignment relationship for establishing connection between the first adapter counterpart 302 and the at least one second adapter counterpart 350.
  • the receiver 1904 determines that the particular embodiment of the first adapter counterpart 302 is compatible with the particular embodiment of at least one of the second adapter counterparts 350 (e.g.
  • the processed data including the determination, is communicated to the vehicle controller (e.g.
  • the vehicle 13 is an autonomous vehicle), which communicates the processed data to the apparatus 100, for example, the controller 102, to control the object manipulator 110 to emplace the first adapter counterpart 302 in alignment with the at least one second adapter counterpart 350, such that the first adapter counterpart 302 and the at least one second adapter counterpart 350 become disposed in an alignment relationship for establishing connection between the first adapter counterpart 302 and the at least one second adapter counterpart 350.
  • the processed data further includes a displacement adjustment to adjust the displacement of the first adapter counterpart 302, relative to the second adapter counterpart 350, to effectuate emplacement of the first adapter counterpart 302 in alignment with the second adapter counterpart 350.
  • the controlling of the object manipulator 110, by the controller 102, based at least in part on the processed data is such that a displacement of the first adapter counterpart 302, relative to the second adapter counterpart 350, is adjustable by the object manipulator 110, based on the displacement adjustment, to effectuate emplacement of the first adapter counterpart 302 and the second adapter counterpart 350.
  • the first adapter counterpart 302 is upwardly spaced apart from a bottom-facing surface of the vehicle connector 12, for example, the bottomfacing surface 50, along a vertical axis (e.g. a yaw axis), by a vertical distance.
  • the data transmitted by the transmitter 1902 representative of information related to the vehicle connector 12 includes the vertical distance.
  • the processed data includes: (i) the determination that the first adapter counterpart 302 and the second adapter counterpart 350 are connectible, and (ii) the displacement adjustment, wherein the displacement adjustment is a vertical adjustment distance, based on the vertical distance.
  • the controlling of the object manipulator 110, by the controller 102, based at least in part on the processed data is such that a vertical displacement of the first adapter counterpart 302, relative to the second adapter counterpart 350, is adjustable by the object manipulator 110, based on the vertical adjustment distance, to effectuate emplacement of the first adapter counterpart 302 in alignment with the second adapter counterpart 350 along an axis that is parallel to the vertical axis (e.g. yaw axis).
  • the vertical displacement of the first adapter counterpart 302, relative to the second adapter counterpart 350, that is adjusted by the object manipulator 110 is the vertical displacement of the end effector alignment effector 500 for transitioning between the alignment effector retracted configuration and the alignment effector extended configuration (e.g. how much to vertically displace the end effector alignment effector 500 while the pivotable platform 400 is abutting against the bottom-facing surface 50 of the vehicle connector 12 to align the first adapter counterpart 302 and second adapter counterpart 350 along the vertical axis (e.g. yaw axis)).
  • the vertical displacement of the end effector alignment effector 500 for transitioning between the alignment effector retracted configuration and the alignment effector extended configuration is set at two inches. In some embodiments, for example, the vertical displacement of the end effector alignment effector 500 for transitioning between the alignment effector retracted configuration and the alignment effector extended configuration is adjustable, based on the vertical distance by which the first adapter counterpart 302 is upwardly spaced apart from a bottom-facing surface of the vehicle connector 12, for example, the bottom-facing surface 50, along a vertical axis (e.g. a yaw axis).
  • a vertical axis e.g. a yaw axis
  • the vehicle connector 12 includes a kingpin 14 that is spaced rearwardly from a front-facing surface of the vehicle connector 12, for example, the front-facing surface 52, along a longitudinal axis (e.g. roll axis) of the vehicle connector 12, by a kingpin setback distance.
  • the kingpin setback distance is 24 inches.
  • the kingpin setback distance is 30 inches.
  • the kingpin setback distance is 36 inches.
  • the data transmitted by the transmitter 1902 representative of the information related to the vehicle connector 12 includes the kingpin setback distance.
  • the processed data includes: (i) the determination that the first adapter counterpart 302 and the second adapter counterpart 350 are connectible, and (ii) the displacement adjustment, wherein the displacement adjustment is a kingpin setback adjustment distance, based on the kingpin setback distance.
  • the controlling of the object manipulator 110, by the controller 102, based at least in part on the processed data is such that a displacement of the first adapter counterpart 302, relative to the second adapter counterpart 350, in a direction towards the vehicle connector 12, is adjustable by the object manipulator 110, based on the kingpin setback adjustment distance, to effectuate emplacement of the first adapter counterpart 302 in alignment with the second adapter counterpart 350 along an axis that is parallel to the longitudinal axis (e.g. roll axis) of the vehicle connector 12.
  • the displacement of the first adapter counterpart 302, relative to the second adapter counterpart 350, that is adjusted by the object manipulator 110 is the displacement of the end effector 700 for transitioning the end effector 700 between the end effector retracted configuration and the end effector alignment-ready configuration (e.g. how much to displace the end effector 700 towards the vehicle connector 12 to abut the end effector 700 against the front-facing surface 52 of the vehicle connector 12 to align the first adapter counterpart 302 and second adapter counterpart 350 along the longitudinal axis (e.g. roll axis)).
  • the longitudinal axis e.g. roll axis
  • the controller 102 while the kingpin 14 and the fifth wheel 15 are connected, and the controller 102 has received the processed data generated by the receiver 1904, including a determination that the first adapter counterpart 302 and the second adapter counterpart 350 are connectible and/or should be connected, and has further received a control command from the vehicle controller to connect the first adapter counterpart 302 and the second adapter counterpart 350, the controller 102 sends a control command to the actuator assembly 106 to displace the object manipulator 110 to displace the first adapter counterpart 302, for example, relative to the second adapter counterpart 350, for aligning and connecting the first adapter counterpart 302 and the second adapter counterpart 350.
  • the processed data includes a determination that the first adapter counterpart 302 and the second adapter counterpart 350 are ineffective for connection, for example, that one of the first adapter counterpart 302 and the second adapter counterpart 350 is ineffective for connection with the other one of the first adapter counterpart 302 and the second adapter counterpart 350 (e.g. the first adapter counterpart 302 and the second adapter counterpart 350 are not compatible or not connectible).
  • the processed data includes a determination that connection between the first adapter counterpart 302 and the second adapter counterpart 350 is to be opposed (e.g. prevented, abstained, avoided, and the like).
  • the receiver 1904 determines that connection between the first adapter counterpart 302 and the second adapter counterpart 350 is to be opposed (e.g. prevented, abstained, avoided, and the like) due to the manufacturer of the second adapter counterpart 350.
  • the processed data includes a determination that connection between the vehicle 13 and the vehicle connector 12 is to be opposed (e.g. prevented, abstained, avoided, and the like) due to the manufacturer of the vehicle connector 12.
  • the receiver 1904 determines that connection between the first adapter counterpart 302 and the second adapter counterpart 350 is to be made manually, for example, by an operator, rather than by the apparatus 100.
  • the controlling of the object manipulator 110, by the controller 102 is such that there is an absence of displacement of the object manipulator 110 for displacing the first adapter counterpart 302, relative to the second adapter counterpart 350, by the object manipulator 110.
  • the receiver 1904 determines that the first adapter counterpart 302 and the second adapter counterpart 350 are not compatible or not connectible, or is to be opposed (e.g. prevented, abstained, avoided, and the like), or is to be made manually.
  • the processed data including the determination, is communicated to the apparatus 100 (e.g.
  • the vehicle 13 is a tractor
  • the controller 102 such that there is an absence of displacement of the first adapter counterpart 302 by the object manipulator 110 to emplace the first adapter counterpart 302 in alignment with the at least one second adapter counterpart 350.
  • the receiver 1904 determines that the first adapter counterpart 302 and the second adapter counterpart 350 are not compatible or not connectible, or is to be opposed (e.g. prevented, abstained, avoided, and the like), or is to be made manually.
  • the processed data including the determination, is communicated to the vehicle controller (e.g.
  • the vehicle 13 is an autonomous vehicle), which communicates the processed data to the apparatus 100, for example, the controller 102, such that there is an absence of displacement of the first adapter counterpart 302 by the object manipulator 110 to emplace the first adapter counterpart 302 in alignment with the at least one second adapter counterpart 350.
  • the controlling of the object manipulator 110, by the controller 102 is such that there is an absence of displacement of the object manipulator 110 for displacing the first adapter counterpart 302, relative to the second adapter counterpart 350, by the object manipulator 110.
  • the receiver 1904 determines that the particular embodiment of the first adapter counterpart 302 is not compatible with the particular embodiment of the second adapter counterpart 350 (e.g. fluid, electrical, and/or data communication is not effectuatable between the first adapter counterpart 302 and the second adapter counterpart; the first adapter counterpart 302 and the second adapter counterpart 350 are not connectible; the connection between the first adapter counterpart 302 and the second adapter counterpart 350 is not retainable, etc.).
  • the processed data including the determination, is communicated to the apparatus 100 (e.g.
  • the vehicle 13 is a tractor
  • the controller 102 such that there is an absence of displacement of the first adapter counterpart 302 by the object manipulator 110 to emplace the first adapter counterpart 302 in alignment with the at least one second adapter counterpart 350.
  • the receiver 1904 determines that the particular embodiment of the first adapter counterpart 302 is not compatible with the particular embodiment of the second adapter counterpart 350 (e.g. fluid, electrical, and/or data communication is not effectuatable between the first adapter counterpart 302 and the second adapter counterpart; the first adapter counterpart 302 and the second adapter counterpart 350 are not connectible; the connection between the first adapter counterpart 302 and the second adapter counterpart 350 is not retainable, etc.).
  • the processed data is communicated to the vehicle controller (e.g. the vehicle 13 is an autonomous vehicle), which communicates the processed data to the apparatus 100, for example, the controller 102, such that there is an absence of displacement of the first adapter counterpart 302 by the object manipulator 110 to emplace the first adapter counterpart 302 in alignment with the at least one second adapter counterpart 350.
  • the vehicle controller e.g. the vehicle 13 is an autonomous vehicle
  • the apparatus 100 for example, the controller 102
  • the receiver 1904 determines that the particular embodiment of the first adapter counterpart 302 is not compatible with any of the second adapter counterparts 350 (e.g. fluid, electrical, and/or data communication is not effectuatable between the first adapter counterpart 302 and the second adapter counterpart; the first adapter counterpart 302 and the second adapter counterpart 350 are not connectible; the connection between the first adapter counterpart 302 and the second adapter counterpart 350 is not retainable, etc.).
  • the processed data including the determination, is communicated to the apparatus 100 (e.g.
  • the vehicle 13 is a tractor
  • the controller 102 such that there is an absence of displacement of the first adapter counterpart 302 by the object manipulator 110 to emplace the first adapter counterpart 302 in alignment with any of the second adapter counterparts 350.
  • the receiver 1904 determines that the particular embodiment of the first adapter counterpart 302 is not compatible with any of the second adapter counterparts 350 (e.g. fluid, electrical, and/or data communication is not effectuatable between the first adapter counterpart 302 and the second adapter counterpart; the first adapter counterpart 302 and the second adapter counterpart 350 are not connectible; the connection between the first adapter counterpart 302 and the second adapter counterpart 350 is not retainable, etc.).
  • the processed data is communicated to the vehicle controller (e.g. the vehicle 13 is an autonomous vehicle), which communicates the processed data to the apparatus 100, for example, the controller 102, such that there is an absence of displacement of the first adapter counterpart 302 by the object manipulator 110 to emplace the first adapter counterpart 302 in alignment with any of the second adapter counterparts 350.
  • the vehicle controller e.g. the vehicle 13 is an autonomous vehicle
  • the apparatus 100 for example, the controller 102
  • the receiver 1904 can determine that the data is not correlated with known installation information. In such embodiments, it is possible to lock out a connection, and the vehicle connector 12 can be flagged as a compromised vehicle connector 12.
  • the controller 102 has received the processed data generated by the receiver 1904, including a determination that the first adapter counterpart 302 and the second adapter counterpart 350 are not connectible and/or should not be connected, there is an absence of displacement of the object manipulator 110 to displace the first adapter counterpart 302 for aligning and connecting the first adapter counterpart 302 and the second adapter counterpart 350.
  • the vehicle connector 12 includes the transmitter 1902 but does not include the second adapter counterpart 350.
  • the vehicle 13 and the vehicle connector 12 are co-operatively configured such that, in response to receiving of the data by the receiver 1904 from the transmitter 1902, the received data is processed by the receiver 1904 to generate processed data, and the processed data is communicated to the controller 102, for example, via CAN bus 1922.
  • the controlling of the object manipulator 110, by the controller 102 is based at least in part on the processed information, which is generated from the information related to the vehicle connector 12.
  • the controlling of the object manipulator 110 is such that there is an absence of displacement of the first adapter counterpart 302 by the object manipulator 110.
  • the data representative of information related to the vehicle connector 12 includes information related to the absence of the second adapter counterpart 350 on the vehicle connector 12.
  • the receiver 1904 determines that the second adapter counterpart 350 is absent from the vehicle connector 12 (e.g. the vehicle connector 12 does not include the second adapter counterpart 350).
  • the processed data including the determination, is communicated to the apparatus 100 (e.g. the vehicle 13 is a tractor), for example, the controller 102, such that there is an absence of displacement of the first adapter counterpart 302 by the object manipulator 110.
  • the receiver 1904 determines that the second adapter counterpart 350 is absent from the vehicle connector 12 (e.g. the vehicle connector 12 does not include the second adapter counterpart 350).
  • the processed data is communicated to the vehicle controller (e.g. the vehicle 13 is an autonomous vehicle), which communicates the processed data to the apparatus 100, for example, the controller 102, such that there is an absence of displacement of the first adapter counterpart 302 by the object manipulator 110.
  • the vehicle controller e.g. the vehicle 13 is an autonomous vehicle
  • the apparatus 100 for example, the controller 102
  • the transmitter 1902 is configured to transmit the data representative of information related to the vehicle connector 12 wirelessly, for example, via a short range communication protocol.
  • Example short range communication protocols include Bluetooth, DSRC, ZigBee, Wi-Fi, radio frequency identification (RFID), near field communication (NFC), and NRF24L01.
  • the data representative of information related to the vehicle connector 12 is transmissible by the transmitter 1902 and receivable by the receiver 1904 while there is an absence of connection between the first adapter counterpart 302 and the second adapter counterpart 350.
  • the data representative of information related to the vehicle connector is transmissible by the transmitter 1902 and receivable by the receiver 1904 while there is an absence of connection, for example, a physical connection, between the vehicle 13 and the vehicle connector 12 (e.g. absence of connection between a kingpin 14 of the vehicle connector 12 and a fifth wheel 15 of the vehicle 13; absence of connection between the first adapter counterpart 302 and the second adapter counterpart 350).
  • the data representative of information related to the vehicle connector is transmissible by the transmitter 1902 and receivable by the receiver 1904 while the vehicle 13 is displaceable relative to the vehicle connector 12 (e.g. absence of connection between a kingpin 14 of the vehicle connector 12 and a fifth wheel 15 of the vehicle 13).
  • the data representative of information related to the vehicle connector is transmissible by the transmitter 1902 and receivable by the receiver 1904 while a connection, for example, a physical connection, is established between the vehicle 13 and the vehicle connector 12 (e.g. effectuated via a kingpin 14 of the vehicle connector 12 and a fifth wheel 15 of the vehicle 13).
  • the data representative of information related to the vehicle connector is transmissible by the transmitter 1902 and receivable by the receiver 1904 while displacement of the vehicle 13, relative to the vehicle connector 12, is opposed, for example, prevented (e.g. while the fifth wheel coupling relationship is established).
  • the data representative of information related to the vehicle connector is transmissible by the transmitter 1902 and receivable by the receiver 1904 while the first adapter counterpart 302 and the second adapter counterpart 350 are connected.
  • the vehicle 13 and the trailer 12 are cooperatively configured such that, in response to receiving of the data by the receiver 1904 from the transmitter 1902 and the processing of the data by the receiver 1904 to generate the processed data, the processed data is communicated to the user interface 116 (e.g. user interface of the vehicle 13), such that a graphical representation of the processed data is rendered on the user interface 116.
  • the graphical representation of the processed data includes the determination that the first adapter counterpart 302 is connectible to the second adapter counterpart 350, and in some embodiments, for example, includes the displacement adjustments to be made by the apparatus 100.
  • the graphical representation of the processed data includes the determination that the first adapter counterpart 302 is not connectible, or is not to be connected to the second adapter counterpart 350. In some embodiments, for example, the graphical representation of the processed data includes the determination that the first adapter counterpart 302 is to be connected to the second adapter counterpart 350 manually. In some embodiments, for example, in response to receiving of the data by the receiver 1904 from the transmitter 1902, the receiver 1904 sends a control command to the user interface 116 to render the graphical representation of the received data on the user interface 116.
  • the vehicle 13 and the trailer 12 are cooperatively configured such that, in response to receiving of the data by the receiver 1904 from the transmitter 1902 and the processing of the data by the receiver 1904 to generate the processed data, the processed data is communicated to the controller of the vehicle for determining an action of the vehicle (e.g. the vehicle 13 is an autonomous vehicle).
  • the processed data is communicated to the controller 102 via the controller of the vehicle 13.
  • the processed data includes the determination that the first adapter counterpart 302 is connectible to the second adapter counterpart 350, and in some embodiments, for example, includes the displacement adjustments to be made by the apparatus 100.
  • the processed data includes the determination that the first adapter counterpart 302 is not connectible, or is not to be connected to the second adapter counterpart 350. In some embodiments, for example, the processed data includes the determination that the first adapter counterpart 302 is to be connected to the second adapter counterpart 350 manually. In some embodiments, for example, in response to receiving of the data by the receiver 1904 from the transmitter 1902, the receiver 1904 sends the received to the controller of the vehicle 13 for determining an action of the vehicle (e.g. the vehicle 13 is an autonomous vehicle).
  • a kit for modifying a vehicle includes vehicle adaptor components.
  • the vehicle adaptor components include a vehicle-defined connection counterpart, for example, the first adapter counterpart 302.
  • the vehicle adaptor components further include the apparatus 100, which includes the controller 102 and the object manipulator 110.
  • the vehicle adaptor components further include the receiver 1904.
  • a modified vehicle is established, such that the modified vehicle includes the vehicle adaptor components, wherein the receiver 1904 is configured to receive data from the transmitter 1902, the receiver 1904 is operably coupled to the controller 102, and the object manipulator is operably coupled to the controller and releasably coupled with the vehicle-defined connection counterpart.
  • a kit for modifying a counterpart-absent configuration or vehicle connector includes configuration or vehicle connector adapter components.
  • the configuration adaptor components include a configuration-defined connection counterpart, for example, the second adapter counterpart 350.
  • the configuration adaptor components do not include a configuration-defined connection counterpart, for example, the second adapter counterpart 350.
  • the configuration adaptor components include the transmitter 1902.
  • a modified vehicle connector is established, such that the modified vehicle connector includes the vehicle connector adaptor components, wherein the transmitter 1902 is configured to transmit data representative of information related to the modified vehicle connector.
  • a system includes the vehicle 13 and the counterpart-disposed configuration 12 or vehicle connector 12, for example, the trailer 12 or the charging dock 12.
  • the vehicle connector 12 includes the second adapter counterpart 350.
  • the second adapter counterpart 350 is absent from the vehicle connector 12.
  • the receiver 1904 can determine whether the object manipulator 110 is to be displaced for displacing the first adapter counterpart 302. In some embodiments, for example, such determination is made remotely. This allows for the object manipulator 110 to be controlled while the operator of the vehicle remains in the vehicle 13.
  • this improves safety for the user, as: (i) the user avoids having to step out of the vehicle 13 to review the vehicle connector 12 to determine if the second adapter counterpart 350 is present or if the second adapter counterpart 350 is compatible with the first adapter counterpart 302 of the vehicle 13, which reduces risk of physical injury, such as slips and falls, and (ii) the user does not have to step out onto a road to determine if the second adapter counterpart 350 is present or if the second adapter counterpart 350 is compatible with the first adapter counterpart 302 of the vehicle 13, which reduces risk of injury from a collision with one of the oncoming vehicles.
  • the receiver 1904 can determine whether the object manipulator 110 is to be displaced for displacing the first adapter counterpart 302 prior to attempting the connection of the first adapter counterpart 302 and the second adapter counterpart 350.
  • the transmitter 1902 and the receiver 1904 allows for the confirmation of compatible equipment and additional configuration information to be confirmed before an automatic connection between the first adapter counterpart 302 and the second adapter counterpart 350 by the apparatus 100 is attempted.
  • the wireless communication channel also persists after the connection between the first adapter counterpart 302 and the second adapter counterpart is severed, which may provide additional redundancy in safety critical applications.
  • the data representative of information related to the vehicle connector 12 that is transmitted by the transmitter 1902 functions to identify whether the vehicle connector 12 is compatible with a vehicle 13 that includes the first adapter counterpart 302 and the apparatus 100.
  • the transmitter 1902 on the vehicle connector 12 and the receiver 1904 on the vehicle 13 define a localized system wherein data is communicable, for example, without an Internet connection, such that determination of displacement of the object manipulator 110 for displacing the first adapter counterpart 302 can be made without an Internet connection or while the Internet connection is absent.
  • the receiver 1904 is configured to transmit data to the transmitter 1902. In some embodiments, for example, the receiver 1904 is configured to transmit data to the transmitter 1902 for programming the transmitter 1902. In some embodiments, for example, while the first adapter counterpart 302 and the second adapter counterpart 350 is connected, and then the connection is severed, the receiver 1904 is configured to transmit data to the transmitter 1902 for communicating to the transmitter 1902 to shut down the process/operation (e.g. a graceful shut down). In this respect, in some embodiments, for example, the receiver 1904 functions as a transceiver 1904, and the transmitter 1902 functions as a transceiver 1902.
  • the processed data is part of the information used by the controller 102 to move the object manipulator 110. In some embodiments, for example, the processed data is not the entirety of the information used by the controller 102 to move the object manipulator 110. In some embodiments, for example, the processed data and other data, for example, from the vehicle controller, are used by the controller 102 to move the object manipulator 110.
  • Machine readable code executable by one or more processors of one or more respective devices to perform the abovedescribed method may be stored in a machine readable medium such as the memory of the data manager.
  • the terms “software” and “firmware” are interchangeable within the present disclosure and comprise any computer program stored in memory for execution by a processor, comprising RAM memory, ROM memory, erasable programmable ROM (EPROM) memory, electrically EPROM (EEPROM) memory, and non-volatile RAM (NVRAM) memory.
  • RAM memory random access memory
  • ROM memory read-only memory
  • EPROM erasable programmable ROM
  • EEPROM electrically EPROM
  • NVRAM non-volatile RAM
  • the present disclosure is described, at least in part, in terms of methods, a person of ordinary skill in the art will understand that the present disclosure is also directed to the various components for performing at least some of the aspects and features of the described methods, be it by way of hardware (DSPs, ASIC, or FPGAs), software or a combination thereof. Accordingly, the technical solution of the present disclosure may be embodied in a non-volatile or non-transitory machine readable medium (e.g., optical disk, flash memory, etc.) having stored thereon executable instructions tangibly stored thereon that enable a processing device (e.g., a data manager) to execute examples of the methods disclosed herein.
  • a processing device e.g., a data manager
  • processor may comprise any programmable system comprising systems using micro- or nano-processors/controllers, reduced instruction set circuits (RISC), application specific integrated circuits (ASICs), logic circuits, and any other circuit or processor capable of executing the functions described herein.
  • database may refer to either a body of data, a relational database management system (RDBMS), or to both.
  • RDBMS relational database management system
  • a database may comprise any collection of data comprising hierarchical databases, relational databases, flat file databases, object-relational databases, object oriented databases, and any other structured collection of records or data that is stored in a computer system.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

La divulgation concerne un système comprenant : un connecteur de véhicule et un véhicule. Le connecteur de véhicule comprend : une contrepartie de connexion définie par un connecteur de véhicule ; et un émetteur, conçu pour transmettre des données représentatives d'informations relatives au connecteur du véhicule. Le véhicule comprend : une contrepartie de connexion définie par un véhicule ; un récepteur, conçu pour recevoir les données en provenance de l'émetteur et traiter les données reçues pour générer des données traitées ; et un appareil, comprenant : un dispositif de commande accouplé de manière fonctionnelle au récepteur pour recevoir les données traitées ; et un manipulateur d'objet, accouplé de manière fonctionnelle au dispositif de commande, et accouplé de manière amovible à la contrepartie de connexion définie par le véhicule. Le dispositif de commande commande le manipulateur d'objet pour déplacer la contrepartie de connexion définie par le véhicule. En réponse à la réception, par le récepteur, de données en provenance de l'émetteur, les données reçues sont traitées pour générer les données traitées qui sont communiquées au dispositif de commande. La commande du manipulateur d'objet est basée, au moins en partie, sur les données traitées.
PCT/CA2025/050289 2024-03-01 2025-03-03 Véhicule équipé d'un récepteur destiné à recevoir des données en provenance de l'émetteur d'un connecteur de véhicule pour la commande d'un manipulateur d'objet Pending WO2025179405A1 (fr)

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US63/560,206 2024-03-01

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US20190364406A1 (en) * 2018-05-25 2019-11-28 Paccar Inc Near field connection for secure tractor trailer communication, and associated systems and methods
US20200264607A1 (en) * 2018-02-21 2020-08-20 Outrider Technologies, Inc. Systems and methods for automated operation and handling of autonomous trucks and trailers hauled thereby
US20200269642A1 (en) * 2019-02-21 2020-08-27 Jost-Werke Deutschland Gmbh Connection device, connection system and tractor-trailer combination
DE102021106979A1 (de) * 2021-03-22 2022-09-22 Zf Cv Systems Global Gmbh Verfahren zum automatisierten Ankoppeln eines Aufliegers an ein Zugfahrzeug, Ankoppel-Anordnung und Fahrzeug
US20220332158A1 (en) * 2021-04-19 2022-10-20 Electrans Technologies Ltd. Automated connection between towing vehicle and trailer
WO2023044586A1 (fr) * 2021-09-27 2023-03-30 Electrans Technologies Ltd. Quai de chargement pour un véhicule tracteur
WO2023141728A1 (fr) * 2022-01-31 2023-08-03 Electrans Technologies Ltd. Liaison automatisée entre un véhicule et une configuration disposée en contrepartie
WO2023212044A1 (fr) * 2022-04-26 2023-11-02 Robotic Research Opco, Llc Système de couplage de tête de raccordement autonome

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200264607A1 (en) * 2018-02-21 2020-08-20 Outrider Technologies, Inc. Systems and methods for automated operation and handling of autonomous trucks and trailers hauled thereby
US20190364406A1 (en) * 2018-05-25 2019-11-28 Paccar Inc Near field connection for secure tractor trailer communication, and associated systems and methods
US20200269642A1 (en) * 2019-02-21 2020-08-27 Jost-Werke Deutschland Gmbh Connection device, connection system and tractor-trailer combination
DE102021106979A1 (de) * 2021-03-22 2022-09-22 Zf Cv Systems Global Gmbh Verfahren zum automatisierten Ankoppeln eines Aufliegers an ein Zugfahrzeug, Ankoppel-Anordnung und Fahrzeug
US20220332158A1 (en) * 2021-04-19 2022-10-20 Electrans Technologies Ltd. Automated connection between towing vehicle and trailer
WO2023044586A1 (fr) * 2021-09-27 2023-03-30 Electrans Technologies Ltd. Quai de chargement pour un véhicule tracteur
WO2023141728A1 (fr) * 2022-01-31 2023-08-03 Electrans Technologies Ltd. Liaison automatisée entre un véhicule et une configuration disposée en contrepartie
WO2023212044A1 (fr) * 2022-04-26 2023-11-02 Robotic Research Opco, Llc Système de couplage de tête de raccordement autonome

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