Patent Application
20190064847
The present application relates to autonomous vehicles, and in particular, to autonomous robot vehicles that carry sub-robot vehicles.
The field of fully-autonomous and/or semi-autonomous robots is a growing field of innovation. Robots are being used for many purposes including warehouse inventory operations, household vacuuming robots, hospital delivery robots, sanitation robots, and military or defense applications.
In the consumer space, handling and delivery of items by autonomous vehicles could improve society in many ways. For example, rather than spending time driving to a store, a person can instead engage in productive work while waiting for an autonomous vehicle to deliver the items. With fewer vehicles on the road, traffic conditions would also improve. For example, instead of several people driving to stores in several vehicles, a single autonomous vehicle could deliver items to those people and thereby reduce the number of vehicles on the road.
Because many houses are inset from the curb, delivery personnel often have to walk up paths or sidewalks which are not always well suited for on-road type vehicular travel. On road delivery vehicles may be too large or unwieldy for such applications. Accordingly, there is interest in developing and improving technologies for delivery of items and services.
This disclosure relates to a fully-autonomous and/or semi-autonomous robot fleet and, in particular, to autonomous robot vehicles that carry sub-robot vehicles.
In accordance with aspects of the present disclosure, an autonomous robot vehicle includes a first land conveyance system configured to travel on vehicle roadways, a navigation system configured to navigate to a destination location, an exterior housing, and a sub-robot vehicle carried within the exterior housing while the first land conveyance system autonomously travels on the vehicle roadways to the destination location. The sub-robot vehicle includes a second land conveyance system configured to travel on pedestrian terrain, one or more modules configured to store customer items where the module(s) include one or more compartments or sub-compartments, one or more processors, and a memory storing instructions which, when executed by the processor(s), cause the sub-robot vehicle to autonomously control the second land conveyance system to exit the exterior housing and travel the pedestrian terrain to a customer pickup location.
In another aspect of the present disclosure, the destination location is one of a securable drop-box, a residential address, or a commercial address.
In yet another aspect of the present disclosure, the instructions, when executed by the at least one processor of the sub-robot vehicle, further cause the sub-robot vehicle to receive an item corresponding to a purchase order prior to the autonomous robot vehicle traveling to the destination location.
In a further aspect of the present disclosure, the autonomous robot vehicle further includes at least one second processor and a second memory storing second instructions which, when executed by the second processor(s), cause the autonomous robot vehicle to stop away from the destination location, where the sub-robot vehicle travels a remaining distance to the destination location on the pedestrian terrain.
In an aspect of the present disclosure, the second instructions, when executed by the at least one second processor, cause the first land conveyance system to autonomously travel to a second destination location at the same time the sub-robot vehicle travels the remaining distance to the destination location.
In a further aspect of the present disclosure, the customer pickup location is selected by a customer.
In yet another aspect of the present disclosure, the autonomous robot vehicle further includes at least one second processor and a second memory storing second instructions which, when executed by the second processor(s), cause the autonomous robot vehicle to determine the customer pickup location based on surrounding environment of the destination location. In various embodiments, the customer pickup location includes at least one of: a front door, a front porch, a street curb near the customer pickup location, or a side door.
In various embodiments, the surrounding environment of the destination location includes at least one of a lawn or a stairway.
In a further aspect of the present disclosure, the second instructions, when executed by the at least one second processor, cause the autonomous robot vehicle to select one of a plurality of sub-robot vehicles suitable for reaching the customer pickup location through the surrounding environment, where the plurality of sub-robot vehicles includes the sub-robot vehicle. In various embodiments, the plurality of sub-robot vehicles includes at least one of a first sub-robot vehicle configured to traverse the lawn and a second sub-robot configure to climb the stairway.
In accordance with aspects of the present disclosure, a computer implemented method for autonomous robot vehicle delivery includes navigating, via a navigation system, an autonomous robot vehicle to a destination location, autonomously traveling, via a first land conveyance system of the autonomous robot vehicle, on vehicle roadways to the destination location, carrying a sub-robot vehicle within an exterior housing of the autonomous robot vehicle while the first land conveyance system autonomously travels on the vehicle roadways to the destination location. The sub-robot vehicle includes a second land conveyance system configured to travel on pedestrian terrain, and at least one module configured to store customer items where the module(s) includes at least one compartment or sub-compartment. The method includes instructing the sub-robot vehicle to exit the exterior housing of the autonomous robot vehicle and autonomously travel, via the second land conveyance system, the pedestrian terrain to a customer pickup location.
In a further aspect of the present disclosure, the destination location is at least one of a securable drop-box, a residential address, or a commercial address.
In yet another aspect of the present disclosure, the computer implemented method further includes instructing the sub-robot vehicle to receive an item corresponding to a purchase order prior to traveling to the destination location.
In a further aspect of the present disclosure, the computer implemented method further includes controlling the first land conveyance system of the autonomous robot vehicle to stop away from the destination location, and instructing the sub-robot vehicle to travel a remaining distance to the destination location on the pedestrian terrain.
In an aspect of the present disclosure, the computer implemented method includes controlling the first land conveyance system of the autonomous robot vehicle to autonomously travel to a second destination location at the same time the sub-robot vehicle travels the remaining distance to the destination location
In various embodiments, the customer pickup location is specified by a customer.
In an aspect of the present disclosure, the computer implemented method further includes determining, by the autonomous robot vehicle, the customer pickup location based on surrounding environment of the destination location. In various embodiments, the customer pickup location includes one or more of: a front door, a front porch, a street curb near the customer pick up location, or a side door.
In various embodiments, the surrounding environment of the destination location includes at least one of a lawn or a stairway.
In another aspect of the present disclosure, the computer implemented method further includes selecting, by the autonomous robot vehicle, one of a plurality of sub-robot vehicles suitable for reaching the customer pickup location through the surrounding environment, the plurality of sub-robot vehicles including the sub-robot vehicle. In various embodiments, the plurality of sub-robot vehicles includes at least one of a first sub-robot vehicle configured to traverse the lawn or a second sub-robot configure to climb the stairway.
Further details and aspects of exemplary embodiments of the present disclosure are described in more detail below with reference to the appended figures.
All publications, patents, and patent applications mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent, or patent application was specifically and individually indicated to be incorporated by reference.
A better understanding of the features and advantages of the disclosed technology will be obtained by reference to the following detailed description that sets forth illustrative embodiments, in which the principles of the technology are utilized, and the accompanying drawings of which:
This disclosure relates to a fully-autonomous and/or semi-autonomous robot fleet and, in particular, to robot vehicles for transporting or retrieving deliveries in either open unstructured outdoor environments or closed environments.
Provided herein is a robot fleet having robot vehicles operating fully-autonomously or semi-autonomously and a fleet management module for coordination of the robot fleet, where each robot within the fleet is configured for transporting, delivering or retrieving goods or services and is capable of operating in an unstructured open or closed environment. Each robot can include a power system, a conveyance system, a navigation module, at least one securable compartment or multiple securable compartments to hold goods, a controller configurable to associate each of the securable compartments to an assignable customer, a customer group within a marketplace, or provider and provide entry when authorized, a communication module and a processor configured to manage the conveyance system, the navigation module, the sensor system, the communication module and the controller.
As used herein, the term “autonomous” includes fully-autonomous, semi-autonomous, and any configuration in which a vehicle can travel in a controlled manner for a period of time without human intervention.
As used herein, the term “fleet,” “sub-fleet,” and like terms are used to indicate a number of land vehicles, watercraft or aircraft operating together or under the same ownership. In some embodiments the fleet or sub-fleet is engaged in the same activity. In some embodiments, the fleet or sub-fleet are engaged in similar activities. In some embodiments, the fleet or sub-fleet are engaged in different activities.
As used herein, the term “robot,” “robot vehicle,” “robot fleet,” “vehicle,” “all-terrain vehicle,” and like terms are used to indicate a mobile machine that transports cargo, items, and/or goods. Typical vehicles include cars, wagons, vans, unmanned motor vehicles (e.g., tricycles, trucks, trailers, buses, etc.), unmanned railed vehicles (e.g., trains, trams, etc.), unmanned watercraft (e.g., ships, boats, ferries, landing craft, barges, rafts, etc.), aerial drones, unmanned hovercraft (air, land and water types), unmanned aircraft, and even including unmanned spacecraft.
As used herein, the term “compartment” is used to indicate an internal bay of a robot vehicle that has a dedicated door at the exterior of the vehicle for accessing the bay, and also indicates an insert secured within the bay. The term “sub-compartment” is generally used to indicate a subdivision or portion of a compartment. When used in the context of a compartment or sub-compartment, the term “module” may be used to indicate one or more compartments or sub-compartments.
As used herein, the term “user,” “operator,” “fleet operator,” and like terms are used to indicate the entity that owns or is responsible for managing and operating the robot fleet.
As used herein, the term “customer” and like terms are used to indicate the entity that requests the services provided the robot fleet.
As used herein, the term “provider,” “business,” “vendor,” “third party vendor,” and like terms are used to indicate an entity that works in concert with the fleet owner or operator to utilize the services of the robot fleet to deliver the provider's product from and or return the provider's product to the provider's place of business or staging location.
As used herein, the term “server,” “computer server,” “central server,” “main server,” and like terms are used to indicate a computer or device on a network that manages the fleet resources, namely the robot vehicles.
As used herein, the term “controller” and like terms are used to indicate a device that controls the transfer of data from a computer to a peripheral device and vice versa. For example, disk drives, display screens, keyboards, and printers all require controllers. In personal computers, the controllers are often single chips. As used herein the controller is commonly used for managing access to components of the robot such as the securable compartments.
As used herein a “mesh network” is a network topology in which each node relays data for the network. All mesh nodes cooperate in the distribution of data in the network. It can be applied to both wired and wireless networks. Wireless mesh networks can be considered a type of “Wireless ad hoc” network. Thus, wireless mesh networks are closely related to Mobile ad hoc networks (MANETs). Although MANETs are not restricted to a specific mesh network topology, Wireless ad hoc networks or MANETs can take any form of network topology. Mesh networks can relay messages using either a flooding technique or a routing technique. With routing, the message is propagated along a path by hopping from node to node until it reaches its destination. To ensure that all its paths are available, the network must allow for continuous connections and must reconfigure itself around broken paths, using self-healing algorithms such as Shortest Path Bridging. Self-healing allows a routing-based network to operate when a node breaks down or when a connection becomes unreliable. As a result, the network is typically quite reliable, as there is often more than one path between a source and a destination in the network. This concept can also apply to wired networks and to software interaction. A mesh network whose nodes are all connected to each other is a fully connected network.
As used herein, the term “module” and like terms are used to indicate a self-contained hardware component of the central server, which in turn includes software modules. In software, a module is a part of a program. Programs are composed of one or more independently developed modules that are not combined until the program is linked. A single module can contain one or several routines, or sections of programs that perform a particular task. As used herein the fleet management module includes software modules for managing various aspects and functions of the robot fleet.
As used herein, the term “processor,” “digital processing device” and like terms are used to indicate a microprocessor or central processing unit (CPU). The CPU is the electronic circuitry within a computer that carries out the instructions of a computer program by performing the basic arithmetic, logical, control and input/output (I/O) operations specified by the instructions.
In accordance with the description herein, suitable digital processing devices include, by way of non-limiting examples, server computers, desktop computers, laptop computers, notebook computers, sub-notebook computers, netbook computers, netpad computers, set-top computers, handheld computers, Internet appliances, mobile smartphones, tablet computers, personal digital assistants, video game consoles, and vehicles. Those of skill in the art will recognize that many smartphones are suitable for use in the system described herein. Suitable tablet computers include those with booklet, slate, and convertible configurations, known to those of skill in the art.
In some embodiments, the digital processing device includes an operating system configured to perform executable instructions. The operating system is, for example, software, including programs and data, which manages the device's hardware and provides services for execution of applications. Those of skill in the art will recognize that suitable server operating systems include, by way of non-limiting examples, FreeBSD, OpenBSD, NetBSD®, Linux, Apple® Mac OS X Server®, Oracle® Solaris®, Windows Server®, and Novell® NetWare®. Those of skill in the art will recognize that suitable personal computer operating systems include, by way of non-limiting examples, Microsoft® Windows®, Apple® Mac OS X®, UNIX®, and UNIX-like operating systems such as GNU/Linux®. In some embodiments, the operating system is provided by cloud computing. Those of skill in the art will also recognize that suitable mobile smart phone operating systems include, by way of non-limiting examples, Nokia® Symbian® OS, Apple® iOS®, Research In Motion® BlackBerry OS®, Google® Android®, Microsoft® Windows Phone® OS, Microsoft® Windows Mobile® OS, Linux®, and Palm® WebOS®.
In some embodiments, the device includes a storage and/or memory device. The storage and/or memory device is one or more physical apparatus used to store data or programs on a temporary or permanent basis. In some embodiments, the device is volatile memory and requires power to maintain stored information. In some embodiments, the device is non-volatile memory and retains stored information when the digital processing device is not powered. In some embodiments, the non-volatile memory includes flash memory. In some embodiments, the non-volatile memory includes dynamic random-access memory (DRAM). In some embodiments, the non-volatile memory includes ferroelectric random access memory (FRAM). In some embodiments, the non-volatile memory includes phase-change random access memory (PRAM). In some embodiments, the device is a storage device including, by way of non-limiting examples, CD-ROMs, DVDs, flash memory devices, magnetic disk drives, magnetic tapes drives, optical disk drives, and cloud computing based storage. In some embodiments, the storage and/or memory device is a combination of devices such as those disclosed herein.
In some embodiments, the digital processing device includes a display to send visual information to a user. In some embodiments, the display is a cathode ray tube (CRT). In some embodiments, the display is a liquid crystal display (LCD). In some embodiments, the display is a thin film transistor liquid crystal display (TFT-LCD). In some embodiments, the display is an organic light emitting diode (OLED) display. In various some embodiments, on OLED display is a passive-matrix OLED (PMOLED) or active-matrix OLED (AMOLED) display. In some embodiments, the display is a plasma display. In some embodiments, the display is a video projector. In some embodiments, the display is interactive (e.g., having a touch screen or a sensor such as a camera, a 3D sensor, a LiDAR, a radar, etc.) that can detect user interactions/gestures/responses and the like. In still some embodiments, the display is a combination of devices such as those disclosed herein.
Provided herein is a robot fleet 100, as illustrated in
As illustrated in
In in some embodiments, the robot fleet is fully-autonomous.
In in some embodiments, the robot fleet is semi-autonomous. In some embodiments, it may be necessary to have human interaction between the robot 101, the fleet operator 200, the provider 204 and/or the customer 202 to address previously unforeseen issues (e.g., a malfunction with the navigation module; provider inventory issues; unanticipated traffic or road conditions; or direct customer interaction after the robot arrives at the customer location).
In in some embodiments, the robot fleet 100 is controlled directly by the user 200. In some embodiments, it may be necessary to have direct human interaction between the robot 101 and/or the fleet operator 200 to address maintenance issues such as mechanical failure, electrical failure or a traffic accident.
In some embodiments, the robot fleet is configured for land travel. In some embodiments, each robot land vehicle in the fleet is configured with a working speed range from 13.0 mph to 45.0 mph. In some embodiments, the land vehicle robot units in the fleet are configured with a maximum speed range from 13.0 mph to about 90.0 mph.
In some embodiments, the robot fleet is configured for water travel as a watercraft and is configured with a working speed range from 1.0 mph to 45.0 mph.
In some embodiments, the robot fleet is configured for hover travel as an over-land or over-water hovercraft and is configured with a working speed range from 1.0 mph to 60.0 mph.
In some embodiments, the robot fleet is configured for air travel as an aerial drone or aerial hovercraft and is configured with a working speed range from 1.0 mph to 80.0 mph.
In some embodiments of the robot fleet, the autonomous robots within the fleet are operated on behalf of third party vendor/service provider.
For example, a fleet management service is established to provide a roving delivery service for a third party beverage/food provider (e.g., a coffee service/experience for a third party vendor (i.e., Starbucks)). It is conceived that the fleet management service would provide a sub-fleet of “white label” vehicles carrying the logo and products of that third party beverage/food provider to operate either fully-autonomously or semi-autonomously to provide this service.
In some embodiments of the robot fleet, the autonomous robots within the fleet are further configured to be part of a sub-fleet of autonomous robots, and each sub-fleet is configured to operate independently or in tandem with multiple sub-fleets having two or more sub-fleets (100-a, 100-b).
For example, a package delivery service is configured to offer multiple levels of service such as “immediate dedicated rush service,” “guaranteed morning/afternoon delivery service,” or “general delivery service.” A service provider could then have a dedicated sub-fleet of delivery vehicles for each type of service within their overall fleet of vehicles. In yet another example, a third party has priority over a certain number of vehicles in the fleet. In so doing, they can guarantee a certain level of responsiveness. When they aren't using the vehicles, the vehicles are used for general services within the fleet (e.g., other third parties).
In some embodiments, the robot fleet is controlled directly by the user.
In some embodiments, there will likely be times when a vehicle breaks down, has an internal system or module failure or is in need of maintenance. For example, in the event that the navigation module should fail, each robot within the fleet is configurable to allow for direct control of the robot's processor to override the conveyance and sensor systems (i.e., cameras, etc.) by a fleet operator to allow for the safe return of the vehicle to a base station for repair.
In some embodiments, the unstructured open environment is a non-confined geographic region accessible by navigable pathways, including, for example, public roads, private roads, bike paths, open fields, open public lands, open private lands, pedestrian walkways, lakes, rivers or streams.
In some embodiments, the closed environment is a confined, enclosed or semi-enclosed structure accessible by navigable pathways, including, for example, open areas or rooms within commercial architecture, with or without structures or obstacles therein, airspace within open areas or rooms within commercial architecture, with or without structures or obstacles therein, public or dedicated aisles, hallways, tunnels, ramps, elevators, conveyors, or pedestrian walkways.
In some embodiments, the unstructured open environment is a non-confined airspace or even near-space environment which includes all main layers of the Earth's atmosphere including the troposphere, the stratosphere, the mesosphere, the thermosphere and the exosphere.
In some embodiments, the navigation module controls routing of the conveyance system of the robots in the fleet in the unstructured open or closed environments.
In some embodiments of the robot fleet 100, the fleet includes a fleet management module 120 (associated with a central server) for coordination of the robot fleet 100 and assignment of tasks for each robot 101 in the fleet. The fleet management module coordinates the activity and positioning of each robot in the fleet. In addition to communicating with the robot fleet, fleet owner/operator and/or user, the fleet management module also communicates with providers/vendors/businesses and customers to optimize behavior of the entire system.
The fleet management module works in coordination with a central server 110, typically located in a central operating facility owned or managed by the fleet owner 200.
As illustrated in
As further illustrated in
In some embodiments, the robot may be requested for a pick-up of an item (e.g., a document) with the intent of delivery to another party. In this scenario, the fleet management module would assign the robot to arrive at a given location, assign a securable compartment for receipt of the item, confirm receipt from the first party to the fleet management module, then proceed to the second location where an informed receiving party would recover the item from the robot using an appropriate PIN or other recognition code to gain access to the secure compartment. The robot would then reports completion of the assignment and report back to the fleet management module for re-assignment.
Each robot vehicle 101 in the fleet includes a conveyance system 130 (e.g., a drive system with a propulsion engine, wheels, treads, wings, rotors, blowers, rockets, propellers, brakes, etc.).
As noted previously, the robot fleet is configurable for land, water or air. Typical vehicles include cars, wagons, vans, unmanned motor vehicles (e.g., tricycles, trucks, trailers, buses, etc.), unmanned railed vehicles (e.g., trains, trams, etc.), unmanned watercraft (e.g., ships, boats, ferries, landing craft, barges, rafts, etc.), aerial drones, unmanned hovercraft (air, land, and water types), unmanned aircraft, and unmanned spacecraft.
In one exemplary embodiment, a robot land vehicle 101 is configured with a traditional 4-wheeled automotive configuration comprising conventional steering and braking systems. The drive train is configurable for standard 2-wheel drive or 4-wheel all-terrain traction drive. The propulsion system (engine) is configurable as a gas engine, a turbine engine, an electric motor and/or a hybrid gas/electric engine. Alternatively, the robot could be configured with an auxiliary solar power system 135 to provide back-up emergency power or power for minor low-power sub-systems.
Alternative configurations of components to a total drive system with a propulsion engine could include wheels, treads, wings, rotors, blowers, rockets, propellers, brakes, etc.
In some embodiments, the robot fleet is configured for water travel as a watercraft with a propulsion system (engine) that is configurable as a gas engine, a turbine engine, an electric motor and/or a hybrid gas/electric engine and is further configured with a propeller.
In some embodiments, the robot fleet is configured for hover travel as an over-land or over-water hovercraft or an air-cushion vehicle (ACV) and is configured with blowers to produce a large volume of air below the hull that is slightly above atmospheric pressure. The propulsion system (engine) is configurable as a gas engine, a turbine engine, an electric motor and/or a hybrid gas/electric engine.
In some embodiments, the robot fleet is configured for air travel as an aerial drone or aerial hovercraft and is configured with wings, rotors, blowers, rockets, and/or propellers and an appropriate brake system. The propulsion system (engine) is configurable as a gas engine, a turbine engine, an electric motor and/or a hybrid gas/electric engine.
In some embodiments, each robot of the robot fleet is configured with one or more power sources, which include the power system 135 (e.g., battery, solar, gasoline, propane, etc.).
Each robot in the fleet further includes a navigation module 140 for navigation in the unstructured open or closed environments (e.g., digital maps, HD maps, GPS, etc.). In some embodiments, the fleet 100 relies on maps generated by the user, operator, or fleet operator, specifically created to cover the intended environment where the robot is configured to operate. These maps would then be used for general guidance of each robot in the fleet, which would augment this understanding of the environment by using a variety of on-board sensors such as cameras, LiDAR, altimeters or radar to confirm its relative geographic position and elevation.
In some embodiments, for navigation, the fleet of robots uses internal maps to provide information about where they are going and the structure of the road environment (e.g., lanes, etc.) and combine this information with onboard sensors (e.g., cameras, LiDAR, radar, ultrasound, microphones, etc.) and internal computer processing to constantly determine where they can safely navigate, what other objects are around each robot and what they may do. In still other embodiments, the fleet incorporates on-line maps to augment internal maps. This information is then combined to determine a safe, robust trajectory for the robot to follow and this is then executed by the low level actuators on the robot.
In some embodiments, the fleet relies on a global positioning system (GPS) that allows land, sea, and airborne users to determine their exact location, velocity, and time 24 hours a day, in all weather conditions, anywhere in the world.
In some embodiments, the fleet of robots will use a combination of internal maps, sensors and GPS systems to confirm its relative geographic position and elevation.
In some embodiments, the autonomous fleet is strategically positioned throughout a geographic region in anticipation of a known demand.
Over time, a user 200 and/or a vendor 204 can anticipate demand for robot services by storing data concerning how many orders (and what type of orders) are made at particular times of day from different areas of the region. This can be done for both source (e.g., restaurants, grocery stores, general businesses, etc.) and destination (e.g., customer, other businesses, etc.). Then, for a specific current day and time, this stored data is used to determine what the optimal location of the fleet is given the expected demand. More concretely, the fleet can be positioned to be as close as possible to the expected source locations, anticipating these source locations will be the most likely new orders to come into the system. Even more concretely, it is possible to estimate the number of orders from each possible source in the next hour and weight each source location by this number. Then one can position the fleet so that the fleet optimally covers the weighted locations based on these numbers.
In some embodiments of the robot fleet, the positioning of robots can be customized based on: anticipated use, a pattern of historical behaviors, or specific goods being carried.
As noted previously, each robot is equipped with a sensor system 170, which includes at least a minimum number of onboard sensors (e.g., cameras (for example, those running at a high frame rate akin to video), LiDAR, radar, ultrasonic sensors, microphones, etc.) and internal computer processing 125 to constantly determine where it can safely navigate, what other objects are around each robot, and what it may do within its immediate surroundings.
In some embodiments, the robots of the robot fleet further include conveyance system sensors 175 configured to: monitor drive mechanism performance (e.g., the propulsion engine); monitor power system levels 135 (e.g., battery, solar, gasoline, propane, etc.); or monitor drive train performance (e.g., transmission, tires, brakes, rotors, etc.).
Each robot in the fleet further includes a communication module 160 configurable to receive, store and send data to the fleet management module, to a user, to and from the fleet management module 120, and to and from the robots in the fleet 100. In some embodiments, the data is related to at least user interactions and the robot fleet interactions, including, for example, scheduled requests or orders, on-demand requests or orders, or a need for self-positioning of the robot fleet based on anticipated demand within the unstructured open or closed environments.
In some embodiments, each robot in the fleet includes at least one communication module configurable to receive, store and transmit data, and to store that data to a memory device, for future data transfer or manual download.
In some embodiments, each business 204 and customer 202 has their own app/interface to communicate with the fleet operator 200 (e.g., “Nuro customer app” for customers on their phone, “Nuro vendor app” for businesses on a tablet or phone or their internal computer system, etc.).
In some embodiments, the communication to the user and the robots in the fleet, between the robots of the fleet, and between the user and the robots in the fleet, occurs via wireless transmission.
In some embodiments, the user's wireless transmission interactions and the robot fleet wireless transmission interactions occur via mobile application transmitted by an electronic device and forwarded to the communication module via: a central server, a fleet management module, and/or a mesh network.
In some embodiments, one preferred method of communication is to use cellular communication between the fleet manager and fleet of robots, (e.g., 3G, 4G, 5G, or the like). Alternatively, the communication between the fleet control module and the robots could occur via satellite communication systems.
In some embodiments, a customer uses an app (either on a cellphone, laptop, tablet, computer or any interactive device) to request a service (e.g., an on-demand food order or for a mobile marketplace robot to come to them).
In some embodiments, the electronic device includes: a phone, a personal mobile device, a personal digital assistant (PDA), a mainframe computer, a desktop computer, a laptop computer, a tablet computer, and/or wearable computing device such as a communication headset, smart glasses, a contact lens or lenses, a digital watch, a bracelet, a ring, jewelry, or a combination thereof.
In some embodiments, the user includes a fleet manager, a sub-contracting vendor, a service provider, a customer, a business entity, an individual, or a third party.
In some embodiments, the services include: subscription services, prescription services, marketing services, advertising services, notification services, or requested, ordered or scheduled delivery services. In particular embodiments, the scheduled delivery services include, by way of example, special repeat deliveries such as groceries, prescriptions, drinks, mail, documents, etc.
In some embodiments, the services further include: the user receiving and returning the same or similar goods within the same interaction (e.g., signed documents), the user receiving one set of goods and returning a different set of goods within the same interaction, (e.g., product replacement/returns, groceries, merchandise, books, recording, videos, movies, payment transactions, etc.), a third party user providing instruction and or authorization to a goods or service provider to prepare, transport, deliver and/or retrieve goods to a principle user in a different location.
In some embodiments, the services further include: advertising services, land survey services, patrol services, monitoring services, traffic survey services, signage and signal survey services, architectural building or road infrastructure survey services.
In some embodiments, at least one robot is further configured to process or manufacture goods.
In some embodiments, the processed or manufactured goods include: beverages, with or without condiments (such as coffee, tea, carbonated drinks, etc.); various fast foods; or microwavable foods.
In some embodiments, the robots within the fleet are equipped for financial transactions. These can be accomplished using known transaction methods such as debit/credit card readers or the like.
As illustrated in
Alternately, in some embodiments, the vehicle could be configured for water travel, providing at least one and preferably two large storage compartments, and more preferably, at least one large compartment is configured with smaller internal secure compartments of variable configurations to carry individual items that are to be delivered to, or need to be retrieved from customers.
Further still, in some embodiments, the vehicle could be configured for hover travel, providing at least one and preferably two large storage compartments, and more preferably, at least one large compartment is configured with smaller internal secure compartments of variable configurations to carry individual items that are to be delivered to, or need to be retrieved from customers.
Further still, in some embodiments, the vehicle could be configured for aerial drone or aerial hover travel, providing at least one and preferably two large storage compartments, and more preferably, at least one large compartment is configured with smaller internal secure compartments of variable configurations to carry individual items that are to be delivered to, or need to be retrieved from customers.
As illustrated in
In some embodiments, the securable compartments are configurable for various goods. Such configurations and goods include: bookshelves for books, thin drawers for documents, larger box-like drawers for packages, and sized compartments for vending machines, coffee makers, pizza ovens and dispensers.
In some embodiments, the securable compartments are variably configurable based on: anticipated demands, patterns of behaviors, area of service, or types of goods to be transported.
Further still, each robot includes securable compartments to hold said goods or items associated with said services, and a controller 150 configurable to associate each one of the securable compartments 102, 104 to an assignable customer 202 or provider 204 and provide entry when authorized, Each robot vehicle further includes at least one processor configured to manage the conveyance system, the navigation module, the sensor system, instructions from the fleet management module, the communication module, and the controller.
As described previously, each robot is configured with securable compartments. Alternately, a robot is configurable to contain a set of goods or even a mobile marketplace (similar to a mini bar at a hotel).
When a robot is assigned to a customer 202, one or more of the compartments 102, 104 is also assigned to that customer. Each of the large compartments 12 is secured separately and can securely transport goods to a separate set of customers 202.
Upon arrival of the robot to the customer destination, the customer can then open their respective compartment(s) by verifying their identity with the robot. This can be done through a wide variety of approaches comprising, but not limited to:
Referring now to
Initially at step 1302, the system communicates instructions to an autonomous robot vehicle 101 to travel to a destination location via vehicle roadways. The autonomous robot vehicle can include the systems shown in
In various embodiments, the autonomous robot vehicle 101 includes a communication system configured to communicate wirelessly with the sub-robot vehicle 1402. In various embodiments, the wireless communication may include Wi-Fi and/or Bluetooth. Aspects of the autonomous robot vehicle 101 are described above herein, including aspect relating to navigation and autonomous travel. In accordance with aspects of the present disclosure, such aspects of an autonomous robot vehicle 101 apply also the sub-robot vehicle 1402.
In various embodiments, the sub-robot vehicle 1402 is carried within the exterior housing of the autonomous robot vehicle 101 while the autonomous robot vehicle 101 autonomously travels on vehicle roadways to the destination location. The destination location can be, for example, a customer home address or a GPS location. In various embodiments, the destination location may include, for example a securable drop-box, a residential address, and/or a commercial address.
In various embodiments, the sub-robot vehicle 1402 includes module(s) 1404 that are securable and configured to unlock using biometric data corresponding to a recipient. In various embodiments, the recipient is a person who receives an item from delivery. In various embodiments, the sub-robot vehicle 1402 receives an item corresponding to a purchase order prior to the autonomous robot vehicle 101 traveling to the destination location.
In various embodiments, the autonomous robot vehicle 101 also includes module(s) 102 that are securable and configured to unlock using biometric data corresponding to a recipient. In various embodiments, the robot vehicle 101 can receive an item in a sub-compartment for delivery. In various embodiments, the robot vehicle 101 can determine which compartment 102 or sub-compartment to assign to a particular item based on the description of the item, which may include dimension information and weight information. In various embodiments, the autonomous robot vehicle 101 receives an item corresponding to a purchase order prior to the autonomous robot vehicle 101 traveling to the destination location.
In various embodiments, the autonomous robot vehicle 101 can determine that particular roadways should be avoided on the way to the destination location. For example, such a determination can be performed by the navigation system of the autonomous robot vehicle 101. The determination to avoid the particular roadways can include stopping away from the destination location. In such a situation, the sub-robot vehicle 1402 can operate to travel the remaining distance to the destination location via pedestrian terrain, such as sidewalks. For example, the autonomous robot vehicle 101 may determine that it should avoid certain roadways and should stop away from the destination location. In another example, the autonomous robot vehicle 101 may determine that certain stopping points may be more ideal for route optimization. For example, if the autonomous robot vehicle 101 is carrying two orders, it may first stop and give the sub-robot 1402 the first order, and the autonomous robot vehicle 101 and sub-robot vehicle 1402 could simultaneously deliver orders at the same time. Accordingly, in various embodiments, while the sub-robot vehicle 1402 is traveling to the destination location, the autonomous robot vehicle 101 can travel to a second destination at the same time that the sub-robot vehicle 1402 travels the remaining distance to the customer pickup location.
At step 1304, the system receives an indication from the autonomous robot vehicle that it has arrived at the destination location or arrived at a location proximate to but away from the destination location. When the autonomous robot vehicle 101 arrives at the destination location, it may communicate a signal to the system that it has arrived. In various embodiments, the sub-robot vehicle 1402 also includes a navigation system.
In accordance with aspects of the present disclosure, after the autonomous robot vehicle 101 reaches the destination location or stops in proximity to but away from the destination location, at step 1306, the sub-robot vehicle 1402 can exit the autonomous robot vehicle 101 and travel on pedestrian terrain to deliver a customer item. The sub-robot vehicle 1402 can be configured to travel on various types of pedestrian terrain, such as sidewalks, lawns, stairs, driveways, and/or unpaved walkways, among others. The sub-robot vehicle 1402 can deliver the customer item to a customer pickup location at the destination location.
In various embodiments, the customer pickup location at the destination location may be, for example, a front door, a front porch, a street curb near the customer pick up location, a side door, a driveway, or another location or entry-way at a destination location. For example, this may be specified by a customer prior to pick up (e.g., customer would like item to be dropped off on front porch vs. side door). In various embodiments, if a customer does not specify a pickup location at the destination location, the sub-robot vehicle 1402 and/or the autonomous robot vehicle 101 (if it is close enough) may detect surrounding conditions and determine drop-off location based on pathway conditions (e.g., fences, shrubs, stairs) and what they consider the ideal location.
In various embodiments, the system receives an indication from a user device specifying the customer pickup location and determines a customer pickup location based on the indication. In various embodiments, the user device may be a mobile phone, a tablet, a laptop, or other mobile device. In various embodiments, the user may interact with the autonomous robot vehicle 101 and/or sub-robot vehicle 1402 using a user device. For example, a recipient may unlock the securable compartment of the autonomous robot vehicle 101 and/or sub-robot vehicle 1402 when it delivers an item.
In various embodiments, the autonomous robot vehicle 101 and/or the sub-robot vehicle 1402 may determine the customer pickup location based on the surrounding environment at the destination location. In various embodiments, the surrounding environment of the destination location may include, for example, fences, shrubs, landscaping, lawns, driveways, stairways, and/or unpaved walkways. For example, if the destination location has a shrub blocking the way to a side door, then the sub-robot vehicle 1402 or the autonomous robot vehicle 101 may determine that the front door may be a better customer pickup location.
In various embodiments, the autonomous robot vehicle 101 may carry multiple sub-robot vehicles 1402, and each sub-robot vehicle 1402 may be configured to travel on different types of pedestrian terrain. For example, one sub-robot vehicle may be configured to travel on lawns, while another sub-robot vehicle may be configured to climb stairs. Other sub-robot vehicles are contemplate for different types of terrain or pedestrian terrain. Accordingly, a few different types of sub-robot vehicles 1402 may be stored in the autonomous robot vehicle 101, and the appropriate autonomous robot vehicle 101/sub-robot vehicles 1402 combination can be deployed based on either customer request of drop-off location. In various embodiments, the appropriate autonomous robot vehicle 101/sub-robot vehicles 1402 combination is based an assessment of what the expected terrain at the destination location will be.
The embodiments and descriptions of sub-robot vehicles and autonomous robot vehicles carrying and deploying sub-robot vehicles are exemplary and do not limit the scope of the present disclosure. Variations and combinations of various embodiments are contemplated to be within the scope of the present disclosure.
In some embodiments, each robot in the robot fleet is equipped with one or more processors 125 capable of both high-level computing for processing as well as low-level safety-critical computing capacity for controlling the hardware. The at least one processor is configured to manage the conveyance system, the navigation module, the sensor system, instructions from the fleet management module, the communication module and the controller.
Further still, in some embodiments, each robot in the robot fleet is equipped with a controller 150 configurable to associate each one of the securable compartments 102, 104 to an assignable customer 202 or provider 204 and provide entry when authorized.
In some embodiments, the robot fleet further includes at least one robot having a digital display for curated content comprising: advertisements (i.e., for both specific user and general public), including services provided, marketing/promotion, regional/location of areas served, customer details, local environment, lost, sought or detected people, public service announcements, date, time, or weather.
The embodiments disclosed herein are examples of the disclosure and may be embodied in various forms. For instance, although certain embodiments herein are described as separate embodiments, each of the embodiments herein may be combined with one or more of the other embodiments herein. Specific structural and functional details disclosed herein are not to be interpreted as limiting, but as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present disclosure in virtually any appropriately detailed structure. Like reference numerals may refer to similar or identical elements throughout the description of the figures.
The phrases “in an embodiment,” “in embodiments,” “in various embodiments,” “in some embodiments,” or “in other embodiments” may each refer to one or more of the same or different embodiments in accordance with the present disclosure. A phrase in the form “A or B” means “(A), (B), or (A and B).” A phrase in the form “at least one of A, B, or C” means “(A); (B); (C); (A and B); (A and C); (B and C); or (A, B, and C).”
Any of the herein described methods, programs, algorithms or codes may be converted to, or expressed in, a programming language or computer program. The terms “programming language” and “computer program,” as used herein, each include any language used to specify instructions to a computer, and include (but is not limited to) the following languages and their derivatives: Assembler, Basic, Batch files, BCPL, C, C+, C++, Delphi, Fortran, Java, JavaScript, machine code, operating system command languages, Pascal, Perl, PL1, Python, scripting languages, Visual Basic, metalanguages which themselves specify programs, and all first, second, third, fourth, fifth, or further generation computer languages. Also included are database and other data schemas, and any other meta-languages. No distinction is made between languages which are interpreted, compiled, or use both compiled and interpreted approaches. No distinction is made between compiled and source versions of a program. Thus, reference to a program, where the programming language could exist in more than one state (such as source, compiled, object, or linked) is a reference to any and all such states. Reference to a program may encompass the actual instructions and/or the intent of those instructions.
The systems described herein may also utilize one or more controllers to receive various information and transform the received information to generate an output. The controller may include any type of computing device, computational circuit, or any type of processor or processing circuit capable of executing a series of instructions that are stored in a memory. The controller may include multiple processors and/or multicore central processing units (CPUs) and may include any type of processor, such as a microprocessor, digital signal processor, microcontroller, programmable logic device (PLD), field programmable gate array (FPGA), or the like. The controller may also include a memory to store data and/or instructions that, when executed by the one or more processors, cause the one or more processors to perform one or more methods and/or algorithms.
It should be understood that the foregoing description is only illustrative of the present disclosure. Various alternatives and modifications can be devised by those skilled in the art without departing from the disclosure. Accordingly, the present disclosure is intended to embrace all such alternatives, modifications and variances. The embodiments described with reference to the attached drawing figures are presented only to demonstrate certain examples of the disclosure. Other elements, steps, methods, and techniques that are insubstantially different from those described above and/or in the appended claims are also intended to be within the scope of the disclosure.
The present application is a continuation-in-part of International Application No. PCT/US2018/044361, filed on Jul. 30, 2018, which claims the benefit of U.S. Provisional Application No. 62/538,538, filed on Jul. 28, 2017. The entire contents of each of the foregoing applications are hereby incorporated by reference.
| Number | Date | Country | |
|---|---|---|---|
| 62538538 | Jul 2017 | US |
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/US2018/044361 | Jul 2018 | US |
| Child | 16176462 | US |
