U.S. patent application number 15/946167 was filed with the patent office on 2018-10-18 for systems and methods for delivering merchandise using autonomous ground vehicles and unmanned aerial vehicles.
The applicant listed for this patent is Walmart Apollo, LLC. Invention is credited to Donald R. High, Noah R. Kapner.
Application Number | 20180300834 15/946167 |
Document ID | / |
Family ID | 63790171 |
Filed Date | 2018-10-18 |
United States Patent
Application |
20180300834 |
Kind Code |
A1 |
High; Donald R. ; et
al. |
October 18, 2018 |
SYSTEMS AND METHODS FOR DELIVERING MERCHANDISE USING AUTONOMOUS
GROUND VEHICLES AND UNMANNED AERIAL VEHICLES
Abstract
In some embodiments, apparatuses and methods are provided herein
useful to delivering merchandise using autonomous ground vehicles
(AGVs) in cooperation with unmanned aerial vehicles (UAVs). In some
embodiments, the system includes: an AGV having a motorized
locomotion system, a storage area to hold merchandise, a sensor to
detect obstacles, a transceiver, and a control circuit to operate
the AGV; a UAV having a motorized flight system, a gripper
mechanism to grab merchandise, a transceiver, an optical sensor to
capture images; and a control circuit to operate the UAV. The
system also includes a control circuit that instructs movement of
the AGV along a delivery route; determines if the AGV has stopped
due to an obstacle; and in certain circumstances, instructs the UAV
to retrieve merchandise from the AGV, calculate a delivery route
for the UAV to the delivery location, and instructs the UAV to
deliver the merchandise.
Inventors: |
High; Donald R.; (Noel,
MO) ; Kapner; Noah R.; (Noel, MO) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Walmart Apollo, LLC |
Bentonville |
AR |
US |
|
|
Family ID: |
63790171 |
Appl. No.: |
15/946167 |
Filed: |
April 5, 2018 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
62486060 |
Apr 17, 2017 |
|
|
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B64C 2201/127 20130101;
G01C 21/3415 20130101; B64D 1/22 20130101; G05D 1/0088 20130101;
B64C 2201/123 20130101; B64C 2201/128 20130101; G05D 1/0027
20130101; B64C 2201/208 20130101; B64C 39/024 20130101; G06Q 50/28
20130101; B64C 2201/146 20130101; G05D 1/0212 20130101 |
International
Class: |
G06Q 50/28 20060101
G06Q050/28; G05D 1/00 20060101 G05D001/00; B64C 39/02 20060101
B64C039/02 |
Claims
1. A system for delivery of merchandise using autonomous ground
vehicles in cooperation with unmanned aerial vehicles, the system
comprising: an autonomous ground vehicle (AGV) comprising: a
motorized locomotion system configured to facilitate movement of
the AGV; a storage area configured to hold at least one merchandise
item; at least one sensor configured to detect obstacles in a
direction of travel of the AGV and to stop the AGV if the at least
one sensor detects an obstacle in the direction of travel; a first
transceiver configured for wireless communication; a first control
circuit operatively coupled to the motorized locomotion system, the
at least one sensor, and the first transceiver, the first control
circuit configured to operate and move the AGV; an unmanned aerial
vehicle (UAV) comprising: a motorized flight system configured to
facilitate flight of the UAV; a gripper mechanism configured to
selectively grasp, hold, and release a merchandise item; a second
transceiver configured for wireless communication; an optical
sensor configured to capture a plurality of images; a second
control circuit operatively coupled to the motorized flight system,
the gripper mechanism, the second transceiver, and the optical
sensor, the second control circuit configured to operate and fly
the UAV; a third control circuit configured to: instruct movement
of the AGV along a first delivery route from a starting location to
a delivery location; determine if the AGV has stopped based on the
detection of an obstacle by the at least one sensor; and if the AGV
stop satisfies a predetermined condition: instruct the UAV to
retrieve a merchandise item to be delivered from the storage area
of the AGV using the gripper mechanism; calculate a second delivery
route for the UAV from the stopped AGV location to the delivery
location; and instruct the UAV to deliver the merchandise item to
be delivered from the AGV's stopped location to the delivery
location using the optical sensor to capture images of the delivery
location.
2. The system of claim 1 wherein the third control circuit is
configured to: calculate a third delivery route to the delivery
location from the AGV's stopped location if the AGV encounters an
obstacle and the stop does not satisfy the predetermined condition;
and instruct the AGV to move along the third delivery route to the
delivery location to complete the delivery.
3. The system of claim 1 wherein: the predetermined condition
comprises completing the delivery within a predetermined delivery
time; the third control circuit is unable to calculate a third
delivery route for the AGV in which the delivery is completed
within the predetermined delivery time such that the predetermined
condition is not satisfied; and the third control circuit instructs
the UAV to complete the delivery.
4. The system of claim 1 wherein the predetermined condition
comprises a predetermined maximum wait time interval such that the
UAV is instructed to retrieve the merchandise item to be delivered
if an obstacle causes the AGV to be stopped for a length of time
exceeding the predetermined maximum wait time interval.
5. The system of claim 1 further comprising a mounting area on the
AGV configured to support a UAV on the AGV and to secure it during
movement of the AGV.
6. The system of claim 5 wherein the third control circuit is
configured to instruct the UAV to return to the mounting area on
the AGV following completion of the delivery by the UAV, the UAV
using its optical sensor to return to the mounting area.
7. The system of claim 1 wherein the third control circuit is
physically located at a command and control center remote from the
AGV and the UAV, the third control circuit in wireless
communication with the first and second control circuits.
8. The system of claim 1 wherein the third control circuit defines
a unitary control circuit with either the first or second control
circuits such that the third control circuit is physically
incorporated into either the AGV or UAV.
9. The system of claim 1 wherein the at least one sensor comprises
at least one of laser, ultrasound, optical, and infrared
sensors.
10. The system of claim 1 wherein the obstacles in the direction of
travel of the AGV comprise at least one of motor vehicles, people,
animals, road construction, curbs, and closed gates.
11. The system of claim 1 wherein the AGV and UAV each further
comprise a GPS tracking device and the third control circuit is
configured to track the locations of the AGV and the UAV.
12. A method for delivery of merchandise using autonomous ground
vehicles in cooperation with unmanned aerial vehicles, the system
comprising: providing an autonomous ground vehicle (AGV)
comprising: a motorized locomotion system configured to facilitate
movement of the AGV; a storage area configured to hold at least one
merchandise item; at least one sensor configured to detect
obstacles in a direction of travel of the AGV and to stop the AGV
if the at least one sensor detects an obstacle in the direction of
travel; a first transceiver configured for wireless communication;
a first control circuit operatively coupled to the motorized
locomotion system, the at least one sensor, and the first
transceiver, the first control circuit configured to operate and
move the AGV; providing an unmanned aerial vehicle (UAV)
comprising: a motorized flight system configured to facilitate
flight of the UAV; a gripper mechanism configured to selectively
grasp, hold, and release a merchandise item; a second transceiver
configured for wireless communication; an optical sensor configured
to capture a plurality of images; a second control circuit
operatively coupled to the motorized flight system, the gripper
mechanism, the second transceiver, and the optical sensor, the
second control circuit configured to operate and fly the UAV;
instructing movement of the AGV along a first delivery route from a
starting location to a delivery location; determining if the AGV
has stopped based on the detection of an obstacle by the at least
one sensor; and if the AGV stop satisfies a predetermined
condition: instructing the UAV to retrieve a merchandise item to be
delivered from the storage area of the AGV using the gripper
mechanism; calculating a second delivery route for the UAV from the
stopped AGV location to the delivery location; and instructing the
UAV to deliver the merchandise item to be delivered from the AGV's
stopped location to the delivery location using the optical sensor
to capture images of the delivery location.
13. The method of claim 12 further comprising: calculating a third
delivery route to the delivery location from the AGV's stopped
location if the AGV encounters an obstacle and the stop does not
satisfy the predetermined condition; and instructing the AGV to
move along the third delivery route to the delivery location to
complete the delivery.
14. The method of claim 12 further comprising: calculating a third
delivery route and delivery time for the AGV from the stopped AGV
location to the delivery location if the AGV encounters an
obstacle; instructing the AGV to move along the third delivery
route if the delivery can be completed within a predetermined
delivery time; and instructing the UAV to complete the delivery
along the second delivery route if the delivery cannot be completed
by the AGV within the predetermined delivery time.
15. The method of claim 12 further comprising: by the AGV, waiting
for the obstacle to move out of the direction of travel of the AGV
for a predetermined maximum length of time; and instructing the UAV
to retrieve the merchandise item to be delivered if the obstacle
causes the AGV to be stopped for a length of time exceeding the
predetermined maximum wait time interval.
16. The method of claim 12 further comprising mounting the UAV on
the AGV during movement of the AGV to the delivery location.
17. The method of claim 16 further comprising, by the UAV,
returning to the AGV following completion of the delivery by the
UAV.
18. The method of claim 12 further comprising using GPS to track
the locations of the AGV and the UAV.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] This application claims the benefit of U.S. Provisional
Application No. 62/486,060, filed Apr. 17, 2017, which is
incorporated by reference in its entirety herein.
TECHNICAL FIELD
[0002] This invention relates generally to the delivery of
merchandise, and more particularly, to the delivery of merchandise
using autonomous ground vehicles and unmanned aerial vehicles.
BACKGROUND
[0003] In the retail setting, one important challenge is the
delivery of merchandise to customers. Frequently, customers will
order merchandise for delivery to their residence or other delivery
location within a certain scheduled time. Various delivery methods
are available, including the use of a retailer's delivery vehicles
and third party delivery services. Recently, efforts have been made
to employ autonomous ground vehicles to complete deliveries to
customers.
[0004] The use of autonomous ground vehicles, however, presents its
own challenges. More specifically, autonomous ground vehicles will
often encounter obstacles that may prevent them from completing the
delivery, such as, for example, motor vehicles, people, animals,
road construction, curbs, and closed gates. If the autonomous
ground vehicle is unable to complete a delivery due to an obstacle,
it is desirable to have a back-up mechanism available to complete
the delivery.
BRIEF DESCRIPTION OF THE DRAWINGS
[0005] Disclosed herein are embodiments of systems, apparatuses and
methods pertaining to delivering merchandise using autonomous
ground vehicles in cooperation with unmanned aerial vehicles. This
description includes drawings, wherein:
[0006] FIGS. 1A and 1B are schematic diagrams in accordance with
some embodiments;
[0007] FIG. 2 is a block diagram in accordance with some
embodiments;
[0008] FIG. 3 is a flow diagram in accordance with some
embodiments; and
[0009] FIG. 4 is a flow diagram in accordance with some
embodiments.
[0010] Elements in the figures are illustrated for simplicity and
clarity and have not necessarily been drawn to scale. For example,
the dimensions and/or relative positioning of some of the elements
in the figures may be exaggerated relative to other elements to
help to improve understanding of various embodiments of the present
invention. Also, common but well-understood elements that are
useful or necessary in a commercially feasible embodiment are often
not depicted in order to facilitate a less obstructed view of these
various embodiments of the present invention. Certain actions
and/or steps may be described or depicted in a particular order of
occurrence while those skilled in the art will understand that such
specificity with respect to sequence is not actually required. The
terms and expressions used herein have the ordinary technical
meaning as is accorded to such terms and expressions by persons
skilled in the technical field as set forth above except where
different specific meanings have otherwise been set forth
herein.
DETAILED DESCRIPTION
[0011] Generally speaking, pursuant to various embodiments,
systems, apparatuses and methods are provided herein useful to
delivering merchandise using autonomous ground vehicles in
cooperation with unmanned aerial vehicles. In some embodiments,
there is provided a system including: an autonomous ground vehicle
(AGV) including: a motorized locomotion system configured to
facilitate movement of the AGV; a storage area configured to hold
at least one merchandise item; at least one sensor configured to
detect obstacles in a direction of travel of the AGV and to stop
the AGV if the at least one sensor detects an obstacle in the
direction of travel; a first transceiver configured for wireless
communication; a first control circuit operatively coupled to the
motorized locomotion system, the at least one sensor, and the first
transceiver, the first control circuit configured to operate and
move the AGV; an unmanned aerial vehicle (UAV) including: a
motorized flight system configured to facilitate flight of the UAV;
a gripper mechanism configured to selectively grasp, hold, and
release a merchandise item; a second transceiver configured for
wireless communication; an optical sensor configured to capture a
plurality of images; and a second control circuit operatively
coupled to the motorized flight system, the gripper mechanism, the
second transceiver, and the optical sensor, the second control
circuit configured to operate and fly the UAV; and a third control
circuit configured to: instruct movement of the AGV along a first
delivery route from a starting location to a delivery location;
determine if the AGV has stopped based on the detection of an
obstacle by the at least one sensor; and if the AGV stop satisfies
a predetermined condition: instruct the UAV to retrieve a
merchandise item to be delivered from the storage area of the AGV
using the gripper mechanism; calculate a second delivery route for
the UAV from the stopped AGV location to the delivery location; and
instruct the UAV to deliver the merchandise item to be delivered
from the AGV's stopped location to the delivery location using the
optical sensor to capture images of the delivery location.
[0012] In one form, in the system, the third control circuit may be
configured to: calculate a third delivery route to the delivery
location from the AGV's stopped location if the AGV encounters an
obstacle and the stop does not satisfy the predetermined condition;
and instruct the AGV to move along the third delivery route to the
delivery location to complete the delivery. Further, in the system,
the predetermined condition may include completing the delivery
within a predetermined delivery time; the third control circuit may
be unable to calculate a third delivery route for the AGV in which
the delivery is completed within the predetermined delivery time
such that the predetermined condition is not satisfied; and the
third control circuit may instruct the UAV to complete the
delivery. In addition, in the system, the predetermined condition
may include a predetermined maximum wait time interval such that
the UAV is instructed to retrieve the merchandise item to be
delivered if an obstacle causes the AGV to be stopped for a length
of time exceeding the predetermined maximum wait time interval.
[0013] In one form, the system may further include a mounting area
on the AGV configured to support a UAV on the AGV and to secure it
during movement of the AGV. Further, in the system, the third
control circuit may be configured to instruct the UAV to return to
the mounting area on the AGV following completion of the delivery
by the UAV, the UAV using its optical sensor to return to the
mounting area. In addition, the third control circuit may be
physically located at a command and control center remote from the
AGV and the UAV, the third control circuit in wireless
communication with the first and second control circuits. Also, in
the system, the third control circuit may define a unitary control
circuit with either the first or second control circuits such that
the third control circuit is physically incorporated into either
the AGV or UAV.
[0014] In one form, in the system, the at least one sensor may
include at least one of laser, ultrasound, optical, and infrared
sensors. Further, the obstacles in the direction of travel of the
AGV may include at least one of motor vehicles, people, animals,
road construction, curbs, and closed gates. In addition, in the
system, the AGV and UAV may each further include a GPS tracking
device, and the third control circuit may be configured to track
the locations of the AGV and the UAV.
[0015] In another form, there is provided a method for delivery of
merchandise using autonomous ground vehicles in cooperation with
unmanned aerial vehicles, the system including: providing an
autonomous ground vehicle (AGV) including: a motorized locomotion
system configured to facilitate movement of the AGV; a storage area
configured to hold at least one merchandise item; at least one
sensor configured to detect obstacles in a direction of travel of
the AGV and to stop the AGV if the at least one sensor detects an
obstacle in the direction of travel; a first transceiver configured
for wireless communication; and a first control circuit operatively
coupled to the motorized locomotion system, the at least one
sensor, and the first transceiver, the first control circuit
configured to operate and move the AGV; providing an unmanned
aerial vehicle (UAV) including: a motorized flight system
configured to facilitate flight of the UAV; a gripper mechanism
configured to selectively grasp, hold, and release a merchandise
item; a second transceiver configured for wireless communication;
an optical sensor configured to capture a plurality of images; and
a second control circuit operatively coupled to the motorized
flight system, the gripper mechanism, the second transceiver, and
the optical sensor, the second control circuit configured to
operate and fly the UAV; instructing movement of the AGV along a
first delivery route from a starting location to a delivery
location; determining if the AGV has stopped based on the detection
of an obstacle by the at least one sensor; and if the AGV stop
satisfies a predetermined condition: instructing the UAV to
retrieve a merchandise item to be delivered from the storage area
of the AGV using the gripper mechanism; calculating a second
delivery route for the UAV from the stopped AGV location to the
delivery location; and instructing the UAV to deliver the
merchandise item to be delivered from the AGV's stopped location to
the delivery location using the optical sensor to capture images of
the delivery location.
[0016] Referring to FIGS. 1A and 1B, there is shown a schematic
representation of a delivery system 100 using an AGV as a primary
delivery mechanism and a UAV as a backup if an obstacle blocks the
AGV. In other words, the delivery system generally involves
cooperation of an AGV and a UAV. In many circumstances, it is
contemplated that an AGV will be able to make the delivery itself
without assistance. However, in some circumstances, the AGV may
encounter an obstacle that it cannot easily avoid or circumvent. In
such circumstances, it is contemplated that a UAV will complete the
delivery by retrieving the merchandise from the AGV and
transporting it to the delivery location.
[0017] As a simple example, in some circumstances, the AGV may be
able to travel most of the delivery route but cannot complete the
last leg, i.e., the last 50 feet to the delivery location. For
example, the AGV might get struck at the gate in front of a
customer's residence. So, the AGV could travel all the way to the
gate, and the UAV can then grab the package and deliver it to the
residence.
[0018] The system 100 includes an AGV 102 configured to deliver
merchandise by travelling from a starting location to a delivery
location. It is generally contemplated that the AGV will deliver
merchandise from a retailer to a delivery location (such as the
customer's residence). The AGV 102 may travel from a starting
location at a retail store, a delivery vehicle (that may transport
multiple AGVs 102 to certain locations), a product distribution
center, or any other suitable location. The AGV 102 may then travel
along a delivery route to a delivery location, such as a customer
residence, customer business location, or other customer designated
pick up location.
[0019] It is generally contemplated that the AGV 102 includes
certain conventional components that allow it to transport
merchandise 107. For example, the AGV 102 includes a motorized
locomotion system 104 configured to facilitate movement of the AGV
102. In one form, it is generally contemplated that this motorized
locomotion system 104 includes wheels, a motor, a drive mechanism
coupled to the wheels, and a power source to enable operation of
the wheels and drive mechanism. Further, the AGV 102 includes a
storage area 106 configured to hold at least one
package/merchandise item 107. As should be evident, the storage
area 106 may be any of various physical sizes and geometries, and
the AGV 102 may be configured to make one delivery at a time before
picking up an additional merchandise item 107 or may make multiple
deliveries of merchandise items 107 before replenishing its storage
area 106.
[0020] The AGV 102 also includes sensor(s) 108 configured to detect
obstacles in a direction of travel of the AGV 102 and to stop the
AGV 102 if obstacles are detected. For example, some types of
obstacle detection sensors may include laser, ultrasound, optical,
and infrared sensors, although any suitable obstacle detection
sensor may be used. Further, some examples of types of obstacles
the AGV 102 may encounter include motor vehicles, people, animals,
road construction, curbs, closed gates, and any unpredictable
obstructions, but these examples are not intended to encompass an
exhaustive list of possible obstacles.
[0021] In addition, the AGV 102 includes a transceiver 110 for
wireless communication. In one form, as addressed further below, it
is contemplated that the AGV 102 may communicate with a command and
control center 112 remote from the AGV 102. It is also contemplated
that the AGV 102 may communicate with a UAV 114 as an alternative
to (or in addition to) communicating with the command and control
center 112.
[0022] As shown in FIG. 1, the system 100 also includes UAV 114
configured to deliver merchandise 107 by travelling from the AGV
102 to the delivery location. As stated above, the UAV 114 operates
as a back-up delivery mechanism in the event that the AGV 102
encounters an obstacle that prevents the AGV 102 from completing
the delivery. In one form, the UAV 114 may be mounted on and
transported by the AGV 102 during the delivery. In another form, it
is contemplated that the AGV 102 may communicate when it encounters
an obstacle, and the UAV 114 may travel to the AGV 102 to pick up
the merchandise 107 to be delivered and to then fly to the delivery
location to complete the delivery.
[0023] It is generally contemplated that the UAV 114 includes
certain conventional components that allow it to transport
merchandise 107. For example, the UAV 114 includes a motorized
flight system 116 configured to facilitate flight of the UAV 114.
In one form, it is generally contemplated that this motorized
flight system 116 includes props, a navigational guidance system
coupled to the props, a power source to enable operation of the
props and navigational guidance system, and landing gear. Further,
the UAV 114 includes a gripper mechanism 118 configured to
selectively grasp, hold, and release a merchandise item 107. This
gripper mechanism 118 may be any of various types, such as grabber
claws, magnetic devices, etc., as may be suitable to retrieve a
merchandise item 107, hold it during transport, and then release it
at the delivery location. The UAV 114 also includes a transceiver
120 configured for wireless communication, such as for
communication with the AGV 102 and/or with command and control
center 112.
[0024] Further, the UAV 114 includes an optical (or imaging) sensor
122 configured to capture a plurality of images. The optical sensor
122 may be any of various types of cameras, video devices, etc.,
that may be configured to capture still images and/or image
sequences. In one form, it is contemplated that these images may be
transmitted to the command and control center 112 to enable a pilot
to navigate the UAV 114 in certain circumstances. For example,
images may be captured of the AGV storage area 106 to allow a pilot
operating the UAV 114 to grab the merchandise item 107. As another
example, the optical sensor 122 may capture images of the landing
area about the delivery location to allow a pilot to choose a
suitable landing area and land the drone. Further, the optical
sensor 122 may capture images of an area on the AGV 102 for
mounting the UAV 114, thereby allowing a pilot to land the UAV 114
in this area following completion of a delivery.
[0025] Referring to FIG. 2, there is shown a system 200 for the
delivery of merchandise, such as from a retailer to a customer. The
system 200 includes an AGV 202 and a UAV 204 that cooperate with
one another to complete the delivery. In some circumstances, the
AGV 202 may be able to transport merchandise along a delivery path
to a destination without any action required from the UAV 204. In
other words, the UAV 204 operates as the primary delivery
mechanism. However, in some circumstances, the AGV 202 may
encounter an obstacle that prevents it from completing delivery. In
these circumstances, it is contemplated that the UAV 204 will
complete the delivery to the destination by flying over any
obstacles, i.e., it will operate as a secondary delivery mechanism,
if necessary. As described further below, the system 200 may
include a remote command and control center 206 that controls, in
whole or in part, the operation of the AGV 202 and/or the UAV
204.
[0026] The AGV 202 includes various components in order to deliver
merchandise from a starting location (such as a retailer's store,
product distribution center, etc.) to a destination location (such
as a customer residence or business location). The AGV 202 includes
a conventional motorized locomotion system 208 for facilitating
movement of the AGV 202. It is generally contemplated that the
motorized locomotion system 208 may include wheels (or tracks or
legs), a motor, a drive mechanism, and a power source (such as a
battery). In one form, the motorized locomotion system 208 may be
navigated along a pre-programmed or calculated delivery route from
the starting location to the destination location (or to a waypoint
near the destination location). Further, in one form, the motorized
locomotion system 208 may be navigated by a human operator at the
remote command and control center 206 as it nears the destination
(such as from a waypoint near the destination to the final
destination location) because more expert navigation may be
required at this stage.
[0027] The AGV 202 also includes a storage area 210 for holding the
merchandise item(s) being delivered. The merchandise items may be
of any type suitable for delivery, such as, for example, clothing,
grocery, sporting goods, general retail merchandise, etc. In
addition, the storage area 210 may be refrigerated and/or insulated
for the delivery of perishable items, such as frozen or
refrigerated grocery items. Also, the storage area 210 may be of
any of various sizes and shapes. It may be relatively small for
delivery of a single item per delivery and/or to conserve battery
power. Alternatively, it may be relatively large to allow the
storage of multiple merchandise items for delivery to different
destinations.
[0028] The AGV 202 further includes sensor(s) 212 for navigation
and for detecting obstacles in the AGV's path as it travels along
its delivery route and to permit the AGV 202 to stop if the
sensor(s) detect an obstacle in the AGV's path. These sensor(s) 212
may be of any of various types, including compasses and other
navigational aids, gyroscopes, laser range finders, ultrasound
range finders, infrared sensors, and optical/imaging sensors (such
as video/camera devices). It is generally contemplated that the AGV
202 includes sensor(s) 212 that allow the AGV 202 to automatically
stop when encountering an obstacle. Some types of obstacles may
include motor vehicles, people, animals, road construction, curbs,
closed gates, and any unpredictable obstructions. It is also
generally contemplated that the AGV 202 may include optical/imaging
sensors 212 to permit a human operator to remotely guide the AGV
202 at the end of the delivery to its final merchandise drop-off
location.
[0029] In addition, the AGV 202 includes a transceiver 214 or other
suitable communication device for wireless communication. It is
generally contemplated that the AGV 202 will communicate with the
UAV 204 and/or with the command and control center 206. For
example, when the AGV 202 encounters an obstacle that prevents it
from completing the delivery, it may communicate with the UAV 204
to retrieve the merchandise to be delivered and to complete the
delivery. Alternatively, the AGV 202 may communicate with the
command and control center 206 when it encounters an obstacle (and
the center 206 may then communicate with the UAV 204), and/or the
AGV 202 may communicate with the command and control center 206 at
other times during delivery (such as upon completion of the
delivery). Further, the AGV 202 may include a GPS tracking device
213, such as for tracking of the location of the AGV 202 by the
command and control center 206.
[0030] The AGV 202 may also include a mounting area 215 so that a
UAV 204 may be transported along with the AGV 202 during delivery.
In other words, the AGV 202 may include a mounting area 215 for
supporting the UAV 204 on the AGV 202 and to preferably secure it
during movement of the AGV 202. So, in one form, it is contemplated
that the UAV 204 may be transported with the AGV 202 during
deliveries and, when an obstacle is encountered, the UAV 204 may
complete transportation of a merchandise item from the stopped AGV
202 to the destination location. In this form, the UAV 204 may
recharge on the AGV 202 before and/or after completing a delivery.
However, in another form, it is contemplated that the UAV 204 is
not mounted on the AGV 202 but may instead be called from a remote
location, as necessary. In other words, if the AGV 202 encounters
an obstacle, a UAV 204 may be contacted (either directly by the AGV
202 or by a command and control center 206) and will travel to the
stopped AGV to retrieve the merchandise item and complete the
delivery.
[0031] The system 200 also includes a control circuit 216 that is
operatively coupled to the motorized locomotion system 208, the
sensor(s) 212, and the transceiver 214, and the control circuit 216
is configured to generally operate the AGV 202. Being a "circuit,"
the control circuit 216 therefore comprises structure that includes
at least one (and typically many) electrically-conductive paths
(such as paths comprised of a conductive metal such as copper or
silver) that convey electricity in an ordered manner, which path(s)
will also typically include corresponding electrical components
(both passive (such as resistors and capacitors) and active (such
as any of a variety of semiconductor-based devices) as appropriate)
to permit the circuit to effect the control aspect of these
teachings.
[0032] Such a control circuit 216 can comprise a fixed-purpose
hard-wired hardware platform (including but not limited to an
application-specific integrated circuit (ASIC) (which is an
integrated circuit that is customized by design for a particular
use, rather than intended for general-purpose use), a
field-programmable gate array (FPGA), and the like) or can comprise
a partially or wholly-programmable hardware platform (including but
not limited to microcontrollers, microprocessors, and the like).
These architectural options for such structures are well known and
understood in the art and require no further description here. This
control circuit 216 is configured (for example, by using
corresponding programming as will be well understood by those
skilled in the art) to carry out one or more of the steps, actions,
and/or functions described herein.
[0033] It is generally contemplated that the control circuit 216
will autonomously navigate and operate the AGV 202 (but possibly
with instruction from a remote command and control center 206 in
certain circumstances). In one form, the control circuit 216 uses
input from the sensor(s) 212 to detect obstacles and to calculate
and navigate a delivery route (and to recalculate and determine
alternative delivery routes). As described further below, the
control circuit 216 uses algorithms to determine the action to be
taken when it encounters obstacles and other events during
delivery. It is also contemplated that the control circuit 216 may
employ artificial intelligence and machine learning capability such
that it learns how to deal with events and obstacles as it
encounters them during repeated delivery missions. For example, the
control circuit 216 may use various inputs and factors with machine
learning to develop predictions of the actions to take in view of
obstacles. Machine learning algorithms may take into account inputs
that can be used to retrain the model to adapt to different
obstacles and other inputs that it might encounter along a delivery
route.
[0034] By one optional approach, the control circuit 216 may be
operably coupled to a memory that can serve, for example, to
non-transitorily store the computer instructions that, when
executed by the control circuit 216, cause the control circuit 216
to behave as described herein. In one form, the control circuit 216
may also operably couple to a network interface that can compatibly
communicate via whatever network or networks may be appropriate to
suit the particular needs of the control circuit 216. However, in
another form, it is generally contemplated that the control circuit
216 may not be directly coupled to a network interface and network
because instead the AGV 202 may be in communication with a command
and control center 206 that may be coupled to a network interface
and network.
[0035] The system 200 also includes a UAV 204, which serves as a
back-up delivery apparatus. The UAV 204 includes various components
in order to deliver merchandise from the AGV's location (when it is
blocked by an obstacle) to the destination location. The UAV 204
includes a motorized flight system 218 configured to facilitate
flight of the UAV 204. For example, the motorized flight system 218
may be in the form of propellers, a drive mechanism, a motor,
landing gear, and a power source (such as a battery).
[0036] Further, the UAV 204 includes a gripper mechanism 220 for
selectively grasping, holding, and releasing the merchandise item
being delivered. It is generally contemplated that the gripper
mechanism 220 may be any of various types, such as, for example,
grabbing claws (that may include a cable attached to the UAV 204
and multiple talons), robotic gripping arms, clamps, magnets, etc.
The gripper mechanism 220 is arranged so as to retrieve the
merchandise item from the storage area 210, retain the merchandise
item as the UAV 204 flies to the destination location, and drop off
the merchandise item at the destination location.
[0037] In addition, the UAV 204 includes a transceiver 222 or other
two-way communication device for wireless communication. It is
generally contemplated that the UAV 204 will communicate with the
AGV 202 and/or with the command and control center 206. For
example, if the AGV 202 encounters an insurmountable obstacle, the
UAV 204 may receive a communication either directly from the AGV
202 (or indirectly from AGV 202 via the command and control center
206) that instructs the UAV 204 to retrieve the merchandise item
from the AGV 202 and complete the delivery. It is also contemplated
that the UAV may communicate with the AGV 202 and/or the command
and control center 206 at other times during delivery (such as upon
completion of the delivery or upon possibly returning to the AGV
202 after the delivery). Further, the UAV 204 may include a GPS
tracking device 223, such as for tracking of the location of the
UAV 204 by the command and control center 206.
[0038] The UAV 204 also includes sensors(s) facilitating flight of
the UAV 204 and delivery of merchandise items. It is generally
contemplated that the UAV 204 may include conventional position and
movement sensors (such as compasses, gyroscopes, accelerometers,
etc.) that provide information to assist in navigation of the
craft. The UAV 204 further includes an optical/imaging sensor 224
configured to capture a plurality of images. The optical/imaging
sensor 224 may be any of various types of video/camera devices. It
is contemplated that the imaging sensor 224 will capture images at
various stages of the flight, such as during retrieval of a
merchandise item being delivered from the AGV storage area 210,
landing at the destination location, and possibly returning and
landing on the AGV 202 following delivery. At these particular
stages, it is contemplated that the UAV 204 may be in communication
with a human operator at the command and control center 206, whose
expert guidance may be required to navigate the UAV 204. At other
times, the UAV 204 may operate and fly autonomously.
[0039] In addition, the UAV 204 includes a control circuit 226 that
is operatively coupled to the motorized flight system 218, the
gripper mechanism 220, the transceiver 222, and the optical sensor
224, and the UAV control circuit 226 is configured to operate and
fly the UAV 204. Like the AGV control circuit 216, being a
"circuit," the UAV control circuit 226 therefore comprises
structure that includes at least one (and typically many)
electrically-conductive paths (such as paths comprised of a
conductive metal such as copper or silver) that convey electricity
in an ordered manner, which path(s) will also typically include
corresponding electrical components (both passive (such as
resistors and capacitors) and active (such as any of a variety of
semiconductor-based devices) as appropriate) to permit the circuit
to effect the control aspect of these teachings.
[0040] Such a control circuit 226 can comprise a fixed-purpose
hard-wired hardware platform (including but not limited to an
application-specific integrated circuit (ASIC) (which is an
integrated circuit that is customized by design for a particular
use, rather than intended for general-purpose use), a
field-programmable gate array (FPGA), and the like) or can comprise
a partially or wholly-programmable hardware platform (including but
not limited to microcontrollers, microprocessors, and the like).
These architectural options for such structures are well known and
understood in the art and require no further description here. This
control circuit 216 is configured (for example, by using
corresponding programming as will be well understood by those
skilled in the art) to carry out one or more of the steps, actions,
and/or functions described herein.
[0041] It is generally contemplated that the control circuit 226
will autonomously navigate and operate the UAV 204 (but possibly
with instruction from a remote command and control center 206 in
certain circumstances). In one form, the control circuit 226 uses
input from its sensor(s) 212 to determine its position (assuming it
is mounted on the AGV 202) and may calculate and navigate a
delivery route to the destination location. In another form, the
command and control center 206 may transmit information to the UAV
204 information regarding the AGV location, the destination
location, and the delivery route.
[0042] Like the AGV control circuit 216, the UAV control circuit
226 may be operably coupled to a memory that can serve, for
example, to non-transitorily store the computer instructions that,
when executed by the control circuit 226, cause the control circuit
226 to behave as described herein. In one form, the control circuit
226 may also operably couple to a network interface that can
compatibly communicate via whatever network or networks may be
appropriate to suit the particular needs of the control circuit
226. However, in another form, it is generally contemplated that
the control circuit 226 may not be directly coupled to a network
interface and network because instead the UAV 204 may be in
communication with a command and control center 206 that may be
coupled to a network interface and network.
[0043] Next, the system 200 optionally includes a command and
control center 206 in communication with both the AGV 202 and UAV
204. In one form, it is contemplated that the system 200 need not
include a remote command and control center 206, but instead, the
system 200 is controlled and operated primarily by either the AGV
control circuit 216 or the UAV control circuit 226. However, in the
preferred form, the system does include the command and control
center 206 that communicates with and controls the operation of the
AGV 202 and UAV 204 in some circumstances (such as by a human
operator). The command and control center 206 may include a
communication interface 228. This interface 228 may include various
conventional components for communicating with the AGV 202 and UAV
204 and facilitating remote operation of the AGV 202 and UAV 204,
such as joysticks, virtual reality and augmented reality
interfaces, voice commands, radio
transmitters/receivers/transceivers, mobile computing devices,
computer programs, etc.
[0044] As indicated, the command and control center 206 preferably
controls the operation of the AGV 202 and UAV 204 in certain
circumstances, which is performed via control circuit 230. More
specifically, the control circuit 230 instructs movement of the AGV
202 along a delivery route from a starting location to a delivery
location and determines if the AGV 202 has stopped based on the
AGV's detection of an obstacle (such as via a communication from
the AGV 202). Then, under certain established conditions or
circumstances, the control circuit 230 instructs the UAV 204 to
retrieve the merchandise item to be delivered from the AGV storage
area 210 using the gripper mechanism 220, calculate a delivery
route for the UAV 204 from the stopped AGV location to the delivery
location, and instruct the UAV 204 to deliver the merchandise item
from the AGV's stopped location to the delivery location.
[0045] Assuming the UAV 204 completes a delivery, the UAV 204 may
either return to the AGV 202 or may be instructed to proceed to
another designated location. In one form, the control circuit 230
may be configured to instruct the UAV 204 to return to the mounting
area 215 on the AGV 202 following completion of the delivery by the
UAV 204. In this form, it is assumed that the AGV 202 has a
mounting area 215 and the UAV 204 is generally travelling along
with the AGV 202. Further, the UAV 204 may use its optical sensor
224 when returning to and landing at the mounting area 215, and it
is contemplated that a human operator at a command and control
center 206 may assist or guide this landing at the mounting area
215.
[0046] It is also contemplated that alternative delivery routes for
the AGV 202 may be calculated prior to action by the UAV 204. In
other words, the AGV 202 may be re-routed when it encounters an
obstacle. For example, the control circuit 230 may calculate an
alternative delivery route to the delivery location from the AGV's
stopped location if the AGV encounters an obstacle and the stop
does not satisfy the predetermined condition. The control circuit
230 may then instruct the AGV 202 to move along the alternative
delivery route to the delivery location to complete the
delivery.
[0047] Any of various conditions or circumstances may be set to
trigger action by the UAV 204. So, for example, the UAV 204 may
complete the delivery if the AGV 202 cannot complete the delivery
on time by taking an alternative route. In other words, the
condition may be in the form of completing the delivery within an
established delivery time. In one form, if the control circuit 230
is unable to calculate an alternative delivery route for the AGV
202 in which the delivery is completed within the established
delivery time, the control circuit 230 may instruct the UAV 204 to
complete the delivery.
[0048] As another example, the established condition or
circumstance may be a maximum time that is established for the AGV
202 to wait for an obstacle. In other words, the condition may be
in the form of a predetermined maximum wait time interval such that
the UAV 204 is instructed to retrieve the merchandise item to be
delivered if an obstacle causes the AGV 202 to be stopped for a
length of time exceeding the predetermined maximum wait time
interval. This condition may not require a calculation of
alternative delivery routes.
[0049] More specifically, in this maximum wait time example, when
sensors 212 on the AGV 202 detect an object blocking the route to
complete the delivery, the AGV 202 may start a timer. Once the time
on the timer for the blockage exceeds a threshold, the AGV 202
notifies the command and control center of the blockage. If the AGV
202 has a mounted UAV 204, the AGV 202 may communicate with the UAV
through Bluetooth, interne hotspot, or radio to activate the UAV
gripper device 220 to extract the package. In this example, the UAV
204 may activate a top up facing camera 224 to see if there are
overhead obstructions. Assuming there are no overhead obstructions,
the AGV 202 or the UAV 204 may transmit their location back to the
command and control center 206. The command and control center 206
may then use the AGV/UAV location and the destination location to
compute a new route for the UAV 204 to complete the delivery
mission.
[0050] In this example, the command and control center 206 may then
transmit the route to the UAV 204 for it to complete the mission.
The UAV 204 may then grab and lift the package/merchandise to be
delivered from the AGV 202 and launch itself to deliver the
package. Once the destination is reached, the UAV 204 may
communicate to the AGV 202 and the command and control center 206
that the delivery is complete. Further, the AGV 202 may communicate
its location and the UAV 204 may communicate its location back to
the command and control center 206 to calculate the route for the
UAV 204 to land back on top of the AGV 202. Once the UAV 204 is
within range of the AGV 202, the UAV cameras 224 may be used to
position the UAV 204 above the AGV 202 for landing. Once the UAV
204 is landed, the AGV 202 may recharge the UAV 204 by connecting a
charger on the AGV 202 to the UAV 204 battery charging strips in
the UAV landing gear. If the AGV 202 has another package to
deliver, the UAV 204 may assist in another package delivery.
[0051] As stated above, the control circuit 230 may be remotely
located at a command and control center 206. In other words, in one
form, the control circuit 230 may be physically located at a
command and control center 206 remote from the AGV 202 and the UAV
204, and the control circuit 230 is in wireless communication with
the AGV and UAV control circuits 216, 226. However, in another
form, the control circuit 230 may define a unitary control circuit
with either the AGV or UAV control circuits 216, 226 such that the
control circuit 230 is physically incorporated into either the AGV
202 or UAV 204.
[0052] Assuming a separate control circuit 230 at the command and
control center 206, the control circuit 230 is communicatively
coupled to the AGV 202 and UAV 204. Like the AGV control circuit
216 and the UAV control circuit 226, being a "circuit," the control
circuit 230 therefore comprises structure that includes at least
one (and typically many) electrically-conductive paths (such as
paths comprised of a conductive metal such as copper or silver)
that convey electricity in an ordered manner, which path(s) will
also typically include corresponding electrical components (both
passive (such as resistors and capacitors) and active (such as any
of a variety of semiconductor-based devices) as appropriate) to
permit the circuit to effect the control aspect of these
teachings.
[0053] Such a control circuit 230 can comprise a fixed-purpose
hard-wired hardware platform (including but not limited to an
application-specific integrated circuit (ASIC) (which is an
integrated circuit that is customized by design for a particular
use, rather than intended for general-purpose use), a
field-programmable gate array (FPGA), and the like) or can comprise
a partially or wholly-programmable hardware platform (including but
not limited to microcontrollers, microprocessors, and the like).
These architectural options for such structures are well known and
understood in the art and require no further description here. This
control circuit 230 is configured (for example, by using
corresponding programming as will be well understood by those
skilled in the art) to carry out one or more of the steps, actions,
and/or functions described herein.
[0054] By one optional approach, the control circuit 230 operably
couples to a memory 232. This memory 232 may be integral to the
control circuit 230 or can be physically discrete (in whole or in
part) from the control circuit 230, as desired. This memory 232 can
also be local with respect to the control circuit 230 (where, for
example, both share a common circuit board, chassis, power supply,
and/or housing) or can be partially or wholly remote with respect
to the control circuit 230 (where, for example, the memory 232 is
physically located in another facility, metropolitan area, or even
country as compared to the control circuit 230).
[0055] This memory 232 can serve, for example, to non-transitorily
store the computer instructions that, when executed by the control
circuit 230, cause the control circuit 230 to behave as described
herein. As used herein, this reference to "non-transitorily" will
be understood to refer to a non-ephemeral state for the stored
contents (and hence excludes when the stored contents merely
constitute signals or waves), rather than volatility of the storage
media itself, and hence includes both non-volatile memory (such as
read-only memory (ROM)) as well as volatile memory (such as an
erasable programmable read-only memory (EPROM).)
[0056] In this example, the control circuit 230 may also operably
couple to a network interface 234. So configured, the control
circuit 230 can communicate with other elements (both within the
system 200 and external thereto) via the network interface 234.
Network interfaces, including both wireless and non-wireless
platforms, are well understood in the art and require no particular
elaboration here. This network interface 234 can compatibly
communicate via whatever network or networks 236 may be appropriate
to suit the particular needs of a given application setting. Both
communication networks and network interfaces are well understood
areas of prior art endeavor and therefore no further elaboration
will be provided here in those regards for the sake of brevity.
[0057] Referring to FIG. 3, there is shown a process 300 for
delivering merchandise using a combination AGV-UAV delivery system.
The process 300 uses an AGV as the primary delivery mechanism with
the UAV serving as a back-up mechanism if the AGV encounters
certain types of obstacles. The process 300 may use some or all of
the components of the systems 100 and 200 described above.
[0058] At block 302, an AGV transporting the merchandise item is
provided for delivery to a delivery location. It is generally
contemplated that the AGV will include components needed for
performing the delivery, including a motorized locomotion system, a
storage area for holding the merchandise item, sensor(s) to detect
obstacles in the delivery path, a transceiver for wireless
communication, and a control circuit for moving and operating the
AGV. These components may be those described above with respect to
systems 100 and 200. The AGV is the primary delivery mechanism and
will transport the merchandise item along the entire delivery route
from the starting location to the delivery location, if
practicable.
[0059] At block 304, a UAV is provided to act as a back-up delivery
mechanism. It is also contemplated that the UAV will include
components needed for performing the delivery, including a
motorized flight system, a gripper mechanism for retrieving the
merchandise item from the AGV, a transceiver for wireless
communication, an optical/imaging sensor for capturing images, and
a control circuit for operating and flying the UAV. These
components may be those described above with respect to systems 100
and 200. In one form, it is contemplated that the UAV may be
transported by the AGV, i.e., ride piggy-back along with the AGV.
The UAV is the back-up delivery mechanism if the AGV encounters a
certain type of obstacle and will transport the merchandise item
from the stopped AGV to the delivery location.
[0060] At block 306, the AGV is instructed to move along a delivery
route from a starting location to a delivery (or destination)
location. In one form, it is contemplated that the AGV may be
programmed to deliver (or may calculate a delivery route) to a
waypoint near the final merchandise drop-off location. In this
form, the process 300 contemplates the possible involvement of a
human operator at a remote command and control center. The AGV may
be instructed to travel autonomously to the waypoint, and the human
operator may navigate the AGV to the final drop-off location. This
involvement by a human operator may be desirable to make sure the
AGV is expertly and accurately guided to the drop-off location.
[0061] At block 308, the AGV stops in response to an obstacle in
its delivery path. The AGV may encounter numerous obstacles along
its delivery path (such as, for example, motor vehicles, people,
animals, traffic, road and sidewalk obstacles, etc.). Some of these
obstacles may be temporary in nature and may incur relatively minor
delay by the AGV. However, some of these obstacles may be of a more
permanent nature (such as a closed gate or a block road) or may
incur a significant delay (such as a freight train or raised
bridge).
[0062] At block 310, it is determined if the AGV stop satisfies
certain conditions. As a first example, the condition may involve a
predetermined maximum wait time interval. In this example, once the
AGV's actual measured wait time exceeds this threshold, the
condition is satisfied, and the UAV will be contacted to complete
this delivery. This threshold may be based on a single wait time or
based on cumulative wait times for multiple obstacles encountered
during the delivery. For example, the predetermined maximum wait
time interval may be one hour (which may constitute the maximum
amount of delay allowed in order to satisfy a delivery schedule),
and this one hour period may be exceeded based on the cumulative
amount of delay (such as three separate stops of 15 minute, 20
minutes, and 25 minutes wait time). Alternatively, the condition
may apply the threshold to each individual stop such that one stop
exceeding the one hour wait time is required before the condition
is satisfied.
[0063] Another example of a condition involves calculating an
alternative route about an obstacle and comparing the new estimated
delivery time with a scheduled delivery time. In this example, when
the AGV encounters an obstacle, it calculates alternative routes to
the delivery location, as well as an estimated delivery time for
each alternative route. It then compares the estimated delivery
times for alternative routes with a threshold delivery time (such
as the latest scheduled time the delivery can be made). In this
example, once all of the estimated delivery times exceed the
threshold delivery time, the condition is satisfied, and the UAV
will be contacted to complete this delivery.
[0064] In another example, the condition may involve the length of
time estimated for the UAV to complete the delivery. This condition
may involve a minimum time threshold for completion of the
delivery. If the AGV has not completed the delivery by a certain
time (such as the latest scheduled delivery time minus the minimum
time threshold), the condition is satisfied, and the UAV will be
contacted to complete this delivery.
[0065] Further, as another example, the UAV may be limited in the
distance it can travel, such as based on limits arising from its
battery. In other words, the UAV may not be able to fly long
distances, especially with heavy objects, because its battery will
not be able to provide sufficient power. Accordingly, a maximum UAV
flight distance may be incorporated into the
conditions/algorithms/requirements. If the AGV cannot complete the
delivery and the remaining distance to the waypoint or delivery
location exceeds the maximum flight distance, the delivery mission
may be aborted entirely.
[0066] As should be evident, numerous types of conditions can be
established to trigger when the UAV will take over and complete the
delivery. These conditions may involve such factors and inputs as
scheduled delivery times, amount of delay caused by obstacle(s),
estimated travel time of the AGV along alternative routes, and
estimated flight time of the UAV from the AGV's current position to
the delivery location. Further, in other algorithms, the conditions
may involve other considerations, such as the remaining battery
power of the AGV and/or the UAV (e.g., a low threshold AGV battery
power may trigger the condition), real time traffic conditions
(e.g., heavy traffic may affect calculation of alternative routes),
weight of the merchandise (e.g., certain heavy merchandise may
exceed a maximum UAV carrying capacity), and scheduled delivery
times for subsequent deliveries (e.g., it may be desirable to have
the UAV complete an earlier delivery in order to have sufficient
time to complete later deliveries on time).
[0067] At block 312, alternative delivery route(s) may be
calculated for the AGV to avoid an obstacle. As addressed above,
calculating whether alternative routes for the AGV are available
(and estimated delivery times for those alternative routes) may be
part of determining whether the condition(s) are satisfied. It is
generally contemplated that any of various types of vehicle traffic
navigation and mapping software may be used. This software may
select routes for the AGV based on real time traffic conditions and
route information. Further, it is contemplated that these
alternative routes and estimated arrival times may be calculated by
either an AGV control circuit or by a control circuit at a command
and control center.
[0068] At block 314, if the certain conditions are met, the UAV is
instructed to retrieve the merchandise item to be delivered from
the AGV. In one form, as described above, the UAV may be mounted on
and transported with the AGV. In another form, the UAV may be at a
remote location such as at a command and control center and may fly
to the AGV to retrieve the merchandise item. In either form, it is
generally contemplated that the UAV will employ some gripper
mechanism to retrieve the merchandise item. At this stage, it may
be desirable to have a human operator guide and control the UAV and
operate the gripper mechanism to retrieve the merchandise item.
[0069] At block 316, if the certain conditions are met, a delivery
route is calculated for the UAV from the location of the stopped
AGV to the delivery location. In one form, it is contemplated that
a control circuit (AGV, UAV, or command and control center) may
calculate a flight path from the stopped AGV location to a waypoint
near the final drop-off location. Any of various types of flight
navigation software may be used, and this software may select
routes for the UAV based on weather and other flight
conditions.
[0070] At block 318, if the certain conditions are met, the UAV is
instructed to deliver the merchandise item to the delivery location
by flying along the flight path. In one form, the UAV may fly
autonomously to the waypoint, but it may be desirable to have a
human operator at the command and control center take over and land
the UAV after it arrives at the waypoint. The human operator may be
able to more accurately guide the UAV to the final drop-off
location using the UAV's optical/imaging sensor(s).
[0071] At block 320, once the UAV flies from the stopped AGV to the
delivery location, the UAV may then return to the AGV following
completion of the delivery. This optional step assumes that the AGV
has been transporting the UAV. In this case, once the UAV returns
to the AGV, the AGV may then complete subsequent deliveries
(assuming it is carrying other merchandise items for delivery) or
may return to a home base location (where it may pick up other
merchandise items for delivery). The UAV may again be used if the
AGV encounters obstacles while making subsequent deliveries.
[0072] Referring to FIG. 4, there is shown a process 400 for
delivering merchandise using a combination AGV-UAV delivery system.
The process 400 uses a combination AGV-UAV delivery approach and
shows an algorithm with specific decisions made during the process
400. The process 400 may use some or all of the components of the
systems 100 and 200 described above.
[0073] The process 400 generally contemplates the use of a UAV and
an AGV with components as described above. In this example, the UAV
is mounted on the AGV and travels with the AGV during deliveries.
Further, the AGV receives initial instructions to proceed
autonomously to a predetermined waypoint near the final delivery
location, and a delivery route to the waypoint has been calculated.
It is contemplated that when the AGV reaches the waypoint, it will
then communicate with a remote command and control center, and a
human operator will then navigate the AGV to the final delivery
location.
[0074] At block 402, the AGV travels along the delivery route to
the waypoint. As described above, the AGV includes any of various
obstacle detection sensors that enable it to determine obstacles
that may lie in its travel path. At block 404, the AGV continually
monitors to detect if an obstacle is blocking the AGV. At block
406, if the AGV does not encounter any obstacles, it will continue
to travel along the delivery route. If the AGV does not encounter
any obstacles, it could arrive at the waypoint where the human
operator can guide the AGV to complete the delivery.
[0075] At block 408, the AGV has detected an obstacle blocking the
AGV. At this point, it is contemplated that there will be a check
to determine whether the AGV has enough battery power to complete
the delivery and to travel to an appropriate rendezvous location
(which may be the starting location). It is generally contemplated
that the battery power will be periodically or continually
monitored to avoid having the AGV become stranded at some
inconvenient location where it may have to be retrieved later. At
block 408, while the AGV is detained by an obstacle and possibly
waiting for the obstacle to move out of the way, the battery power
will be checked to make sure that this wait will not cause it to
become stranded. This check may be performed at the AGV or at the
command and control center, and a predetermined minimum threshold
may be used (such as, for example, 50% remaining battery
power).
[0076] At block 410, it is detected that the battery power level
has reached a certain minimum threshold, i.e., there is
insufficient battery power remaining. At this point, it is
determined that the AGV will not complete the delivery and that the
back-up delivery mechanism (the UAV) will complete the delivery. It
is generally contemplated that a human operator may operate the UAV
to retrieve the merchandise item. The UAV may then fly autonomously
to the predetermined waypoint near the delivery location. At that
time, the human operator may take over and navigate the UAV to the
delivery location where the UAV may release the merchandise item.
It is contemplated that the UAV will then fly back to the AGV where
the human operator may guide it to the mounting area of the
AGV.
[0077] At block 412, the detected battery power level is sufficient
for the AGV to complete the delivery and then proceed to the
starting/rendezvous location. At this stage, the AGV waits for a
certain minimum amount of time (such as five minutes) for the
obstacle to pass. It is generally contemplated that many obstacles
may be temporary in nature (such as traffic, moving cars or people,
etc.) so that a short wait may be sufficient. At block 414, the AGV
detects that the obstacle has moved out of the way within this
minimum amount of time. The AGV may then continue along the
delivery route to complete the delivery.
[0078] At block 416, the obstacle has not moved out of the way
within the minimum amount of time. For example, the AGV has been
waiting for more than five minutes. The AGV may have encountered a
more permanent sort of obstacle, such as a closed gate. At this
time, alternative delivery routes to the waypoint may be
calculated, including calculation of the estimated travel time
along any alternative delivery routes. If an alternative delivery
route exists and the estimated travel time allows the AGV to arrive
at the delivery location by the scheduled delivery time, the AGV
will then take the alternative delivery route with the shortest
travel time. At block 418, an alternative delivery route exists
satisfying these requirements, and the AGV proceeds along the
alternative delivery route to complete the delivery.
[0079] At block 420, an alternative delivery route does not exist
that satisfies the above requirements. The AGV will continue to
wait for the obstacle to pass or move out of the way. The estimated
travel time of the AGV to the delivery location relative to the
scheduled delivery time is monitored. As long as the estimated
travel time allows the AGV to complete the delivery within the
scheduled delivery time, the AGV will continue to wait for the
obstacle to move out of the way. At block 422, assuming the
obstacle moves out of the way, the AGV continues to the delivery
location.
[0080] However, at block 424, once the estimated travel time no
longer allows the AGV to complete the delivery by the scheduled
delivery time, it is determined that the AGV will not complete the
delivery. Instead, the UAV will complete the delivery. Again, it is
generally contemplated that a human operator may operate the UAV to
retrieve the merchandise item, the UAV may fly autonomously to the
waypoint, a human operator may land the UAV at the delivery
location, and the UAV may then fly back to the AGV.
[0081] It is generally contemplated that the steps and decisions of
process 400 are repeated as the AGV encounters new obstacles. For
example, a determination of battery power is made, at least, every
time the AGV encounters an obstacle (and is monitored periodically
as the AGV is waiting for the obstacle to pass). Also, the minimum
wait time will restart every time the AGV encounters another
obstacle. Further, the AGV may encounter obstacles along
alternative delivery routes, and these steps and decisions will be
repeated for obstacles encountered along alternative delivery
paths.
[0082] Those skilled in the art will recognize that a wide variety
of other modifications, alterations, and combinations can also be
made with respect to the above described embodiments without
departing from the scope of the invention, and that such
modifications, alterations, and combinations are to be viewed as
being within the ambit of the inventive concept.
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