U.S. patent number RE48,294 [Application Number 15/918,112] was granted by the patent office on 2020-11-03 for cooperative system and method for precise autonomous delivery.
This patent grant is currently assigned to Uber Technologies, Inc.. The grantee listed for this patent is Uber Technologies, Inc.. Invention is credited to John Cogliandro, Ronald Douglas Hettich, Daniel Ian Zwillinger.
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United States Patent |
RE48,294 |
Zwillinger , et al. |
November 3, 2020 |
Cooperative system and method for precise autonomous delivery
Abstract
A system for delivery of payload at a precise location by
autonomous delivery vehicle. A machine-readable unique identifier
is laid at a place where a user wants delivery of an item. User
opens a precise delivery app on smartphone, activates the scanner
and standing near the unique identifier scans it. Precise delivery
app reads the unique identity of the unique identifier and collects
the geophysical location of the smartphone. Third party system
feeds this information of the target unique identifier to the
autonomous vehicle. The autonomous delivery vehicle includes a
first prior art navigator and a second scanner navigator. The
autonomous vehicle determines its route to the approximate location
of the target unique identifier with the help of the first prior
art navigator and the second scanner navigator scans every unique
identifier that may be present around that location and guides the
autonomous vehicle to the target unique identifier.
Inventors: |
Zwillinger; Daniel Ian (Newton,
MA), Hettich; Ronald Douglas (Harvard, MA), Cogliandro;
John (Dedham, MA) |
Applicant: |
Name |
City |
State |
Country |
Type |
Uber Technologies, Inc. |
San Francisco |
CA |
US |
|
|
Assignee: |
Uber Technologies, Inc. (San
Francisco, CA)
|
Family
ID: |
56555991 |
Appl.
No.: |
15/918,112 |
Filed: |
March 12, 2018 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
|
Reissue of: |
14934025 |
Nov 5, 2015 |
9412280 |
Aug 9, 2016 |
|
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G08G
5/025 (20130101); G08G 5/025 (20130101); G06Q
10/083 (20130101); G08G 5/0021 (20130101); G08G
5/0026 (20130101); G01S 19/45 (20130101); G08G
5/0069 (20130101); G05D 1/0676 (20130101); G08G
5/0069 (20130101); G06Q 10/083 (20130101); G08G
5/0021 (20130101); G08G 5/00 (20130101); G06K
9/00637 (20130101); B64C 2201/108 (20130101); B64C
2201/108 (20130101); B64C 39/024 (20130101); B64C
2201/027 (20130101); B64D 1/02 (20130101); B64C
2201/128 (20130101); B64C 39/024 (20130101); B64D
1/02 (20130101) |
Current International
Class: |
G08G
5/00 (20060101); G08G 5/02 (20060101); B64C
39/02 (20060101); B64D 1/02 (20060101); G06Q
10/08 (20120101) |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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104737176 |
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Oct 2017 |
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CN |
|
102015104052 |
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Oct 2015 |
|
DE |
|
Other References
European Search Report for 16861697.7, dated May 23, 2019, 8 pages.
cited by applicant.
|
Primary Examiner: Tarae; Catherine M
Attorney, Agent or Firm: Dority & Manning, P.A.
Claims
What is claimed is:
1. A system for delivery of a payload by an autonomous delivery
vehicle, said system comprising: a unique identifier having a
unique identity, wherein said unique identifier is a target unique
identifier placed at a location where delivery of said payload is
desired by a user and said unique identifier is a machine readable
code recognizable in any frequency that lies within a visible
frequency range, an infrared frequency range or an ultra violet
frequency range of an electromagnetic spectrum; a navigation system
included in said autonomous delivery vehicle, said navigation
system comprising a first .[.prior art.]. navigator and a second
scanner navigator; and a third party system, said third party
system providing a unique identifier information to said navigation
system, said unique identifier information comprising said unique
identity of said unique identifier and a geophysical location
information of said location where delivery of said payload is
desired by said user.Iadd., wherein the unique identifier
information is obtained by the third party system based at least in
part on a user code for a user associated with the payload, wherein
said unique identifier information is associated with said user
code and said unique identifier information and said user code are
stored in a precise delivery system server, wherein said unique
identifier information is retrieved by said third party system from
said precise delivery system server by using said user
code.Iaddend.; wherein said first .[.prior art.]. navigator
navigates said autonomous delivery vehicle to said location based
on said geophysical location information and said second scanner
navigator scans said location, locates said target unique
identifier based on said unique identity and then navigates said
autonomous delivery vehicle .[.precisely.]. to said unique
identifier for delivery of said payload.
2. The system as in claim 1, wherein said second scanner navigator
includes an optical scanner, an ultra violet scanner, a radio
frequency scanner, and/or an infra red scanner.
3. The system as in claim 1, wherein said user uses a mobile
computing device to scan said unique identity of said unique
identifier and to send said unique identity to said third party
system.
4. The system as in claim 3, wherein said mobile computing device
is used to obtain said geophysical location information.
.[.5. The system as in claim 1, wherein said unique identifier
information is stored associated with a user code in a precise
delivery system server..].
.[.6. The system as in claim 5, wherein said unique identifier
information is retrieved by said third party system from said
precise delivery system server by using said user code..].
7. The system as in claim 1, wherein said second scanner navigator
finds said target unique identifier based on said unique identity
when said unique identity of said target unique identifier matches
said unique identity included in said unique identifier information
provided by said third party system to said navigation system.
8. A method for delivery of a payload by an autonomous delivery
vehicle, said method comprising: placing of a unique identifier
having a unique identity at a desired location, wherein said unique
identifier is a target unique identifier placed at said desired
location where delivery of said payload is desired by a user and
said unique identifier is a machine readable code recognizable in
any frequency that lies within a visible frequency range, an
infrared frequency range or an ultra violet frequency range of an
electromagnetic spectrum; providing a navigation system to said
autonomous delivery vehicle, said navigation system comprising a
first .[.prior art.]. navigator and a second scanner navigator; and
providing a unique identifier information to said navigation
system, said unique identifier information comprising said unique
identity of said unique identifier and a geophysical location
information of said desired location where delivery of said payload
is desired by said user.Iadd., wherein said unique identify of the
unique identifier located at said desired location is captured via
a camera of a mobile computing device associated with said user and
is sent, by the mobile computing device, to one or more systems
remote from the mobile computing device.Iaddend.; wherein said
first .[.prior art.]. navigator navigates said autonomous delivery
vehicle to said desired location based on said geophysical location
information and said second scanner navigator scans said desired
location, locates said target unique identifier based on said
unique identity and then navigates through a cooperative navigation
said autonomous delivery vehicle .[.precisely.]. to said target
unique identifier for delivery of said payload.
9. The method as in claim 8, wherein said unique identifier
information is provided to said navigation system by a third party
system.
10. The method as in claim 9, wherein said unique identifier
information is provided to said third party system by a precise
delivery system server.
11. The method as in claim 8, wherein said second scanner navigator
includes an optical scanner, an ultra violet scanner, a vibration
scanner, a radio frequency scanner, and/or an infra red
scanner.
12. The method as in claim 9, wherein said user uses .[.a.].
.Iadd.said .Iaddend.mobile computing device to scan said unique
identity of said unique identifier and to send said unique identity
to said third party system.
13. The method as in claim 12, wherein said mobile computing device
is used to obtain said geophysical location information.
14. The method as in claim 10, wherein said unique identifier
information is stored associated with a user code in said precise
delivery system server.
15. The method as in claim 8, wherein said unique identifier
information further comprises data related to contents of said
payload.
16. The method as .[.hi.]. .Iadd.in .Iaddend.claim 8, wherein said
cooperative navigation enables delivery of said payload by said
autonomous delivery vehicle safely when said desired location is a
safe location.
17. The method as in claim 8, wherein said unique identifier is
generated in electronic form by said third party system against
receipt of said geophysical location information and information on
details of said payload entered to a computing device manually by
said user and said third party system sends said unique identifier
in electronic form to said user.
18. The method as in claim 8, wherein said autonomous delivery
vehicle collects an acknowledgement against successful delivery of
said payload from said desired location.
19. The method as in claim 18, wherein said acknowledgement is an
electronic code included in said unique identifier information.
20. The method as in claim 18, wherein said acknowledgement is a
physical receipt provided at said desired location.
21. A system for delivery of a payload by an autonomous delivery
vehicle, said system comprising: a unique identifier having a
unique identity, wherein said unique identifier is a target unique
identifier placed at a location where delivery of said payload is
desired by a user and said unique identifier is a machine readable
code recognizable in any frequency that lies within a visible
frequency range, an infrared frequency range or an ultra violet
frequency range of an electromagnetic spectrum; a mobile computing
device configured to collect a unique identifier information
.Iadd.via scanning by the mobile computing device .Iaddend.and to
communicate said unique identifier information with a third party
system, said unique identifier information comprising said unique
identity of said unique identifier and a geophysical location
information for said location.Iadd., wherein said mobile computing
device is provided with a detachable electronic device configured
to add additional capability of scanning and transmission to said
mobile computing device.Iaddend.; a navigation system included in
said autonomous delivery vehicle, said navigator system comprising
a first .[.prior art.]. navigator and a second scanner navigator,
wherein said navigation system is provided with said unique
identifier information by said third party system; wherein said
first .[.prior art.]. navigator navigates said autonomous delivery
vehicle to said location based on said geophysical location
information and said second scanner navigator scans said location,
locates said target unique identifier based on said unique identity
and then navigates said autonomous delivery vehicle .[.precisely.].
to said unique identifier for delivery of said payload.
22. The system as in claim 21, wherein said unique identifier is
generated by said third party system.
23. The system as in claim 21, wherein said unique identifier is
generated by said user using common manufacturing methods.
.[.24. The system as in claim 21, wherein said mobile computing
device is provided with a detachable electronic device configured
to add additional capability of scanning and transmission to said
mobile computing device..].
.Iadd.25. An autonomous delivery vehicle for delivery of a payload,
the autonomous delivery vehicle comprising: a navigator configured
to: receive, from a remote system, unique identifier information
that includes a unique identity of a unique identifier and
geophysical location information of a delivery location for
delivery of the payload, wherein the unique identifier is located
at the delivery location, and wherein the unique identifier is a
machine readable code recognizable in any frequency that lies
within a visible frequency range, an infrared frequency range, or
an ultra violet frequency range of an electromagnetic spectrum,
wherein the unique identity of the unique identifier has been
captured via a camera of a mobile device and the unique identity
has been sent to the remote system by the mobile computing device,
and wherein the unique identifier information is stored by the
remote system with a user code for a user associated with the
payload and is retrieved based at least in part on the user code
for the user; and navigate, based on the geophysical location
information of the delivery location, the autonomous delivery
vehicle to the delivery location; and a scanner configured to: scan
the delivery location to locate the unique identifier based on the
unique identity of the unique identifier; and in response to
locating the unique identifier, provide one or more signals to
cause the autonomous delivery vehicle to navigate to the unique
identifier for delivery of the payload..Iaddend.
.Iadd.26. The autonomous delivery vehicle as in claim 25, wherein
the scanner includes an optical scanner, an ultra violet scanner, a
radio frequency scanner, and/or an infrared scanner..Iaddend.
.Iadd.27. The autonomous delivery vehicle as in claim 25, wherein
the mobile computing device is used to obtain the geophysical
location information..Iaddend.
.Iadd.28. The autonomous delivery vehicle of claim 25, wherein the
autonomous delivery vehicle is an unmanned aerial
vehicle..Iaddend.
.Iadd.29. The autonomous delivery vehicle of claim 25, wherein the
autonomous delivery vehicle is an unmanned ground
vehicle..Iaddend.
.Iadd.30. The autonomous delivery vehicle of claim 25, wherein the
unique identifier is attached to a substrate..Iaddend.
.Iadd.31. The autonomous delivery vehicle of claim 25, wherein the
unique identifier is within a landing zone for the autonomous
delivery vehicle..Iaddend.
.Iadd.32. A method for delivery of a payload by an autonomous
delivery vehicle, the method comprising: receiving, by the
autonomous delivery vehicle, unique identifier information that
includes a unique identity of a unique identifier and geophysical
location information of a delivery location for delivery of the
payload, wherein the payload comprises an article bought by a user,
wherein the unique identifier is located at the delivery location,
and wherein the unique identifier is a machine readable code
recognizable in any frequency that lies within a visible frequency
range, an infrared frequency range, or an ultra violet frequency
range of an electromagnetic spectrum, and wherein the unique
identify of the unique identifier is captured via a camera of a
mobile computing device associated with a user and is sent, by the
mobile computing device, to one or more systems remote from the
mobile computing device, wherein the unique identifier is located
in a landing zone for the autonomous delivery vehicle; navigating,
by the autonomous delivery vehicle and based on the geophysical
location information, the autonomous delivery vehicle to the
delivery location; scanning, by the autonomous delivery vehicle,
the delivery location to locate the unique identifier based on the
unique identity of the unique identifier; and in response to
locating the unique identifier, causing, by the autonomous delivery
vehicle, the autonomous delivery vehicle to navigate to the unique
identifier for delivery of the payload..Iaddend.
.Iadd.33. The method as in claim 32, wherein the scanning is
performed via a scanner that includes an optical scanner, an ultra
violet scanner, a vibration scanner, a radio frequency scanner,
and/or an infrared scanner..Iaddend.
.Iadd.34. The method as in claim 32, wherein the unique identifier
information is provided to the autonomous delivery vehicle by one
or more of the systems remote from the mobile computing
device..Iaddend.
.Iadd.35. The method as in claim 32, wherein the geophysical
location information has been obtained via the mobile computing
device..Iaddend.
.Iadd.36. The method as in claim 32, wherein the unique identifier
information further comprises data related to contents of the
payload..Iaddend.
.Iadd.37. The method as in claim 32, wherein the unique identifier
is generated in electronic form by the remote system and the unique
identifier is sent in electronic form to a computing device
associated with the user..Iaddend.
.Iadd.38. The method as in claim 32, further comprising: obtaining,
by the autonomous delivery vehicle, an acknowledgement of a
successful delivery of the payload..Iaddend.
.Iadd.39. The method as in claim 38, wherein the acknowledgement is
an electronic code..Iaddend.
.Iadd.40. The method as in claim 38, wherein the acknowledgement is
a physical receipt provided at the delivery location..Iaddend.
.Iadd.41. A system for delivery of a payload by an autonomous
delivery vehicle, the system configured to: obtain, based at least
in part on a user code for a user associated with the payload,
unique identifier information that includes a unique identity of a
unique identifier and geophysical location information of a
delivery location for delivery of the payload, wherein the unique
identifier is located at the delivery location, and wherein the
unique identifier is a machine readable code recognizable in any
frequency that lies within a visible frequency range, an infrared
frequency range or an ultra violet frequency range of an
electromagnetic spectrum wherein said unique identify of the unique
identifier is captured via a camera of a mobile computing device
associated with said user and is sent, via the mobile computing
device, to the system; and provide, to the autonomous delivery
vehicle, the unique identifier information, wherein the autonomous
delivery vehicle is configured to: navigate to the delivery
location based on the geophysical location information of the
delivery location, scan the delivery location to locate the unique
identifier based on the unique identity of the unique identifier,
and in response to locating the unique identifier, cause the
autonomous delivery vehicle to navigate to the unique identifier
for delivery of the payload..Iaddend.
.Iadd.42. The system as in claim 41, wherein the mobile computing
device is connected with a detachable electronic device configured
to add additional capability of scanning and transmission to the
mobile computing device..Iaddend.
.Iadd.43. The system of claim 41, wherein the article is bought by
the user via a user interface displayed via a display device of a
computing device..Iaddend.
.Iadd.44. The system of claim 43, wherein the computing device is
the mobile computing device and the user interface is associated
with a mobile application running on the mobile computing
device..Iaddend.
.Iadd.45. The system of claim 44, wherein the geophysical location
information is obtained via the mobile application..Iaddend.
.Iadd.46. The system of claim 41, wherein the geophysical location
information is associated with an address of the user..Iaddend.
.Iadd.47. The system of claim 41, wherein the system is associated
with an e-commerce company..Iaddend.
.Iadd.48. The system of claim 41, wherein the payload includes an
article bought online via an e-commerce website..Iaddend.
.Iadd.49. The system of claim 41, wherein the unique identifier
information is stored associated with the user code in a
server..Iaddend.
.Iadd.50. The system of claim 41, wherein the system is configured
to obtain the unique identifier information from the server based
on the user code..Iaddend.
.Iadd.51. A system for delivery of a payload by an autonomous
delivery vehicle, the system comprising at least one processor
configured to: obtain unique identifier information that includes a
unique identity of a unique identifier and geophysical location
information of a delivery location for delivery of the payload,
wherein the unique identifier is located at the delivery location,
wherein the unique identifier is a machine readable code
recognizable in any frequency that lies within a visible frequency
range, an infrared frequency range or an ultra violet frequency
range of an electromagnetic spectrum, and wherein the unique
identifier information is sent to the system by a mobile computing
device that captured, via a camera, the unique identity of the
unique identifier, wherein the unique identify of the unique
identifier is located in a landing zone for the autonomous delivery
vehicle; and provide, to the autonomous delivery vehicle, the
unique identifier information, wherein the autonomous delivery
vehicle is configured to: navigate to the delivery location based
on the geophysical location information of the delivery location,
scan the delivery location to locate the unique identifier based on
the unique identity of the unique identifier, and in response to
locating the unique identifier, cause the autonomous delivery
vehicle to navigate to the unique identifier for delivery of the
payload..Iaddend.
.Iadd.52. A system for delivery of a payload by an autonomous
delivery vehicle, the system comprising at least one processor
configured to: obtain unique identifier information that includes a
unique identity of a unique identifier and geophysical location
information of a delivery location for delivery of the payload,
wherein the unique identifier is located at the delivery location,
and wherein the unique identifier is a machine readable code
recognizable in any frequency that lies within a visible frequency
range, an infrared frequency range or an ultra violet frequency
range of an electromagnetic spectrum, wherein the geophysical
location information is sent by a mobile computing device and
wherein the unique identify of the unique identifier is captured
via a camera of the mobile computing device, wherein the unique
identifier is located in a landing zone for the autonomous delivery
vehicle; and provide, to the autonomous delivery vehicle, the
unique identifier information, wherein the autonomous delivery
vehicle is configured to: navigate to the delivery location based
on the geophysical location information of the delivery location,
scan the delivery location to locate the unique identifier based on
the unique identity of the unique identifier, and in response to
locating the unique identifier, cause the autonomous delivery
vehicle to navigate to the unique identifier for delivery of the
payload..Iaddend.
.Iadd.53. A system for delivery of a payload by an autonomous
delivery vehicle, the system comprising at least one processor
configured to: obtain unique identifier information that includes a
unique identity of a unique identifier and geophysical location
information of a delivery location for delivery of the payload,
wherein the unique identifier is located at the delivery location,
wherein the unique identifier is a machine readable code
recognizable in any frequency that lies within a visible frequency
range, an infrared frequency range or an ultra violet frequency
range of an electromagnetic spectrum, and wherein the unique
identifier information is associated with a user code and the
unique identifier information is stored associated with the user
code in a precise delivery system server and wherein the unique
identifier information is retrieved by the system from the precise
delivery system server by using the user code; and provide, to the
autonomous delivery vehicle, the unique identifier information,
wherein the autonomous delivery vehicle is configured to: navigate
to the delivery location based on the geophysical location
information of the delivery location, scan the delivery location to
locate the unique identifier based on the unique identity of the
unique identifier, and in response to locating the unique
identifier, cause the autonomous delivery vehicle to navigate to
the unique identifier for delivery of the payload..Iaddend.
.Iadd.54. A method for delivery of a payload by an autonomous
delivery vehicle, the method comprising: receiving, by the
autonomous delivery vehicle from a third party system, unique
identifier information that includes a unique identity of a unique
identifier and geophysical location information of a delivery
location for delivery of the payload, wherein the unique identifier
is located at the delivery location, wherein the unique identifier
is a machine readable code recognizable in any frequency that lies
within a visible frequency range, an infrared frequency range, or
an ultra violet frequency range of an electromagnetic spectrum, and
wherein the third party system receives the unique identifier
information from a precise delivery system server; navigating, by
the autonomous delivery vehicle and based on the geophysical
location information, the autonomous delivery vehicle to the
delivery location; scanning, by the autonomous delivery vehicle,
the delivery location to locate the unique identifier based on the
unique identity of the unique identifier; and in response to
locating the unique identifier, causing, by the autonomous delivery
vehicle, the autonomous delivery vehicle to navigate to the unique
identifier for delivery of the payload..Iaddend.
.Iadd.55. A method for delivery of a payload by an autonomous
delivery vehicle, the method comprising: receiving, by the
autonomous delivery vehicle, unique identifier information that
includes a unique identity of a unique identifier and geophysical
location information of a delivery location for delivery of the
payload, wherein the unique identifier is located at the delivery
location, wherein the unique identifier is a machine readable code
recognizable in any frequency that lies within a visible frequency
range, an infrared frequency range, or an ultra violet frequency
range of an electromagnetic spectrum, wherein the unique identifier
information is obtainable based at least in part on a user code for
a user associated with the payload, and wherein the unique
identifier information is collected by a mobile computing device
that captured, via a camera, the unique identity of the unique
identifier and sent the unique identity to one or more systems
remote from the mobile computing device; navigating, by the
autonomous delivery vehicle and based on the geophysical location
information, the autonomous delivery vehicle to the delivery
location; scanning, by the autonomous delivery vehicle, the
delivery location to locate the unique identifier based on the
unique identity of the unique identifier; and in response to
locating the unique identifier, causing, by the autonomous delivery
vehicle, the autonomous delivery vehicle to navigate to the unique
identifier for delivery of the payload..Iaddend.
.Iadd.56. A method for delivery of a payload by an autonomous
delivery vehicle, the method comprising: receiving, by the
autonomous delivery vehicle, unique identifier information that
includes a unique identity of a unique identifier and geophysical
location information of a delivery location for delivery of the
payload, wherein the unique identifier is located at the delivery
location, wherein the unique identifier is a machine readable code
recognizable in any frequency that lies within a visible frequency
range, an infrared frequency range, or an ultra violet frequency
range of an electromagnetic spectrum, and wherein the geophysical
location information is obtained via a mobile computing device, and
wherein the unique identify of the unique identifier is captured
via a camera of the mobile computing device associated with a user
and is sent to one or more systems remote from the mobile computing
device, wherein the unique identifier is located in a landing zone
for the autonomous delivery vehicle; navigating, by the autonomous
delivery vehicle and based on the geophysical location information,
the autonomous delivery vehicle to the delivery location; scanning,
by the autonomous delivery vehicle, the delivery location to locate
the unique identifier based on the unique identity of the unique
identifier; and in response to locating the unique identifier,
causing, by the autonomous delivery vehicle, the autonomous
delivery vehicle to navigate to the unique identifier for delivery
of the payload..Iaddend.
.Iadd.57. A method for delivery of a payload by an autonomous
delivery vehicle, the method comprising: receiving, by the
autonomous delivery vehicle, unique identifier information that
includes a unique identity of a unique identifier and geophysical
location information of a delivery location for delivery of the
payload, wherein the unique identifier is located at the delivery
location, wherein the unique identifier is a machine readable code
recognizable in any frequency that lies within a visible frequency
range, an infrared frequency range, or an ultra violet frequency
range of an electromagnetic spectrum, and wherein the unique
identifier information is associated with a user code and the
unique identifier information is stored associated with the user
code in a precise delivery system server and the unique identifier
information is retrieved based at least in part on the user code;
navigating, by the autonomous delivery vehicle and based on the
geophysical location information, the autonomous delivery vehicle
to the delivery location; scanning, by the autonomous delivery
vehicle, the delivery location to locate the unique identifier
based on the unique identity of the unique identifier; and in
response to locating the unique identifier, causing, by the
autonomous delivery vehicle, the autonomous delivery vehicle to
navigate to the unique identifier for delivery of the
payload..Iaddend.
.Iadd.58. A method for delivery of a payload by an autonomous
delivery vehicle, the method comprising: receiving, by the
autonomous delivery vehicle, unique identifier information that
includes a unique identity of a unique identifier and geophysical
location information of a delivery location for delivery of the
payload, wherein the unique identifier is located at the delivery
location, and wherein the unique identifier is a machine readable
code recognizable in any frequency that lies within a visible
frequency range an infrared frequency range, or an ultra violet
frequency range of an electromagnetic spectrum; navigating, by the
autonomous delivery vehicle and based on the geophysical location
information, the autonomous delivery vehicle to the delivery
location; scanning, by the autonomous delivery vehicle, the
delivery location to locate the unique identifier based on the
unique identity of the unique identifier; in response to locating
the unique identifier, causing, by the autonomous delivery vehicle,
the autonomous delivery vehicle to navigate to the unique
identifier for delivery of the payload; and collecting, by the
autonomous delivery vehicle, an acknowledgement against successful
delivery of said payload, wherein the acknowledgement is a physical
receipt provided at the delivery location..Iaddend.
.Iadd.59. An autonomous delivery vehicle for delivery of a payload,
the autonomous delivery vehicle comprising: a navigator configured
to: receive, from a remote system, unique identifier information
that includes a unique identity of a unique identifier and
geophysical location information of a delivery location for
delivery of the payload, wherein the unique identifier is located
at the delivery location, wherein the unique identifier is a
machine readable code recognizable in any frequency that lies
within a visible frequency range an infrared frequency range, or an
ultra violet frequency range of an electromagnetic spectrum, and
wherein the unique identity of the unique identifier has been
captured via a camera of a mobile device and the unique identity
has been sent to the remote system by the mobile computing device,
wherein the unique identifier is located in a landing zone for the
autonomous delivery vehicle; and navigate, based on the geophysical
location information of the delivery location, the autonomous
delivery vehicle to the delivery location; and a scanner configured
to: scan the delivery location to locate the unique identifier
based on the unique identity of the unique identifier; and in
response to locating the unique identifier, provide one or more
signals to cause the autonomous delivery vehicle to navigate to the
unique identifier for delivery of the payload..Iaddend.
.Iadd.60. An autonomous delivery vehicle for delivery of a payload,
the autonomous delivery vehicle comprising: a navigator configured
to: receive, from a remote system, unique identifier information
that includes a unique identity of a unique identifier and
geophysical location information of a delivery location for
delivery of the payload, wherein the unique identifier is located
at the delivery location, wherein the unique identifier is a
machine readable code recognizable in any frequency that lies
within a visible frequency range, an infrared frequency range, or
an ultra violet frequency range of an electromagnetic spectrum, and
wherein a mobile computing device is used to obtain the geophysical
location information and the unique identify of the unique
identifier is captured via a camera of the mobile computing device
and is sent to the remote system via the mobile computing device,
wherein the unique identifier is located in a landing zone for the
autonomous delivery vehicle; and navigate, based on the geophysical
location information of the delivery location, the autonomous
delivery vehicle to the delivery location; and a scanner configured
to: scan the delivery location to locate the unique identifier
based on the unique identity of the unique identifier; and in
response to locating the unique identifier, provide one or more
signals to cause the autonomous delivery vehicle to navigate to the
unique identifier for delivery of the payload..Iaddend.
.Iadd.61. A method for delivery of a payload by an autonomous
delivery vehicle, the method comprising: receiving, by the
autonomous delivery vehicle from a remote system, unique identifier
information that includes a unique identity of a unique identifier
and geophysical location information of a delivery location for
delivery of the payload, wherein the unique identifier is located
at the delivery location, wherein the unique identifier is a
machine readable code recognizable in any frequency that lies
within a visible frequency range, an infrared frequency range, or
an ultra violet frequency range of an electromagnetic spectrum, and
wherein the unique identifier has been scanned by a mobile device
and was sent to the remote system by the mobile computing device,
wherein the unique identifier is located in a landing zone for the
autonomous delivery vehicle; navigating, by the autonomous delivery
vehicle and based on the geophysical location information, the
autonomous delivery vehicle to the delivery location; scanning, by
the autonomous delivery vehicle, the delivery location to locate
the unique identifier based on the unique identity of the unique
identifier; and in response to locating the unique identifier,
causing, by the autonomous delivery vehicle, the autonomous
delivery vehicle to navigate to the unique identifier for delivery
of the payload..Iaddend.
.Iadd.62. A method for delivery of a payload by an autonomous
delivery vehicle, the method comprising: receiving, by the
autonomous delivery vehicle, unique identifier information that
includes a unique identity of a unique identifier and geophysical
location information of a delivery location for delivery of the
payload, wherein the unique identifier is located at the delivery
location, wherein the unique identifier is a machine readable code
recognizable in any frequency that lies within a visible frequency
range, an infrared frequency range, or an ultra violet frequency
range of an electromagnetic spectrum, and wherein the geophysical
location information has been obtained via a mobile computing
device and the unique identify of the unique identifier is captured
via a camera of the mobile computing device and is sent to one or
more systems remote from the mobile computing device, wherein the
unique identifier is located in a landing zone for the autonomous
delivery vehicle; navigating, by the autonomous delivery vehicle
and based on the geophysical location information, the autonomous
delivery vehicle to the delivery location; scanning, by the
autonomous delivery vehicle, the delivery location to locate the
unique identifier based on the unique identity of the unique
identifier; and in response to locating the unique identifier,
causing, by the autonomous delivery vehicle, the autonomous
delivery vehicle to navigate to the unique identifier for delivery
of the payload..Iaddend.
.Iadd.63. A method for delivery of a payload by an autonomous
delivery vehicle, the method comprising: receiving, by the
autonomous delivery vehicle, unique identifier information that
includes a unique identity of a unique identifier and geophysical
location information of a delivery location for delivery of the
payload, wherein the unique identifier is located at the delivery
location, and wherein the unique identifier is a machine readable
code recognizable in any frequency that lies within a visible
frequency range, an infrared frequency range, or an ultra violet
frequency range of an electromagnetic spectrum; navigating, by the
autonomous delivery vehicle and based on the geophysical location
information, the autonomous delivery vehicle to the delivery
location; scanning, by the autonomous delivery vehicle, the
delivery location to locate the unique identifier based on the
unique identity of the unique identifier; in response to locating
the unique identifier, causing, by the autonomous delivery vehicle,
the autonomous delivery vehicle to navigate to the unique
identifier for delivery of the payload; and obtaining, by the
autonomous delivery vehicle, an acknowledgement of a successful
delivery of the payload, wherein the acknowledgement is a physical
receipt provided at the delivery location..Iaddend.
.Iadd.64. A system for delivery of a payload by an autonomous
delivery vehicle, the system configured to: obtain unique
identifier information that includes a unique identity of a unique
identifier based at least in part on a user code for a user
associated with the payload and geophysical location information of
a delivery location for delivery of the payload, wherein the unique
identifier is located at the delivery location, wherein the unique
identifier is a machine readable code recognizable in any frequency
that lies within a visible frequency range, an infrared frequency
range or an ultra violet frequency range of an electromagnetic
spectrum, and wherein the unique identify of the unique identifier
is captured via a camera of the mobile computing device and the
unique identifier information is communicated to the system by a
mobile computing device configured to collect the unique identifier
information; and provide, to the autonomous delivery vehicle, the
unique identifier information, wherein the autonomous delivery
vehicle is configured to: navigate to the delivery location based
on the geophysical location information of the delivery location,
scan the delivery location to locate the unique identifier based on
the unique identity of the unique identifier, and in response to
locating the unique identifier, cause the autonomous delivery
vehicle to navigate to the unique identifier for delivery of the
payload..Iaddend.
.Iadd.65. The system as in claim 64, wherein the mobile computing
device is connected with a detachable electronic device configured
to add additional capability of scanning and transmission to the
mobile computing device..Iaddend.
.Iadd.66. A system for delivery of a payload by an autonomous
delivery vehicle, the system comprising at least one processor
configured to: obtain unique identifier information that includes a
unique identity of a unique identifier and geophysical location
information of a delivery location for delivery of the payload,
wherein the unique identifier is located at the delivery location,
and wherein the unique identifier is a machine readable code
recognizable in any frequency that lies within a visible frequency
range, an infrared frequency range or an ultra violet frequency
range of an electromagnetic spectrum, and the unique identify of
the unique identifier is captured via a camera of a mobile
computing device associated with a user and sent to the system,
wherein the unique identifier is located in a landing zone for the
autonomous delivery vehicle; and provide, to the autonomous
delivery vehicle, the unique identifier information, wherein the
autonomous delivery vehicle is configured to: navigate to the
delivery location based on the geophysical location information of
the delivery location, scan the delivery location to locate the
unique identifier based on the unique identity of the unique
identifier, and in response to locating the unique identifier,
cause the autonomous delivery vehicle to navigate to the unique
identifier for delivery of the payload, wherein the payload
comprises an article bought via a user interface displayed via a
display device of a computing device..Iaddend.
.Iadd.67. The system of claim 66, wherein the computing device is
the mobile computing device and the user interface is associated
with a mobile application running on the mobile computing
device..Iaddend.
.Iadd.68. A system for delivery of a payload by an autonomous
delivery vehicle, the system comprising at least one processor
configured to: obtain unique identifier information that includes a
unique identity of a unique identifier based at least in part on a
user code for a user associated with the payload and geophysical
location information of a delivery location for delivery of the
payload, wherein the unique identifier information is associated
with the user code and the unique identifier information and the
user code are stored in a precise delivery system server, wherein
the unique identifier information is retrieved by the system from
the precise delivery system server by using the user code, wherein
the unique identifier is located at the delivery location, wherein
the unique identifier is a machine readable code recognizable in
any frequency that lies within a visible frequency range, an
infrared frequency range or an ultra violet frequency range of an
electromagnetic spectrum, and wherein the geophysical location
information is obtained via a mobile application on a mobile
computing device; and provide, to the autonomous delivery vehicle,
the unique identifier information, wherein the autonomous delivery
vehicle is configured to: navigate to the delivery location based
on the geophysical location information of the delivery location,
scan the delivery location to locate the unique identifier based on
the unique identity of the unique identifier, and in response to
locating the unique identifier, cause the autonomous delivery
vehicle to navigate to the unique identifier for delivery of the
payload..Iaddend.
.Iadd.69. A system for delivery of a payload by an autonomous
delivery vehicle, the system configured to: obtain unique
identifier information that includes a unique identity of a unique
identifier and geophysical location information of a delivery
location for delivery of the payload, wherein the unique identifier
is located at the delivery location, wherein the unique identifier
is a machine readable code recognizable in any frequency that lies
within a visible frequency range, an infrared frequency range or an
ultra violet frequency range of an electromagnetic spectrum, and
wherein the geophysical location information is associated with an
address of a user and the unique identify of the unique identifier
is captured via a camera of a mobile computing device and is sent
to the system, wherein the unique identifier is located in a
landing zone for the autonomous delivery vehicle; and provide, to
the autonomous delivery vehicle, the unique identifier information,
wherein autonomous delivery vehicle is configured to: navigate to
the delivery location based on the geophysical location information
of the delivery location, scan the delivery location to locate the
unique identifier based on the unique identity of the unique
identifier, and in response to locating the unique identifier,
cause the autonomous delivery vehicle to navigate to the unique
identifier for delivery of the payload..Iaddend.
.Iadd.70. A system for delivery of a payload by an autonomous
delivery vehicle, the system configured to: obtain unique
identifier information that includes a unique identity of a unique
identifier based at least in part on a user code for a user
associated with the payload and geophysical location information of
a delivery location for delivery of the payload, wherein the unique
identifier information is associated with the user code and the
unique identifier information and the user code are stored in a
precise delivery system server, wherein the unique identifier
information is retrieved by the system from the precise delivery
system server by using the user code, wherein the unique identifier
is located at the delivery location, and wherein the unique
identifier is a machine readable code recognizable in any frequency
that lies within a visible frequency range, an infrared frequency
range or an ultra violet frequency range of an electromagnetic
spectrum; and provide, to the autonomous delivery vehicle, the
unique identifier information, wherein the autonomous delivery
vehicle is configured to: navigate to the delivery location based
on the geophysical location information of the delivery location,
scan the delivery location to locate the unique identifier based on
the unique identity of the unique identifier, and in response to
locating the unique identifier, cause the autonomous delivery
vehicle to navigate to the unique identifier for delivery of the
payload, wherein the system is associated with an e-commerce
company..Iaddend.
.Iadd.71. A system for delivery of a payload by an autonomous
delivery vehicle, the system comprising at least one processor
configured to: obtain unique identifier information that includes a
unique identity of a unique identifier based at least in part on a
user code for a user associated with the payload and geophysical
location information of a delivery location for delivery of the
payload, wherein the unique identifier information is associated
with the user code and the unique identifier information and the
user code are stored in a precise delivery system server, wherein
the unique identifier information is retrieved by the system from
the precise delivery system server by using the user code wherein
the unique identifier is located at the delivery location, and
wherein the unique identifier is a machine readable code
recognizable in any frequency that lies within a visible frequency
range, an infrared frequency range or an ultra violet frequency
range of an electromagnetic spectrum; and provide, to the
autonomous delivery vehicle, the unique identifier information,
wherein the autonomous delivery vehicle is configured to: navigate
to the delivery location based on the geophysical location
information of the delivery location, scan the delivery location to
locate the unique identifier based on the unique identity of the
unique identifier, and in response to locating the unique
identifier, cause the autonomous delivery vehicle to navigate to
the unique identifier for delivery of the payload, wherein the
payload includes an article bought online via an e-commerce
website..Iaddend.
.Iadd.72. A system for delivery of a payload by an autonomous
delivery vehicle, the system comprising at least one processor
configured to: obtain unique identifier information that includes a
unique identity of a unique identifier based at least in part on a
user code for a user associated with the payload and geophysical
location information of a delivery location for delivery of the
payload, wherein the unique identifier is located at the delivery
location, wherein the unique identifier is a machine readable code
recognizable in any frequency that lies within a visible frequency
range, an infrared frequency range or an ultra violet frequency
range of an electromagnetic spectrum, and wherein the unique
identifier information is associated with the user code and the
unique identifier information and the user code are stored in a
precise delivery system server, and wherein the unique identifier
information is retrieved by the system from the precise delivery
system server by using the user code; and provide, to the
autonomous delivery vehicle, the unique identifier information,
wherein the autonomous delivery vehicle is configured to: navigate
to the delivery location based on the geophysical location
information of the delivery location, scan the delivery location to
locate the unique identifier based on the unique identity of the
unique identifier, and in response to locating the unique
identifier, cause the autonomous delivery vehicle to navigate to
the unique identifier for delivery of the payload..Iaddend.
Description
FIELD OF THE INVENTION
The present invention in general is related to autonomous delivery
systems and methods. More specifically, the present invention is
related to the use of inexpensive cooperative navigation systems
and methods for delivery of packages via unmanned aerial vehicles
at a precise desired delivery location.
BACKGROUND OF THE INVENTION
Online or remote shopping has grown immensely over the past decade.
Remote shopping offers many benefits including allowing customers
to shop from literally anywhere in the world, eliminating the costs
associated of having to ship, store, and sell items from
traditional retail store locations, and allowing manufacturers and
distributors to reach a larger target market at a lower cost and
higher margin than by traditional retail locations.
However, despite these advantages, remote shopping has some
drawbacks and, among such drawbacks, the lag time between
purchasing an item and having it delivered is a major one. Most of
the goods purchased by remote shopping need to be delivered to the
users at home or at business place and this can take days or
longer. Companies are attempting to minimize the delay between
purchase and delivery by offering same day delivery in certain
cities. However, this can be very costly and inefficient as it
requires a large number of individuals on call to go out and
deliver items as they are purchased.
One of the emerging methods in improved delivery service that does
not have the draw backs of conventional delivery, is the use of
unmanned aerial vehicles/drones. Drones can be used to carry and
deliver small to medium sized packages, directly to known
locations, using global positioning system technology, telemetry,
metadata and/or commands from a remote operator. Once purchased,
these drones promise to be much more cost effective than human
delivery via foot, bike, truck, etc., and will likely be faster as
they can bypass traffic and are not limited to following paved
roads.
As consumer demand for same day delivery rises, drones will rapidly
become a viable technology for many delivery services and
companies. However, despite its many advantages, one of the
potential problems of using drones to deliver packages is its
failure to deliver at a customer controlled address. In a typical
urban residential/commercial area, any two customers can have
desired delivery locations very close to each other. In certain
situations, a specific desired receiving area maybe adjacent to
other potential receiving areas, perhaps separated by less than a
meter, and drones or other autonomous vehicles may fail to deliver
packages accurately at such delivery addresses. The problem with
the present day Global Positioning System (GPS) based drone
delivery system is that commercially used GPS systems can neither
offer the high degree of accuracy that would be required for
precise landing of a drone at a delivery address, nor does it
provide differentiation between parties at the same address, nor
does it provide feedback to the deliverer. Likewise the current
coordinate-based delivery systems cannot account for safety and
obstruction issues. Even in an area that is easily located via GPS
there may be preferred areas within that address that should be
avoided for safety or obstacle reasons, such as a children's play
area or telephone wires.
On the other hand, the high accuracy navigation systems are very
expensive, consume a lot of power and size and, thus, are a hurdle
in implementing those systems in commercial utilization of
autonomous package delivery system. There are available some other
systems and methods for autonomous delivery vehicle navigation
which do not require very high initial investment. But such systems
need electric power and proper maintenance. For example, some
landing zone indicators use electric lights to indicate their
location. These indicators consume high amount of electricity and
are often accompanied by dedicated generators. Hence, this won't be
appropriate for a consumer who does not want to actively maintain
his landing zone, or supply it with power. Some landing zone
indicators use lasers which also consume much power. This also
won't be appropriate for consumers who do not want to actively
maintain their landing zone, or supply it with power.
Many delivery services will soon begin adopting the new form of
delivery; that is, delivery through autonomous vehicles. But, to
revolutionize the autonomous delivery service, it is imperative
that the proper infrastructure is developed which enables
successful implementation of drone delivery or delivery by other
autonomous vehicles. What is needed is a system and method for
delivering payloads to a specific location with high accuracy
through an inexpensive and easy to use navigation system.
OBJECTS OF THE INVENTION
It is, therefore, an object of the present invention to provide a
system and method for high accuracy delivery of payloads at desired
locations by autonomous delivery vehicles through inexpensive and
easy to implement navigation system.
Another object of the present invention is to provide a system and
method for delivering payloads to a specific location with high
accuracy by cooperation between the payload delivery system and the
delivery location.
Yet another object of the present invention is to provide a system
and method for delivering payloads at a landing zone wherein the
landing zone require no power to announce its position.
Still another object of the present invention is to provide a
system and method for precise delivery of payloads at a target
landing zone wherein the target landing zone requires no
maintenance.
A further object of the present invention is to provide a central
database to store GPS location, unique identity of landing zone and
unique user code for facilitating fast and easy communication of
information for precise delivery of payloads to a specific
location.
A still further object of the present invention is to provide a
system and method for delivering payloads to a specific location
which works for several types of delivery vehicles like drones and
other autonomous vehicles.
Yet another object of the present invention is to provide a system
and method for precise delivery of payloads at a target landing
zone as desired by a customer among a plurality of landing zones
associated with other customers and located in close proximity to
the target landing zone.
Another object of the present invention is to provide a feedback
system and method for confirming delivery of a payload at a desired
location by an autonomous delivery vehicle.
Details of the foregoing objects and of the invention, as well as
additional objects, features and advantages of the invention will
become apparent to those skilled in the art upon consideration of
the following detailed description of the preferred embodiments
exemplifying the best mode of carrying out the invention as
presently perceived.
SUMMARY OF THE INVENTION
The following presents a simplified summary in order to provide a
basic understanding of some aspects of the disclosed invention.
This summary is not an extensive overview, and it is not intended
to identify key/critical elements or to delineate the scope
thereof. Its sole purpose is to present some concepts in a
simplified form as a prelude to the more detailed description that
is presented later.
The present invention is directed to a system and method for safe
and effective delivery of a payload at a precise location by
autonomous delivery vehicles. A machine-readable unique identifier,
such as a barcode, optionally affixed to a substrate is laid at a
place (e.g., top of a building or backyard, driveway or any other
place where an autonomous vehicle can deliver) where a user wants
delivery of a consignment. In the most basic embodiment the
recipient prints out a unique barcode for display at the landing
zone. In another embodiment, the user (recipient) can print out a
unique identifier on a common home computer printer and then
download and install a mobile app, hereinafter referred to as
precise delivery app, on a mobile computing device such as a
smartphone from a precise delivery system server through a network.
Once the unique identifier is placed, the user can open the precise
delivery app, activate the smartphone camera or scanner and,
standing near the unique identifier, scan the unique identifier.
The precise delivery app reads the unique identity of the unique
identifier and also collects the GPS location or geophysical
location of the smartphone or the location where the unique
identifier is placed. The GPS location of the smartphone or the
geophysical location of the user determined delivery address can be
considered as the approximate location of the unique identifier.
The unique identifier information, which includes the unique
identity of the unique identifier and the geophysical location of
the unique identifier, can be sent to the precise delivery system
server where this information gets stored. In some embodiments, for
each user registered with the precise delivery system server, the
precise delivery system server generates a user code and the unique
identifier information is stored associated with this user code
corresponding to each user ID or user code. In another embodiment
the unique identifier is pre-associated with data referring to the
contents of the delivery which the drone or drone controller checks
for accuracy prior to final release of the payload.
If the user needs delivery of an item from a third party at the
place where he/she has positioned the unique identifier, he/she can
send the unique identifier information to the third party system
directly or the user can send only his/her user code to the third
party system and the third party system will be able to retrieve
the unique identifier information from the precise delivery system
server based on the user code. The third party system can feed the
unique identifier information of the target unique identifier; that
is, the unique identifier where the user is requesting delivery of
a payload by an autonomous delivery vehicle. In accordance with an
embodiment of the present invention the autonomous delivery vehicle
includes a navigation system comprising a first prior art navigator
and a second scanner navigator. The autonomous vehicle, carrying a
payload, determines its route to the approximate location of the
target unique identifier with the help of the first prior art
navigator. Once the autonomous delivery vehicle reaches the
approximate geophysical location of the target unique identifier,
the second scanner navigator scans each and every unique identifier
that may be present around that location to locate the unique
identifier that matches the unique identifier of the target unique
identifier as fed by the third party to the autonomous delivery
vehicle. If the autonomous delivery vehicle succeeds in locating
the target unique identifier the second scanner navigator system,
optionally in coordination with the first prior art system, guides
the autonomous delivery vehicle to the target unique identifier
where the delivery of the payload can be made.
The system and method of the present invention offers an
inexpensive solution for a highly accurate autonomous delivery of a
payload at locations desired by a user and the system and method
can be adopted for implementation at a large scale commercial
use.
To the accomplishment of the foregoing and related ends, certain
illustrative aspects of the disclosed invention are described
herein in connection with the following description and the annexed
drawings. These aspects are indicative, however, of but a few of
the various ways in which the principles disclosed herein can be
employed and is intended to include all such aspects and their
equivalents. Other advantages and novel features will become
apparent from the following detailed description when considered in
conjunction with the drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
In order to describe the manner in which features and other aspects
of the present disclosure can be obtained, a more particular
description of certain subject matter will be rendered by reference
to specific embodiments that are illustrated in the appended
drawings. Understanding that these drawings depict only typical
embodiments and are not therefore to be considered to be limiting
in scope, nor drawn to scale for all embodiments, various
embodiments will be described and explained with additional
specificity and detail through the use of the accompanying drawings
in which:
FIG. 1 illustrates a unique identifier in accordance with an
embodiment of the present invention;
FIG. 2 illustrates a unique identifier placed on the roof of an
apartment building in accordance with an embodiment of the present
invention;
FIG. 3 illustrates a general architecture of a cooperative system
for precise autonomous delivery that operates in accordance with an
embodiment of the present invention;
FIG. 4 illustrates an autonomous delivery vehicle approaching a
cluster of residential buildings carrying a payload based on prior
art navigation methods;
FIG. 5 illustrates an autonomous delivery vehicle electronically
scanning and searching for the unique identifier for precise
landing in accordance with an embodiment of the present invention,
and optionally includes a data exchange mechanism, here the vehicle
optically or electronically scans and searches for the unique
identifier which includes data on location, payload, and other
delivery information;
FIG. 6 illustrates an autonomous delivery vehicle landing on a
target zone based on unique identity of the target location in
accordance with an embodiment of the present invention;
FIG. 7 illustrates a flowchart depicting the general steps
associated with the method in accordance with an embodiment of the
present invention;
FIG. 8 illustrates an exemplary system of collecting an
acknowledgement by an autonomous delivery vehicle in accordance
with an embodiment of the present invention;
FIG. 9A illustrates an additional electronic device in accordance
with an embodiment of the present invention; and
FIG. 9B illustrates the additional electronic device of FIG. 9A
attached to a mobile computing device in accordance with an
embodiment of the present invention.
DETAILED DESCRIPTION OF THE INVENTION
In the following detailed description, numerous specific details
are set forth in order to provide a thorough understanding of the
invention. However, it will be understood by those skilled in the
art that the present invention may be practiced without these
specific details. In other instances, well-known methods,
procedures and components have not been described in detail so as
not to obscure the present invention.
In the interest of clarity, not all of the routine features of the
implementations described herein are shown and described. It will,
of course, be appreciated that in the development of any such
actual implementation, numerous implementation-specific decisions
must be made in order to achieve the developer's specific goals,
such as compliance with application- and business-related
constraints, and that these specific goals will vary from one
implementation to another and from one developer to another.
Moreover, it will be appreciated that such a development effort
might be complex and time-consuming, but would nevertheless be a
routine undertaking of engineering for those of ordinary skill in
the art having the benefit of this disclosure.
In an embodiment of the present invention, a unique identifier can
be assigned to or associated with a particular user which, when
detected by an unmanned aerial delivery vehicle such as drones or
by any other aerial/ground autonomous delivery vehicle, can be used
to precisely locate a delivery location desired by the user when
the drone comes within a certain distance of the location of the
unique identifier. The unique identifier is machine-readable and
may be recognizable in any of the frequencies which lie within the
electromagnetic spectrum including radio frequency, light, heat,
etc. For example, in a preferred embodiment, the unique identifier
can be an optical machine-readable code lying in the visible range,
such as a barcode 110 as shown in FIG. 1, to which a user specific
data can be associated with. Similarly, the unique identifier may
be a code lying in the ultra violet frequency range recognizable by
an ultra violet scanner or it may be a code lying in the infra red
frequency range recognizable by infrared scanners or it may be a
code recognizable by a vibration scanner. The unique identifier,
such as the barcode, can be a factory printed one or it can be
generated by a user at home using any commonly known barcode
generation device such as a home computer and printer or by using
any common manufacturing methods. Since, for implementation of the
method of the present invention, the unique identifier will be
mostly required to remain at the outdoors and also since the
material on which the unique identifier is printed on is likely to
be a thin material (e.g., a piece of paper), such thin material
having the unique identifier can be attached to a comparatively
heavier, long lasting, weather resistant substrate. In a preferred
embodiment, the piece of material with the unique identifier 110 is
attached to a piece of substrate 105. The substrate 105 can be of
any suitable material, color, size and dimension. For example, the
substrate 105 can be of square size with two feet each side and the
material can be a piece of blue color tarpaulin. In some
embodiments, the substrate 105 can be provided with a pocket to
accommodate material containing the unique identifier. In such
embodiments, a piece of paper with the unique identifier print can
be inserted by a user into the weather proof pocket of the
substrate and the user will have the liberty to replace the unique
identifier as and when needed while keeping the substrate
unchanged. In some embodiments, the unique identifier itself,
without the use of any substrate, can be placed at a location where
a delivery is desired. Again, in some other embodiments, a device
(e.g. smartphone, tablet or any other similar device) with an
electronic display can also be used to display the unique
identifier. For example, a mobile phone or tablet can be placed at
a desired delivery location with the unique identifier displayed at
the display screen of the device. The term "substrate" is used
herein to refer to any material or object to which the unique
identifier may be affixed/attached to. Hereinafter, the term
"unique identifier" will be used to refer to the unique identifier
alone or to the combination of a unique identifier and a
substrate.
In an alternate embodiment, the unique identifier can be in the
form of a fixed or reprogrammable Radio-frequency identification
(RFID) chip which is mailed to frequent users of the system. These
dedicated unique identifiers may offer added convenience and
reliability for frequent users and can be designed to receive and
transmit the delivery data and location and can be changed on the
fly for multiple locations.
FIG. 3 illustrates the general architecture of a cooperative
precise delivery system 300 that operates in accordance with one
embodiment of the present invention. A mobile computing device 200
is connected to a precise delivery system server 302 via a network
314. Although, only one mobile computing device 200 is illustrated
in FIG. 3, it is to be understood that there can be a plurality of
mobile computing devices 200 connected to the precise delivery
system server 302. The precise delivery system server 302
communicates with the mobile computing device 200 over the network
314 to present a user interface for the cooperative precise
delivery system of the present invention. The user interface of the
cooperative precise delivery system of the present invention can be
presented on the mobile computing device through a web browser or
through a native mobile application communicating with the precise
delivery system server 302 and is used for displaying, entering
and/or managing data. As used herein, the term "network" generally
refers to any collection of distinct networks working together to
appear as a single network to a user. The term also refers to the
so-called world wide "network of networks" or Internet which is
connected to each other using the Internet protocol (IP) and other
similar protocols. As described herein, the exemplary public
network 314 of FIG. 3 is for descriptive purposes only and it may
be wired or wireless. Although, the description may refer to terms
commonly used in describing particular public networks such as the
Internet, the description and concepts equally apply to other
public and private computer networks, including systems having
architectures dissimilar to that shown in FIG. 3. The inventive
idea of the present invention is applicable for all existing
cellular network topologies or respective communication standards,
in particular GSM, UMTS/HSPA, LTE and future standards.
With respect to the present description, the precise delivery
system server 302 may include any service that relies on a database
system that is accessible over a network, in which various elements
of hardware and software of the database system may be shared by
one or more users of the system 300. The graphical user interface
(GUI) or user interface provided by the precise delivery system
server 302 on the mobile computing device 200 through a web browser
or mobile app may be utilized by the users for signing up, logging
in and submitting data, etc.
The components appearing in the precise delivery system server 302
refer to an exemplary combination of those components that would
need to be assembled to create the infrastructure in order to
provide the tools and services contemplated by the present
invention.
The precise delivery system server 302 includes an application
server or executing unit 304 and a data store 312. The application
server or executing unit 304 comprises a web server 306 and a
computer server 308 that serves as the application layer of the
present invention. It would be obvious to any person skilled in the
art that, although described herein as the data being stored in a
single database, different separate databases can also store the
various data and files of multiple users.
The Web server 306 is a system that sends out Web pages containing
electronic data files in response to Hypertext Transfer Protocol
(HTTP) requests from remote browsers (i.e. browsers installed in
the mobile computing device 200) or in response to similar requests
made through a mobile app or mobile application of the present
invention installed on a mobile computing device 200. The web
server 306 can communicate with the mobile app of the present
invention and/or with a web browser installed on a mobile computing
device 200 to provide the user interface required for the
cooperative precise delivery system 300. The mobile computing
device 200 comprise a first processor (not shown in the figures)
and this first processor is configured to execute one or more
instructions stored in a computer readable storage medium included
in the mobile computing device 200.
Although, the description of the cooperative precise delivery
system 300 may refer to terms commonly used in describing
particular computer servers, the description and concepts equally
apply to other processing systems, including systems having
architectures dissimilar to that shown in FIG. 3.
The mobile application or "mobile app" is a computer program that
may be downloaded and installed in mobile computing device 200
using methods known in the art. Hereinafter, the mobile app of the
present invention is referred to as precise delivery app. The
precise delivery app enables one or more persons to do various
tasks related to the cooperative precise delivery system of the
present invention. Examples of mobile computing device 200 may
include, but not limited to mobile devices, tablets, hand-held or
laptop devices, smart phones, personal digital assistants or any
similar devices.
The mobile computing device 200 may include various electronic
components known in the art for this type of device. In this
embodiment, the mobile computing device 200 may include a device
display 330, a camera, a scanner, a geospatial location sensor
(e.g., Global Positioning System-GPS sensor), a first processor,
user input device (e.g., touch screen, keyboard and/or other form
of input device known in the art), a device transceiver for
communication, a computer readable device memory and the precise
delivery app operably installed in the computer readable memory
(not shown in figure). For purposes of this application, the term
"transceiver" is defined to include any form of transmitter and/or
receiver known in the art, for cellular, WIFI, radio, and/or other
form of wireless or wired communication known in the art.
Obviously, these elements may vary, or may include alternatives
known in the art, and such alternative embodiments should be
considered within the scope of the claimed invention. Optionally,
the mobile computing device may be detachably fitted with an
additional electronic device (e.g. a "dongle" or a small sensor)
900 as shown in FIG. 9A that plugs into one of the ports of the
mobile computing device 200 as shown in FIG. 9B and interfaces with
the software (e.g. with the mobile application of the present
invention) using the device as the main computing power. This
electronic device could provide additional capability of
sensing/scanning and transmission not typical to a common mobile
computing device. Examples of the additional capability of
sensing/scanning and transmission include, but are not limited to,
RF sensing or transmission, pattern transmission or recognition,
heat convection or sensing, or other types of transmission and
scanning. It is envisioned this type of device would be sent to
regular or high volume users of the service provided by the present
invention.
Reference to FIG. 3, third party system 322 represents computer
system of any third party which is involved in the process of
delivering consignment/payload to a specific location/address as
desired by a user/customer. Examples of a third party may include,
but are not limited to, an e-commerce company, a postal service, an
emergency service, etc. As shown in FIG. 3, the third party system
322 is communicatively connected to the precise delivery system
server 302 over the network 314.
FIG. 3 further illustrates an autonomous delivery vehicle 324.
Although, in FIG. 3, a drone is referred to by numeral 324, it is
to be understood that the term "autonomous delivery vehicle 324" is
used herein to refer to any ground autonomous vehicle or aerial
autonomous vehicle which is unmanned and is able to carry a
consignment/payload for delivery at a location. The terms
"autonomous delivery vehicle", "autonomous vehicle" and "drone" are
used herein alternatively and interchangeably. In some embodiment,
the autonomous delivery vehicle 324 can also remain in two-way
communication with the third party system 322.
An embodiment of the present invention will be described by way of
a non-limitative example and with reference to the accompanying
drawings. A user 205 can get a unique identifier in various ways.
For example, the user 205 may buy the unique identifier 100 from
the market where the unique identifier may or may not be affixed to
a substrate. In some embodiments, a user 205 may receive a unique
identifier from the third party system 322 in printed form or in
electronic form through email or text message etc. and the user 205
may, optionally, get the unique identifier affixed to a substrate
or may put the unique identifier received in electronic form on
display on an electronic display device (e.g. on the user's
smartphone 200). Then, unique identifier 100 can be placed at a
location where the user wants delivery of a payload. FIG. 2
illustrates a unique identifier 100 placed on the roof of an
apartment building. In some embodiments, the unique identifier may
further comprise information/data related to the contents of said
payload/item to be delivered.
In FIG. 2 the user 205 is shown using a smartphone, which is a
mobile computing device 200, with the precise delivery app
installed on the smartphone 200. Reference to FIG. 2 and FIG. 3, in
a preferred embodiment, the GUI provided by the precise delivery
app on the device display 330 enables the user to enter user
details 318, register/sign-up with the precise delivery system
server 302, and then login as a registered user. For every
registered user, the precise delivery system server generates a
unique user code or user ID as in step 716 of FIG. 7 and the
precise delivery app receives this user code on the mobile
computing device 200 as in step 710 of FIG. 7.
Reference to FIG. 2, FIG. 3 and FIG. 7, in a preferred embodiment,
the user 205 is required to stay near the unique identifier 100 and
scan the unique identifier 100 with the help of the camera or
scanner of the smartphone 200 as in step 704 of FIG. 7 keeping the
precise delivery app on the smartphone 200 open as in step 702 of
FIG. 7. With the help of the first processor available inside the
smartphone 200, the precise delivery app decodes the unique
identity of the unique identifier 100 as in step 706 of FIG. 7 and,
optionally, displays the same on the device display 330. When the
user 205 activates the precise delivery app, the app also gathers
the geographical coordinate/GPS location data of the location where
the smartphone 200 is at that moment through the GPS sensor of the
smartphone 200. In a preferred embodiment, the precise delivery app
associates the geographical coordinates of the location of the
smartphone 200 with the unique identity 320 of the unique
identifier 110 and instructs the first processor of the smartphone
200 to send these data to the precise delivery system server 302
over the network 314 as in step 708 of FIG. 7. In some embodiments,
the geographical coordinate/GPS location data and the unique
identity 320 may be sent separately to the precise delivery system
server 302 and those may be associated with each other by the
processor 310 at the precise delivery system server 302. Also, as
in step 714 of FIG. 7, at the precise delivery system server 302,
the user code created for a registered user is associated with the
information such as GPS location, user address etc. sent from the
smartphone 200. In some other embodiments, geophysical location
information, which includes, preferably, but non-limitatively, the
GPS location, user address etc., so associated with the unique
identity, can be provided to the precise delivery system server 302
or to the third party system 322 in various other ways by the user.
For example, the mailing address of the user can be provided to the
third party system 322 directly while the user buys something from
the third party system 322. The third party system 322 or the
precise delivery system server 302 can use the user's Internet
Protocol (IP) address to determine the physical location of the
user when the user makes communication over the network. In some
embodiments, when the user uses a mobile computing device such as
smartphone 200, the cell tower associated with the user's mobile
device can be used by the third party system 322 or the precise
delivery system server 302 to get information on the physical
location of the user. The GPS information, mailing address, cell
tower defined address or any other specific information that can
help in finding the approximate location of the unique identifier,
where a user is requesting delivery of a consignment/payload, are
hereinafter referred to, individually and/or collectively, by a
term "geophysical location information".
In some embodiments the user 205 is allowed to send the unique
identity and geophysical location information of the unique
identifier 100 to the third party system 322 directly as in step
712 of FIG. 7 using the precise delivery app installed in the
smartphone 200. To provide the information such as geophysical
location information, unique identity of a unique identifier 100
and user details etc., the user can also opt to send his/her
precise delivery system server generated user code to the third
party system as in step 720 of FIG. 7. The precise delivery system
server 302, as in step 714 of FIG. 7, associates the user code with
geophysical location information and stores such information in the
server data store 312. Based on this association, if a third party
system 322 sends a user code to the precise delivery system server
302, the third party system 322 can retrieve the geophysical
location information of the user as in step 718 of FIG. 7.
In some embodiments, the geophysical location information and other
relevant information including information on the identity and
content of the delivery of payload, name and mail address of the
user etc. can be entered by a user 205 manually to a computing
device such as home desktop computer or similar devices instead of
using a mobile computing device. This information can then be sent
to the third party system 322 and the third party system 322, in
response, can generate a unique identifier in electronic form and
send the unique identifier information in electronic form to the
user 205. The user 205 can then take a print of the unique
identifier information for display at a desired location.
For ease of explanation and clarity, the unique identifier 100
shown in FIG. 2 and FIG. 3 used by the user 205 is referred to as
unique identifier 100C in FIG. 4, FIG. 5 and FIG. 6 in the present
example. Similarly, a plurality of other unique identifiers 100
having different unique identities are referred to as unique
identifier 100A, unique identifier 100B, unique identifier 100D,
unique identifier 100E and unique identifier 100F etc.
In the present example, reference to FIG. 2 through FIG. 7, the
user 205 buys an article online from an e-commerce website (e.g.,
eBay, Amazon) which will deliver the article at the buyer's place
by using an autonomous delivery vehicle 324 (e.g., a drone 324).
The server system of the e-commerce website from which the user 205
has bought the article is referred to as third party system 322 in
the present example. The user 205 resides in a locality 402 which
comprise a cluster of residential buildings. The user 205 places
the unique identifier 100C at the top of the building 404 where
there is placed another unique identifier 100D by a different user
in close proximity (e.g., 2-3 meters away) to unique identifier
100C. At the top of some of the other nearby buildings there are
unique identifiers 100A, 100B, 100E and 100F placed by other users
of the precise delivery system of the present invention. Standing
near the unique identifier 100C user 205 opens the precise delivery
app in a mobile computing device 200 (e.g. a smartphone 200) as in
step 702 of FIG. 7 and scans the unique identifier 100C with the
camera or scanner available with the smartphone 200 as in step 704
of FIG. 7. As described above, the precise delivery app running in
the smartphone 200 reads the unique identifier 100C as in step 706
of FIG. 7. The precise delivery app also collects the GPS location
of the smartphone 200 as determined by the geospatial location
sensor of the smartphone 200 and this GPS location also represents
the approximate GPS location of the unique identifier 100C. The
user 205 now has to communicate the unique identifier information
which includes GPS location or the geophysical location information
and unique identity of the unique identifier 100C so collected by
the precise delivery app to the third party system 322. It is
assumed that the user 205 is a registered user of the precise
delivery system server 302 and that the user 205 has a user code or
user ID generated by the precise delivery system server 302 for
him/her as in step 716 of FIG. 7. The precise delivery app sends
the unique identifier information of the unique identifier 100C to
the precise delivery system server 302 as in step 708. At the
precise delivery system server 302 all such information are stored
in server data store 312 as in step 709 of FIG. 7. The precise
delivery system server 302 also associates the user code of the
user 205 with the geophysical location information and unique
identity of the unique identifier 100C sent from the smartphone 200
of the user 205 as in step 714 of FIG. 7.
In one embodiment, the user 205 sends the unique identifier
information which includes GPS location and unique identity of the
unique identifier 100C to the third party system 322 directly from
the smartphone 200 of the user 205 as in step 712 of FIG. 7. In
another embodiment, the user 205 sends to the third party system
322 just his/her user code from the smartphone 200 as in step 720
of FIG. 7 and allows precise delivery system server 302 to share
his/her stored details with the third party system 322 against
receipt of any such request. The third party system 322 then sends
the user code of user 205 to the precise delivery system server 302
and retrieves the required information such as geophysical location
information and unique identity of unique identifier 100C as in
step 718 of FIG. 7.
The third party system 322 feeds the geophysical location
information and unique identity data of the target unique
identifier 100C in the present example where the user 205 wants the
payload to be delivered, to the autonomous delivery vehicle 324 as
in step 722 of FIG. 7. In the present example, the third party
system 322 uses a drone 324 which is an autonomous delivery vehicle
and has an onboard navigation system which comprises a first prior
art navigator (not shown in the figures) and a second scanner
navigator 326 in accordance with an embodiment of the present
invention. The scanning methods used by the second scanner
navigator 326 to scan the unique identifiers includes, but are not
limited to, optical scanning, ultra violet scanning, infra red
scanning, vibration scanning. The target unique identifier
information i.e. the geophysical location information and unique
identity of the target unique identifier 100C, fed by the third
party system 322, is kept stored by the navigation system of the
drone 324 for determining the route to the desired landing
location.
The drone 324, carrying the payload 328 (the article bought buy the
user 205 in the present example) first navigates to the locality
402 guided by the first prior art navigator which uses commonly
known navigation techniques such as dead reckoning navigation,
compass navigation, visual landmark-based navigation, satellite
navigation, radio navigation, as in step 724 of FIG. 7, to approach
the approximate location of the unique identifier 100C as shown in
FIG. 4. However, the prior art low cost navigation techniques used
by the first prior art navigator would not be able to guide the
drone 324 to the precise location of the unique identifier 100C
where the user 205 desires delivery of the payload 328. Therefore,
in accordance with an embodiment of the present invention, as shown
in FIG. 5, once the drone 324 nears the approximate location of the
unique identifier 100C (which is the area around the building 404
in the present example), the second scanner navigator 326 starts
scanning the area around the target geophysical location which, in
the present example, is the area around the geophysical location of
the unique identifier 100C as in step 726 of FIG. 7. In a preferred
embodiment, the second scanner navigator 326 may comprise a camera
which is capable of zooming into a particular object of interest
and, in some other embodiments, the optical navigator may include
other optical scanning devices also. The processing unit of the
onboard navigation system of the drone 324 continuously compares
all the unique identities of the unique identifiers 100A, 100B,
100C, 100D, 100E and 100F etc., as in step 726 of FIG. 7, scanned
by the second scanner navigator 326 to locate the unique identifier
which matches the unique identity of the target unique identifier
as fed by the third party system 322. In the present example the
target unique identifier is unique identifier 100C and as soon as
the second scanner navigator 326 identifies it by matching the
unique identity of it with that stored in the memory of the
navigation system of the drone 324, the second scanner navigator
326 continuously keeps track of the target unique identifier and
navigates the drone 324 to the unique identifier 100C for landing
and/or delivery of the payload 328 as in step 728 of FIG. 7. This
cooperative navigation between the target unique identifier and the
autonomous delivery vehicle makes it possible to deliver the
payload 328 at the precise location where the user 205 wanted it to
be.
In some embodiments, the autonomous delivery vehicle 324 (i.e. the
drone 324 in the present example) can receive an acknowledgement
against successful delivery of the payload 328 at the desired
location where the target unique identifier is positioned. The
autonomous delivery vehicle 324 can receive this acknowledgement in
various ways. For example, the unique identifier, apart from having
the unique identity, geophysical location information and the
payload details, may further comprise another electronic code. This
electronic code may be made available with the unique identifier
for scanning (optical scanning, IR scanning etc.) by the autonomous
delivery vehicle 324 once the delivery of the payload is made at
the unique identifier. Another way of acknowledging receipt of a
payload at a desired location is to provide a receipt in a physical
form (such as paper receipt or receipt printed on other similar
materials) at the desired location which can be collected by the
autonomous delivery vehicle once the payload is delivered.
Reference to FIG. 8, the autonomous delivery vehicle 324 may
collect the physical receipt 810 using a magnetic or friction
device such as a robotic hand or hook 815. The physical receipt 810
can be contained in a custom container 805 for ease of pick up. In
a preferred embodiment, the receipt (electronic or physical
receipt) is not displayed until the payload is delivered, either by
the recipient (user) manually or electronically displaying it after
drop off of the payload, or automatically by a simple mechanism
that uncovers or displays the receipt after the package touches
down on a lever or a switch. This two way communication hand-shake
could mark the receipt of the correct payload, a verification of
receipt of high value goods and so on. It can also help
differentiate between different deliveries to the same location,
such as when a single family requests deliveries of two different
items, or in an apartment building where multiple families order
multiple items, but they have the same landing pad--effectively the
same address.
The cooperative navigation provided by the system and method of the
present invention through cooperation of the delivery location (by
means of having the unique identifier) with the second scanner
navigator 326 makes the delivery of payload by the autonomous
delivery vehicle safer. In the prior art autonomous delivery
systems the autonomous delivery vehicle may fail to navigate
through obstructions which may come on its way to the destination
delivery location. Also, due to inaccurate navigation, the
autonomous vehicle may fail to travel to the exact desired location
and, instead, may land at some distance away from the desired
location making the situation unsafe. The cooperative navigation of
the present invention helps in overcoming these problems as the
autonomous delivery vehicle makes the delivery precisely at the
desired location. So, if the unique identifier is positioned at a
safe location, the cooperative navigation system and method of the
present invention makes the delivery of payload by autonomous
delivery vehicle safe. The term "safe location" is used herein to
refer to places which can offer obstruction-free passage to an
autonomous delivery vehicle and, also, which are not considered
hazardous/dangerous to any living being or property if an
autonomous vehicle travels to those places.
As explained above, the cooperative precise delivery system 300 of
the present invention provides some distinct advantage over the
commonly know autonomous delivery systems and methods. The unique
identifiers having the unique identifiers can be mass produced, are
inexpensive, need no external power, requires no or little
maintenance but can still facilitate precise and safe delivery of a
payload through autonomous delivery vehicles. Additionally, the
present invention offers the flexibility of shifting the desired
consignment delivery location as per user's wish depending upon the
requirement.
Additionally, other variations are within the spirit of the present
invention. For example, instead of using for delivery of a payload
as described above, the system and method of the present invention
can also be used for picking up of a payload or package by an
autonomous vehicle from a specific location. In this embodiment,
the autonomous vehicle will be able to find out the exact location
from which a payload is to be picked up by locating the unique
identifier laid at the desired place. Thus, while the invention is
susceptible to various modifications and alternative constructions,
a certain illustrated embodiment thereof is shown in the drawings
and has been described above in detail. It should be understood,
however, that there is no intention to limit the invention to the
specific form or forms disclosed, but on the contrary, the
intention is to cover all modifications, alternative constructions,
and equivalents falling within the spirit and scope of the
invention, as defined in the appended claims.
The use of the terms "a" and "an" and "the" and similar referents
in the context of describing the invention (especially in the
context of the following claims) are to be construed to cover both
the singular and the plural, unless otherwise indicated herein or
clearly contradicted by context. The terms "comprising," "having,"
"including," and "containing" are to be construed as open-ended
terms (i.e., meaning "including, but not limited to,") unless
otherwise noted. The terms "affixed", "fitted" are to be construed
as partly or wholly contained within, attached to, or joined
together, even if there is something intervening. All methods
described herein can be performed in any suitable order unless
otherwise indicated herein or otherwise clearly contradicted by
context. The use of any and all examples, or exemplary language
(e.g., "such as") provided herein, is intended merely to better
illuminate embodiments of the invention and does not pose a
limitation on the scope of the invention unless otherwise claimed.
No language in the specification should be construed as indicating
any non-claimed element as essential to the practice of the
invention.
The flowchart is used to describe the steps of the present
invention. While the various steps in the flowchart are presented
and described sequentially, some or all of the steps may be
executed in different orders, may be combined or omitted, and some
or all of the steps may be executed in parallel. Further, in one or
more of the embodiments of the invention, one or more of the steps
described above may be omitted, repeated, and/or performed in a
different order. In addition, additional steps, omitted in the
flowcharts may be included in performing this method. Accordingly,
the specific arrangement of steps shown in FIG. 7 should not be
construed as limiting the scope of the invention
Preferred embodiments of this invention are described herein.
Variations of those preferred embodiments may become apparent to
those of ordinary skill in the art upon reading the foregoing
description. The inventor expects skilled artisans to employ such
variations as appropriate, and the inventor intends for the
invention to be practiced otherwise than as specifically described
herein. Accordingly, this invention includes all modifications and
equivalents of the subject matter recited in the claims appended
hereto as permitted by applicable law. Moreover, any combination of
the above-described elements in all possible variations thereof is
encompassed by the invention unless otherwise indicated herein or
otherwise clearly contradicted by context.
* * * * *