U.S. patent application number 15/361042 was filed with the patent office on 2019-06-06 for method for re-mapping safe and traversable routes.
The applicant listed for this patent is Nova Dynamics, LLC. Invention is credited to Joseph Sullivan.
Application Number | 20190170518 15/361042 |
Document ID | / |
Family ID | 64096516 |
Filed Date | 2019-06-06 |
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United States Patent
Application |
20190170518 |
Kind Code |
A9 |
Sullivan; Joseph |
June 6, 2019 |
Method for Re-mapping Safe and Traversable Routes
Abstract
A method for manually or semi-manually re-mapping an urban
environment during delivery operations by an autonomous vehicle is
provided herein. In an embodiment of the invention, an autonomous
delivery vehicle performs delivery operations within an urban
environment. The urban environment can comprise a city or a portion
of a city such as a neighborhood. The autonomous vehicle traverses
along a previously mapped and scanned route that has been
determined to be safe and traversable for the delivery vehicle. As
it traverses the route, the delivery vehicle scans the route again
using the same sensors that were used to scan the route initially.
If a sensor delta is exceeded, the vehicle may execute any one or
combination of notifying an operator, deciding, choosing a
different route, continuing, or executing a contingency plan.
Inventors: |
Sullivan; Joseph;
(Philomath, OR) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Nova Dynamics, LLC |
Cheyenne |
WY |
US |
|
|
Prior
Publication: |
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Document Identifier |
Publication Date |
|
US 20180328743 A1 |
November 15, 2018 |
|
|
Family ID: |
64096516 |
Appl. No.: |
15/361042 |
Filed: |
November 24, 2016 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
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62259152 |
Nov 24, 2015 |
|
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60W 2050/143 20130101;
G01C 21/32 20130101; G05D 1/0214 20130101; B60W 50/14 20130101;
G06F 16/29 20190101; G05D 1/0088 20130101; G06K 9/00805 20130101;
G05D 2201/0213 20130101; G06Q 10/083 20130101; G01C 21/3415
20130101 |
International
Class: |
G01C 21/32 20060101
G01C021/32; G01C 21/34 20060101 G01C021/34; B60W 50/14 20060101
B60W050/14; G05D 1/00 20060101 G05D001/00; G05D 1/02 20060101
G05D001/02; G06Q 10/08 20060101 G06Q010/08; G06K 9/00 20060101
G06K009/00; G06F 17/30 20060101 G06F017/30 |
Claims
1. A method for re-mapping a safe and traversable route comprising:
traversing a route using an autonomous vehicle; gathering data from
at least one sensor, the sensor being mounted on the autonomous
vehicle; comparing the data from the sensor to data gathered from
the sensor during a previous traversal of the route; alerting a
human controller; reviewing the data gathered from the sensor, the
reviewing of the data being performed at least in part by a human;
updating the route; and storing the updated route in an electronic
memory.
2. The method of claim 1 wherein the autonomous vehicle is an
autonomous delivery vehicle capable of carrying a cargo from an
origin to a destination.
3. The method of claim 1 wherein the sensor is one sensor within a
sensor array.
4. The method of claim 1 further comprising alerting the human
controller if an intervention delta is exceeded.
5. The method of claim 1 further comprising using the data gathered
from the sensor to update the intervention delta.
6. The method of claim 1 wherein updating the route means choosing
a different route for the autonomous vehicle to use when traversing
from the same origin to the same destination.
7. A method for updating a route used by an autonomous delivery
vehicle to deliver cargo from an origin to a destination
comprising: a first step in which information about a route is
retrieved from a database; a second step transferring the
information to the autonomous delivery vehicle; a third step in
which the autonomous delivery vehicle traverses from the origin to
the destination along the route; a fourth step comprising gathering
data from a sensor located on the autonomous delivery vehicle; a
fifth step comprising comparing the gathered sensor data to data
retrieved from the database; a sixth step in which a human reviews
the gathered sensor data; and a seventh step of updating the route
from the origin to the destination and saving the updated route in
the database.
8. The method of claim 7 wherein the information about the route
includes an intervention delta.
9. The method of claim 8 wherein the intervention delta is a
maximum safe operating threshold for data gathered from the
sensor.
10. The method of claim 9 further comprising comparing the gathered
sensor data to data retrieved from the database to determine
whether the intervention delta has been exceeded.
11. The method of claim 10 further comprising notifying a human
operator if the intervention delta has been exceeded.
12. The method of claim 11 further comprising the human operator
assuming manual control of the autonomous delivery vehicle.
13. The method of claim 8 further comprising an eighth step of
updating intervention delta and saving the updated intervention
delta in the database.
14. A method for re-mapping a safe and traversable route if an
object or condition encountered along the path of an autonomous
delivery vehicle exceeds an intervention delta comprising:
retrieving route information and a sensor intervention delta from a
database; transferring the route information and sensor
intervention delta to the autonomous delivery vehicle; causing the
autonomous vehicle to traverse a route corresponding to the
retrieved route information and intervention delta; scanning the
autonomous delivery vehicle's environment using a sensor attached
to the autonomous delivery vehicle as the autonomous delivery
vehicle traverses the route; comparing data gathered from the
sensor to the route information retrieved from the database;
determining whether the sensor data exceeds the retrieved
intervention delta; using the sensor data to either 1. update the
intervention delta or 2. developing a new route from the same
origin and destination for future use by autonomous delivery
vehicles, where the updating of the intervention delta or the
developing of the new route is performed, in part, by a person; and
storing either the updated intervention delta, the adjusted route,
or both in the database.
15. The method of claim 14 wherein the autonomous delivery vehicle
is a robot.
16. The method of claim 14 wherein further comprising notifying a
human controller if the intervention delta is exceeded.
17. The method of claim 14 wherein the sensor is one of a plurality
of sensors within a sensor array.
18. The method of claim 17 wherein the sensor is one of a radar, a
lidar, a sonar, a GPS sensor, an odometer, or a video recording
device.
19. The method of claim 14 the person utilizes a computer algorithm
to assist in the updating of the intervention delta or the
developing of a new route.
20. The method of claim 14 further comprising placing the
autonomous vehicle in an alert mode.
Description
CROSS REFERENCES TO RELATED APPLICATIONS
[0001] This application claims priority to U.S. Provisional Patent
Application Ser. No. 62/259,152 filed on Nov. 24, 2015 entitled
"Product Delivery System and Apparatus", the disclosure of which is
hereby incorporated by reference.
BACKGROUND OF THE INVENTION
[0002] The present invention relates generally to re-mapping a
cargo delivery route, and more particularly to a method for
re-mapping a safe and traversable route during delivery operations
by an autonomous delivery vehicle.
BACKGROUND ART
[0003] Mobile robots are becoming more and more commonplace in
society. It will be understood that these robots can be embodied in
a variety of forms, such as in automated vacuum cleaners. A variety
of applications can be found for mobile robots, such as, but not
limited to, entertainment applications, such as toy robots, utility
applications in environments that are unfriendly to humans, such as
space, deep water, cold temperature, radiation, chemical exposure,
biohazards, etc., dangerous tasks such as defusing of potential
explosives, operation in confined spaces, such as collapsed
buildings, the performance of menial tasks, such as cleaning, etc.
Conventional robots that are mobile do not include automated
localization and/or mapping functionality.
[0004] Localization techniques refer to processes by which a robot
determines its position with respect to its surroundings. For
example, in a "pure" localization system, the robot is provided
with a map of its surroundings. Many environments are not static.
For example, the rearranging of furniture in a room can render a
preexisting map unusable. Thus, maps in pure localization systems
are subject to relatively frequent and costly updates such that the
map accurately represents its surroundings.
[0005] Mapping techniques relate to processes by which a robot
builds a map of its surroundings. A robot that can autonomously
build a map of its surroundings and can localize itself within the
map can advantageously exhibit a relatively high degree of
autonomy. Moreover, such a robot can advantageously adapt to
changes in its surroundings. Navigation systems using position
locating means associated with route position status are disclosed
in U.S. Pat. No. 5,231,584 by Nimura et al, U.S. Pat. No. 5,262,775
by Tamai et al, and by U.S. Pat. No. 5,243,529 by Kashiwazaki.
Nimura discloses a system for displaying a course guidance for a
route between a departure point and a destination point from a map
stored on a CD-ROM. Tamai discloses a system for displaying a
message indicating a vehicle's deviation from a calculated optimal
route and recomputing a new optimal route toward a destination.
Navigation guidance information is displayed for the driver of the
vehicle to use in following the new optimal route. Kashiwazaki
discloses a system for displaying map information to aid a driver
of a vehicle to reach a next schedule destination from a current
location, according to a predefined schedule.
[0006] Because maps in pure localization systems are frequently
made unusable, and because robots are capable of limited
decision-making, it would be advantageous if a robot-based system
for navigation autonomous route correction was derived.
[0007] Notification by exception is a well-known and accepted
strategy for minimizing communication traffic between a central
station and remote units. It would be an advantage to have a system
to automatically notify the central station only when a significant
deviation from expected norms were experienced by a delivery
vehicle. Such as system would reduce human operator overhead
thereby reducing operating costs.
[0008] The present invention remedies the shortcomings of the prior
art by providing a method in which an autonomous delivery vehicle
can make minor route-change decisions, but defers to a human
operator when the route conditions are drastically altered.
BRIEF SUMMARY OF THE INVENTION
[0009] The present invention provides for manually or semi-manually
re-mapping a route within an urban environment during delivery
operations. In an embodiment of the invention, an autonomous
delivery vehicle performs delivery operations within an urban
environment. The urban environment can comprise a city or a portion
of a city such as a neighborhood. The autonomous vehicle traverses
along a previously mapped and scanned route that has been
determined to be safe and traversable for the delivery vehicle. As
it traverses the route, the delivery vehicle scans the route again
using the same sensors that were used to scan the route initially.
If a sensor delta is exceeded, the vehicle may execute any one or
combination of notifying an operator, deciding, choosing a
different route, continuing, or executing a contingency plan.
[0010] An embodiment of the present invention also provides for
updating a memory containing a plurality of routes that are known
to be safe and traversable. Whether the memory is updated depends
on the nature and severity of the occurrence that caused the sensor
delta to be exceeded. If the memory is updated, the update reflects
a change in the route from an origin to a destination. Autonomous
delivery vehicles that must deliver to the same destination from
the same origin will be provided with the updated route to use
during operation. The process of scanning for abnormalities along
the route continues during future delivery operations.
[0011] Other novel features which are characteristics of the
invention, as to organization and method of operation, together
with further and advantages thereof will be better understood from
the following description considered in connection with the
accompanying figures, in which preferred embodiments of the
invention are illustrated by way of example. It is to be expressly
understood, however, that the figures are for illustration and
description only and are not intended as a definition of the limits
of the invention. The various features of novelty which
characterize the invention are pointed out with particularity in
the following description. The invention resides not in any one of
these features taken alone, but rather in the combination of all
its structures for the functions specified.
BRIEF DESCRIPTION OF THE FIGURES
[0012] FIG. 1 is a flowchart showing the steps in a method for
re-mapping a safe and traversable route during delivery operations
as according to an embodiment of the present invention.
[0013] FIG. 2 is a map showing a safe and traversable route used
during delivery operations as according to an embodiment of the
present invention.
[0014] FIG. 3 is a flowchart showing the operating and intervention
delta analysis procedure for each sensor in a sensor array as
according to an embodiment of the present invention.
[0015] FIG. 4 is there is shown a flowchart with the steps taken if
an intervention delta is exceeded during traversal of route during
delivery operations by a delivery vehicle thereby resulting in
re-mapping operations as according to an embodiment of the present
invention.
[0016] FIG. 5 is a diagram showing the primary components and
exemplary attributes in a method for re-mapping a safe and
traversable route during delivery operations as according to an
embodiment of the present invention.
[0017] A further understanding of the present invention can be
obtained by reference to a preferred embodiment set forth in the
accompanying description. Although the illustrated embodiments are
merely exemplary of methods for carrying out the present invention,
both the organization and method of operation of the invention, in
general, together with further objectives and advantages thereof,
may be more easily understood by reference to the illustrations and
the following description. The figures are not intended to limit
the scope of this invention, but merely to clarify and exemplify
the invention.
DETAILED DESCRIPTION OF THE INVENTION
[0018] In the following detailed description, reference is made to
specific embodiments in which the invention may be practiced. These
embodiments are described in sufficient detail to enable those
skilled in the art to practice the invention. It is to be
understood that the various embodiments of the invention, although
different, are not necessarily mutually exclusive. Furthermore, a
feature, structure, or characteristic described herein in
connection with one embodiment may be implemented within other
embodiments without departing from the scope of the invention. In
addition, it is to be understood that the location or arrangement
of individual elements within each disclosed embodiment may be
modified without departing from the scope of the invention. The
following detailed description is, therefore, not to be taken in a
limiting sense.
[0019] The word "exemplary" is used herein to mean "serving as an
example, instance, or illustration." Any embodiment described
herein as "exemplary" is not necessarily to be construed as
preferred or advantageous over other embodiments. Likewise, the
terms "embodiment(s) of the invention", "alternative
embodiment(s)", and "exemplary embodiment(s)" do not require that
all embodiments of the method(s) or apparatus include the discussed
feature, advantage or mode of operation. The following description
of the preferred embodiment is merely exemplary in nature and is in
no way intended to limit the invention, its application, or
use.
[0020] There has thus been broadly outlined the more important
features of the invention in order that the detailed description
thereof that follows may be better understood, and in order that
the present contribution to the art may be better appreciated.
There are, of course, additional features of the invention that
will be described hereinafter and which will form additional
subject matter. Those skilled in the art will appreciate that the
conception upon which this disclosure is based may be readily
utilized as a basis for the designing of other structures, methods
and systems for carrying out the purposes of the present invention.
It is important, therefore, that any embodiments of the present
invention be regarded as including such equivalent constructions
insofar as they do not depart from the spirit and scope of the
present invention.
[0021] Further, the purpose of the Abstract herein is to enable the
U.S. Patent and Trademark Office and the public generally, and
especially the scientists, engineers and practitioners in the art
who are not familiar with patent or legal terms or phraseology, to
determine quickly from a cursory inspection the nature and essence
of the technical disclosure of the application. The Abstract is
neither intended to define the invention of this application nor is
it intended to be limiting as to the scope of the invention in any
way.
[0022] Referring now to the present invention, there is introduced
a method for re-mapping a safe and traversable route during
delivery operations. For the purpose of clarity, all like elements
mentioned in this description will have the same designations. The
terms "method for re-mapping a safe and traversable route during
delivery operations", "re-mapping safe and traversable routes",
"method", "invention", and "present invention" may be used
interchangeably. The terms "autonomous delivery vehicle", "delivery
vehicle", "vehicle", and "robot" may also be used interchangeably.
In addition to the functions, features, components, and abilities
of the invention already discussed in this specification, the
invention may also have, but not be limited to, the following
features contained within the description below.
[0023] It is important to note that throughout this Description,
any references to data gathered from a sensor, sensor input, or
data used to generate a delta can refer to an algorithm performed
using data gathered from a sensor, or sensor synthesis. In some
embodiments of the present invention, it is necessary to interpret,
filter, or synthesize raw data to properly understand the meaning
of the data. That is, one or more actions may be performed on
sensor data before decisions regarding the data are made.
[0024] Referring now to FIG. 1, there is shown a flowchart
displaying the steps in a method for re-mapping a safe and
traversable route during delivery operations as according to an
embodiment of the present invention. The method starts (100) when a
delivery must be made. The destination to which the delivery must
be made is determined (101). Determining the delivery destination
(101) may occur by receiving a delivery address, a business name, a
set of coordinates, or the like. The destination is within an urban
area that has been previously mapped. An origin from which a route
originates is also within the urban area. Prior to making the
present delivery, the route from the origin to the delivery
destination was previously mapped, scanned, and the route
information stored in an electronic memory, such as a database
(110), that is hosted on an electronic computing device. Scanning
of the route was performed by using a sensor array containing a
plurality of sensors. The sensors can include, but are not limited
to, a Global Positioning System (GPS) sensor, radar, a visual
recording device, an odometer, and a sonar sensor. Scanned
information is stored in the database (110) and can include not
only the information from the sensor array, but additional
information such as, but not limited to cardinal direction, turn
directions, landmarks, terrain information, environment
information, chronological information, and the like.
[0025] Route information that will allow a delivery vehicle to
safely traverse from the origin to the destination is retrieved
from the database (110) by executing a series of machine
instructions that cause the electronic computing device hosting the
database (110) to physically configure its memory components so
that they enter a "read" mode and read the stored route
information. The read stored route information is used by the
delivery vehicle to make the delivery to the destination.
[0026] The delivery vehicle is autonomous delivery vehicle, such as
a robot, that receives the stored route information and uses the
information to safely traverse from origin to destination (103).
Routes retrieved from the database (110) are considered to be safe
and traversable and are approved for use by delivery vehicles.
[0027] During traversal of the route, the delivery vehicle scans
the route again (104) using at least some of, if not all of, the
same sensors that were used to generate the information stored in
the database (110). The delivery vehicle carries with it a sensor
array containing the sensors and uses the array to gather the new
data (104).
[0028] The data gathered during the current traversal of the route
is compared to the old data (105), the old data being the route
information retrieved from the database (110). As long as the
comparison between the new and the old data, the newly gathered
data from the sensor array and the data gathered previously by a
similar sensor array, do not exceed an operating or an intervention
delta (106, 107), then the delivery vehicle continues along the
approved route (103) toward its destination.
[0029] While traversing its route, the delivery vehicle scans its
immediate area using a sensor array. Data gathered from the array
is compared against data (105) collected during a mapping phase of
the route. During the mapping phase, some or all of the sensors
presently on the automated delivery vehicle were used to build a
profile of the route. The profile was stored to the database (110)
after creation. The profile is retrieved from the database (110)
and transferred to the delivery vehicle so that the delivery
vehicle could make its delivery.
[0030] The scanned data is compared against the stored profile
(105) while the vehicle traverses its route (103). The profile was
initially created by scanning the route at least once and creating
a maximum safe tolerance for the data collected by each sensor. In
the present invention, if data collected from any of the individual
sensors within the array during delivery operations exceeds the
preset safe tolerance for that sensor, that sensors operating
tolerance is exceeded (106). In some embodiments of the present
invention, when any operating delta is exceeded the delivery
vehicle enters an alert mode. In other embodiments of the present
invention, it may be possible to exceed one or more operating
deltas without entering the alert mode.
[0031] In the alert mode, the vehicle may choose to follow a
contingency plan. The contingency plan contains instructions that
inform the robot how best to proceed such as, but not limited to,
reducing speed, crossing the street, taking an alternate route,
remaining motionless, and the like. The contingency plan may be
dynamic and call for the vehicle to make its own decision based on
the sensor input. The contingency plan instructs autonomous
delivery vehicle how to behave until the operating delta(s) return
to normal. When the operating deltas return to normal, the alert
mode is terminated.
[0032] When an operating delta is exceeded (106) a calculation is
performed to determine whether an intervention delta is exceeded
(107). The intervention delta is a value that, when exceeded,
causes the delivery vehicle to alert a human controller (111). The
intervention delta is contained within the route profile and
retrieved from the database (110) prior to the vehicle traversing
the route (103) to the destination. Data gathered from each sensor
within the delivery vehicle's sensor array is compared against an
intervention delta unique to that sensor. That is, a radar sensor
may have a different intervention delta than a sonar sensor.
[0033] Once the human controller is alerted (111) the controller
receives information regarding the circumstances or condition of
the vehicle. A manual operation mode (112) may be entered where the
controller manually assumes control of the vehicle operating it
remotely. If the manual operation mode (112) is entered and the
operator takes control, the operator may drive the vehicle until
the hazard or obstacle that caused the intervention delta to be
exceeded is avoided, or may take a different action as appropriate
for the situation. The operator will attempt to avoid damage to the
delivery vehicle, injury to people, or damage to objects in the
vehicle's area. The operator will also attempt to complete the
delivery if possible.
[0034] During manual operation (112) data gathered from the
delivery vehicle's sensors (104) will be reviewed autonomously,
semi-autonomously, or manually to decide whether to re-commit the
newly gathered data to the database so that the route to that
destination is altered (114), or so that operating or intervention
delta is adjusted. Data from one or a plurality of the sensors may
be reviewed and re-committed to the database as deemed appropriate
for the situation.
[0035] Once the delivery vehicle's destination is reached (108) the
method illustrated in this FIG. 1 ends (109).
[0036] Referring now to FIG. 2, there is shown a map with a safe
and traversable route (116) used during delivery operations as
according to an embodiment of the present invention. An autonomous
delivery vehicle will begin delivery operations by departing from
an origin (115) and traversing along the route (116) to a
destination (117). This route (116) was mapped and scanned prior to
the delivery vehicle engaging in delivery operations. This route
may also have been adjusted after a previous delivery attempt to
the same destination (117) from the same origin (115) caused an
intervention delta to be exceeded as illustrated in FIG. 1 (107).
During manual operation of the delivery vehicle, data gathered by
the vehicle may have been reviewed then recommitted to a database
resulting in creation of the present route (116).
[0037] This process of re-scanning a route occurs and possibly
re-mapping the route if unsafe conditions are met occurs during
each delivery operation of the autonomous vehicle. New or
previously undetected conditions may arise that require subsequent
delivery attempts from the origin (115) to the destination (117) to
take a new route. Thus, the path taken by delivery vehicles from
the origin (115) to destination (117) is constantly under review
for unsafe conditions. Unsafe conditions are any obstacles,
features, terrain factors or the like that may cause damage to the
delivery vehicle, injury to people, prevent delivery, or cause
damage to something in the vehicle's environment. It should be
noted that a route that is approved as safe and traversable from
the origin (115) to the destination (117) may not be the fastest
route.
[0038] Referring now to FIG. 3, there is shown and operating and
intervention delta analysis procedure for each sensor in a sensor
array as according to an embodiment of the present invention. The
illustrated procedure is a component of the present invention and
is set forth in greater detail in this FIG. 3.
[0039] The procedure begins (118) when a sensor array (104) gathers
data while an autonomous delivery vehicle is performing delivery
operations. The sensor array (104) contains some or all of the same
sensors what were used to map and scan the route that the delivery
vehicle is presently traversing. In this embodiment of the present
invention, a sonar device (119), a laser (120), a radar device
(121) and a video recorder (122) comprise the sensors within the
array. Data gathered from each sensor (119-122) is compared to data
previously gathered (105) for that device. The previously data may
have been generated during initial scanning of the route, or may
have been generated during a previous delivery operation then saved
when the route or operating deltas of the sensor array were
updated.
[0040] If the comparison of the present device data to the prior
data (105) results in an operating delta being exceeded (106), a
second check is made to determine whether an intervention delta has
also been exceeded (107). If either the operating delta or
intervention delta is exceeded (106, 107), a plurality of actions
may be taken by the autonomous vehicle or by controllers of the
vehicle. The autonomous vehicle may execute a contingency plan,
take an alternate route, notify a controller (111), decrease speed,
or make its own decision on how to proceed. If the controller is
notified (111), then the controller may take manual control of the
vehicle. If the operating delta is exceeded (106), the autonomous
vehicle may execute a contingency plan (123). The procedure ends
when the intervention delta and the operation delta return to a
normal operating range for each sensor (119-122).
[0041] It should be noted that independent comparisons are made,
and if any of the sensors detect data that is not within a normal
operating range then that sensor's operating or intervention delta
may be exceeded (106-107). In an embodiment of the present
invention, if data collected by the sonar device (119) exceed its
operating delta (106), then the steps illustrated in components
(107, 111, 123) are executed. In another embodiment of the present
invention, if data gathered by the video recording device (122)
exceed its operating delta (106) then the steps illustrated in
components (107, 111, 123) are executed.
[0042] Referring now to FIG. 4, there is shown a flowchart with the
steps taken if an intervention delta is exceeded during traversal
of route during delivery operations by a delivery vehicle thereby
resulting in re-mapping operations as according to an embodiment of
the present invention. The steps begin (125) when an intervention
is exceeded (107) during autonomous vehicle delivery operations. An
intervention delta is exceeded (107) generally when an occurrence
of such a magnitude occurs that the autonomous delivery vehicle is
incapable of resolving the situation without human
intervention.
[0043] When the intervention delta is exceeded (107) the delivery
vehicle transmits an alert to a controller (111). The controller is
at a remote location such as the vehicle's origin or at a control
center. The controller receives data from the autonomous vehicle
which can include, but is not limited to, a live video feed,
information from the vehicle's sensor array, GPS data, and the
like. From the received information, the controller can decide
whether to provide additional instructions to the autonomous
vehicle so that the vehicle can resume delivery operations, whether
the alert was a false alarm, or whether to place the vehicle in a
manual operation (112) mode. If a manual operation mode (112) the
controller remotely operates (126) the delivery vehicle in an
effort to mitigate the dangerous or non-traversable conditions that
gave rise to the exceedance of the intervention delta (107).
[0044] Before, during, and after the period when the controller is
controlling (126) the vehicle, additional data is gathered (126)
that will allow the controller, or another decision-making entity,
to adjust the route (113) or update the intervention delta (127) so
that the intervention delta will not be exceeded during future
delivery operations. The decision to update the route (113) or
adjust the deltas (127) may be made manually by a person reviewing
the data, or semi-autonomously by a person with the aid of a
computer-executed algorithm. The decision to adjust the route (113)
or update the delta (127) if the person reviewing the data notices
an occurrence that makes the route no longer safe or traversable.
In an embodiment of the present invention, a person reviewing the
data sees a "road closed" sign in video data retrieved from the
vehicle. The person then decides to update the route (113) by
choosing a different road for the vehicle to traverse.
[0045] The controller can continue to operate the vehicle (126)
until the intervention deltas return to a normal operating range
(128). That is, once data being gathered by one or more sensors in
the vehicle's sensor array does not exceed an intervention
threshold when compared against previously recorded data, the
intervention delta is considered to have returned to normal (128).
When the intervention delta returns to normal (128), manual
operation of the delivery vehicle will terminate (129) and the
vehicle will continue to traverse the route (131) until it reaches
its destination. When the vehicle reaches its destination, the
series of steps set forth in this FIG. 4 ends (132). Although not
pictured, in some embodiments of the present invention manual
operation (112) can continue even when the intervention delta
returns to normal (128). In these embodiments, the controller may
have decided continued manual operation was appropriate under the
given situation.
[0046] If the route is adjusted (113), route information such as
directions, GPS coordinates, the path to take, sensor information
and the like is stored to an electronic memory so that delivery
vehicles making deliveries to the same destination will utilize the
updated route information. The re-scanning and potential updating
of the route (114) is performed on every delivery operation so that
changes in the environment can be identified and potential problems
for future delivery vehicles avoided.
[0047] If the deltas are adjusted (127), sensor information such as
data gathered by a laser sensor, a radar device, a sonar device, a
video camera, a GPS sensor, or an odometer is analyzed and a
revised safe operating threshold is determined for one or more of
the vehicle's sensors. The updated safe operating threshold, the
newly gathered data, or both, are stored in an electronic memory.
Delivery vehicles traversing from the same origin to the new
destination will use the updated sensor thresholds when determining
if their intervention delta has been exceeded (107).
[0048] Referring now to FIG. 5, there is shown diagram setting
forth the primary components and their exemplary attributes in a
method for re-mapping a safe and traversable route during delivery
operations as according to an embodiment of the present invention.
One of the primary components is a route (134) that a delivery
vehicle (135) uses to safely traverse from an origin to a delivery
destination. (133). Along the route (134) the vehicle (135) may
encounter a wide variety of objects (133) that were not present
when the route (134) was initially scanned and safe operating
thresholds for the route were determined. If the safe operating
thresholds are exceeded, one or more deltas (138) are considered to
be exceeded thereby necessitating that an action to be taken. The
deltas (138) are unique to each sensor (137) that a vehicle (135)
possesses. Exceeding the delta (138) may cause the vehicle (135) to
enter an alert mode.
[0049] The presence of new and potentially dangerous objects in the
route (134) may require an operator (139) to assume control of the
vehicle (140). Such objects (133) can include, but are not limited
to fallen trees, vehicles, pedestrians, potholes, aggressive
animals, street closures, and trash or recycling cans. Similarly,
changed conditions (133) such as inclement weather, snow, or ice
may also necessitate the operator (139) to exercise their override
authority (140) and take control of the vehicle (135).
[0050] If the objects or changed conditions do not require operator
(139) intervention, the vehicle (135) will use an on-board
computational device to make a decision (136) as to how best
proceed. If the objects or changed conditions (133) require the
vehicle (135) to contact the operator (139), the vehicle (135) will
transmit an alert to the operator (139).
[0051] Those skilled in the art will appreciate that the
conception, upon which this disclosure is based, may readily be
utilized as a basis for designing other structures, methods, and
systems for carrying out the several purposes of the present
invention. It is important, therefore, that this description be
regarded as including such equivalent constructions insofar as they
do not depart from the spirit and scope of the present
invention.
[0052] Although certain example methods, apparatus, apparatus and
articles of manufacture have been described herein, the scope of
coverage of this application is not limited thereto. On the
contrary, this application covers all methods, apparatus and
articles of manufacture fairly falling within the scope of the
invention either literally or under the doctrine of
equivalents.
[0053] Therefore, the foregoing is considered as illustrative only
of the principles of a method for re-mapping a safe and traversable
route during delivery operations. Further, since numerous
modifications and changes will readily occur to those skilled in
the art, it is not desired to limit the method for re-mapping a
safe and traversable route during delivery operations to the exact
construction and operation described, and accordingly, all suitable
modifications and equivalents may be resorted to, falling within
the scope of the present invention. While the above description
describes various embodiments of the present invention, it will be
clear that the present invention may be otherwise easily adapted to
fit other configurations.
[0054] As various changes could be made in the above constructions
without departing from the scope of the invention, it is intended
that all matter contained in the above description shall be
interpreted as illustrative and not in a limiting sense.
* * * * *