CN112437934A - 具有带有温度和湿度控制室的机器人车辆的输送系统 - Google Patents

具有带有温度和湿度控制室的机器人车辆的输送系统 Download PDF

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Publication number
CN112437934A
CN112437934A CN201980047757.7A CN201980047757A CN112437934A CN 112437934 A CN112437934 A CN 112437934A CN 201980047757 A CN201980047757 A CN 201980047757A CN 112437934 A CN112437934 A CN 112437934A
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China
Prior art keywords
robotic vehicle
fleet
autonomous robotic
item
autonomous
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Pending
Application number
CN201980047757.7A
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English (en)
Inventor
大卫·弗格森
朱佳俊
娜恩·弗朗西霍夫
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Nuro Inc
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Nuro Inc
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Priority claimed from PCT/US2018/044361 external-priority patent/WO2019023704A1/en
Application filed by Nuro Inc filed Critical Nuro Inc
Publication of CN112437934A publication Critical patent/CN112437934A/zh
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    • G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
    • G07C9/00571—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated by interacting with a central unit
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit
    • G07C9/20—Individual registration on entry or exit involving the use of a pass
    • G07C9/28—Individual registration on entry or exit involving the use of a pass the pass enabling tracking or indicating presence
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/22—Platooning, i.e. convoy of communicating vehicles
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/76—Television signal recording
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B6/00—Heating by electric, magnetic or electromagnetic fields
    • H05B6/64—Heating using microwaves
    • H05B6/66—Circuits
    • H05B6/68—Circuits for monitoring or control
    • H05B6/688—Circuits for monitoring or control for thawing

Abstract

根据本公开的方面的自主机器人车辆包括运输系统和联接至该运输系统的隔间。运输系统在一个或多个存储位置和一个或多个输送位置之间自主地驱动自主机器人车辆。隔间接收存储在一个或多个存储位置处的一个或多个物品。隔间包括温度控制模块，该温度控制模块被配置为将隔间维持在预定温度范围内，以在运输系统在一个或多个存储位置和一个或多个输送位置之间驱动时为一个或多个物品提供温度控制。

Description

具有带有温度和湿度控制室的机器人车辆的输送系统
相关申请的交叉引用
本申请是于2018年10月12日提交的美国专利申请No.16/159,016的继续申请，其是于2018年7月30日提交的国际申请No.PCT/US2018/044361的部分继续申请，其中的每一个的全部内容通过引用并入本文。
技术领域
本申请涉及输送，并且尤其涉及包括一个或多个自主或半自主机器人车辆的输送系统。
背景技术
完全自主和/或半自主机器人领域是一个不断发展的创新领域。机器人用于许多目的，包括仓库清单(inventory)操作、家用吸尘机器人、医院输送机器人、卫生机器人以及军事或国防应用。
在消费者领域，通过自主驾驶车辆(autonomous vehicle)来处理和输送杂货(grocery)可以以许多方式改善社会。例如，预期花时间开车去杂货店或从杂货店回来，在杂货店闲逛以找到所需的杂货物品，并排队支付杂货物品，消费者可以在等待自主驾驶车辆将杂货物品输送给他们的同时从事生产性工作、娱乐和/或休息。因此，有兴趣开发用于通过自主机器人车辆处理和输送杂货物品的技术。
发明内容
本公开涉及一种杂货输送系统，其包括完全自主和/或半自主机器人车队，并且尤其涉及一个或多个机器人车辆的车队，用于在非结构化室外环境或封闭环境中运输或取回货物。
在一个方面，本公开涉及一种自主机器人车辆。自主机器人车辆包括运输系统和联接至该运输系统的存储隔间(storage compartment)。运输系统被配置为在一个或多个杂货存储位置和一个或多个输送位置之间自主地驱动自主机器人车辆。存储隔间联接到运输系统，并且被配置为接收存储在一个或多个杂货存储位置处的一个或多个杂货物品。存储隔间包括温度控制模块，该温度控制模块被配置为将存储隔间维持在预定温度范围内，以在运输系统在一个或多个杂货存储位置和一个或多个输送位置之间驱动时为一个或多个杂货物品提供温度控制。
在实施例中，温度控制模块可以包括加热器，该加热器被配置为升高存储隔间内的温度以将温度维持在预定温度范围内。预定温度范围可以在约40华氏度和约500华氏度之间。
在各种实施例中，温度控制模块可以包括冷却器，该冷却器被配置为降低存储隔间内的温度以将温度维持在预定温度范围内。预定温度范围可以在约32华氏度和约40华氏度之间。预定温度范围可以低于约32华氏度。
在一些实施例中，自主机器人车辆还可以包括湿度控制模块，该湿度控制模块控制存储隔间内的湿度水平。
在实施例中，温度控制模块可以被配置为选择性地升高或降低存储隔间内的温度，以将存储隔间维持在预定温度范围内。
在某些实施例中，温度控制模块可以被配置为基于一个或多个杂货物品的最佳温度范围来调节存储隔间内的温度。
根据另一方面，本公开涉及一种杂货输送系统，包括数据库、通信系统、一个或多个处理器以及存储器。数据库被配置为存储由自主驾驶车辆输送的杂货列表。数据库还被配置为存储输送位置和一个或多个杂货存储位置的信息。通信系统被配置为与计算设备进行通信，以使一个或多个杂货物品能够从存储在数据库中的杂货列表中选择以创建杂货订单。存储器存储有指令，这些指令在由一个或多个处理器执行时使杂货输送系统在数据库中访问杂货订单；指示一个或多个存储位置将杂货订单加载到自主驾驶车辆上；以及当将杂货订单被加载到自主驾驶车辆中时，指示自主驾驶车辆行进到输送位置。
在各种实施例中，杂货输送系统还可以包括自主机器人车辆的车队。
在实施例中，通信系统可以被配置为与自主机器人车辆的车队中的每个自主机器人车辆进行通信，并且从消费者的计算设备上的软件应用接收杂货订单。
在一些实施例中，数据库可以被配置为存储车队的每个自主机器人车辆的信息。该信息可以包括每个自主机器人车辆的设备清单和每个自主机器人车辆的杂货订单的杂货清单。
在实施例中，指令在由一个或多个处理器执行时，使系统基于数据库中的设备清单和杂货清单信息来识别车队中能够完成杂货订单的特定自主驾驶车辆。
在各种实施例中，设备清单信息可以指示每个自主机器人车辆是否包括温度受控的存储隔间。
在某些实施例中，设备清单信息可以指示每个自主机器人车辆是否包括以下项中的一项或多项：加热器、冷却器或加热器和冷却器两者。
在一些实施例中，设备清单信息可以指示每个自主机器人车辆是否包括湿度受控的存储隔间。
在实施例中，指令在由一个或多个处理器执行时，还可以使系统行进至不同的输送位置或行进至一个或多个存储位置。
根据又一方面，本公开涉及一种自主机器人车辆系统，包括：运输系统、被配置为导航到目的地的导航系统、通信系统、一个或多个存储隔间、一个或多个温度控制模块、一个或多个处理器以及存储器。一个或多个存储隔间被配置为存储针对目的地的杂货订单的杂货物品。每个杂货物品都具有预定温度要求。一个或多个温度控制模块联接至一个或多个存储隔间，并且被配置为将一个或多个存储隔间中的一个或多个温度维持在一个或多个预定温度范围内。存储器存储指令，这些指令在由一个或多个处理器执行时，使自主机器人车辆自主地：经由通信系统接收针对目的地的杂货订单；经由导航系统确定包括目的地的行进路线；控制运输系统沿着行进路线行进以到达目的地；以及在沿着行进路线行进时，经由至少一个温度控制模块，基于杂货订单的预定温度要求，将一个或多个存储隔间中的一个或多个温度控制在一个或多个预定温度范围内。
在各种实施例中，指令在由一个或多个处理器执行时，还使自主机器人车辆：经由通信系统接收一个或多个附加杂货订单；以及与一个或多个温度控制模块协调，以基于杂货订单和一个或多个附加杂货订单来同时控制一个或多个存储隔间内的温度。
下面参考附图更详细地描述本公开的示例性实施例的进一步的细节和方面。
通过引用并入
本说明书中提到的所有出版物、专利和专利申请都通过引用并入本文，其程度如同每个单独的出版物、专利或专利申请被具体地和单独地指示通过引用并入。
附图说明
通过参考阐述说明性实施例的以下详细描述，可以更好地理解所公开技术的特征和优点，其中利用了该技术的原理及其附图：
图1是根据本公开的原理的自主机器人车队的透视图；
图2是示出为与平均身高的单个消费者相邻的图1的自主机器人车队的机器人车辆的前视图；
图3是图2的机器人车辆的右侧视图；
图4是示出为与图2所示的平均身高的单个消费者相邻的图2的机器人车辆的左侧视图；
图5是与图1的自主机器人车队的中央服务器相关联的车队管理控制模块的逻辑流的示例性流程图表示；
图6是从图5的车队管理控制模块通过图2的机器人车辆的机器人处理器到图2的机器人车辆的各种系统和模块的逻辑流的示例性流程图表示；
图7是通过自主驾驶车辆系统的通信模块的逻辑流的示例性流程图表示；
图8是将杂货物品输送给消费者的图2的机器人车辆的实施例的示例性透视图；
图9是在机器人车辆的各个隔间中支撑杂货物品的机器人车辆的另一实施例的示例性透视图；
图10A是其门处于关闭位置的图2的机器人车辆的存储模块的实施例的示例性透视图；
图10B是其门示出为处于打开位置的图10的存储模块的示例性透视图，并且示出了存储模块内具有温度控制模块的隔间和存储模块内具有湿度控制模块的隔间；
图11是图2的机器人车辆的另一存储模块的示例性透视图；
图12是本公开的自主驾驶车辆系统的示例性联网环境的图；以及
图13是用于本公开的自主驾驶车辆管理系统的杂货输送服务器的示例性组件的框图。
具体实施方式
本公开涉及一种杂货输送系统，其包括完全自主和/或半自主机器人车队，并且尤其涉及一个或多个机器人车辆，用于在开放的非结构化室外环境或封闭环境中运输或取回货物。在一个方面，本公开提供了用于接收用于将要输送的杂货物品运输到输送目的地的订单的系统和一个或多个自主驾驶车辆，其中，可以在通往输送目的地(例如，消费者住宅、办公室、仓库、商店等)的途中在自主驾驶车辆上对杂货物品进行温度和/或湿度控制。更具体地，一个或多个自主驾驶车辆包括安全存储隔间，用于将杂货物品维持在预定温度和/或湿度范围内以保持杂货物品在目的地之间运输时的新鲜度/活力。
如本文所使用的，术语“杂货”包括易腐烂和不易腐烂的食品和供应/产品，例如农产品、冷冻食品、加热或温热食品、冷藏食品、湿食品、干食品、罐头食品、包装食品、饮料等、以及相关的消费者产品或商品，例如药物、卫生用品、玩具、电子产品、药品、维生素/补充剂、礼品卡、装饰品、书籍、视频、气球、容器、杂志、卡片、衣服、宠物用品、化妆品、鲜花、办公用品、学校用品、清洁用品、厨具、餐具、器皿、洗衣用品、季节性物品、新奇物品和/或其他特殊物品等。
本文提供了一种杂货输送系统，其包括具有完全自主或半自主操作的机器人车辆的机器人车队，以及用于协调机器人车队的车队管理模块，其中车队中的每个机器人被配置为用于运输、输送或取回商品(good)或服务，并且能够在非结构化开放或封闭环境中操作。每个机器人可以包括电源系统、运输系统、导航模块、用于容纳商品的至少一个安全隔间或多个安全隔间、可配置为将每个安全隔间与市场中的可分配消费者或消费者组或提供者相关联并且在授权时提供入口的控制器、通信模块、温度控制模块、湿度控制模块以及被配置为管理运输系统、导航模块、传感器系统、通信模块、温度控制模块、湿度控制模块和控制器的处理器。
如本文所使用的，术语“自主”包括完全自主、半自主以及车辆可以在无需人工干预的情况下以受控方式操作一段时间的任何配置。
如本文所使用的，术语“车队”、“子车队”和类似术语用于指示许多移动机器或车辆，包括一起或在同一所有权下操作的陆地车辆、水运工具和/或飞机。在一些实施例中，车队或子车队从事相同的活动。在各种实施例中，车队或子车队从事类似的活动。在某些实施例中，车队或子车队从事不同的活动。
如本文所使用的，术语“机器人”、“机器人车辆”、“机器人车队”、“车辆”、“全地形车辆”、“多地形车辆”以及类似术语用于指示运输货物、物品和/或商品的移动机器。典型的车辆包括汽车、货车、厢式货车、无人驾驶机动车辆(例如，三轮车、卡车、拖车、公共汽车等)、无人驾驶有轨车辆(例如，火车、电车等)、无人驾驶水运工具(例如，船舶、轮船、轮渡、登陆艇、驳船、筏等)、空中无人机(aerial drone)、无人气垫船(空中、陆上和水上类型)、无人驾驶飞机、并且甚至包括无人航天器。
如本文所使用的，可以包括“子隔间”的术语“隔间”用于指示机器人车辆的内部舱室。在实施例中，隔间可以例如在车辆的外部具有专用门以用于进入舱室或其一部分，和/或在车辆的内部具有专用门以用于进入舱室或其部分。在各种实施例中，隔间可以指示固定在舱室或其部分内的插入物。
如本文所使用的，术语“小隔间”用于指示隔间的细分或一部分。
如本文所使用的，术语“用户”、“操作者”、“车队操作者”、“管理器”以及类似术语用于指示拥有或负责管理和/或操作机器人车队或其部分的实体。
如本文所使用的，术语“消费者”和类似术语用于指示请求由机器人车队提供的服务的实体。
如本文所使用的，术语“提供者”、“企业”、“供应商”、“第三方供应商”以及类似术语用于指示以下实体：与车队所有者或操作者协同工作以利用机器人车队的服务来从提供者的营业地或中转(staging)/存储位置输送提供者的产品和/或将提供者的产品返回到提供者的营业地点或中转/存储位置。
如本文所使用的，术语“服务器”、“计算机服务器”、“中央服务器”、“主服务器”以及类似术语用于指示管理车队资源(即，一个或多个机器人车辆)的网络上的计算机或设备。
如本文所使用的，术语“控制器”以及类似术语用于指示控制数据从计算机到外围设备的传输的设备，反之亦然。例如，磁盘驱动器、显示屏、键盘和打印机都需要控制器。在个人计算机中，控制器通常是单芯片。如本文所使用的，控制器通常用于管理对机器人的组件(例如，安全存储隔间)的访问。
如本文所使用的，“网状网络”是每个节点都为网络中继数据的网络拓扑。所有网状节点在网络中协作分发数据。它可以应用于有线和无线网络两者。无线网状网络可以被认为是一种“无线自组织”网络。因此，无线网状网络与移动自组织网络(MANET)密切相关。尽管MANET不限于特定的网状网络拓扑，但是无线自组织网络或MANET可以采用任何形式的网络拓扑。网状网络可以使用泛洪技术或路由技术来中继消息。利用路由，该消息通过从节点到节点的跳跃沿着路径传播，直到到达其目的地。为了确保其所有路径均可用，网络必须允许连续连接，并且必须使用诸如最短路径桥接之类的自修复(self-healing)算法在断开的路径周围重新配置自身。自修复可以在节点发生故障或连接变得不可靠时，允许基于路由的网络操作。结果，网络通常是相当可靠的，因为在网络中的源与目的地之间通常存在多于一条路径。这个概念也可以应用于有线网络和软件交互。节点全部彼此连接的网状网络是完全连接网络。
如本文所使用的，术语“模块”以及类似术语用于指示中央服务器的自包含硬件组件，该中央服务器又包括软件模块。在软件中，模块是程序的一部分。程序由一个或多个独立开发的模块组成，这些模块在程序被链接之前不会组合。单个模块可以包含一个或几个例程，或执行特定任务的程序部分。如本文所使用的，车队管理模块包括用于管理机器人车队的各个方面和功能的软件模块。
如本文所使用的，术语“处理器”、“数字处理设备”以及类似术语用于指示微处理器或中央处理单元(CPU)。CPU是通过执行由指令指定的基本算术、逻辑、控制和输入/输出(I/O)操作来执行计算机程序的指令的计算机内的电子电路。
根据本文的描述，作为非限制性示例，合适的数字处理设备包括服务器计算机、台式计算机、膝上型计算机、笔记本计算机、子笔记本计算机、上网本计算机、笔记本计算机、机顶计算机、手持式计算机、互联网设备、移动智能手机、平板计算机、个人数字助理、视频游戏机和车辆。本领域技术人员将认识到，许多智能电话适用于本文所述的系统。合适的平板计算机包括本领域技术人员已知的具有小册子、平板和可转换配置的那些计算机。
在一些实施例中，数字处理设备包括被配置为执行可执行指令的操作系统。操作系统是例如包括程序和数据的软件，其管理设备的硬件并提供用于执行应用的服务。本领域技术人员将认识到，作为非限制性示例，合适的服务器操作系统包括FreeBSD、OpenBSD、
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在一些实施例中，操作系统由云计算提供。本领域技术人员还将认识到，作为非限制性示例，合适的移动智能电话操作系统包括
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在一些实施例中，设备包括存储装置和/或存储器设备。存储装置和/或存储器设备是用于临时或永久地存储数据或程序的一个或多个物理装置。在一些实施例中，该设备是易失性存储器，并且需要电力来维持所存储的信息。在一些实施例中，该设备是非易失性存储器，并且在数字处理设备没有被供电时保留所存储的信息。在一些实施例中，非易失性存储器包括闪存。在一些实施例中，非易失性存储器包括动态随机存取存储器(DRAM)。在一些实施例中，非易失性存储器包括铁电随机存取存储器(FRAM)。在一些实施例中，非易失性存储器包括相变随机存取存储器(PRAM)。在一些实施例中，设备是存储设备，作为非限制性示例，其包括CD-ROM、DVD、闪存设备、磁盘驱动器、磁带驱动器、光盘驱动器和基于云计算的存储装置。在一些实施例中，存储装置和/或存储器设备是诸如本文公开的那些设备之类的设备的组合。
在一些实施例中，数字处理设备包括显示器，用于将视觉信息发送给用户。在一些实施例中，显示器是阴极射线管(CRT)。在一些实施例中，显示器是液晶显示器(LCD)。在一些实施例中，显示器是薄膜晶体管液晶显示器(TFT-LCD)。在一些实施例中，显示器是有机发光二极管(OLED)显示器。在各种一些实施例中，OLED显示器是无源矩阵OLED(PMOLED)或有源矩阵OLED(AMOLED)显示器。在一些实施例中，显示器是等离子体显示器。在一些实施例中，显示器是视频投影仪。在一些实施例中，显示器是交互式的(例如，具有触摸屏或诸如相机、3D传感器、LiDAR、雷达等之类的传感器)，其可以检测用户交互/手势/响应等。在又一些实施例中，显示器是诸如本文公开的那些设备之类的设备的组合。
机器人车辆的车队
如图1所示，本文提供了具有机器人车辆101的机器人车队100，其中每个车辆101完全自主(例如，无人驾驶)或半自主操作。在一些实施例中，机器人车队100是完全自主的。在一些实施例中，机器人车队100是半自主的。
如图2至图4所示，机器人101的一个示例性配置是被配置为用于陆地行进的车辆，例如小型完全自主(或半自主)汽车。示例性机器人101是窄的(例如，2-5英尺宽)、低质量且低重心以保持稳定性，具有多个安全存储隔间102、104，其可分配给一个或多个消费者、零售商和/或供应商，并且被设计用于中等工作速度范围(例如，最高45.0mph)，以适应市区和住宅区的驾驶速度。另外，在一些实施例中，车队中的机器人101配置有高达约90.0mph的最大速度范围以用于高速、州内或州际驾驶。车队中的每个机器人101配备有传感器系统170，该传感器系统170包括任意数量的车载传感器，例如相机(例如，以高帧速率运行，类似于视频)、LiDAR、雷达、超声波传感器、麦克风等；以及内部计算机处理以不断确定其可以安全导航的位置，每个机器人101周围有什么其他物体以及它们可以做什么。
在一些实施例中，可能有必要在一个或多个机器人101、车队操作者/管理器200、提供者204和/或消费者202之间进行通信，以解决先前未预见的问题(例如，导航模块的故障；提供者清单问题；意外的交通或道路状况；或者在机器人到达消费者位置之后直接与消费者交互)。
在一些实施例中，机器人车队100由车队管理器200直接控制。在一些实施例中，可能有必要在消费者202与车队管理器200之间进行直接的人机交互(例如，通过机器人101)以解决诸如机械故障、电气故障或交通事故之类的维护问题(参见图7)。
在一些实施例中，机器人车队100被配置为用于陆地行进。在一些实施例中，车队100中的每个机器人车辆101被配置为具有从13.0mph至45.0mph的工作速度范围。在一些实施例中，车队100中的机器人车辆101被配置为具有从13.0mph至约90.0mph的最大速度范围。
在一些实施例中，机器人车队100被配置为用于作为水运工具在水上行进，并且被配置为具有高达45.0mph的工作速度范围。
在一些实施例中，机器人车队100被配置为用于作为陆上或水上气垫船悬停行进，并且被配置为具有高达60.0mph的工作速度范围。
在一些实施例中，机器人车队100被配置为用于作为空中无人机或空中气垫船空中行进，并且被配置为具有高达80.0mph的工作速度范围。
在机器人车队100的一些实施例中，车队100内的自主机器人101代表第三方供应商/服务提供者进行操作。例如，建立车队管理服务以为第三方杂货提供者提供巡回输送服务(例如，第三方供应商的冰淇淋服务/体验(例如，
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))。据设想，车队管理服务将提供带有该第三方杂货提供者的徽标和产品以完全自主或半自主的方式提供该服务的“白标”车辆的子车队。
在机器人车队100的一些实施例中，车队100内的自主机器人101还被配置为自主机器人101的子车队的一部分，并且每个子车队被配置为独立地或与具有两个或更多个子车队的多个子车串联地操作。
例如，包裹输送服务被配置为提供多个级别的服务，例如“即时专用加急服务”、“保证上午/下午输送服务”或“一般输送服务”。这样，服务提供者就可以在其车辆的整个车队内为每种类型的服务拥有专用的输送车辆的子车队。在又一示例中，第三方对车队中的一定数量的车辆享有优先权。这样，他们可以保证一定程度的响应。当他们不使用车辆时，车辆将用于车队内的一般服务(例如，其他第三方)。
在一些实施例中，机器人车队100由管理器200直接控制。
在一些实施例中，可能会出现车辆发生故障、内部系统或模块发生故障或需要维护的情况。例如，在导航模块应发生故障的情况下，车队100内的每个机器人101都可配置为允许由车队操作者200直接控制机器人的处理器以覆盖运输和传感器系统(例如，相机等)，以允许车辆101安全返回到基站进行维修或维护。
操作环境
在一些实施例中，非结构化开放环境是可导航路径可访问的非受限地理区域，包括例如公共道路、私人道路、自行车道、旷野、开放公共土地、开放私人土地、人行道、海洋、湖泊、河流、溪流、航空等。
在一些实施例中，封闭环境是可导航路径可访问的受限、封闭或半封闭结构，包括例如商业建筑内的开放区域或房间，其中具有或不具有结构或障碍物，商业建筑内的开放区域或房间内的空域，其中具有或不具有结构或障碍物，公共或专用过道、走廊、隧道、坡道、电梯、传送带或人行道。
在一些实施例中，非结构化开放环境是非受限空域或者甚至近空间环境，其包括地球大气的所有主要层，包括对流层、平流层、中间层、热层和外逸层。
在一些实施例中，导航模块在非结构化开放或封闭环境中控制车队中的机器人的运输系统的路线。
车队管理模块
参考图5，在机器人车队100的一些实施例中，车队100包括车队管理模块120(与中央服务器110相关联)，用于协调机器人车队100并且为车队100中的每个机器人101分配任务。车队管理模块120协调车队100中的每个机器人101的活动和定位。除了与机器人车队100、车队操作者200进行通信之外，车队管理模块120还与提供者/供应商/企业204和消费者202进行通信以优化整个系统的行为。
车队管理模块120与通常位于车队操作者200拥有或管理的中央操作设施中的中央服务器110协同工作。
继续参考图5，在一个实施例中，将请求发送到主服务器110(通常位于车队管理器的位置处)，主服务器110然后与车队管理模块120进行通信。然后，车队管理模块120将请求中继到服务的适当提供者204(例如，杂货店、仓库、供应商、零售商等)以及车队100中的一个或多个适当的机器人101。然后，将任务分配给地理区域内的车队100中的(一个或多个)最适当(可能最接近服务提供者204)的机器人101。然后，服务提供者204在其企业处与该机器人101进行交互(例如，如果需要的话，向其装载商品)。机器人101然后行进到消费者202，并且消费者202与机器人101进行交互以取回他们的商品或服务(例如，订购的杂货物品)。交互可以包括通过消费者的应用或通过机器人本身145上的用户界面(例如，使用RFID阅读器和消费者电话、触摸板、小键盘、语音命令、基于视觉的人的识别等)来请求机器人101打开其(一个或多个)隔间102、104(参见图3和图4)。在完成输送(或取回，如果适当的话)之后，机器人101报告分配完成，并报告回车队管理模块120以重新分配(例如，另一杂货订单)、维修和/或维护(例如，到基站或维修店)。
如图6进一步所示，并且如前所述，在一些实施例中，车队管理模块120处理机器人车队100的协调以及为车队100中的每个机器人101分配任务。车队管理模块120协调车队100中的每个机器人101的活动和定位。车队管理模块120还与供应商/企业204和消费者202进行通信以优化整个系统的行为。通过利用机器人的处理器125处理来自每个机器人的系统和模块的各种输入和输出来完成此操作，以有效地管理和协调车队100中的每个机器人101的各种功能，这些系统和模块包括：运输系统130、电源系统135、导航模块140、传感器系统170、通信模块160、控制器150、温度控制模块180和/或湿度控制模块190。
在一些实施例中，可以请求机器人101拾取物品(例如，杂货物品或诸如收据之类的文档)，以便将其输送给另一方。在这种情况下，车队管理模块120将分配机器人101以到达给定位置，分配安全存储隔间用于接收物品，确认从第一方到车队管理模块120的接收，然后前进到第二个位置，在该位置处，被通知的接收方将使用适当的PIN或其他识别码来访问安全存储隔间以从机器人101取回物品。然后，机器人101将报告分配的完成，并报告回车队管理模块120以进行重新分配。
根据本公开的方面，中央服务器110和/或车队管理模块120可以包括杂货输送系统(例如，用于管理车队100)或可以是杂货输送系统的一部分。
运输系统
车队100中的每个机器人车辆101包括运输系统130(例如，具有推进发动机、轮子、胎面、机翼、转子、鼓风机、火箭、螺旋桨、制动器等的驱动系统)。
如前所述，机器人车队100被配置为用于陆地、水上和/或空中。典型的车辆包括汽车、货车、厢式货车、无人驾驶机动车辆(例如，三轮车、卡车、拖车、公共汽车等)、无人驾驶有轨车辆(例如，火车、电车等)、无人驾驶水运工具(例如，船舶、轮船、轮渡、登陆艇、驳船、筏等)、空中无人机、无人气垫船(空中、陆上和水上类型)、无人驾驶飞机、以及无人航天器。
在一个示例性实施例中，机器人陆地车辆101配置有包括传统的转向和制动系统的传统的4轮汽车配置。该传动系统(drive train)可配置为用于标准2轮驱动或4轮全地形牵引驱动。推进系统(发动机)可配置为燃气发动机、涡轮发动机、电动机和/或混合气/电发动机。替代地，机器人101可以配置有辅助太阳能电源系统，以提供备用应急电力或用于小型低功率子系统的电力。
具有推进发动机的总驱动系统的组件的替代配置可以包括轮子、踏板、机翼、转子、鼓风机、火箭、螺旋桨、制动器等。
在一些实施例中，机器人车队100被配置为作为具有推进系统(发动机)的水运工具水上行进，并且还配置有螺旋桨，该推进系统(发动机)可配置为燃气发动机、涡轮发动机、电动机和/或混合气/电发动机。
在一些实施例中，机器人车队100被配置为作为陆地上或水上气垫船或气垫车辆(ACV)进行悬停行进，并且被配置有鼓风机以在船体下方产生略高于大气压力的大量空气。推进系统(发动机)可配置为燃气发动机、涡轮发动机、电动机和/或混合气/电发动机。
在一些实施例中，机器人车队100被配置为作为空中无人机或空中气垫船进行空中行进，并且被配置有机翼、转子、鼓风机、火箭和/或螺旋桨以及适当的制动系统。推进系统(发动机)可配置为燃气发动机、涡轮发动机、电动机和/或混合气/电发动机。
电源系统
在一些实施例中，机器人车队100的每个机器人101被配置为具有一个或多个电源，其包括电源系统135(例如，电池、太阳能、汽油、丙烷等)。
导航模块
车队100中的每个机器人101还包括导航模块140，用于在非结构化开放或封闭环境例如，数字地图、HD地图、GPS等)中进行导航(。在一些实施例中，车队100依赖于由用户、操作者或车队操作者生成的地图，这些地图被专门创建为覆盖机器人101被配置为在其中进行操作的预期环境。然后，这些地图将用于车队100中的每个机器人101的一般指导，这将通过使用传感器系统170来增强对环境的理解，传感器系统170可以包括各种车载传感器，例如相机、LiDAR、高度计或雷达以确认其相对地理位置和海拔。
在一些实施例中，对于导航，机器人101的车队100使用内部地图来提供关于它们去向何处和道路环境的结构(例如，车道等)的信息，并将该信息与车载传感器(例如，相机、LiDAR、雷达、超声波、麦克风等)和内部计算机处理进行组合，以不断确定它们可以安全导航的位置，每个机器人周围还有什么其他物体以及它们可以做什么。在其他实施例中，车队100合并在线地图以增强内部地图。然后将该信息进行组合，以确定机器人101要遵循的安全、稳健的轨迹，并且然后由机器人101上的低级别致动器来执行该轨迹。
在一些实施例中，车队100依靠全球定位系统(GPS)，该GPS允许陆上、海上和空中用户在世界各地在所有天气条件下一天24小时确定其确切位置、速度和时间。
在一些实施例中，机器人101的车队100将使用内部地图、传感器和GPS系统的组合来确认其相对地理位置和海拔。
在一些实施例中，自主车队100在预期已知需求的情况下在整个地理区域中进行战略定位。
随着时间的流逝，车队操作者200和/或供应商204可以通过存储与在一天中的特定时间从区域的不同地区发出多少订单(和哪种类型的订单)有关的数据来预测对机器人服务的需求。这可以用于两个源(例如，杂货店、饭店、仓库、一般企业等)和目的地(例如，消费者、其他企业等)。然后，针对特定的当前日期和时间，该存储的数据用于确定车队100的什么最佳位置被给予预期需求。更具体地，车队100可以被定位为尽可能接近预期的源位置，预期这些源位置将是最有可能进入系统的新订单。甚至更具体地，可以估计下一个小时来自每个可能的源的订单数量，并通过该数量来对每个源位置进行加权。然后，可以对车队100进行定位，以使车队100基于这些数量来最优地覆盖经加权的位置。
在机器人车队100的一些实施例中，可以基于以下项来定制机器人101的定位：预期用途、历史行为模式或所携带的特定商品。
传感器系统
如前所述，每个机器人101都配备有传感器系统170，该传感器系统170至少包括最少数量的车载传感器，例如相机(例如，以高帧速率运行，类似于视频)、LiDAR、雷达、超声波传感器、麦克风等；以及内部计算机处理125，以不断确定其可以安全导航的位置，每个机器人101周围还有什么其他物体以及它们可以在周围环境中做什么。
在一些实施例中，传感器系统170包括用于运输系统130的传感器，该传感器被配置为：监测驱动机构性能(例如，推进发动机)；监测电源系统135的水平(例如，电池、太阳能、汽油、丙烷等)；或监测传动系统性能(例如，变速箱、轮胎、制动器、转子等)。
通信模块
参考图7，车队100中的每个机器人101还包括通信模块160，该通信模块160可配置为向车队管理模块120，向用户，向车队管理模块120并从其，以及向车队100中的机器人101并从其接收、存储并发送数据。在一些实施例中，数据至少与操作者200的交互和机器人车队100的交互有关，包括例如预定请求或订单、按需请求或订单、或基于非结构化开放或封闭环境内的预期需求对机器人车队100进行自定位的需求。
在一些实施例中，车队100中的每个机器人101包括至少一个通信模块160，该通信模块160可配置为接收、存储和发送数据，并且将该数据存储到存储器设备514(参见图13)，用于将来的数据传输或手动下载。
在一些实施例中，每个企业204和消费者202具有其自己的应用/界面以与车队操作者200进行通信(例如，消费者在其手机上的“Nuro消费者应用”，企业在平板电脑或手机或其内部计算机系统上的“Nuro供应商应用”等)。
在一些实施例中，到操作者200和车队100中的机器人101的通信、车队100的机器人101之间的通信以及操作者200与车队中的机器人101之间的通信经由无线传输进行。
在一些实施例中，操作者200的无线传输交互和机器人车队100的无线传输交互通过由电子设备(例如，手机、平板电脑等)传输并通过以下项转发到通信模块的移动应用进行：中央服务器110、车队管理模块120和/或网状网络。
在一些实施例中，一种优选的通信方法是在车队管理器200与机器人101的车队100之间使用蜂窝通信(例如，3G、4G、5G等)。可替代地，车队控制模块120和机器人101之间的通信可以经由卫星通信系统进行。
在一些实施例中，消费者202使用应用(在手机、膝上型计算机、平板电脑、计算机或任何交互式设备上)来请求服务(例如，按需杂货订单或移动市场机器人进入它们诸如以退回杂货物品)。
在一些实施例中，电子设备包括：电话、个人移动设备、个人数字助理(PDA)、大型计算机、台式计算机、膝上型计算机、平板计算机和/或可穿戴计算设备，例如通信耳机、智能眼镜、一个或多个隐形眼镜、数字手表、手镯、戒指、珠宝或其组合。
商品和服务
在一些实施例中，操作者200包括车队管理器、分包(sub-contract)供应商、服务提供者、消费者、企业实体、个人或第三方。
在一些实施例中，服务包括：订阅服务、处方服务、营销服务、广告服务、通知服务，或请求的、订购的或预定的输送服务。在特定实施例中，预定的输送服务包括例如特殊的重复输送，例如杂货、处方、饮料、邮件、文档等。
在一些实施例中，服务还包括：用户在同一交互中接收并返回相同或相似的杂货(例如，签名的文件)，用户在同一交互中接收一组杂货并返回一组不同的杂货(例如，杂货更换/退货、付款交易等)，第三方用户向商品或服务提供者提供指令和/或授权以准备、运输、交付和/或取回杂货给位于不同位置的主要用户。
在一些实施例中，服务还包括：广告服务、土地测量服务、巡逻服务、监测服务、交通调查服务、标牌和信号调查服务、建筑或道路基础设施调查服务。
在一些实施例中，至少一个机器人101还被配置为处理或制造商品。
在一些实施例中，加工或制成品包括：具有或不具有调味品的饮料(例如，咖啡、茶、碳酸饮料等)；各种快餐；或微波食品。
在一些实施例中，车队100内的机器人101配备用于金融交易。这些可以使用已知的交易方法(例如，借记卡/信用卡读取器等)来完成。
根据本公开的方面，当机器人车队100被配置为巡回车队时，这样的机器人车辆101可以减少从消费者下单到交货的等待时间。
安全隔间
如图8和图9所示，车队100中的每个机器人101被配置为用于运输、输送或取回商品或服务，并且能够在非结构化开放环境或封闭环境中操作。在一些实施例中，车辆101被配置为实际上在任何地方行进(例如，陆地、水上、空中等)。车辆在车辆101的每一侧包括两个大的存储隔间102、104，但是可以包括任何数量的隔间。大存储隔间102、104可以包括任意数量的各种配置的较小内部安全存储隔间，例如分别用于承载待输送到消费者202或需要从消费者202取回的单个物品的隔间102a、102b、104a、104b。内部安全隔间102a、102b、104a、104b在本文中也可以称为子隔间。此外，在关于隔间和子隔间的描述的上下文中，术语“模块”在本文中可以用于指代隔间和/或子隔间。
在实施例中，一个或多个隔间102、104或相应的子隔间102a、102b、104a、104b可以包括或可操作地联接至温度控制模块180和/或湿度控制模块190，使得一个或多个安全存储隔间是湿度和/或温度受控的，以将杂货物品维持在预定温度和/或湿度范围内，以在在目的地之间运输时保持杂货物品的新鲜度/活力。温度控制模块180和/或湿度控制模块190可以包括用于控制杂货物品“G”的温度和/或湿度的任何合适的加热设备、冷却设备和/或加湿/除湿设备。例如，一个隔间(例如，104a)可以包括用于加热该隔间内的杂货物品“G”的加热器180a，而另一隔间(例如，104b)包括用于冷却(冷藏和/或冷冻)该隔间内的杂货物品“G”的“冷却器”180b。在一个示例中，隔间104c可以包括用于对该隔间内的杂货物品“G”进行加湿(或除湿)的加湿器(或除湿器)190a。此类技术可以包括任何合适的机械、电气和/或化学组件(例如，通风口、线圈、流体、压缩机、管道、控制器、气体、水、阀门、喷嘴、泵、罐、燃烧器、灯、电线、风扇、换能器、灯芯、风扇等)。在实施例中，可以基于杂货的类型和数量以及杂货的各种分组而自动地和/或手动地调节温度和/或湿度。在某些实施例中，车辆101可以包括例如在隔间中的一个或多个传感器，以确定各种数据，例如各个隔间中杂货的类型、温度和湿度和/或环境空气。在一些实施例中，可以将数据与存储在存储器中或网络上的历史或实时数据进行比较或对比，以确定用于控制隔间内杂货的温度和/湿度和/或环境空气的最有效和/或高效的方式。
在某些实施例中，一个或多个隔间可以包括隔间照明装置106(例如，用于夜间输送)。
在一些实施例中，安全隔间基于以下项可变地配置：预期需求、行为模式、服务区域或要运输的商品类型。
再次参考图6，每个机器人101包括用于容纳杂货物品的安全存储隔间102、104，以及可配置为将安全隔间102、104中的每一个与可分配消费者202或提供者204相关联并在授权时提供入口的控制器150。每个机器人车辆101还包括至少一个处理器125，至少一个处理器125被配置为管理运输系统130、导航模块140、传感器系统170、来自车队管理模块120、通信模块160、温度控制模块180、湿度控制模块190和控制器150的指令。
如前所述，每个机器人101配置有安全存储隔间102、104。可替代地，机器人101可配置为容纳一组商品或者甚至移动市场(类似于旅馆的迷你吧)。
当将机器人分配给消费者202时，也将一个或多个隔间102、104分配给该消费者202。大隔间102、104中的每一个被单独地固定，并且可以将杂货安全地运输到另一组消费者202。
在机器人101到达消费者目的地之后，消费者202然后可以通过向机器人101验证其身份来打开他们各自的(一个或多个)隔间。这可以通过多种方法来完成，包括但不限于：
1.当消费者发出他们的初始请求/订单时，可以给予其PIN(例如，4位数字)。然后，他们可以使用机器人触摸屏或键盘在机器人上输入该PIN。
2.消费者可以使用他们的手机和机器人上的RFID读取器来验证自己。
3.消费者可以使用他们的声音和与机器人对话的个人关键字或关键短语来验证自己。
4.消费者可以使用机器人上的相机和面部识别或磁性读取器通过他们的面部、政府ID或企业ID徽章来验证自己。
5.消费者可以使用自己的手机通过按下其手机上的按钮或预定代码来验证自己(并且系统可以通过使用来自手机的GPS位置来可选地检测消费者在机器人附近)。
根据本公开的方面，机器人车辆101可以被配置为运送杂货物品并且自动地控制隔间102、104内的温度和/或湿度范围。在各种实施例中，机器人车辆101包括存储隔间或子隔间，例如冷藏隔间或子隔间、冷冻隔间或子隔间、温度受控的存储隔间或子隔间、和/或湿度受控的存储隔间或子隔间。为了便于下面的解释，隔间或子隔间可以被称为模块。
图10A和图10B示出了可放置在一个或多个隔间102、104内的存储模块250的一个实施例。在实施例中，存储模块250可以是全部或部分可替换的。存储模块250包括可选择性打开的门252、温度受控的第一隔间254(如温度显示器254b所指示)、以及湿度受控的第二隔间256(如湿度显示器256b所指示)。第一隔间254和第二隔间256由隔板258分开。第一隔间254还包括冷却器254a和/或加热器254c以及温度显示器254b，它们中的每一个可以是温度控制模块180的一部分和/或可操作地联接到温度控制模块180(图6)和/或可操作地联接在一起。类似地，第二隔间256包括湿度显示器256b以及加湿器和/或除湿器256a，其可操作地联接到湿度控制模块190(图6)和/或可操作地联接在一起。湿度控制模块190和温度控制模块180或其组件可以可操作地联接在一起。可以理解，任何数量的这些类型的隔间可以包括湿度和/或温度控制模块190、180或其组件中的一者或两者、或者两者都不包括。
图11示出了可以进行温度控制的存储模块300的另一实施例。模块300可以包括打开和关闭模块300的滑动门320。图11示出了处于打开位置的滑动门320。当滑动门320处于打开位置时，模块300内的杂货(例如，比萨饼)是可接近的并且可以从模块300移除。
在各种实施例中，存储模块可以包括被配置为在存储模块内提供高达约500华氏度的热量的温度控制模块。在某些实施例中，存储模块可以包括被配置为在约32至约40华氏度(例如，制冷藏温度)之间和/或32华氏度及以下(例如，冷冻温度)冷却存储模块的温度控制模块。可以考虑使用其他类型和配置的温度控制模块来存储和保存各种类型的杂货物品。当前公开的任何模块都可以是完全或部分绝缘的，或根本不绝缘的。
(一个或多个)控制器和(一个或多个)处理器
根据本公开的各个方面，并且参考图12和图13，提供了杂货输送管理系统510，其接收互联网杂货订单并将杂货订单传送到自主机器人车辆101以将杂货物品输送到输送目的地。具体地，以下将描述与通过自主驾驶车辆来管理杂货物品的输送有关的控制和处理，其中自主驾驶车辆控制通往目的地的途中隔间内的温度和/或湿度条件。
杂货输送系统501的一个实施例可以包括与网络530通信的一个或多个服务器510(例如，杂货输送管理服务器)，该网络530可以包括包含例如蜂窝数据网络、有线网络、光纤网络、卫星网络和/或IEEE802.11a/b/g/n/ac无线网络等的任何网络技术。消费者设备540可以通过网络530与服务器510通信。消费者设备540可以是本文描述或本文未描述的任何电子设备，包括智能手机、平板电脑、膝上型计算机、台式计算机、机顶盒、智能手表或其他设备。
根据本技术的一个方面，消费者设备540可以使用软件应用来与服务器510进行通信。在各种实施例中，软件应用可以是移动应用、加载特定URL的Web浏览器、或独立的计算机应用等等。软件应用可以杂货物品的菜单(未示出)，其在输送期间可能需要或不需要在途中进行温度和/或湿度控制，并且可以允许完成指定所需的杂货物品和输送目的地的杂货订单。消费者设备上的软件应用将杂货订单传送到服务器510，服务器510接收杂货订单并将其传送到一个或多个自主驾驶车辆101。
如图13所示，示出了杂货输送管理服务器510的示例性组件的框图，杂货输送管理服务器510包括一个或多个处理器512、一个或多个存储器514、数据库516以及通信系统518。存储器514可以存储指令以供(一个或多个)处理器512执行以执行本文描述的操作。通信系统518可以操作以接收来自软件应用的订单，并且可以与自主机器人车辆101进行通信。数据库516可以存储杂货订单，并且还可以存储每个自主机器人车辆101的信息，包括例如车辆ID、杂货存储/中转(staging)ID、基站/维修站/维护站ID、位置、设备清单、杂货清单等。不同的车辆101可以具有不同的设备和杂货供应(offering)。例如，一辆车辆可以包括诸如冷冻器模块、加热器模块和/或冰箱模块之类的设备。另一辆车辆可以仅包括冷冻器模块。又一模块可以包括加热器模块和环境温度模块。类似地，杂货存储位置可以具有不同的商品，例如一个位置处的一般杂货物品(例如，鸡蛋、牛奶、谷物)或另一位置处的特殊商品(例如，中国食品、酒、犹太食品、泰国菜、气球、卡片、视频、商品等)。该信息存储在服务器510的数据库516中。数据库516还可以存储每个自主机器人车辆101和/或各种消费者、供应商的位置、维修店位置、设备等。如上所述，每个车辆101可以包括GPS导航能力。自主机器人车辆101可以将其位置传送到服务器510，服务器510可以将位置信息存储在数据库516中。图13中的数据库信息列表是示例性的，并且关于杂货订单或自主驾驶车辆的其他信息可以存储在数据库516中。
继续参考图13，当服务器510接收杂货订单时，服务器510确定哪些自主驾驶车辆101可以能够完成该订单。具体地，根据本公开的方面，杂货订单可以指定在递送到目的地期间的途中要进行温度和/或湿度控制的杂货物品。杂货输送管理系统510可以访问数据库516，以访问自主驾驶车辆101的设备清单和杂货清单，并确定哪些车辆101包括所订购的杂货物品和用于控制杂货物品的温度和/或湿度的设备。在各种实施例中，服务器510还可以访问每个车辆101的位置。
在各种实施例中，服务器510可以将杂货订单传送到包括杂货物品和必要模块(例如，冷冻机、冰箱、加热器、干燥机、加湿器等)的一个或多个符合条件的车辆101。在各种实施例中，服务器510可以将杂货订单分配给最接近输送目的地的符合条件的车辆101。在各种实施例中，服务器510可以将杂货订单分配给具有最少数量的杂货订单的符合条件的车辆101。在各种实施例中，服务器510可以将杂货订单分配给在要输送的杂货订单的距离和数量之间具有最佳平衡的符合条件的车辆101。在各种实施例中，服务器510可以将杂货订单传送到一个或多个符合条件的车辆101，并且每个符合条件的车辆101可以接受该订单或拒绝该订单。在各种实施例中，服务器510可以将杂货订单广播到所有符合条件的车辆101，并且符合条件的车辆101可以对该杂货订单进行“出价”响应，使得可以向具有最高出价的车辆101分配杂货订单。在各种实施例中，被分配了杂货订单的自主机器人车辆101可以利用针对杂货订单的输送时间估计来响应服务器510，并且服务器510可以将时间估计传送到消费者设备540。将杂货订单分配给自主驾驶车辆的各种方式是示例性的，并且预期了将杂货订单分配给自主驾驶车辆的其他方式。
根据本公开的方面，服务器510可以分析历史杂货订单以识别杂货订单模式。例如，在发出特定杂货订单(例如，在上午7:00至8:00之间的咖啡订单)时可能出现重复的高峰时间，或者在将特定杂货订单输送到某些位置(例如，在上午11:30至12:30之间将比萨订单输送到当地一所高中)时可能出现高峰时间。在各种实施例中，服务器510可以抢先指示一个或多个机器人车辆101在消费者实际下订单之前抢先准备杂货订单。在各种实施例中，服务器510可以将实际的杂货订单传送到机器人车辆101，其中杂货订单没有分配的消费者。如果消费者202下了已被抢先分配给机器人车辆101的杂货订单，则服务器510可以将消费者202与抢先的杂货订单相关联，并将消费者信息传送到机器人车辆101。所公开的实施例是示例性的，并且实现杂货订单分析和预测以及实现抢先的杂货订单的其他变型和实施例都被认为在本公开的范围内。
根据本公开的方面，并且再次参考图6，以下将描述接收杂货订单的自主机器人车辆101的控制和处理。如图6所示，自主机器人车辆101包括机器人处理器125。机器人处理器125执行存储在存储器(未示出)中的指令以执行本文所述的操作，包括确定用于输送杂货订单的行进路线。在各种实施例中，接收到针对输送目的地的杂货订单的自主机器人车辆101可以使用导航模块140来确定包括目的地的行进路线。
继续参考图6，在处理器125已经选择了行进路线之后，处理器125控制运输系统130沿着行进路线行进。在行进期间，处理器125基于杂货订单的温度和/或湿度控制要求来控制安全存储隔间102、104。
附加功能
在一些实施例中，机器人车队100还包括具有用于策展内容的数字显示器的至少一个机器人101，该数字显示器包括：广告(例如，针对特定用户和一般公众)，包括所提供的服务、营销/促销、服务区域的地区/地点、消费者详细信息、当地环境、失踪、搜寻或发现的人员、公共服务公告、日期、时间或天气。
本文公开的实施例是本公开的示例，并且可以以各种形式实施。例如，尽管本文的某些实施例被描述为单独的实施例，但是本文的每个实施例可以与本文的一个或多个其他实施例进行组合。本文公开的特定结构和功能细节不应被解释为限制性的，而应作为权利要求的基础以及作为教导本领域技术人员以实际上任何适当的详细结构来不同地采用本公开的代表性基础。在整个附图的描述中，相似的参考标号可以指代相似或相同的元件。
短语“在一个实施例中”、“在实施例中”、“在各种实施例中”、“在一些实施例中”、“在某些实施例中”、“在其他实施例中”等均可以指代根据本公开的一个或多哦相同或不同实施例。例如，短语“A或B”表示“(A)、(B)或(A和B)”；并且短语“A、B和C中的至少一个”表示“(A)；(B)；(C)；(A和B)；(A和C)；(B和C)；或(A、B和C)”。
本文描述的任何方法、程序、算法或代码都可以转换为编程语言或计算机程序，或用编程语言或计算机程序来表达。如本文所使用的，术语“编程语言”和“计算机程序”各自包括用于向计算机指定指令的任何语言，并且包括(但不限于)以下语言及其派生词：汇编器、BASIC、批处理文件、BCPL、C、C+、C++、Delphi、Fortran、Java、JavaScript、机器代码、操作系统命令语言、Pascal、Perl、PL1、脚本语言、Visual Basic、本身指定程序的元语言，以及所有第一代、第二代、第三代、第四代、第五代或更多代计算机语言。还包括数据库和其他数据模式以及任何其他元语言。在解释、编译或同时使用编译和解释方法的语言之间没有区别。程序的编译版本和源版本之间没有区别。因此，对程序的引用是对任何和所有此类状态的引用，其中，编程语言可以存在于多于一个状态(例如，源、编译、对象或链接)中。对程序的引用可能包含实际指令和/或这些指令的意图。
本文所述的系统还可以利用一个或多个控制器来接收各种信息并对所接收的信息进行转换以生成输出。控制器可以包括任何类型的计算设备、计算电路或能够执行存储在存储器中的一系列指令的任何类型的处理器或处理电路。控制器可以包括多个处理器和/或多核中央处理单元(CPU)，并且可以包括任何类型的处理器，例如微处理器、数字信号处理器、微控制器、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)等等。控制器还可以包括用于存储数据和/或指令的存储器，这些数据和/或指令在由一个或多个处理器执行时，使得一个或多个处理器执行一种或多种方法和/或算法。
本文描述的任何方法、程序、算法或代码都可以转换为编程语言或计算机程序，或用编程语言或计算机程序来表达。如本文所使用的，术语“编程语言”和“计算机程序”各自包括用于向计算机指定指令的任何语言，并且包括(但不限于)以下语言及其派生词：汇编器、BASIC、批处理文件、BCPL、C、C+、C++、Delphi、Fortran、Java、JavaScript、机器代码、操作系统命令语言、Pascal、Perl、PL1、脚本语言、Visual Basic、本身指定程序的元语言，以及所有第一代、第二代、第三代、第四代、第五代或更多代计算机语言。还包括数据库和其他数据模式以及任何其他元语言。在解释、编译或同时使用编译和解释方法的语言之间没有区别。程序的编译版本和源版本之间没有区别。因此，对程序的引用是对任何和所有此类状态的引用，其中编程语言可以存在于多于一个状态(例如，源、编译、对象或链接)中。对程序的引用可能包含实际指令和/或这些指令的意图。
本领域技术人员将理解，本文中具体描述并在附图中示出的结构和方法是非限制性示例性实施例，并且说明书、公开内容和附图应仅被解释为示例性的特定实施例。因此，应当理解，本公开不限于所描述的精确实施例，并且本领域的技术人员可以在不脱离本公开的范围或精神的情况下进行各种其他改变和修改。另外，在不脱离本公开的范围的情况下，结合某些实施例示出或描述的元件和特征可以与某些其他实施例的元件和特征进行组合，并且此类修改和变型也包括在本公开的范围内。因此，本公开的主题不限于特别示出和描述的内容。

Claims (20)

1.一种自主机器人车辆，包括：
运输系统，被配置为在至少一个存储位置和至少一个输送位置之间自主地驱动所述自主机器人车辆；以及
存储隔间，联接至所述运输系统，并且被配置为接收存储在所述至少一个存储位置处的至少一个物品，所述存储隔间包括温度控制模块，所述温度控制模块被配置为将所述存储隔间维持在预定温度范围内，以在所述运输系统在所述至少一个存储位置和所述至少一个输送位置之间驱动时为所述至少一个物品提供温度控制。
2.根据权利要求1所述的自主机器人车辆，其中，所述温度控制模块包括加热器，所述加热器被配置为升高所述存储隔间内的温度以将所述温度维持在所述预定温度范围内。
3.根据权利要求2所述的自主机器人车辆，其中，所述预定温度范围在约40华氏度和约500华氏度之间。
4.根据权利要求1所述的自主机器人车辆，其中，所述温度控制模块包括冷却器，所述冷却器被配置为降低所述存储隔间内的温度以将所述温度维持在所述预定温度范围内。
5.根据权利要求4所述的自主机器人车辆，其中，所述预定温度范围在约32华氏度和约40华氏度之间。
6.根据权利要求4所述的自主机器人车辆，其中，所述预定温度范围低于约32华氏度。
7.根据权利要求1所述的自主机器人车辆，还包括湿度控制模块，所述湿度控制模块控制所述存储隔间内的湿度水平。
8.根据权利要求1所述的自主机器人车辆，其中，所述温度控制模块被配置为选择性地升高或降低所述存储隔间内的温度，以将所述存储隔间维持在所述预定温度范围内。
9.根据权利要求8所述的自主机器人车辆，其中，所述温度控制模块被配置为基于所述至少一个物品的最佳温度范围来调节所述存储隔间内的温度。
10.一种输送系统，所述系统包括：
数据库，被配置为存储由自主驾驶车辆输送的物品列表，所述数据库还被配置为存储输送位置的信息和至少一个物品存储位置的信息；
通信系统，被配置为与计算设备进行通信，使得能够从存储在所述数据库中的所述物品列表中选择至少一个物品以创建物品订单；
至少一个处理器，以及
存储器，存储指令，所述指令在由所述至少一个处理器执行时使所述输送系统：
在所述数据库中访问所述物品订单；
指示所述至少一个存储位置将所述物品订单加载到所述自主驾驶车辆上；以及
当所述物品订单被加载到所述自主驾驶车辆中时，指示所述自主驾驶车辆行进至所述输送位置。
11.根据权利要求10所述的输送系统，还包括自主机器人车辆的车队。
12.根据权利要求11所述的输送系统，其中，所述通信系统被配置为与自主机器人车辆的车队中的每个自主机器人车辆通信，并且从消费者的计算设备上的软件应用接收物品订单。
13.根据权利要求11所述的输送系统，其中，所述数据库被配置为存储所述车队的每个自主机器人车辆的信息，该信息包括每个自主机器人车辆的设备清单和每个自主机器人车辆的物品订单的物品清单。
14.根据权利要求11所述的输送系统，其中，所述指令在由所述至少一个处理器执行时使所述系统基于所述数据库中的设备清单和物品清单信息来识别所述车队中能够完成所述物品订单的特定自主驾驶车辆。
15.根据权利要求14所述的输送系统，其中，所述设备清单信息指示每个自主机器人车辆是否包括温度受控的存储隔间。
16.根据权利要求15所述的输送系统，其中，所述设备清单信息指示每个自主机器人车辆是否包括以下至少向加热器、冷却器或加热器和冷却器兼具。
17.根据权利要求14所述的输送系统，其中，所述设备清单信息指示每个自主机器人车辆是否包括湿度受控的存储隔间。
18.根据权利要求11所述的输送系统，其中，所述指令在由所述至少一个处理器执行时还使所述系统行进至另外的输送位置或行进至所述至少一个存储位置。
19.一种自主机器人车辆系统，包括：
运输系统；
导航系统，被配置为导航到目的地；
通信系统；
至少一个存储隔间，被配置为存储针对目的地的物品订单的物品，每个物品具有预定温度要求；
至少一个温度控制模块，联接至所述至少一个存储隔间，并且被配置为将所述至少一个存储隔间中的至少一个温度维持在至少一个预定温度范围内；
至少一个处理器；以及
存储器，存储指令，所述指令在由所述至少一个处理器执行时使所述自主机器人车辆自主地：
经由所述通信系统接收针对所述目的地的物品订单；
经由所述导航系统确定包括所述目的地的行进路线；
控制所述运输系统沿着所述行进路线行进以到达所述目的地；以及
在沿着所述行进路线行进时，经由所述至少一个温度控制模块，基于所述物品订单的预定温度要求，将所述至少一个存储隔间中的至少一个温度控制在所述至少一个预定温度范围内。
20.根据权利要求19所述的自主机器人车辆系统，其中，所述指令在由所述至少一个处理器执行时还使所述自主机器人车辆：
经由所述通信系统接收至少一个附加物品订单；以及
与所述至少一个温度控制模块协调，以基于所述物品订单和所述至少一个附加物品订单来同时控制所述至少一个存储隔间内的温度。
CN201980047757.7A 2017-07-28 2019-07-26 具有带有温度和湿度控制室的机器人车辆的输送系统 Pending CN112437934A (zh)

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