U.S. patent application number 16/176462 was filed with the patent office on 2019-02-28 for systems and methods for a sub-robot unit transporting a package from on-road an autonomous vehicle to a door or dropbox.
The applicant listed for this patent is Nuro, Inc.. Invention is credited to David Ferguson, Jiajun Zhu.
Application Number | 20190064847 16/176462 |
Document ID | / |
Family ID | 63207881 |
Filed Date | 2019-02-28 |
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United States Patent
Application |
20190064847 |
Kind Code |
A1 |
Ferguson; David ; et
al. |
February 28, 2019 |
SYSTEMS AND METHODS FOR A SUB-ROBOT UNIT TRANSPORTING A PACKAGE
FROM ON-ROAD AN AUTONOMOUS VEHICLE TO A DOOR OR DROPBOX
Abstract
In accordance with aspects of the present disclosure, an
autonomous robot vehicle is disclosed. In various embodiments, the
autonomous robot vehicle includes a first land conveyance system
configured to travel on vehicle roadways, a navigation system
configured to navigate to a destination location, an exterior
housing, and a sub-robot vehicle carried within the exterior
housing while the first land conveyance system autonomously travels
on the vehicle roadways to the destination location. The sub-robot
vehicle includes a second land conveyance system configured to
travel on pedestrian terrain, one or more modules configured to
store customer items where the module(s) include one or more
compartments or sub-compartments, one or more processors, and a
memory storing instructions which, when executed by the
processor(s), cause the sub-robot vehicle to autonomously control
the second land conveyance system to exit the exterior housing and
travel the pedestrian terrain to a customer pickup location.
Inventors: |
Ferguson; David; (San
Francisco, CA) ; Zhu; Jiajun; (Palo Alto,
CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Nuro, Inc. |
Mountain View |
CA |
US |
|
|
Family ID: |
63207881 |
Appl. No.: |
16/176462 |
Filed: |
October 31, 2018 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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PCT/US2018/044361 |
Jul 30, 2018 |
|
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16176462 |
|
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62538538 |
Jul 28, 2017 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60R 25/25 20130101;
G06K 7/10722 20130101; G05D 1/0214 20130101; G06Q 10/0631 20130101;
G05D 1/0027 20130101; G05D 1/0094 20130101; G05D 1/0231 20130101;
G06K 7/1413 20130101; G06Q 20/18 20130101; B60R 25/252 20130101;
B64C 2201/141 20130101; G06Q 10/083 20130101; A23L 7/109 20160801;
B64C 2201/128 20130101; G06K 9/00791 20130101; B60R 19/483
20130101; G07C 9/00571 20130101; G06Q 10/06315 20130101; B60H
1/00364 20130101; G05D 1/0212 20130101; G06Q 30/0631 20130101; B60R
21/34 20130101; B60H 1/00735 20130101; B60R 21/36 20130101; G05D
1/0276 20130101; G05D 1/12 20130101; G06Q 10/0837 20130101; G07F
17/12 20130101; G08G 1/22 20130101; H04L 67/12 20130101; A47J
37/0658 20130101; B65G 67/24 20130101; G06N 20/00 20190101; G06K
9/00201 20130101; G05D 1/0038 20130101; G05D 1/0297 20130101; G05D
1/0223 20130101; G06Q 50/28 20130101; H04W 4/40 20180201; A47J
47/00 20130101; B60P 3/007 20130101; G01C 21/343 20130101; G05D
1/0088 20130101; G05D 1/0291 20130101; G05D 2201/0207 20130101;
G07C 9/00563 20130101; G08G 1/202 20130101; A23L 2/52 20130101;
G06Q 10/0635 20130101; G06K 7/10297 20130101; G05D 1/0061 20130101;
G06F 16/955 20190101; G06Q 10/08 20130101; G06Q 10/0834 20130101;
G07C 9/00896 20130101; G08G 1/04 20130101; G01C 21/3438 20130101;
G05D 2201/0213 20130101; G06Q 10/00 20130101; A23L 5/00 20160801;
G07F 17/0057 20130101; H05B 6/688 20130101; B60P 3/0257 20130101;
B64C 2201/00 20130101; G06F 3/017 20130101; G06K 19/06028 20130101;
B60P 1/36 20130101; G05D 1/0295 20130101; G07C 2009/0092 20130101;
G06Q 10/08355 20130101; G06Q 30/0645 20130101; G01C 21/3453
20130101; G06F 3/0484 20130101; G06Q 20/00 20130101; G06Q 50/30
20130101; H04N 5/76 20130101; G01C 21/20 20130101; G06K 19/0723
20130101; G06Q 20/127 20130101; G06Q 50/12 20130101; G07C 2209/63
20130101; H04W 4/024 20180201; G06Q 10/0833 20130101; G06Q 10/0835
20130101; B60R 19/18 20130101; A23V 2002/00 20130101; B60R 2021/346
20130101; G05D 1/0033 20130101; G06Q 10/0832 20130101; G06Q 30/0266
20130101; G07C 9/28 20200101 |
International
Class: |
G05D 1/02 20060101
G05D001/02; G05D 1/00 20060101 G05D001/00; G06Q 10/08 20060101
G06Q010/08 |
Claims
1. An autonomous robot vehicle comprising: a first land conveyance
system configured to travel on vehicle roadways; a navigation
system configured to navigate to a destination location; an
exterior housing; and a sub-robot vehicle carried within the
exterior housing while the first land conveyance system
autonomously travels on the vehicle roadways to the destination
location, the sub-robot vehicle comprising: a second land
conveyance system configured to travel on pedestrian terrain; at
least one module configured to store customer items, the at least
one module including at least one compartment or sub-compartment;
at least one processor; and a memory storing instructions which,
when executed by the at least one processor, cause the sub-robot
vehicle to autonomously control the second land conveyance system
to exit the exterior housing and travel the pedestrian terrain to a
customer pickup location.
2. The autonomous robot vehicle of claim 1, wherein the destination
location is one of a securable drop-box, a residential address, or
a commercial address.
3. The autonomous robot vehicle of claim 1, wherein the
instructions, when executed by the at least one processor of the
sub-robot vehicle, further cause the sub-robot vehicle to receive
an item corresponding to a purchase order prior to the autonomous
robot vehicle traveling to the destination location.
4. The autonomous robot vehicle of claim 1, further comprising: at
least one second processor; and a second memory storing second
instructions which, when executed by the at least one second
processor, cause the autonomous robot vehicle to stop away from the
destination location, wherein the sub-robot vehicle travels a
remaining distance to the destination location on the pedestrian
terrain.
5. The autonomous robot vehicle of claim 4, wherein the second
instructions, when executed by the at least one second processor,
cause the first land conveyance system to autonomously travel to a
second destination location at the same time the sub-robot vehicle
travels the remaining distance to the destination location.
6. The autonomous robot vehicle of claim 1, wherein the customer
pickup location is selected by a customer.
7. The autonomous robot vehicle of claim 1, further comprising: at
least one second processor; and a second memory storing second
instructions which, when executed by the at least one second
processor, cause the autonomous robot vehicle to determine the
customer pickup location based on surrounding environment of the
destination location.
8. The autonomous robot vehicle of claim 7, wherein the customer
pickup location includes at least one of: a front door, a front
porch, a street curb near the customer pickup location, or a side
door.
9. The autonomous robot vehicle of claim 7, wherein the surrounding
environment of the destination location includes at least one of a
lawn or a stairway.
10. The autonomous robot vehicle of claim 9, wherein the second
instructions, when executed by the at least one second processor,
cause the autonomous robot vehicle to select one of a plurality of
sub-robot vehicles suitable for reaching the customer pickup
location through the surrounding environment, the plurality of
sub-robot vehicles including the sub-robot vehicle.
11. The autonomous robot vehicle of claim 10, wherein the plurality
of sub-robot vehicles includes at least one of a first sub-robot
vehicle configured to traverse the lawn and a second sub-robot
configure to climb the stairway.
12. A computer implemented method for autonomous robot vehicle
delivery comprising: navigating, via a navigation system, an
autonomous robot vehicle to a destination location; autonomously
traveling, via a first land conveyance system of the autonomous
robot vehicle, on vehicle roadways to the destination location;
carrying a sub-robot vehicle within an exterior housing of the
autonomous robot vehicle while the first land conveyance system
autonomously travels on the vehicle roadways to the destination
location, the sub-robot vehicle including: a second land conveyance
system configured to travel on pedestrian terrain, and at least one
module configured to store customer items, the at least one module
including at least one compartment or sub-compartment; and
instructing the sub-robot vehicle to exit the exterior housing of
the autonomous robot vehicle and autonomously travel, via the
second land conveyance system, the pedestrian terrain to a customer
pickup location.
13. The computer implemented method of claim 12, wherein the
destination location is one of a securable drop-box, a residential
address, or a commercial address.
14. The computer implemented method of claim 12, further comprising
instructing the sub-robot vehicle to receive an item corresponding
to a purchase order prior to traveling to the destination
location.
15. The computer implemented method of claim 12, further
comprising: controlling the first land conveyance system of the
autonomous robot vehicle to stop away from the destination
location; and instructing the sub-robot vehicle to travel a
remaining distance to the destination location on the pedestrian
terrain.
16. The computer implemented method of claim 15, further comprising
controlling the first land conveyance system of the autonomous
robot vehicle to autonomously travel to a second destination
location at the same time the sub-robot vehicle travels the
remaining distance to the destination location.
17. The computer implemented method of claim 12, wherein the
customer pickup location is specified by a customer.
18. The computer implemented method of claim 12, further comprising
determining, by the autonomous robot vehicle, the customer pickup
location based on surrounding environment of the destination
location.
19. The computer implemented method of claim 18, wherein the
customer pickup location includes at least one of: a front door, a
front porch, a street curb near the customer pick up location, or a
side door.
20. The computer implemented method of claim 18, wherein the
surrounding environment of the destination location includes at
least one of a lawn or a stairway.
21. The computer implemented method of claim 20, further comprising
selecting, by the autonomous robot vehicle, one of a plurality of
sub-robot vehicles suitable for reaching the customer pickup
location through the surrounding environment, the plurality of
sub-robot vehicles including the sub-robot vehicle.
22. The computer implemented method of claim 21, wherein the
plurality of sub-robot vehicles includes at least one of a first
sub-robot vehicle configured to traverse the lawn or a second
sub-robot configure to climb the stairway.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] The present application is a continuation-in-part of
International Application No. PCT/US2018/044361, filed on Jul. 30,
2018, which claims the benefit of U.S. Provisional Application No.
62/538,538, filed on Jul. 28, 2017. The entire contents of each of
the foregoing applications are hereby incorporated by
reference.
FIELD OF THE TECHNOLOGY
[0002] The present application relates to autonomous vehicles, and
in particular, to autonomous robot vehicles that carry sub-robot
vehicles.
BACKGROUND
[0003] The field of fully-autonomous and/or semi-autonomous robots
is a growing field of innovation. Robots are being used for many
purposes including warehouse inventory operations, household
vacuuming robots, hospital delivery robots, sanitation robots, and
military or defense applications.
[0004] In the consumer space, handling and delivery of items by
autonomous vehicles could improve society in many ways. For
example, rather than spending time driving to a store, a person can
instead engage in productive work while waiting for an autonomous
vehicle to deliver the items. With fewer vehicles on the road,
traffic conditions would also improve. For example, instead of
several people driving to stores in several vehicles, a single
autonomous vehicle could deliver items to those people and thereby
reduce the number of vehicles on the road.
[0005] Because many houses are inset from the curb, delivery
personnel often have to walk up paths or sidewalks which are not
always well suited for on-road type vehicular travel. On road
delivery vehicles may be too large or unwieldy for such
applications. Accordingly, there is interest in developing and
improving technologies for delivery of items and services.
SUMMARY
[0006] This disclosure relates to a fully-autonomous and/or
semi-autonomous robot fleet and, in particular, to autonomous robot
vehicles that carry sub-robot vehicles.
[0007] In accordance with aspects of the present disclosure, an
autonomous robot vehicle includes a first land conveyance system
configured to travel on vehicle roadways, a navigation system
configured to navigate to a destination location, an exterior
housing, and a sub-robot vehicle carried within the exterior
housing while the first land conveyance system autonomously travels
on the vehicle roadways to the destination location. The sub-robot
vehicle includes a second land conveyance system configured to
travel on pedestrian terrain, one or more modules configured to
store customer items where the module(s) include one or more
compartments or sub-compartments, one or more processors, and a
memory storing instructions which, when executed by the
processor(s), cause the sub-robot vehicle to autonomously control
the second land conveyance system to exit the exterior housing and
travel the pedestrian terrain to a customer pickup location.
[0008] In another aspect of the present disclosure, the destination
location is one of a securable drop-box, a residential address, or
a commercial address.
[0009] In yet another aspect of the present disclosure, the
instructions, when executed by the at least one processor of the
sub-robot vehicle, further cause the sub-robot vehicle to receive
an item corresponding to a purchase order prior to the autonomous
robot vehicle traveling to the destination location.
[0010] In a further aspect of the present disclosure, the
autonomous robot vehicle further includes at least one second
processor and a second memory storing second instructions which,
when executed by the second processor(s), cause the autonomous
robot vehicle to stop away from the destination location, where the
sub-robot vehicle travels a remaining distance to the destination
location on the pedestrian terrain.
[0011] In an aspect of the present disclosure, the second
instructions, when executed by the at least one second processor,
cause the first land conveyance system to autonomously travel to a
second destination location at the same time the sub-robot vehicle
travels the remaining distance to the destination location.
[0012] In a further aspect of the present disclosure, the customer
pickup location is selected by a customer.
[0013] In yet another aspect of the present disclosure, the
autonomous robot vehicle further includes at least one second
processor and a second memory storing second instructions which,
when executed by the second processor(s), cause the autonomous
robot vehicle to determine the customer pickup location based on
surrounding environment of the destination location. In various
embodiments, the customer pickup location includes at least one of:
a front door, a front porch, a street curb near the customer pickup
location, or a side door.
[0014] In various embodiments, the surrounding environment of the
destination location includes at least one of a lawn or a
stairway.
[0015] In a further aspect of the present disclosure, the second
instructions, when executed by the at least one second processor,
cause the autonomous robot vehicle to select one of a plurality of
sub-robot vehicles suitable for reaching the customer pickup
location through the surrounding environment, where the plurality
of sub-robot vehicles includes the sub-robot vehicle. In various
embodiments, the plurality of sub-robot vehicles includes at least
one of a first sub-robot vehicle configured to traverse the lawn
and a second sub-robot configure to climb the stairway.
[0016] In accordance with aspects of the present disclosure, a
computer implemented method for autonomous robot vehicle delivery
includes navigating, via a navigation system, an autonomous robot
vehicle to a destination location, autonomously traveling, via a
first land conveyance system of the autonomous robot vehicle, on
vehicle roadways to the destination location, carrying a sub-robot
vehicle within an exterior housing of the autonomous robot vehicle
while the first land conveyance system autonomously travels on the
vehicle roadways to the destination location. The sub-robot vehicle
includes a second land conveyance system configured to travel on
pedestrian terrain, and at least one module configured to store
customer items where the module(s) includes at least one
compartment or sub-compartment. The method includes instructing the
sub-robot vehicle to exit the exterior housing of the autonomous
robot vehicle and autonomously travel, via the second land
conveyance system, the pedestrian terrain to a customer pickup
location.
[0017] In a further aspect of the present disclosure, the
destination location is at least one of a securable drop-box, a
residential address, or a commercial address.
[0018] In yet another aspect of the present disclosure, the
computer implemented method further includes instructing the
sub-robot vehicle to receive an item corresponding to a purchase
order prior to traveling to the destination location.
[0019] In a further aspect of the present disclosure, the computer
implemented method further includes controlling the first land
conveyance system of the autonomous robot vehicle to stop away from
the destination location, and instructing the sub-robot vehicle to
travel a remaining distance to the destination location on the
pedestrian terrain.
[0020] In an aspect of the present disclosure, the computer
implemented method includes controlling the first land conveyance
system of the autonomous robot vehicle to autonomously travel to a
second destination location at the same time the sub-robot vehicle
travels the remaining distance to the destination location
[0021] In various embodiments, the customer pickup location is
specified by a customer.
[0022] In an aspect of the present disclosure, the computer
implemented method further includes determining, by the autonomous
robot vehicle, the customer pickup location based on surrounding
environment of the destination location. In various embodiments,
the customer pickup location includes one or more of: a front door,
a front porch, a street curb near the customer pick up location, or
a side door.
[0023] In various embodiments, the surrounding environment of the
destination location includes at least one of a lawn or a
stairway.
[0024] In another aspect of the present disclosure, the computer
implemented method further includes selecting, by the autonomous
robot vehicle, one of a plurality of sub-robot vehicles suitable
for reaching the customer pickup location through the surrounding
environment, the plurality of sub-robot vehicles including the
sub-robot vehicle. In various embodiments, the plurality of
sub-robot vehicles includes at least one of a first sub-robot
vehicle configured to traverse the lawn or a second sub-robot
configure to climb the stairway.
[0025] Further details and aspects of exemplary embodiments of the
present disclosure are described in more detail below with
reference to the appended figures.
INCORPORATION BY REFERENCE
[0026] All publications, patents, and patent applications mentioned
in this specification are herein incorporated by reference to the
same extent as if each individual publication, patent, or patent
application was specifically and individually indicated to be
incorporated by reference.
BRIEF DESCRIPTION OF THE DRAWINGS
[0027] A better understanding of the features and advantages of the
disclosed technology will be obtained by reference to the following
detailed description that sets forth illustrative embodiments, in
which the principles of the technology are utilized, and the
accompanying drawings of which:
[0028] FIG. 1 is an exemplary view an autonomous robot fleet,
wherein each vehicle within a fleet or sub-fleet can be branded for
an entity;
[0029] FIG. 2 is an exemplary ISO view of a robot vehicle, part of
an autonomous robot fleet, illustrating securable compartments
within the vehicle;
[0030] FIG. 3 is an exemplary front view of a robot vehicle, part
of an autonomous robot fleet, shown in comparison to the height of
an average person;
[0031] FIG. 4 is an exemplary right side view of a robot vehicle,
part of an autonomous robot fleet, illustrating a configuration
with two large side doors, each enclosing securable
compartments;
[0032] FIG. 5 is an exemplary left side view of a robot vehicle,
part of an autonomous robot fleet, shown in comparison to the
height of an average person;
[0033] FIG. 6 is an exemplary rear view of a robot vehicle, part of
an autonomous robot fleet;
[0034] FIG. 7 is an exemplary ISO view of a robot vehicle, part of
an autonomous robot fleet, illustrating an autonomous lunch
delivery vehicle for any branded company;
[0035] FIG. 8 is an exemplary ISO view of a robot vehicle, part of
an autonomous robot fleet, illustrating an autonomous pizza
delivery vehicle for any branded company;
[0036] FIG. 9 is an exemplary ISO view of a robot vehicle, part of
an autonomous robot fleet, illustrating an autonomous coffee
delivery vehicle for any branded company;
[0037] FIG. 10 is an exemplary ISO view of a robot vehicle, part of
an autonomous robot fleet, illustrating an autonomous
evening/nighttime delivery vehicle for any branded company,
comprising a lighted interior;
[0038] FIG. 11 is an exemplary flowchart representation of the
logic for a fleet management control module associated with a
central server for the robot fleet;
[0039] FIG. 12 is an exemplary flowchart representation of the
logic flow from the Fleet Management Control Module through the
robot processor to the various systems and modules of the
robot;
[0040] FIG. 13 is an exemplary flowchart representation
illustrative of a high level method for autonomous robot vehicle
delivery via a sub-robot vehicle; and
[0041] FIG. 14 is an exemplary ISO view of a robot vehicle, part of
an autonomous robot fleet, illustrating a sub-robot vehicle in a
compartment of the robot vehicle.
DETAILED DESCRIPTION
[0042] This disclosure relates to a fully-autonomous and/or
semi-autonomous robot fleet and, in particular, to robot vehicles
for transporting or retrieving deliveries in either open
unstructured outdoor environments or closed environments.
[0043] Provided herein is a robot fleet having robot vehicles
operating fully-autonomously or semi-autonomously and a fleet
management module for coordination of the robot fleet, where each
robot within the fleet is configured for transporting, delivering
or retrieving goods or services and is capable of operating in an
unstructured open or closed environment. Each robot can include a
power system, a conveyance system, a navigation module, at least
one securable compartment or multiple securable compartments to
hold goods, a controller configurable to associate each of the
securable compartments to an assignable customer, a customer group
within a marketplace, or provider and provide entry when
authorized, a communication module and a processor configured to
manage the conveyance system, the navigation module, the sensor
system, the communication module and the controller.
[0044] As used herein, the term "autonomous" includes
fully-autonomous, semi-autonomous, and any configuration in which a
vehicle can travel in a controlled manner for a period of time
without human intervention.
[0045] As used herein, the term "fleet," "sub-fleet," and like
terms are used to indicate a number of land vehicles, watercraft or
aircraft operating together or under the same ownership. In some
embodiments the fleet or sub-fleet is engaged in the same activity.
In some embodiments, the fleet or sub-fleet are engaged in similar
activities. In some embodiments, the fleet or sub-fleet are engaged
in different activities.
[0046] As used herein, the term "robot," "robot vehicle," "robot
fleet," "vehicle," "all-terrain vehicle," and like terms are used
to indicate a mobile machine that transports cargo, items, and/or
goods. Typical vehicles include cars, wagons, vans, unmanned motor
vehicles (e.g., tricycles, trucks, trailers, buses, etc.), unmanned
railed vehicles (e.g., trains, trams, etc.), unmanned watercraft
(e.g., ships, boats, ferries, landing craft, barges, rafts, etc.),
aerial drones, unmanned hovercraft (air, land and water types),
unmanned aircraft, and even including unmanned spacecraft.
[0047] As used herein, the term "compartment" is used to indicate
an internal bay of a robot vehicle that has a dedicated door at the
exterior of the vehicle for accessing the bay, and also indicates
an insert secured within the bay. The term "sub-compartment" is
generally used to indicate a subdivision or portion of a
compartment. When used in the context of a compartment or
sub-compartment, the term "module" may be used to indicate one or
more compartments or sub-compartments.
[0048] As used herein, the term "user," "operator," "fleet
operator," and like terms are used to indicate the entity that owns
or is responsible for managing and operating the robot fleet.
[0049] As used herein, the term "customer" and like terms are used
to indicate the entity that requests the services provided the
robot fleet.
[0050] As used herein, the term "provider," "business," "vendor,"
"third party vendor," and like terms are used to indicate an entity
that works in concert with the fleet owner or operator to utilize
the services of the robot fleet to deliver the provider's product
from and or return the provider's product to the provider's place
of business or staging location.
[0051] As used herein, the term "server," "computer server,"
"central server," "main server," and like terms are used to
indicate a computer or device on a network that manages the fleet
resources, namely the robot vehicles.
[0052] As used herein, the term "controller" and like terms are
used to indicate a device that controls the transfer of data from a
computer to a peripheral device and vice versa. For example, disk
drives, display screens, keyboards, and printers all require
controllers. In personal computers, the controllers are often
single chips. As used herein the controller is commonly used for
managing access to components of the robot such as the securable
compartments.
[0053] As used herein a "mesh network" is a network topology in
which each node relays data for the network. All mesh nodes
cooperate in the distribution of data in the network. It can be
applied to both wired and wireless networks. Wireless mesh networks
can be considered a type of "Wireless ad hoc" network. Thus,
wireless mesh networks are closely related to Mobile ad hoc
networks (MANETs). Although MANETs are not restricted to a specific
mesh network topology, Wireless ad hoc networks or MANETs can take
any form of network topology. Mesh networks can relay messages
using either a flooding technique or a routing technique. With
routing, the message is propagated along a path by hopping from
node to node until it reaches its destination. To ensure that all
its paths are available, the network must allow for continuous
connections and must reconfigure itself around broken paths, using
self-healing algorithms such as Shortest Path Bridging.
Self-healing allows a routing-based network to operate when a node
breaks down or when a connection becomes unreliable. As a result,
the network is typically quite reliable, as there is often more
than one path between a source and a destination in the network.
This concept can also apply to wired networks and to software
interaction. A mesh network whose nodes are all connected to each
other is a fully connected network.
[0054] As used herein, the term "module" and like terms are used to
indicate a self-contained hardware component of the central server,
which in turn includes software modules. In software, a module is a
part of a program. Programs are composed of one or more
independently developed modules that are not combined until the
program is linked. A single module can contain one or several
routines, or sections of programs that perform a particular task.
As used herein the fleet management module includes software
modules for managing various aspects and functions of the robot
fleet.
[0055] As used herein, the term "processor," "digital processing
device" and like terms are used to indicate a microprocessor or
central processing unit (CPU). The CPU is the electronic circuitry
within a computer that carries out the instructions of a computer
program by performing the basic arithmetic, logical, control and
input/output (I/O) operations specified by the instructions.
[0056] In accordance with the description herein, suitable digital
processing devices include, by way of non-limiting examples, server
computers, desktop computers, laptop computers, notebook computers,
sub-notebook computers, netbook computers, netpad computers,
set-top computers, handheld computers, Internet appliances, mobile
smartphones, tablet computers, personal digital assistants, video
game consoles, and vehicles. Those of skill in the art will
recognize that many smartphones are suitable for use in the system
described herein. Suitable tablet computers include those with
booklet, slate, and convertible configurations, known to those of
skill in the art.
[0057] In some embodiments, the digital processing device includes
an operating system configured to perform executable instructions.
The operating system is, for example, software, including programs
and data, which manages the device's hardware and provides services
for execution of applications. Those of skill in the art will
recognize that suitable server operating systems include, by way of
non-limiting examples, FreeBSD, OpenBSD, NetBSD.RTM., Linux,
Apple.RTM. Mac OS X Server.RTM., Oracle.RTM. Solaris.RTM., Windows
Server.RTM., and Novell.RTM. NetWare.RTM.. Those of skill in the
art will recognize that suitable personal computer operating
systems include, by way of non-limiting examples, Microsoft.RTM.
Windows.RTM., Apple.RTM. Mac OS X.RTM., UNIX.RTM., and UNIX-like
operating systems such as GNU/Linux.RTM.. In some embodiments, the
operating system is provided by cloud computing. Those of skill in
the art will also recognize that suitable mobile smart phone
operating systems include, by way of non-limiting examples,
Nokia.RTM. Symbian.RTM. OS, Apple.RTM. iOS.RTM., Research In
Motion.RTM. BlackBerry OS.RTM., Google.RTM. Android.RTM.,
Microsoft.RTM. Windows Phone.RTM. OS, Microsoft.RTM. Windows
Mobile.RTM. OS, Linux.RTM., and Palm.RTM. WebOS.RTM..
[0058] In some embodiments, the device includes a storage and/or
memory device. The storage and/or memory device is one or more
physical apparatus used to store data or programs on a temporary or
permanent basis. In some embodiments, the device is volatile memory
and requires power to maintain stored information. In some
embodiments, the device is non-volatile memory and retains stored
information when the digital processing device is not powered. In
some embodiments, the non-volatile memory includes flash memory. In
some embodiments, the non-volatile memory includes dynamic
random-access memory (DRAM). In some embodiments, the non-volatile
memory includes ferroelectric random access memory (FRAM). In some
embodiments, the non-volatile memory includes phase-change random
access memory (PRAM). In some embodiments, the device is a storage
device including, by way of non-limiting examples, CD-ROMs, DVDs,
flash memory devices, magnetic disk drives, magnetic tapes drives,
optical disk drives, and cloud computing based storage. In some
embodiments, the storage and/or memory device is a combination of
devices such as those disclosed herein.
[0059] In some embodiments, the digital processing device includes
a display to send visual information to a user. In some
embodiments, the display is a cathode ray tube (CRT). In some
embodiments, the display is a liquid crystal display (LCD). In some
embodiments, the display is a thin film transistor liquid crystal
display (TFT-LCD). In some embodiments, the display is an organic
light emitting diode (OLED) display. In various some embodiments,
on OLED display is a passive-matrix OLED (PMOLED) or active-matrix
OLED (AMOLED) display. In some embodiments, the display is a plasma
display. In some embodiments, the display is a video projector. In
some embodiments, the display is interactive (e.g., having a touch
screen or a sensor such as a camera, a 3D sensor, a LiDAR, a radar,
etc.) that can detect user interactions/gestures/responses and the
like. In still some embodiments, the display is a combination of
devices such as those disclosed herein.
The Fleet of Robot Vehicles
[0060] Provided herein is a robot fleet 100, as illustrated in FIG.
1, having robot vehicles 101, with each one operating
fully-autonomously or semi-autonomously.
[0061] As illustrated in FIGS. 3-6, one exemplary configuration of
a robot 101 is a vehicle configured for land travel, such as a
small fully-autonomous (or semi-autonomous) automobile. The
exemplary fully-autonomous (or semi-autonomous) automobile is
narrow (i.e., 2-5 feet wide), low mass and low center of gravity
for stability, having multiple secure compartments assignable to
one or more customers, retailers and/or vendors, and designed for
moderate working speed ranges (i.e., 1.0-45.0 mph) to accommodate
inner-city and residential driving speeds. Additionally, in some
embodiments, the land vehicle robot units in the fleet are
configured with a maximum speed range from 1.0 mph to about 90.0
mph for high speed, intrastate or interstate driving. Each robot in
the fleet is equipped with onboard sensors 170 (e.g., cameras
(running at a high frame rate, akin to video), LiDAR, radar,
ultrasonic sensors, microphones, etc.) and internal computer
processing to constantly determine where it can safely navigate,
what other objects are around each robot and what it may do.
[0062] In in some embodiments, the robot fleet is
fully-autonomous.
[0063] In in some embodiments, the robot fleet is semi-autonomous.
In some embodiments, it may be necessary to have human interaction
between the robot 101, the fleet operator 200, the provider 204
and/or the customer 202 to address previously unforeseen issues
(e.g., a malfunction with the navigation module; provider inventory
issues; unanticipated traffic or road conditions; or direct
customer interaction after the robot arrives at the customer
location).
[0064] In in some embodiments, the robot fleet 100 is controlled
directly by the user 200. In some embodiments, it may be necessary
to have direct human interaction between the robot 101 and/or the
fleet operator 200 to address maintenance issues such as mechanical
failure, electrical failure or a traffic accident.
[0065] In some embodiments, the robot fleet is configured for land
travel. In some embodiments, each robot land vehicle in the fleet
is configured with a working speed range from 13.0 mph to 45.0 mph.
In some embodiments, the land vehicle robot units in the fleet are
configured with a maximum speed range from 13.0 mph to about 90.0
mph.
[0066] In some embodiments, the robot fleet is configured for water
travel as a watercraft and is configured with a working speed range
from 1.0 mph to 45.0 mph.
[0067] In some embodiments, the robot fleet is configured for hover
travel as an over-land or over-water hovercraft and is configured
with a working speed range from 1.0 mph to 60.0 mph.
[0068] In some embodiments, the robot fleet is configured for air
travel as an aerial drone or aerial hovercraft and is configured
with a working speed range from 1.0 mph to 80.0 mph.
[0069] In some embodiments of the robot fleet, the autonomous
robots within the fleet are operated on behalf of third party
vendor/service provider.
[0070] For example, a fleet management service is established to
provide a roving delivery service for a third party beverage/food
provider (e.g., a coffee service/experience for a third party
vendor (i.e., Starbucks)). It is conceived that the fleet
management service would provide a sub-fleet of "white label"
vehicles carrying the logo and products of that third party
beverage/food provider to operate either fully-autonomously or
semi-autonomously to provide this service.
[0071] In some embodiments of the robot fleet, the autonomous
robots within the fleet are further configured to be part of a
sub-fleet of autonomous robots, and each sub-fleet is configured to
operate independently or in tandem with multiple sub-fleets having
two or more sub-fleets (100-a, 100-b).
[0072] For example, a package delivery service is configured to
offer multiple levels of service such as "immediate dedicated rush
service," "guaranteed morning/afternoon delivery service," or
"general delivery service." A service provider could then have a
dedicated sub-fleet of delivery vehicles for each type of service
within their overall fleet of vehicles. In yet another example, a
third party has priority over a certain number of vehicles in the
fleet. In so doing, they can guarantee a certain level of
responsiveness. When they aren't using the vehicles, the vehicles
are used for general services within the fleet (e.g., other third
parties).
[0073] In some embodiments, the robot fleet is controlled directly
by the user.
[0074] In some embodiments, there will likely be times when a
vehicle breaks down, has an internal system or module failure or is
in need of maintenance. For example, in the event that the
navigation module should fail, each robot within the fleet is
configurable to allow for direct control of the robot's processor
to override the conveyance and sensor systems (i.e., cameras, etc.)
by a fleet operator to allow for the safe return of the vehicle to
a base station for repair.
The Operating Environments
[0075] In some embodiments, the unstructured open environment is a
non-confined geographic region accessible by navigable pathways,
including, for example, public roads, private roads, bike paths,
open fields, open public lands, open private lands, pedestrian
walkways, lakes, rivers or streams.
[0076] In some embodiments, the closed environment is a confined,
enclosed or semi-enclosed structure accessible by navigable
pathways, including, for example, open areas or rooms within
commercial architecture, with or without structures or obstacles
therein, airspace within open areas or rooms within commercial
architecture, with or without structures or obstacles therein,
public or dedicated aisles, hallways, tunnels, ramps, elevators,
conveyors, or pedestrian walkways.
[0077] In some embodiments, the unstructured open environment is a
non-confined airspace or even near-space environment which includes
all main layers of the Earth's atmosphere including the
troposphere, the stratosphere, the mesosphere, the thermosphere and
the exosphere.
[0078] In some embodiments, the navigation module controls routing
of the conveyance system of the robots in the fleet in the
unstructured open or closed environments.
The Fleet Management Module
[0079] In some embodiments of the robot fleet 100, the fleet
includes a fleet management module 120 (associated with a central
server) for coordination of the robot fleet 100 and assignment of
tasks for each robot 101 in the fleet. The fleet management module
coordinates the activity and positioning of each robot in the
fleet. In addition to communicating with the robot fleet, fleet
owner/operator and/or user, the fleet management module also
communicates with providers/vendors/businesses and customers to
optimize behavior of the entire system.
[0080] The fleet management module works in coordination with a
central server 110, typically located in a central operating
facility owned or managed by the fleet owner 200.
[0081] As illustrated in FIG. 11, in one embodiment, a request is
sent to a main server 110 (typically located at the fleet owner's
or fleet manager's location), which then communicates with the
fleet management module 120. The fleet management module then
relays the request to the appropriate provider 204 of the service
(e.g., restaurant, delivery service, vendor or retailer) and an
appropriate robot or robots 101 in the fleet. The best appropriate
robot(s) in the fleet within the geographic region and typically
closest to the service provider, is then assigned the task, and the
provider of the service 204 then interacts with that robot 101 at
their business (e.g., loading it with goods, if needed). The robot
then travels to the customer 202 and the customer interacts with
the robot to retrieve their goods or service (e.g., the goods
ordered). An interaction can include requesting the robot to open
its compartment 102, 104 through the customer's app or through a
user interface on the robot itself (using, e.g., RFID reader and
customer phone, a touchpad, a keypad, voice commands, vision-based
recognition of the person, etc.). Upon completion of the delivery
(or retrieval, if appropriate), the robot reports completion of the
assignment and reports back to the fleet management module for
re-assignment.
[0082] As further illustrated in FIG. 12, and previously noted, in
some embodiments, the fleet management module 120 handles
coordination of the robot fleet 100 and assignment of tasks for
each robot 101 in the fleet. The fleet management module
coordinates the activity and positioning of each robot in the
fleet. The fleet management module also communicates with
vendors/businesses 204 and customers 202 to optimize behavior of
entire system. It does this by utilizing the robot's processor 125
to process the various inputs and outputs from each of the robot's
systems and modules, including: the conveyance system 130, the
power system 135, the navigation module 140, the sensor system 170,
175, the communication module 160, and the controller 150, to
effectively manage and coordinate the various functions of each
robot in the fleet.
[0083] In some embodiments, the robot may be requested for a
pick-up of an item (e.g., a document) with the intent of delivery
to another party. In this scenario, the fleet management module
would assign the robot to arrive at a given location, assign a
securable compartment for receipt of the item, confirm receipt from
the first party to the fleet management module, then proceed to the
second location where an informed receiving party would recover the
item from the robot using an appropriate PIN or other recognition
code to gain access to the secure compartment. The robot would then
reports completion of the assignment and report back to the fleet
management module for re-assignment.
Conveyance Systems
[0084] Each robot vehicle 101 in the fleet includes a conveyance
system 130 (e.g., a drive system with a propulsion engine, wheels,
treads, wings, rotors, blowers, rockets, propellers, brakes,
etc.).
[0085] As noted previously, the robot fleet is configurable for
land, water or air. Typical vehicles include cars, wagons, vans,
unmanned motor vehicles (e.g., tricycles, trucks, trailers, buses,
etc.), unmanned railed vehicles (e.g., trains, trams, etc.),
unmanned watercraft (e.g., ships, boats, ferries, landing craft,
barges, rafts, etc.), aerial drones, unmanned hovercraft (air,
land, and water types), unmanned aircraft, and unmanned
spacecraft.
[0086] In one exemplary embodiment, a robot land vehicle 101 is
configured with a traditional 4-wheeled automotive configuration
comprising conventional steering and braking systems. The drive
train is configurable for standard 2-wheel drive or 4-wheel
all-terrain traction drive. The propulsion system (engine) is
configurable as a gas engine, a turbine engine, an electric motor
and/or a hybrid gas/electric engine. Alternatively, the robot could
be configured with an auxiliary solar power system 135 to provide
back-up emergency power or power for minor low-power
sub-systems.
[0087] Alternative configurations of components to a total drive
system with a propulsion engine could include wheels, treads,
wings, rotors, blowers, rockets, propellers, brakes, etc.
[0088] In some embodiments, the robot fleet is configured for water
travel as a watercraft with a propulsion system (engine) that is
configurable as a gas engine, a turbine engine, an electric motor
and/or a hybrid gas/electric engine and is further configured with
a propeller.
[0089] In some embodiments, the robot fleet is configured for hover
travel as an over-land or over-water hovercraft or an air-cushion
vehicle (ACV) and is configured with blowers to produce a large
volume of air below the hull that is slightly above atmospheric
pressure. The propulsion system (engine) is configurable as a gas
engine, a turbine engine, an electric motor and/or a hybrid
gas/electric engine.
[0090] In some embodiments, the robot fleet is configured for air
travel as an aerial drone or aerial hovercraft and is configured
with wings, rotors, blowers, rockets, and/or propellers and an
appropriate brake system. The propulsion system (engine) is
configurable as a gas engine, a turbine engine, an electric motor
and/or a hybrid gas/electric engine.
The Power System
[0091] In some embodiments, each robot of the robot fleet is
configured with one or more power sources, which include the power
system 135 (e.g., battery, solar, gasoline, propane, etc.).
Navigation Module
[0092] Each robot in the fleet further includes a navigation module
140 for navigation in the unstructured open or closed environments
(e.g., digital maps, HD maps, GPS, etc.). In some embodiments, the
fleet 100 relies on maps generated by the user, operator, or fleet
operator, specifically created to cover the intended environment
where the robot is configured to operate. These maps would then be
used for general guidance of each robot in the fleet, which would
augment this understanding of the environment by using a variety of
on-board sensors such as cameras, LiDAR, altimeters or radar to
confirm its relative geographic position and elevation.
[0093] In some embodiments, for navigation, the fleet of robots
uses internal maps to provide information about where they are
going and the structure of the road environment (e.g., lanes, etc.)
and combine this information with onboard sensors (e.g., cameras,
LiDAR, radar, ultrasound, microphones, etc.) and internal computer
processing to constantly determine where they can safely navigate,
what other objects are around each robot and what they may do. In
still other embodiments, the fleet incorporates on-line maps to
augment internal maps. This information is then combined to
determine a safe, robust trajectory for the robot to follow and
this is then executed by the low level actuators on the robot.
[0094] In some embodiments, the fleet relies on a global
positioning system (GPS) that allows land, sea, and airborne users
to determine their exact location, velocity, and time 24 hours a
day, in all weather conditions, anywhere in the world.
[0095] In some embodiments, the fleet of robots will use a
combination of internal maps, sensors and GPS systems to confirm
its relative geographic position and elevation.
[0096] In some embodiments, the autonomous fleet is strategically
positioned throughout a geographic region in anticipation of a
known demand.
[0097] Over time, a user 200 and/or a vendor 204 can anticipate
demand for robot services by storing data concerning how many
orders (and what type of orders) are made at particular times of
day from different areas of the region. This can be done for both
source (e.g., restaurants, grocery stores, general businesses,
etc.) and destination (e.g., customer, other businesses, etc.).
Then, for a specific current day and time, this stored data is used
to determine what the optimal location of the fleet is given the
expected demand. More concretely, the fleet can be positioned to be
as close as possible to the expected source locations, anticipating
these source locations will be the most likely new orders to come
into the system. Even more concretely, it is possible to estimate
the number of orders from each possible source in the next hour and
weight each source location by this number. Then one can position
the fleet so that the fleet optimally covers the weighted locations
based on these numbers.
[0098] In some embodiments of the robot fleet, the positioning of
robots can be customized based on: anticipated use, a pattern of
historical behaviors, or specific goods being carried.
Sensor Systems
[0099] As noted previously, each robot is equipped with a sensor
system 170, which includes at least a minimum number of onboard
sensors (e.g., cameras (for example, those running at a high frame
rate akin to video), LiDAR, radar, ultrasonic sensors, microphones,
etc.) and internal computer processing 125 to constantly determine
where it can safely navigate, what other objects are around each
robot, and what it may do within its immediate surroundings.
[0100] In some embodiments, the robots of the robot fleet further
include conveyance system sensors 175 configured to: monitor drive
mechanism performance (e.g., the propulsion engine); monitor power
system levels 135 (e.g., battery, solar, gasoline, propane, etc.);
or monitor drive train performance (e.g., transmission, tires,
brakes, rotors, etc.).
Communications Module
[0101] Each robot in the fleet further includes a communication
module 160 configurable to receive, store and send data to the
fleet management module, to a user, to and from the fleet
management module 120, and to and from the robots in the fleet 100.
In some embodiments, the data is related to at least user
interactions and the robot fleet interactions, including, for
example, scheduled requests or orders, on-demand requests or
orders, or a need for self-positioning of the robot fleet based on
anticipated demand within the unstructured open or closed
environments.
[0102] In some embodiments, each robot in the fleet includes at
least one communication module configurable to receive, store and
transmit data, and to store that data to a memory device, for
future data transfer or manual download.
[0103] In some embodiments, each business 204 and customer 202 has
their own app/interface to communicate with the fleet operator 200
(e.g., "Nuro customer app" for customers on their phone, "Nuro
vendor app" for businesses on a tablet or phone or their internal
computer system, etc.).
[0104] In some embodiments, the communication to the user and the
robots in the fleet, between the robots of the fleet, and between
the user and the robots in the fleet, occurs via wireless
transmission.
[0105] In some embodiments, the user's wireless transmission
interactions and the robot fleet wireless transmission interactions
occur via mobile application transmitted by an electronic device
and forwarded to the communication module via: a central server, a
fleet management module, and/or a mesh network.
[0106] In some embodiments, one preferred method of communication
is to use cellular communication between the fleet manager and
fleet of robots, (e.g., 3G, 4G, 5G, or the like). Alternatively,
the communication between the fleet control module and the robots
could occur via satellite communication systems.
[0107] In some embodiments, a customer uses an app (either on a
cellphone, laptop, tablet, computer or any interactive device) to
request a service (e.g., an on-demand food order or for a mobile
marketplace robot to come to them).
[0108] In some embodiments, the electronic device includes: a
phone, a personal mobile device, a personal digital assistant
(PDA), a mainframe computer, a desktop computer, a laptop computer,
a tablet computer, and/or wearable computing device such as a
communication headset, smart glasses, a contact lens or lenses, a
digital watch, a bracelet, a ring, jewelry, or a combination
thereof.
Goods and Services
[0109] In some embodiments, the user includes a fleet manager, a
sub-contracting vendor, a service provider, a customer, a business
entity, an individual, or a third party.
[0110] In some embodiments, the services include: subscription
services, prescription services, marketing services, advertising
services, notification services, or requested, ordered or scheduled
delivery services. In particular embodiments, the scheduled
delivery services include, by way of example, special repeat
deliveries such as groceries, prescriptions, drinks, mail,
documents, etc.
[0111] In some embodiments, the services further include: the user
receiving and returning the same or similar goods within the same
interaction (e.g., signed documents), the user receiving one set of
goods and returning a different set of goods within the same
interaction, (e.g., product replacement/returns, groceries,
merchandise, books, recording, videos, movies, payment
transactions, etc.), a third party user providing instruction and
or authorization to a goods or service provider to prepare,
transport, deliver and/or retrieve goods to a principle user in a
different location.
[0112] In some embodiments, the services further include:
advertising services, land survey services, patrol services,
monitoring services, traffic survey services, signage and signal
survey services, architectural building or road infrastructure
survey services.
[0113] In some embodiments, at least one robot is further
configured to process or manufacture goods.
[0114] In some embodiments, the processed or manufactured goods
include: beverages, with or without condiments (such as coffee,
tea, carbonated drinks, etc.); various fast foods; or microwavable
foods.
[0115] In some embodiments, the robots within the fleet are
equipped for financial transactions. These can be accomplished
using known transaction methods such as debit/credit card readers
or the like.
Securable Compartments
[0116] As illustrated in FIG. 2, robots in the fleet are each
configured for transporting, delivering or retrieving goods or
services and are capable of operating in an unstructured open
environment or closed environment. In some embodiments, the vehicle
101 is configured to travel practically anywhere that a small
all-terrain vehicle could travel on land, while providing at least
one and preferably two large storage compartments 102, and more
preferably, at least one large compartment 102 is configured with
smaller internal secure compartments 104 of variable configurations
to carry individual items that are to be delivered to, or need to
be retrieved from customers.
[0117] Alternately, in some embodiments, the vehicle could be
configured for water travel, providing at least one and preferably
two large storage compartments, and more preferably, at least one
large compartment is configured with smaller internal secure
compartments of variable configurations to carry individual items
that are to be delivered to, or need to be retrieved from
customers.
[0118] Further still, in some embodiments, the vehicle could be
configured for hover travel, providing at least one and preferably
two large storage compartments, and more preferably, at least one
large compartment is configured with smaller internal secure
compartments of variable configurations to carry individual items
that are to be delivered to, or need to be retrieved from
customers.
[0119] Further still, in some embodiments, the vehicle could be
configured for aerial drone or aerial hover travel, providing at
least one and preferably two large storage compartments, and more
preferably, at least one large compartment is configured with
smaller internal secure compartments of variable configurations to
carry individual items that are to be delivered to, or need to be
retrieved from customers.
[0120] As illustrated in FIGS. 7-10, in some embodiments, the
securable compartments are humidity and temperature controlled for,
for example, hot goods, cold goods, wet goods, dry goods, or
combinations or variants thereof. Further still, as illustrated in
FIGS. 8-10, the compartment(s) are configurable with various
amenities, such as compartment lighting for night deliveries and
condiment dispensers.
[0121] In some embodiments, the securable compartments are
configurable for various goods. Such configurations and goods
include: bookshelves for books, thin drawers for documents, larger
box-like drawers for packages, and sized compartments for vending
machines, coffee makers, pizza ovens and dispensers.
[0122] In some embodiments, the securable compartments are variably
configurable based on: anticipated demands, patterns of behaviors,
area of service, or types of goods to be transported.
[0123] Further still, each robot includes securable compartments to
hold said goods or items associated with said services, and a
controller 150 configurable to associate each one of the securable
compartments 102, 104 to an assignable customer 202 or provider 204
and provide entry when authorized, Each robot vehicle further
includes at least one processor configured to manage the conveyance
system, the navigation module, the sensor system, instructions from
the fleet management module, the communication module, and the
controller.
[0124] As described previously, each robot is configured with
securable compartments. Alternately, a robot is configurable to
contain a set of goods or even a mobile marketplace (similar to a
mini bar at a hotel).
[0125] When a robot is assigned to a customer 202, one or more of
the compartments 102, 104 is also assigned to that customer. Each
of the large compartments 12 is secured separately and can securely
transport goods to a separate set of customers 202.
[0126] Upon arrival of the robot to the customer destination, the
customer can then open their respective compartment(s) by verifying
their identity with the robot. This can be done through a wide
variety of approaches comprising, but not limited to: [0127] 1. The
customer can be given a PIN (e.g., 4 digit number) when they make
their initial request/order. They can then enter this pin at the
robot using the robot touchscreen or a keypad. [0128] 2. The
customer can verify themselves using their mobile phone and an RFID
reader on the robot. [0129] 3. The customer can verify themselves
using their voice and a personal keyword or key phrase they speak
to the robot. [0130] 4. The customer can verify themselves through
their face, a government ID, or a business ID badge using cameras
and facial recognition or magnetic readers on the robot. [0131] 5.
The customer can verify themselves using their mobile phone; by
pushing a button or predetermined code on their phone (and the
system could optionally detect the customer is near the robot by
using their GPS position from phone)
[0132] Referring now to FIG. 13, there is shown a flow diagram of a
method 1300 for autonomous robot vehicle delivery via a sub-robot
vehicle. Persons skilled in the art will appreciate that one or
more operations of the method 1300 may be performed in a different
order, repeated, and/or omitted without departing from the scope of
the present disclosure. In various embodiments, the illustrated
method 1300 can operate in the central server 110 of FIG. 11, in
the fleet management module 120, or in another server or system. In
various embodiments, some or all of the operations in the
illustrated method 1300 can operate in the robot vehicle 101, such
as using the components of FIG. 12. Other variations are
contemplated to be within the scope of the present disclosure.
[0133] Initially at step 1302, the system communicates instructions
to an autonomous robot vehicle 101 to travel to a destination
location via vehicle roadways. The autonomous robot vehicle can
include the systems shown in FIG. 12, including a land conveyance
system 130 and a navigation module 140, among others. In accordance
with aspects of the present disclosure, the autonomous robot
vehicle 101 carries a sub-robot vehicle 1402 within its exterior
housing, as shown in FIG. 14. The sub-robot vehicle 1402 may
include secure module(s) 1404 configured to store customer items.
The secure module(s) 1404 may include compartment(s) or
sub-compartment(s).
[0134] In various embodiments, the autonomous robot vehicle 101
includes a communication system configured to communicate
wirelessly with the sub-robot vehicle 1402. In various embodiments,
the wireless communication may include Wi-Fi and/or Bluetooth.
Aspects of the autonomous robot vehicle 101 are described above
herein, including aspect relating to navigation and autonomous
travel. In accordance with aspects of the present disclosure, such
aspects of an autonomous robot vehicle 101 apply also the sub-robot
vehicle 1402.
[0135] In various embodiments, the sub-robot vehicle 1402 is
carried within the exterior housing of the autonomous robot vehicle
101 while the autonomous robot vehicle 101 autonomously travels on
vehicle roadways to the destination location. The destination
location can be, for example, a customer home address or a GPS
location. In various embodiments, the destination location may
include, for example a securable drop-box, a residential address,
and/or a commercial address.
[0136] In various embodiments, the sub-robot vehicle 1402 includes
module(s) 1404 that are securable and configured to unlock using
biometric data corresponding to a recipient. In various
embodiments, the recipient is a person who receives an item from
delivery. In various embodiments, the sub-robot vehicle 1402
receives an item corresponding to a purchase order prior to the
autonomous robot vehicle 101 traveling to the destination
location.
[0137] In various embodiments, the autonomous robot vehicle 101
also includes module(s) 102 that are securable and configured to
unlock using biometric data corresponding to a recipient. In
various embodiments, the robot vehicle 101 can receive an item in a
sub-compartment for delivery. In various embodiments, the robot
vehicle 101 can determine which compartment 102 or sub-compartment
to assign to a particular item based on the description of the
item, which may include dimension information and weight
information. In various embodiments, the autonomous robot vehicle
101 receives an item corresponding to a purchase order prior to the
autonomous robot vehicle 101 traveling to the destination
location.
[0138] In various embodiments, the autonomous robot vehicle 101 can
determine that particular roadways should be avoided on the way to
the destination location. For example, such a determination can be
performed by the navigation system of the autonomous robot vehicle
101. The determination to avoid the particular roadways can include
stopping away from the destination location. In such a situation,
the sub-robot vehicle 1402 can operate to travel the remaining
distance to the destination location via pedestrian terrain, such
as sidewalks. For example, the autonomous robot vehicle 101 may
determine that it should avoid certain roadways and should stop
away from the destination location. In another example, the
autonomous robot vehicle 101 may determine that certain stopping
points may be more ideal for route optimization. For example, if
the autonomous robot vehicle 101 is carrying two orders, it may
first stop and give the sub-robot 1402 the first order, and the
autonomous robot vehicle 101 and sub-robot vehicle 1402 could
simultaneously deliver orders at the same time. Accordingly, in
various embodiments, while the sub-robot vehicle 1402 is traveling
to the destination location, the autonomous robot vehicle 101 can
travel to a second destination at the same time that the sub-robot
vehicle 1402 travels the remaining distance to the customer pickup
location.
[0139] At step 1304, the system receives an indication from the
autonomous robot vehicle that it has arrived at the destination
location or arrived at a location proximate to but away from the
destination location. When the autonomous robot vehicle 101 arrives
at the destination location, it may communicate a signal to the
system that it has arrived. In various embodiments, the sub-robot
vehicle 1402 also includes a navigation system.
[0140] In accordance with aspects of the present disclosure, after
the autonomous robot vehicle 101 reaches the destination location
or stops in proximity to but away from the destination location, at
step 1306, the sub-robot vehicle 1402 can exit the autonomous robot
vehicle 101 and travel on pedestrian terrain to deliver a customer
item. The sub-robot vehicle 1402 can be configured to travel on
various types of pedestrian terrain, such as sidewalks, lawns,
stairs, driveways, and/or unpaved walkways, among others. The
sub-robot vehicle 1402 can deliver the customer item to a customer
pickup location at the destination location.
[0141] In various embodiments, the customer pickup location at the
destination location may be, for example, a front door, a front
porch, a street curb near the customer pick up location, a side
door, a driveway, or another location or entry-way at a destination
location. For example, this may be specified by a customer prior to
pick up (e.g., customer would like item to be dropped off on front
porch vs. side door). In various embodiments, if a customer does
not specify a pickup location at the destination location, the
sub-robot vehicle 1402 and/or the autonomous robot vehicle 101 (if
it is close enough) may detect surrounding conditions and determine
drop-off location based on pathway conditions (e.g., fences,
shrubs, stairs) and what they consider the ideal location.
[0142] In various embodiments, the system receives an indication
from a user device specifying the customer pickup location and
determines a customer pickup location based on the indication. In
various embodiments, the user device may be a mobile phone, a
tablet, a laptop, or other mobile device. In various embodiments,
the user may interact with the autonomous robot vehicle 101 and/or
sub-robot vehicle 1402 using a user device. For example, a
recipient may unlock the securable compartment of the autonomous
robot vehicle 101 and/or sub-robot vehicle 1402 when it delivers an
item.
[0143] In various embodiments, the autonomous robot vehicle 101
and/or the sub-robot vehicle 1402 may determine the customer pickup
location based on the surrounding environment at the destination
location. In various embodiments, the surrounding environment of
the destination location may include, for example, fences, shrubs,
landscaping, lawns, driveways, stairways, and/or unpaved walkways.
For example, if the destination location has a shrub blocking the
way to a side door, then the sub-robot vehicle 1402 or the
autonomous robot vehicle 101 may determine that the front door may
be a better customer pickup location.
[0144] In various embodiments, the autonomous robot vehicle 101 may
carry multiple sub-robot vehicles 1402, and each sub-robot vehicle
1402 may be configured to travel on different types of pedestrian
terrain. For example, one sub-robot vehicle may be configured to
travel on lawns, while another sub-robot vehicle may be configured
to climb stairs. Other sub-robot vehicles are contemplate for
different types of terrain or pedestrian terrain. Accordingly, a
few different types of sub-robot vehicles 1402 may be stored in the
autonomous robot vehicle 101, and the appropriate autonomous robot
vehicle 101/sub-robot vehicles 1402 combination can be deployed
based on either customer request of drop-off location. In various
embodiments, the appropriate autonomous robot vehicle 101/sub-robot
vehicles 1402 combination is based an assessment of what the
expected terrain at the destination location will be.
[0145] The embodiments and descriptions of sub-robot vehicles and
autonomous robot vehicles carrying and deploying sub-robot vehicles
are exemplary and do not limit the scope of the present disclosure.
Variations and combinations of various embodiments are contemplated
to be within the scope of the present disclosure.
Controller(s) and Processor(s)
[0146] In some embodiments, each robot in the robot fleet is
equipped with one or more processors 125 capable of both high-level
computing for processing as well as low-level safety-critical
computing capacity for controlling the hardware. The at least one
processor is configured to manage the conveyance system, the
navigation module, the sensor system, instructions from the fleet
management module, the communication module and the controller.
[0147] Further still, in some embodiments, each robot in the robot
fleet is equipped with a controller 150 configurable to associate
each one of the securable compartments 102, 104 to an assignable
customer 202 or provider 204 and provide entry when authorized.
Additional Features
[0148] In some embodiments, the robot fleet further includes at
least one robot having a digital display for curated content
comprising: advertisements (i.e., for both specific user and
general public), including services provided, marketing/promotion,
regional/location of areas served, customer details, local
environment, lost, sought or detected people, public service
announcements, date, time, or weather.
[0149] The embodiments disclosed herein are examples of the
disclosure and may be embodied in various forms. For instance,
although certain embodiments herein are described as separate
embodiments, each of the embodiments herein may be combined with
one or more of the other embodiments herein. Specific structural
and functional details disclosed herein are not to be interpreted
as limiting, but as a basis for the claims and as a representative
basis for teaching one skilled in the art to variously employ the
present disclosure in virtually any appropriately detailed
structure. Like reference numerals may refer to similar or
identical elements throughout the description of the figures.
[0150] The phrases "in an embodiment," "in embodiments," "in
various embodiments," "in some embodiments," or "in other
embodiments" may each refer to one or more of the same or different
embodiments in accordance with the present disclosure. A phrase in
the form "A or B" means "(A), (B), or (A and B)." A phrase in the
form "at least one of A, B, or C" means "(A); (B); (C); (A and B);
(A and C); (B and C); or (A, B, and C)."
[0151] Any of the herein described methods, programs, algorithms or
codes may be converted to, or expressed in, a programming language
or computer program. The terms "programming language" and "computer
program," as used herein, each include any language used to specify
instructions to a computer, and include (but is not limited to) the
following languages and their derivatives: Assembler, Basic, Batch
files, BCPL, C, C+, C++, Delphi, Fortran, Java, JavaScript, machine
code, operating system command languages, Pascal, Perl, PL1,
Python, scripting languages, Visual Basic, metalanguages which
themselves specify programs, and all first, second, third, fourth,
fifth, or further generation computer languages. Also included are
database and other data schemas, and any other meta-languages. No
distinction is made between languages which are interpreted,
compiled, or use both compiled and interpreted approaches. No
distinction is made between compiled and source versions of a
program. Thus, reference to a program, where the programming
language could exist in more than one state (such as source,
compiled, object, or linked) is a reference to any and all such
states. Reference to a program may encompass the actual
instructions and/or the intent of those instructions.
[0152] The systems described herein may also utilize one or more
controllers to receive various information and transform the
received information to generate an output. The controller may
include any type of computing device, computational circuit, or any
type of processor or processing circuit capable of executing a
series of instructions that are stored in a memory. The controller
may include multiple processors and/or multicore central processing
units (CPUs) and may include any type of processor, such as a
microprocessor, digital signal processor, microcontroller,
programmable logic device (PLD), field programmable gate array
(FPGA), or the like. The controller may also include a memory to
store data and/or instructions that, when executed by the one or
more processors, cause the one or more processors to perform one or
more methods and/or algorithms.
[0153] It should be understood that the foregoing description is
only illustrative of the present disclosure. Various alternatives
and modifications can be devised by those skilled in the art
without departing from the disclosure. Accordingly, the present
disclosure is intended to embrace all such alternatives,
modifications and variances. The embodiments described with
reference to the attached drawing figures are presented only to
demonstrate certain examples of the disclosure. Other elements,
steps, methods, and techniques that are insubstantially different
from those described above and/or in the appended claims are also
intended to be within the scope of the disclosure.
* * * * *