CN117643044A - Method, apparatus and system for unattended package delivery - Google Patents
Method, apparatus and system for unattended package delivery Download PDFInfo
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Abstract
A deployment mechanism and delivery container enable unattended delivery of cargo by a vehicle navigating autonomously through a vehicle lane and sidewalk. A trailer for an autonomous vehicle for hauling additional cargo and power. A method for delivering and picking up items using delivery trucks, autonomous vehicles, and trailers. Deployment mechanisms can include cranes, robotic arms, forklifts, straps, and wings. The delivery container can include visible, partially visible, or hidden security features and gripping features, and can be collapsible and stackable. The trailer can include a four bar linkage that achieves consistent pitching between the trailer cargo and the cargo compartment of the towing vehicle. The trailer wheels are separated from the four bar linkage and connected by a swing arm and possibly a shock absorber. The trailer is able to cushion the forward/rearward movement of the trailer.
Description
Cross Reference to Related Applications
The present application claims the benefit of U.S. provisional application No.63/202,295 (attorney docket No. AA 589), entitled "SYSTEM AND METHOD FOR UNATTENDED PACKAGE DELIVERY (systems and methods for unattended package handling)" filed at month 6, 30 of 2021, and U.S. provisional application No.63/203,180 (attorney docket No. AA 618), entitled "TRAILER FOR AUTONOMOUSDELIVERY (trailer for autonomous delivery"), filed at month 7, 12 of 2021, and incorporated herein by reference in its entirety.
Technical Field
The present teachings relate generally to unattended package delivery using autonomous vehicles, trailers, and trucks. In recent years, especially during the covd epidemic, the package delivery industry has evolved in bursts. With the increase in front door package delivery, package theft has grown into the industry. As people walk out of the epidemic and leave their home again to enter the business sector, the theft industry is expected to revert to a percentage of losses after their epidemic, which will lead to a net increase in package theft over the pre-epidemic level, as the ease of package delivery is expected to drive its continued expansion.
Background
Autonomous delivery vehicles that travel on public roads or on sidewalks, but not on both, are commonly used. Autonomous delivery vehicles require a person to take care of delivery or delivery to a safe location. In either case, the recipient provides a code or some other means to verify that the package is intended for the recipient. Current autonomous delivery devices are not capable of performing unattended delivery unless the recipient invests in a secure delivery location, such as a cabin or a bin. However, unattended delivery is the primary delivery mode today.
Unattended autonomous delivery can require the same type of processing that would be done by the delivery personnel with or without being attended, e.g., attended to the security of the contents while the goods are being stored, attended to the security of the goods until the recipient retrieves the goods, and ensuring that the recipient and the goods are properly paired. Unattended delivery may require protection of the package from rain, snow, heat, cold or sunlight conditions.
In an exemplary configuration, an autonomous vehicle picks up a package from a package delivery provider or a customer of the package delivery provider and autonomously delivers the package to a desired destination under supervision. In an aspect, the autonomous vehicle is parked at a base station in which the autonomous vehicle is fixed when not in use. At the docking station, power is recharged and/or swapped out. In one aspect, a remote operator or user or customer of the provider enters a request to deliver the package to a desired location along the pre-mapped route. In an aspect, a fleet management system receives a request and distributes autonomous vehicles and possibly delivery trucks to perform delivery. In one aspect, the fleet management system calculates a route from a base station to a pick-up point and then to a drop-down location. In one aspect, the route is reviewed and approved by an operator. In one aspect, a fleet management system generates a navigation package that contains pick-up and drop-off locations for packages, valid routes that contain drivable surfaces, curbs, intersections, and traffic signals, and identification information for delivery that can be used for self-identification of packages. In an aspect, the fleet management system supplies navigation packages to autonomous vehicles when the autonomous vehicles are at a base station (possibly a docking station). If the same route is repeatedly run, the navigation pack is preloaded on the autonomous vehicle.
In one aspect, a remote operator ensures that remote control of an autonomous vehicle is active and functioning properly. An operator is able to implement autonomous driving on an autonomous vehicle. The autonomous vehicle leaves its base station and proceeds to the pick-up point. This can include driving in the case of sidewalk traffic or road traffic. The autonomous vehicle stops at the pick-up point, disables autonomous driving, and requests pick-up from the parcel recipient on the screen. When the package recipient displays the correct identification information to the autonomous vehicle or sends the appropriate command using the handheld device/laptop/tablet/desktop computer, the cargo box door is opened. The autonomous vehicle closes the cargo box door when appropriate identification information is provided to the autonomous vehicle or the autonomous vehicle receives an appropriate command from the computing device. The autonomous vehicle signals the remote control operator and waits for the operator to enable autonomous driving.
Autonomous vehicles are able to travel to a lowered position on sidewalks and roads, either autonomously or under the supervision of a remote control operator. The autonomous vehicle continuously monitors the link of the remote control operator and can optionally be stopped if the link is broken. Autonomous vehicle navigation bypasses vehicles parked on the road side and avoids road obstacles, such as pedestrians and other vehicles, when navigating in the presence of road traffic. On a sidewalk, autonomous vehicles are expected to interact with pedestrians, animals, and other sidewalk obstacles. In the event that an autonomous vehicle is expected to traverse a traffic intersection, the autonomous vehicle can either completely stop and alert the remote control operator, or navigate autonomously through the intersection. If the intersection is to be remotely navigated, the remote control operator confirms that there is enough cellular signal so that the remote operator does not expect the cellular signal to drop and can drive an autonomous vehicle through the intersection at a complex intersection.
Upon reaching the put-down position, the autonomous vehicle stops and displays the appropriate screen, waiting for the recipient to display the correct identification information to the device or send the appropriate command using the computing device. When the correct identification information is displayed, the autonomous vehicle opens the appropriate door and waits for the recipient to take the package. When the recipient signals that the package has been removed, either by displaying the identification information or by sending a command using a computing device, the cargo box door is closed and the autonomous vehicle alerts the remote control operator. The remote control operator enables a return route on the autonomous vehicle and the autonomous vehicle returns to the base station or docking station in a similar manner as described above.
Autonomous vehicles rely on redundant sensors that allow for extensive viewing of the environment across a range of lighting and weather conditions. Autonomous driving systems use complex software to detect and classify other road users and static obstacles, and rely on advanced control systems to safely and modestly plan paths through these road users and static obstacles to effectively reach a desired destination.
Autonomous driving systems for autonomous vehicles rely on redundant processing of sensor information to ensure safe operation of the device. All sensor information is processed in the sensing system by machine learning algorithms as well as conventional image and point cloud processing algorithms. This information is combined before being used by the path planning system. A path planning system for a trajectory includes a free space planner that does not generate a path that would collide. Parallel emergency stop detection algorithms use proximity sensors to detect a possible collision and stop the device.
The system for autonomous delivery vehicles of the present teachings can include, but is not limited to, vehicles including vehicles having a preselected length, width, and height, such as, for example, but not limited to, 40"x28" x62 "(40 inches by 28 inches by 62 inches), having a preselected payload capacity, such as, for example, but not limited to, 100 pounds. The vehicle is able to travel for a preselected amount of time without recharging its battery, such as, but not limited to, twelve hours, and its battery is able to recharge within a preselected amount of time, such as, but not limited to, 1.5 hours from the dead. In order to be able to be delivered to a destination that needs to travel on the pedestrian and vehicular paths, the vehicle is able to navigate discontinuous surfaces of pre-selected height, and incline/decline of pre-selected angle, and is able to avoid the obstacle and change direction in real time based on the obstacle. The preselected discrete surface height can include, but is not limited to including, six inches. The pre-selected angles can include, but are not limited to, 20 straight up and straight down and 12 turns. The vehicle is able to turn within the footprint of the vehicle, such as, but not limited to, a radius of 24 inches. The vehicle can include various sensors such as, but not limited to, radar, LIDAR, ultrasonic sensors, and cameras.
What is needed is a system and method that can provide unattended secure autonomous delivery in view of the foregoing. There is also a need for a method of adding storage capacity to an autonomous vehicle.
Disclosure of Invention
A system of one or more computers can be configured to perform particular operations or actions by causing software, firmware, hardware, or a combination thereof to be installed on the system that in operation causes the system to perform the actions. The one or more computer programs can be configured to perform particular operations or actions by virtue of comprising instructions that, when executed by the data processing apparatus, cause the apparatus to perform the actions. One general aspect includes a method for autonomous unattended package delivery. The method further includes receiving the package into a cargo area of the autonomous vehicle (av), the cargo area including a secure container; a desired destination for receiving the package; autonomously commanding av to navigate to the desired destination; and autonomously deploying a secure container containing the package from the av at a desired destination, the desired destination being unattended. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each computer program configured to perform the actions of the methods.
Implementations may include one or more of the following features. The method, wherein autonomously receiving the package may include: adjusting security settings on the secure container implementation may be included between the desired destination and the secure container. Autonomously deploying the package may include: opening the cargo area, autonomously moving the secure container out of the cargo area using the deployment device, commanding the deployment device to move the secure container to a surface external to av, continuously determining the location of the secure container, disengaging the secure container from the deployment device when the secure container reaches the surface, retracting the deployment device into the cargo area, and closing the cargo area. The deployment device may include: and (5) a crane. The deployment device may include: and (5) a forklift. The deployment device may include: and (5) a mechanical arm. The deployment device may include: and (5) rotating the connecting rod. The deployment device may include: the ramp may be extended. The deployment device may include: a plurality of cables deployed from the telescoping arms. The deployment device may include: a plurality of rollers operatively coupled to the wing (sail). The cargo area may include: at least partially covered areas of av. The safety container may include: at least one security input device, at least one position sensing device, at least one camera, at least one alarm system, and at least one device coupling the deployment device with the secure container. The at least one secure input device may include: and a keyboard. The at least one position sensing device may include: gps. The at least one camera may include: 360 ° imaging camera. The at least one alarm system may include: an audio tamper alert device. Autonomously navigating an av to a desired destination may include: determining a route between the location of the av and the desired destination, continuously determining a free space for navigating the av in the vicinity of the route, and commanding the av to traverse the free space. Determining the route may include: package identification information associated with the package is read, the package identification information including the desired destination. The method may include: autonomously picking up the second package at the desired destination, determining a second desired destination from the identification information on the second package, and navigating to the second desired destination. Implementations of the described technology may include hardware, methods or processes, or computer software on a computer-accessible medium.
One general aspect includes a system for autonomous unattended package delivery. The system also includes an autonomous vehicle (av) having a cargo area; a receiver on av configured to receive an intended destination of the package; a deployment device associated with the cargo area, the deployment device configured to deploy the package at a desired destination; a plurality of sensors configured to receive sensor information about an environment surrounding an av; a controller configured to determine a route between a location of the av and a desired destination; continuously determining free navigation space along the route based on at least one of the sensor information; autonomously generating a command to navigate the av in the free navigation space to a desired destination; autonomously generating a command to deploy a package; autonomously restoring the deployment device; and autonomously providing notification when the package has completed deployment. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each computer program configured to perform the actions of the methods.
One general aspect includes a trailer for autonomous parcel delivery. The trailer further comprises: a mast configured to mount a cargo box; a hitch fork configured to connect a trailer to a towing vehicle; a frame structure configured to be operably coupled with the mast at a first end, the frame structure configured to be operably coupled with the hitching fork at a second end; and a pull rod configured to be operably coupled with the mast at a third end, the pull rod configured to be operably coupled with the hitching fork at a fourth end. The trailer further includes a rigid element in which the mast, hitch yoke, frame structure, and drawbar are configured to form a four bar linkage that maintains a pitch between the cargo box and cargo bay that may include a towing vehicle. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each computer program configured to perform the actions of the methods.
Implementations may include one or more of the following features. The trailer may include: at least two wheels separate from the four bar linkage, the at least two wheels carrying a load in the trailer. The trailer may include: a swing arm configured to be operably coupled with a wheel that carries a load in a trailer. The trailer may include: a shock absorber is configured to be operatively coupled with a wheel that carries a load in a trailer. The trailer may include: and a spring surrounding the pull rod, the spring cushioning the back and forth movement of the frame structure. The trailer may include: a steering damper is operatively coupled with the frame structure. Implementations of the described technology may include hardware, methods or processes, or computer software on a computer-accessible medium.
One general aspect includes a delivery arm assembly for autonomously moving cargo from a cargo area. The delivery arm assembly also includes a motor. The assembly also includes a sector gear driven by the motor. The assembly further includes at least one delivery arm operably coupled with the sector gear. The assembly also includes a gear train coupled with the sector gear, the gear train configured to transfer power from the motor to the at least one delivery arm. The assembly further includes wherein the motor, the sector gear, the at least one delivery arm, and the gear train are configured to occupy a cargo area. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each computer program configured to perform the actions of the methods.
Implementations may include one or more of the following features. A delivery arm assembly, wherein the cargo area may comprise: a cavity in an autonomous vehicle. The at least one delivery arm may comprise: a substrate; and at least one extension tube configured to extend a length of the substrate. The at least one delivery arm may comprise: a latch configured to be operably coupled with a cargo box delivery apparatus. The cargo box delivery apparatus may include: and (5) a pin. The delivery arm assembly may include: a geared cross shaft configured to rotate when the motor is activated, the geared cross shaft operably coupling a first delivery arm of the at least one delivery arm with a second delivery arm of the at least one delivery arm. The delivery arm assembly may include: at least one rotation limiting device configured to limit rotation of the sector gear. The at least one rotation limiting device may include: at least one support. The delivery arm assembly may include: at least one switch. Implementations of the described technology may include hardware, methods or processes, or computer software on a computer-accessible medium.
One general aspect includes a delivery arm assembly for autonomously moving cargo from a cargo area. The delivery arm assembly further includes a motor; a drive gear configured to be rotated by the motor; at least one delivery arm; and a spur gear configured to be driven by the drive gear, the spur gear configured to drive the at least one delivery arm. The assembly further includes wherein the motor, the drive gear, the at least one delivery arm, and the spur gear are configured to occupy a cargo area. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each computer program configured to perform the actions of the methods.
Implementations may include one or more of the following features. The delivery arm assembly, wherein the at least one delivery arm may comprise: at least one extension tube configured to move when the spur gear rotates; and at least one roller guide plate comprising at least one cam channel, wherein the at least one delivery arm is slidingly coupled with the at least one extension tube, the at least one delivery arm comprising a cam follower that travels in the at least one cam channel when the at least one extension tube moves. The delivery arm assembly may include: a geared cross shaft configured to rotate when the motor is activated, the geared cross shaft operably coupling a first delivery arm of the at least one delivery arm with a second delivery arm of the at least one delivery arm. Implementations of the described technology may include hardware, methods or processes, or computer software on a computer-accessible medium.
One general aspect includes. The secure cargo container further comprises at least one secure input device; at least one position sensing device, at least one camera, at least one alarm system, and at least one device coupling the deployment device with the secure cargo container. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each computer program configured to perform the actions of the methods.
Implementations may include one or more of the following features. A secure cargo container, wherein the at least one secure input device may comprise: and a keyboard. The at least one position sensing device may include: gps. The at least one camera may include: 360 ° imaging camera. The at least one alarm system may include: an audio tamper notification device. The secure cargo container may comprise: at least one connection point configured to accept a deployment device. The secure cargo container may comprise: at least one shock absorber configured to cushion movement of the contents of the secure cargo container. The secure cargo container may comprise: at least one fold line configured to enable the contractibility of the secure cargo container. The secure cargo container may comprise: at least one hinge configured to enable the secure cargo container to be collapsible. Implementations of the described technology may include hardware, methods or processes, or computer software on a computer-accessible medium.
One general aspect includes. The cargo container further comprises: a shell having an outer skin and at least one end skin, the outer skin having a first end and a second end; a top panel located between a first end skin and a first end of the at least one end skin; a handling tray located between a second end skin of the at least one end skin and the second end; an inner skin operatively coupled with the handling tray; and a plurality of side panels located between the outer skin and the inner skin, the plurality of side panels configured to enable the cargo container to be collapsible. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each computer program configured to perform the actions of the methods.
Implementations may include one or more of the following features. The cargo container may include: a tote apparatus configured to be operably coupled with the lift apparatus. The tote apparatus may include: and (5) a pin. The cargo container may include: at least one camera. The cargo container may include: at least one alarm system. The cargo container may include: at least one handle. Implementations of the described technology may include hardware, methods or processes, or computer software on a computer-accessible medium.
One general aspect includes a container descender. The container further comprises: a plurality of panels; at least one actuator; at least two link arms configured to be angled relative to each other, the at least two link arms configured to move under control of the at least one actuator; and at least two corners operatively coupled with the at least two link arms, the at least two corners traveling in opposite directions from each other when at least one of the at least two link arms moves, the at least two corners traveling along an edge of at least one of the plurality of panels, wherein the at least two corners release the container when the angle increases beyond a threshold. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each computer program configured to perform the actions of the methods.
Implementations may include one or more of the following features. The container lowering system may include: at least one lifting device. The lifting device may include: at least one pin. The plurality of panels may include: a first panel; a second panel configured to be larger than the first panel; and a plurality of third panels operatively coupling the first panel with the second panel, the plurality of third panels providing at least one cavity for the at least one lifting device. The first panel may include: at least one cavity configured to allow one of the at least two corners to pass through. The second panel may include: at least one cavity configured to allow one of the at least two corners to pass through. Implementations of the described technology may include hardware, methods or processes, or computer software on a computer-accessible medium.
One general aspect includes. The delivery system further comprises: at least one long haul vehicle controller associated with at least one long haul vehicle; at least one autonomous vehicle controller associated with at least one autonomous vehicle, the at least one autonomous vehicle controller configured to communicate with the at least one long haul device controller, the at least one autonomous vehicle controller executing instructions comprising: sending a call to the at least one long haul vehicle controller; issuing at least one command to the at least one autonomous vehicle, the at least one command configured to receive delivery from the at least one long range vehicle into the at least one autonomous vehicle; issuing at least one movement command to the at least one autonomous vehicle, the at least one movement command navigating the at least one autonomous vehicle to a delivery location; and issuing the at least one command to the at least one autonomous vehicle, the at least one command configured to enable delivery at the delivery location. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each computer program configured to perform the actions of the methods.
Implementations may include one or more of the following features. The delivery system may include: at least one trailer configured to be operably coupled with an autonomous vehicle. The at least one trailer may include: at least one power source. The at least one power source may include: an alternative power source for an autonomous vehicle power source. The at least one power source may include: at least one battery. The at least one trailer may include: a mast configured to mount a cargo box; a hitch fork configured to connect a trailer to a towing vehicle; a frame structure configured to be operably coupled with the mast at a first end, the frame structure configured to be operably coupled with the hitching fork at a second end; and a drawbar configured to be operably coupled with the mast at a third end, the drawbar configured to be operably coupled with the hitching fork at a fourth end, wherein the mast, hitching fork, frame structure, and drawbar are configured to form a rigid element of a four bar linkage that maintains a pitch between a cargo box and cargo compartment that may include a towing vehicle. The at least one trailer may include: at least two wheels separate from the four bar linkage, the at least two wheels carrying a load in the trailer. The at least one trailer may include: a swing arm configured to be operably coupled with a wheel that carries a load in a trailer. The at least one trailer may include: a shock absorber is configured to be operatively coupled with a wheel that carries a load in a trailer. The at least one trailer may include: and a spring surrounding the pull rod, the spring cushioning the back and forth movement of the frame structure. The at least one trailer may include: a steering damper is operatively coupled with the frame structure. The delivery system may include: at least one scheduler communicatively coupled with the at least one autonomous vehicle, the at least one scheduler communicating a delivery schedule to the at least one autonomous vehicle controller. The delivery system may include: at least one scheduler communicatively coupled with the at least one long haul vehicle, the at least one scheduler communicating a delivery schedule to the at least one long haul vehicle controller. Implementations of the described technology may include hardware, methods or processes, or computer software on a computer-accessible medium.
One general aspect includes a method for autonomously managing delivery of an item. The method also includes determining, by the autonomous vehicle, a problem with the autonomous vehicle. The method further includes requesting assistance from a delivery truck by the autonomous vehicle if the problem is that the autonomous vehicle is disabled, the delivery truck configured to carry the autonomous vehicle. The method further includes requesting, by the autonomous vehicle, a delivery truck that meets the first pre-selected delivery criteria if the problem is that the autonomous vehicle transportation requires at least one delivery. The method further includes requesting, by the autonomous vehicle, a delivery truck containing items meeting a second pre-selected delivery criteria if the problem is that the autonomous vehicle needs to deliver more items. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each computer program configured to perform the actions of the methods.
Implementations may include one or more of the following features. The method, wherein the first pre-selected delivery criteria may include: the proximity of the delivery truck to the autonomous vehicle, and the proximity of the delivery truck to at least one delivery destination of the item. The second pre-selected delivery criteria may include: the substantial proximity of the delivery truck to at least one delivery destination of the item. The method may include: the delivery truck is summoned based on a status table configured to direct the autonomous vehicle to summon the delivery truck under the pre-selected condition. The method may include: the state table is updated dynamically. The state table may include: a set of pre-selected states. The method may include: modifications to the state table are received from a user or a remote operator. The method may include: directing, by the autonomous vehicle, the delivery truck to open at least one door to a cargo area in the delivery truck; positioning the autonomous vehicle by an autonomous vehicle guiding a lifting device within the delivery truck; and commanding, by the autonomous vehicle, the lifting device to lift the autonomous vehicle into the delivery truck. The method may include: the item is electronically marked with at least one characteristic of the item. The method may include: scanning, by the autonomous vehicle, the at least one characteristic; and determining a route to at least one delivery destination based on the at least one characteristic. The method may include: items are autonomously moved from the autonomous vehicle to a delivery truck using a delivery arm in the autonomous vehicle. The method may include: a loading device is positioned within the delivery truck to deliver the item to the autonomous vehicle. The method may include: an autonomous vehicle door of the autonomous vehicle is opened by the autonomous vehicle to open toward a truck door of the delivery truck. The method may include: the item is moved from the delivery truck to the autonomous vehicle by the autonomous vehicle. The method may include: the item is moved by the autonomous vehicle from the autonomous vehicle trailer to the delivery truck. The method may include: the item is moved from the autonomous device trailer to the delivery truck by the delivery truck. The method may include: the autonomous vehicle is navigated to at least one delivery destination. Implementations of the described technology may include hardware, methods or processes, or computer software on a computer-accessible medium.
One general aspect includes a method for autonomously managing pickup of an item. The method also includes determining, by the autonomous vehicle, a problem with the autonomous vehicle. The method further includes requesting assistance from the truck by the autonomous vehicle if the problem is that the autonomous vehicle is disabled, the truck being configured to carry the autonomous vehicle. The method further includes requesting, by the autonomous vehicle, a truck meeting a first pre-selected pickup criteria if the problem is that the autonomous vehicle transportation requires at least one pickup. The method further comprises the steps of: if the problem is that the autonomous vehicle requires more space to hold items that have been picked up, a truck meeting the second pre-selected pick up criteria is requested by the autonomous vehicle. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each computer program configured to perform the actions of the methods.
Implementations may include one or more of the following features. The first pre-selected pick-up criteria may include: the substantial proximity of the truck to the autonomous vehicle, and the substantial proximity of the truck to the at least one pick-up destination. The second pre-selected pick-up criteria may include: the substantial proximity of the truck to at least one pick-up destination. The method may include: the truck is summoned based on a status table configured to direct the autonomous vehicle to summon the truck under the pre-selected condition. The method may include: the state table is updated dynamically. The state table may include: a set of pre-selected states. The method may include: modifications to the state table are received from a user or a remote operator. The method may include: opening at least one door by the autonomous vehicle guiding truck to a cargo area in the truck; positioning the autonomous vehicle by a lifting device within the autonomous vehicle-guided truck; and commanding, by the autonomous vehicle, the lifting device to lift the autonomous vehicle into the truck. The method may include: scanning, by the autonomous vehicle, an electronic signature on the item, the electronic signature having at least one characteristic; and determining a route to at least one delivery destination based on the at least one characteristic. The method may include: items are autonomously moved from the autonomous vehicle to the truck using a delivery arm in the autonomous vehicle. The method may include: a loading device is positioned within the truck to receive items from the autonomous vehicle. The method may include: an autonomous vehicle door of the autonomous vehicle is opened by the autonomous vehicle to open toward a truck door of the truck. The method may include: the item is moved from the autonomous vehicle to the truck by the autonomous vehicle. The method may include: the item is moved by the autonomous vehicle from the autonomous vehicle trailer to the truck. The method may include: the item is moved from the autonomous device trailer to the truck by the truck. The method may include: the autonomous vehicle is navigated to at least one delivery destination. Implementations of the described technology may include hardware, methods or processes, or computer software on a computer-accessible medium.
Drawings
The present teachings will be more readily understood by reference to the following description taken with the accompanying drawings, in which:
FIG. 1A is a graphical representation of unattended delivery of a regular-shaped package with hidden or no security features;
FIG. 1B is a graphical representation of unattended delivery of a regular shaped package with visible security features;
FIG. 1C is a graphical representation of unattended delivery of an irregularly shaped package with hidden or no security features;
FIG. 1D is a graphical representation of unattended delivery of an irregularly shaped package with a visible security feature;
FIGS. 2A and 2B are graphical representations of unattended delivery of packages using a crane deployment mechanism;
FIGS. 2C and 2D are graphical representations of unattended delivery of packages using a delivery arm or forklift deployment mechanism;
FIGS. 3A and 3B are graphical representations of unattended delivery of packages using a robotic arm and package release mechanism deployment mechanism;
FIG. 4 is a graphical representation of unattended delivery of packages using a ramp deployment mechanism;
5A-5D are graphical representations of unattended delivery of packages using an exemplary autonomous vehicle, side door delivery, and retractable package release mechanism;
FIGS. 5E and 5F are graphical representations of unattended delivery of packages using an exemplary autonomous vehicle, side door delivery, and retractable arm/cord deployment mechanism;
FIG. 5G is a graphical representation of unattended delivery of a package using an arm/wing deployment mechanism;
FIGS. 6A and 6B are graphical representations of unattended delivery of packages using an open/convertible tiltable exemplary autonomous vehicle, rear delivery, wheeled delivery container, and retractable ramp deployment mechanism;
fig. 7A-7N are schematic diagrams of exemplary configurations of an unattended delivery/pickup apparatus of the present teachings;
fig. 8A-8C are schematic diagrams of a second configuration of an unattended delivery/pickup apparatus of the teachings;
fig. 9A-9D are schematic diagrams of a third configuration of an unattended delivery/pickup apparatus of the teachings;
10A-10E are flowcharts of methods of the present teachings for unattended delivery of packages;
FIG. 11 is a schematic block diagram of a system of the present teachings for unattended delivery of packages;
FIG. 12 is a graphical representation of a trailer of the present teachings towed by a towing vehicle over a challenging terrain;
FIG. 13 is a graphical representation of a trailer of the present teachings towed by a towing vehicle over relatively smooth terrain;
14A and 14B are schematic illustrations of the configuration of a trailer of the present teachings towed by a towing vehicle over challenging terrain and relatively smooth terrain, respectively;
15A and 15B are schematic perspective views of the configuration of a trailer of the present teachings illustrating the connection to a towing vehicle and the wheel connection, respectively;
FIG. 16 is a schematic perspective view of a configuration of a connection to a towing vehicle;
FIG. 17 is a schematic perspective view of the configuration of the trailer of the present teachings;
FIG. 18 is a schematic perspective view of a configuration of a mast and frame of a trailer of the present teachings;
FIGS. 19A and 19B are schematic views of the pull rod and spring arrangement of the present teachings;
FIGS. 19C and 19D are cross-sectional views of configurations of four-bar linkages of the present teachings;
FIG. 20 is a perspective schematic view of the construction of an installed tie rod of the present teachings;
FIGS. 21A and 21B are graphical representations of the opening and closing of a secure delivery container with visible security and gripping features of the present teachings;
21C-21E are graphical representations of the security features of the secure delivery container of the present teachings;
FIGS. 21F and 21G are graphical representations of other features of the secure delivery container of the present teachings;
22A-22D are graphical representations of another configuration of a collapsible secure delivery container having a compact security feature of the present teachings;
FIG. 22E shows a graphical representation of another configuration of a collapsible safe delivery container having safe and gripping features of the present teachings;
FIG. 22F shows a graphical representation of the configuration of FIG. 22E further including shock absorbing features;
22G-22M are graphical representations of yet another configuration of a collapsible/stackable secure delivery container having partially visible security features of the present teachings;
FIGS. 22N and 22O are graphical representations of closed and open configurations of irregularly shaped secure delivery containers with partially visible security features of the present teachings;
23A-23B are exploded and cross-sectional views of an exemplary configuration of a collapsible cargo box of the present teachings;
FIG. 24 is an exemplary collapsed cargo box of the present teachings;
25A-25D are pictorial diagrams and schematic illustrations of an exemplary configuration of an open-top cargo container of the present teachings;
FIG. 26 is an exemplary configuration of an exemplary open bottom cargo lifting device of the present teachings; and
fig. 27A to 27D are schematic block diagrams of examples of cargo trucks/autonomous vehicles.
Detailed Description
The Autonomous Vehicle (AV), delivery container, and optional trailer of the present teachings may enable unattended delivery of packages alone or in combination. The AV can safely deploy its contents and the contents can be contained in a reusable secure delivery container. In an aspect, the AV may include autonomous navigation features such as, for example, but not limited to, sensors, lights, daytime and nighttime operation, autonomous navigation requesting remote control monitoring in high risk areas, and discontinuous surface features. Other autonomous navigation features can include user defined operational routes, manual operation, autonomous driving to a charging station, no need for a companion, and wireless connection between AV and a central station. In one aspect, the AV is able to automatically open its doors, including doors with key fob access, without the need for a full time remote operator. In one aspect, the AV is capable of navigating around objects and on pedestrian and vehicular roads. In one aspect, the AV can include the ability to traverse rough terrain.
The delivery container can include, for example, but is not limited to, environmental barriers and theft protection, for example. In one aspect, the bottom, sides, and top of the delivery container can include a waterproof material, and the interior of the container can include insulation. The delivery container can include cameras, sensors, communications, audio and visual output, battery power, and security features. In one aspect, the camera can display who is tampering with the container, and the sensor can detect the environment of the container. The communication means can be used to communicate with the owner of the cargo box and can include bluetooth and wifi. The container is able to automatically protect itself from being moved if it is tampered with by an unauthorized user. For example, audio output and accelerometers can be used to deter potential thieves from moving the container without permission. The container can include a GPS that can be used to track the container. The container can be collapsible and can be returned to the supplier for reuse.
The trailer can include additional storage for the autonomous vehicle, additional power sources, and stability features that enable increased speeds of the autonomous vehicle. The trailer can include means for connecting to the autonomous vehicle that can coordinate movement and orientation between the autonomous vehicle and the trailer. The trailer can be opened or closed.
Referring now to fig. 1A-1D, an apparatus of the present teachings for achieving unattended delivery and/or pickup of cargo can include, but is not limited to including at least two main parts: an Autonomous Vehicle (AV) having a cargo area, and possibly optionally a secure cargo container 13 containing cargo to be delivered or picked up. The AV can be equipped in various ways to move the cargo from within the AV cargo area to the delivery location without assistance from the intended recipient or provider of the cargo. In an aspect, providing unattended delivery or pickup (also referred to herein as contactless cargo handling) from/to an Autonomous Vehicle (AV) includes: managing balance of AV when cargo is lowered; managing space considerations in the cargo box; autonomously determining when to open and close the door(s) 15; and autonomously determining when the cargo has been successfully moved from the AV to its desired location or from the target location to the AV.
With continued reference to fig. 1A-1D, regarding management weight and balancing considerations, in some configurations, the AV automatically shifts its weight to balance the various positions that the cargo takes as it is moving from the AV to the desired delivery location. In some configurations, the on-board weight is automatically displaced within the cargo box to advantageously balance the cargo. In some configurations, cargo weight is limited based at least on the weight of the AV itself and the weight distribution of the AV. The present teachings contemplate other means of weight management.
With continued reference to fig. 1A-1D, regarding management space considerations, in one aspect, an apparatus that enables unattended delivery/pickup is advantageously positioned within a cargo area of an AV to maximize free space of one or more delivery containers positioned in the cargo area. In one aspect, the cargo area itself is shaped to accommodate the anticipated cargo load. For example, as described herein, the cargo area can be square, rectangular, open top, or many other geometric possibilities. The delivery containers 18 can be sized and shaped according to the content they are to carry, can include a delivery mechanism 22, and can be delivered from an appropriately sized cargo area.
With continued further reference to fig. 1A-1D, in regard to autonomously determining when to open and close a door of a cargo area, or otherwise initiate delivery/pickup of cargo, in one aspect, the AV is equipped with sensors, processors, controllers, and actuators that manage the AV to a desired location, the AV's manipulation of the cargo, and the AV completes the process and moves to another location for possible another delivery or pickup of more cargo for delivery. In one aspect, when the AV reaches the deployment location, the arrival triggers the cargo handling process. In one aspect, the cargo handling process includes a controller of the AV commanding a door actuator to open at least one door on the AV. The door can be positioned on any part of the AV front, rear, side, top or bottom. The door and cargo handling mechanism can be operably coupled such that the same actuator can control the state of the door and the extension and retraction or other movement of the cargo handling mechanism. The door and the cargo handling mechanism can be moved simultaneously.
Referring now to fig. 2A-2B, a first exemplary configuration in which contact-free, unattended lowering of cargo can be achieved includes a crane-like device attached to the interior of the cargo box. In one aspect, the apparatus includes a package release mechanism 153 that holds the cargo 13 as the crane lowers the cargo 13 to the ground (fig. 2B). At least one door of the cargo box can be opened automatically, the package release mechanism 153 can grasp the cargo 13 (fig. 2B) and leave the cargo door with the cargo 13 (fig. 2B) pulled, and the crane can lower the cargo 13 (fig. 2B) to the surface. The parcel release mechanism 153 is capable of releasing their grip on the cargo 13 (fig. 2B), the crane can be raised to the storage level, and the crane and parcel release mechanism 153 can be returned to the cargo box for storage. In one aspect, the crane can be attached to the exterior of the AV and can be deployed therefrom to retrieve cargo 13, for example, from within the cargo box or from the ground (fig. 2B). In some configurations, an externally stored crane can enter the cargo box from a first door and exit the cargo box from another door with the cargo 13 (fig. 2B) towed. In some configurations, the gate from which the cargo 13 (fig. 2B) left when the AV reached the desired destination can be determined, and can depend on the current conditions sensed by the sensors mounted on the AV. The sensors inside the cargo box are able to determine the size of the cargo 13 (fig. 2B). In one aspect, the sensed and other data is used to guide the crane positioning so that the package release mechanism 153 can properly grasp the cargo 13 (fig. 2B), whether vertically, horizontally, or both. In some configurations, the crane-to-cargo connection mechanism includes a suction cup, a magnet, or any releasable connector. In one aspect, the telescoping arm 151 is stored in the retracted position when the AV is transporting the cargo 13 (fig. 2B) to a desired destination. In one aspect, the telescoping arm 151 is moved by an actuator, which may be an actuator for opening and closing a door of the AV from which the cargo 13 (fig. 2B) emerges. In one aspect, the telescoping arm 151 extends such that the cargo 13 (fig. 2B) is moved outside the cargo box, to a preselected length of the descent apparatus 152, to a length determined by the location of the cargo 13 (fig. 2B), or to a length provided remotely, for example, by a user. When cargo 13 (fig. 2B) has been deployed, in one aspect, the actuator raises the package release mechanism 153, retracts arm 151, and closes the door(s). In an aspect, a controller operatively coupled with a sensor that detects the position of the cargo 13 (fig. 2B) determines whether the manipulation of the cargo 13 (fig. 2B) has been completed by accessing a default timing value or by determining whether the cargo 13 (fig. 2B) has reached a desired surface and the manipulation mechanism has been disengaged from the cargo 13 (fig. 2B) based on the sensor information. In one aspect, the deployment location is requested by a user and the vertical distance from the cargo area to the storage surface is determined by a sensor on the AV. For example, the crane can automatically stop its downward movement when some resistance is met, equivalent to the resistance that would be encountered if the cargo 13 (fig. 2B) reached the surface. In another aspect, the crane is lowered a preselected distance. Passive restraint, on the other hand, is used to gently place the cargo 13 (fig. 2B) at the desired location. On the other hand, springs are used to cushion the placement of cargo 13 (fig. 2B).
With continued reference to fig. 2A and 2B, when the AV reaches a desired destination, in one aspect, a command received from the AV processor instructs a control within the cargo box to open the appropriate cargo box door. In one aspect, when the AV reaches the desired destination, a command is received from a remote controller that opens/closes a door and discharges cargo 13, for example, from a cargo box (fig. 2B). In an aspect, the AV provides status information about delivery/pickup on a status area located on the AV, for example, even when the intended recipient is not at the delivery location, others at the location may be interested in the status of the AV. In one aspect, the AV provides status information to the recipient/provider of the good 13 (fig. 2B) through text, email, website posting, automated phone calls, or any other electronic means. In one aspect, the AV provides status information to the remote controller and possibly records the status information. The status information output can be controlled by user managed settings, default settings, or dynamically determined settings, possibly based on availability of network access. In one aspect, the AV determines environmental conditions, such as rain or snow, and automatically determines when delivery/pickup is not recommended when the AV reaches the destination. In one aspect, the AV notifies the user of the harsh condition and/or requests assistance from a remote controller, or other alternative action. In some configurations, the AV deploys environmental barriers to protect cargo 13 (fig. 2B). The barrier can include, for example, but is not limited to, a waterproof cover, a UV protective barrier, and/or a thermal barrier. In some configurations, for example, an environmental barrier is built into the cargo container.
Referring now to fig. 2C and 2D, a second exemplary configuration in which contact-less, unattended cargo handling is achieved includes an arm 33, the arm 33 straddling a telescoping lift having a first portion 39 slidably coupled, for example, but not limited to, with a second portion 35, the first portion 39 being deployed from a cargo box within which cargo 13 (fig. 2D) can rest during transport. In one aspect, the arm 33 lowers the cargo 13 (fig. 2D) onto a surface remote from the AV. The arms can be positioned to deploy cargo 13 from the side, front or rear of the AV (fig. 2D). Regardless of the operating position of the arm 33, the actuator advances the telescoping lifting device from the cargo box. For example, when the AV transports the cargo 13 to a desired destination, the telescopic lifting device is stored in a retracted position. The telescopic lifting means are moved by an actuator, which may be an actuator for opening and closing a door of the AV from which the goods 13 (fig. 2D) are revealed. The telescoping lifting device can be moved outside the cargo box such that cargo 13 (fig. 2D) is moved outside the cargo box. In an aspect, the arm 33 includes a telescoping feature and is capable of deploying the cargo 13 (fig. 2D) to a pre-selected length, to a length determined by the location of the cargo 13 (fig. 2D), or to a length provided remotely by a user. The telescopic lifting means is guided to move towards the surface. When reaching the surface, the arms 33 are guided to release the cargo 13 (fig. 2D). When the cargo 13 (fig. 2D) has been deployed, the actuator causes the telescoping lifting device to raise the arm 33 and retract into the cargo box. The actuator can optionally close the door when the arm 33 is retracting. In an aspect, a controller operatively coupled with a sensor that detects the position of the cargo 13 (fig. 2D) determines whether the manipulation of the cargo 13 (fig. 2D) has been completed by accessing a default timing value or by determining whether the cargo 13 (fig. 2D) has reached a desired surface and whether the manipulation mechanism has been disengaged from the cargo 13 based on sensor information. In one aspect, the storage location is requested by a user and the vertical distance from the cargo area to the storage surface is determined by a sensor on the AV. For example, arm 33 automatically interrupts its downward movement when some resistance is met, equivalent to the resistance that would be encountered if cargo 13 (fig. 2D) reached the surface. In one aspect, the arm 33 is lowered by a preselected amount. In one aspect, passive restraint is used to gently place cargo 13 (fig. 2D) at a desired location. In one aspect, shock 1016 (FIG. 22G) is used to cushion the placement of cargo 13 (FIG. 2D).
Referring now to fig. 3A and 3B, in a third exemplary configuration, the articulated arm extends into or deploys from the cargo box, grabs the cargo 13 (fig. 3B), and lowers the cargo 13 (fig. 3B) by a desired amount. The articulated arm is automatically stored after storage of the cargo 13 (fig. 3B). The articulated arm includes a robotic arm, for example, having multiple degrees of freedom based at least on a storage location of the arm. The number of degrees of freedom is based on the motion aspects of the articulated arm. For example, at the joints, the arms can move up/down and/or right/left. The more the arms can move, the higher the number of degrees of freedom. For example, the articulated arm can be stored within a cargo box or attached to an external feature of the AV. The articulated arm can include a plurality of joints depending on the desired flexibility of the arm. In one aspect, the arm includes shoulder joints, elbow joints 163A, wrist joints 165 and a hand 166 capable of grasping and holding at the juncture of the arm and the cargo box, and a parcel release mechanism 153, the parcel release mechanism 153 holding the cargo 13 (fig. 3B) until commanded to release the hold by the controller as described herein.
Referring now to fig. 4, in a fourth exemplary configuration, a ramp 171 extends from an opening in the cargo box. The ramp 171 can include features that enable the cargo 13 to slide on the ramp 171 toward the surface. Features can include, but are not limited to, ball bearings, rollers, and/or tracks. For example, the tracks can include "travelator" equipment. In one aspect, the ramp 171 includes a device for gripping the cargo 13. For example, ramp 171 includes a movable hook and cargo 13 includes a compatible locating/sized coupling for the hook. A force can be provided to the cargo 13 to propel the cargo 13 toward the ramp 171. For example, a telescoping arm as described herein can be used to push cargo 13 out of the cargo box to rest on any feature that may be present and to advance ramp 171 down onto a surface.
Referring now to any one of fig. 2A-4, other configurations are contemplated by the present teachings. For example, in one aspect, the arm can be removably connected to a stop, which can itself be connected to a platform or shelf. Alternatively, the stop and the platform or shelf can be a single item. Still further, the arm, stop, and platform or shelf can be a single item. After the cargo has been deployed, the arms, stops, and platforms or shelves can be retracted into the cargo box for storage. The stop is engageable with a lowering/raising device such as, for example, but not limited to, a linear actuator. In one aspect, the forks are retractable into the backstop and extendable into a compatible pallet capable of supporting cargo. The pallets can be deployed with cargo at desired destinations. In this configuration, the cargo can be placed atop the cargo plate and the forks can extend into the cargo plate cavity to support the pallet and cargo. The entire structure can be pushed outside the cargo box and lowered to the surface. In one aspect, a fork lift apparatus can include a plurality of forks coupled with a carriage having the carriage can travel along at least one mast to move cargo from a cargo box to a surface. The fork, carriage and mast can be sized to fit into the cargo box. When the cargo is deployed, the forks, carriages and mast holding the cargo can be moved outside the cargo box. The deployment pile can include, for example, telescoping features, and can be operably coupled with the mast. The mast can also include telescoping features. The fork can be operably coupled with the mast interface. The mast interface is capable of riding the mast up and down, regardless of the telescopic state of the mast. The controller is capable of managing deployment of the deployment stake. When deploying cargo, the sensor can inform the controller when the deployment pile reaches the desired extension, and can then begin lowering the forks (and cargo) and telescoping the mast section. Alternatively, the weight of the cargo can provide a force that reduces the cargo. The lowering of the load can be buffered by means of shock absorbers on the forks. In another aspect, the platform can be engaged with a track that can be built into a cargo box, for example, or can be coupled with the platform. The track can be activated to move the platform out of the cargo box. The track can include a crawling track that can be activated to move the platform to/from the cargo box. In some configurations, a stop is not required. In this case, the platform can be engaged with the deployment mechanism when the platform has sufficiently cleared the cargo box. The present teachings contemplate other methods of moving the platform horizontally and/or vertically.
Referring now to fig. 5A-6B, exemplary configurations of AV's that can be used to implement the system of the present teachings are shown. Exemplary AV is described in detail in U.S. patent application #16/435,007 (' 007) entitled "System and Method for Distributed Utility Service Execution (systems and methods for distributed utility service execution)," filed on 7 th 2019, U.S. patent application #16/926,522,2020 (' 522) entitled "System and Method for Real Time Control of an Autonomous Device (systems and methods for real-time control of autonomous devices)," filed on 78 th 2020, U.S. patent application sequence #16/035,205 (' 205) entitled "Mobility Device" filed on 13 th 2018, U.S. patent application #15/787,613 (' 613) entitled "Mobility Device" filed on 18 th 2017, and U.S. patent application #15/600,703 (' 703) entitled "Mobility Device" filed on 20 th 2017, which are all incorporated herein by reference. While an exemplary AV configuration is shown, other AV configurations are contemplated to implement unattended cargo handling of the present teachings. AV 101 can include sensor 103, which sensor 103, along with processor 117, enables AV to navigate autonomously. Wheel 113A is controlled by a power base 115, the direction and speed of the power base 115 relative to the wheel 113A interfacing with a processor 117. Casters 111 enable AV 101 to travel over different types of terrain.
Referring now to fig. 5A-5D, in a fifth exemplary configuration, AV 101 delivers cargo 109 transported in cargo bay 21A through a side opening. In one aspect, the AV 101 includes at least one door that opens wide enough to permit cargo 109 to pass unobstructed through an area of the opening in the AV 101. In one aspect, for example, the doors can open side-by-side, up-down, and/or diagonally. In one aspect, a single door is used. A single door can be moved to either side, away from the ground, or toward the ground. The individual doors can also be moved diagonally or at any other angle relative to the surface. In one aspect, as shown, two gates are used. In one aspect, the AV 101 includes an arm feature 1121 (fig. 5B) that grips the delivery container 109 and directs it through the door opening and clears the AV 101. The arm-like feature 1121 (fig. 5B) can, for example, comprise a robotic arm, the force of which to the delivery container 109 can be automatically adjusted based at least on sensor input from the response of the delivery container 109 to pressure from the arm 1121 (fig. 5B). In an aspect, for example, a cable, strap, rope, belt, or strap can be tightened around the surface of the delivery container 109, and the delivery container 109 can be moved outside the cargo box to clear the AV 101. The package release mechanism 1123 (fig. 5C) can partially or completely surround the delivery container 109. The delivery container 109 can be released from the package release mechanism 1123 (fig. 5C) by, for example, but not limited to, separating the package release mechanism 1123 (fig. 5C) from the delivery container 109. For example, the delivery package release mechanism 1123 (fig. 5C) can terminate in a temporary connector such as, for example and without limitation, a hook that engages with the recess 2022 (fig. 22J), A strip or a magnet. In one aspect, when the package release mechanism 1123 (FIG. 5C) is delivered, for exampleMoving away from the delivery container 109, the temporary connector is disengaged. The delivery package release mechanism 1123 (fig. 5C) includes a spacer (not shown) that may be activated, for example, when the delivery container 109 reaches the surface. In one aspect, the spacer forces the package release mechanism 1123 (fig. 5C) to release the delivery container 109. If the package release mechanism 1123 (fig. 5C) surrounds the delivery container 109, a spacer (not shown) tilts the delivery container 109 forward and slides from its engagement with the package release mechanism 1123 (fig. 5C) while the package release mechanism 1123 (fig. 5C) retracts toward the arm 1121 (fig. 5C). After the package release mechanism 1123 (fig. 5C) is fully retracted into the arm 1121 (fig. 5D), in one aspect, the arm 1121 (fig. 5D) is pulled into the cargo area of the AV 101, making the delivery container 109 available for pick-up.
Referring now to fig. 5E-5F, in a sixth exemplary configuration AV 101 includes arm 23 and cord 25, similar to package release mechanism 1123 (fig. 5C). Arms 23 may extend from any location on cargo box 21. For example, as shown, arms 23 can extend from an upper corner of cargo box 21. The arms 23 can extend from anywhere along the top, edge or bottom of the cargo compartment. The arms 23 can extend from the cargo compartment or any shorter length to their full length, depending on, for example, the size and weight of the delivery container 109. The arms 23 can be constructed of flexible, semi-rigid or rigid load bearing materials that may be selected for gripping up to a preselected maximum cargo weight. The cord 25 can be flexible enough to retract and store compactly, but can maintain a certain amount of rigidity if desired. The tether 25 can completely surround the ground-facing surface of the delivery container 109 or can terminate in a connector as discussed herein. The cord 25 can include, but is not limited to including, a cable, rope, wire, strand, chain, or string. The arm 23 can include telescoping features made of fiberglass, aluminum, steel, or other suitable materials. In one aspect, the extension of the arm 23 is actuated by the same mechanism as the opening of the actuation door 105/107. If desired, the tether 25 is extended to enable the delivery container 109 to reach a desired surface near the AV 101. Other aspects of maintaining the transport vessel 109 as the transport vessel 109 moves out of the cargo hold are contemplated. A tether 25 extends from the arm 23 to enable the delivery container 109 to be deployed to a surface. When reaching the surface, the cord 25 is disengaged from the delivery container 109. Sensor data received from the sensors 103 associated with the delivery container 109, tether 25, and arm 23 can, for example, trigger detachment of the tether 25 from the delivery container 109. The tether 25 can be temporarily attached to the delivery container 109 and the connection can be automatically released when the delivery container 109 reaches its desired location. The disconnected cable 25 is retracted and the arm 23 and cable 25 can be repositioned inside the cargo compartment and the door 105/107 closed. The disinfection sequence can optionally be activated.
Referring now to fig. 5G, in one aspect, cargo box 102 includes rollers 211 that pinch transport container 13 therebetween and/or spread sail 215 therebetween. When the door 105/107 is open, the roller 211 emerges from the cargo area, and when the door 105/107 is closed, the roller 211 returns to the cargo area. If the sail 215 is deployed, the delivery container 13/213 travels over the sail 215. The ring 215 is retracted into the roller 211 to leave the transport container 13/213 at its desired destination. AV can accommodate non-uniformly shaped delivery containers 213 by at least positioning sensors within cargo box 102 to determine sufficient dimensional data (including weight) to properly adjust the deployment device.
Referring now to fig. 6A and 6B, in a sixth configuration, the AV includes an open cargo area or cargo area that can be opened or closed, and can include a support structure 185.AV can also include autonomous sensors 103 and processor 117 and power base 115 of drive wheel 113A. In one aspect, the cargo area includes a retractable and stored cover (not shown), such as a canvas "convertible" top. The hardware for retracting the top can be mounted to the top of the cargo area, in which case the retracting top can rest on top of the cargo area. The hardware that retracts the top can be mounted to the bottom of the cargo area, in which case the top can be stored below the cargo area after retraction. The cargo area can include an open area 187 without a "convertible" aspect. In addition, the AV can include tilting capabilities, wherein the cargo area can accommodate tilting 193 relative to the AV's wheels 111/113 and power base 115. In a sixth configuration, the cargo area includes a capture device 181 to secure the delivery container 109. The capture device 181 can include, but is not limited to, a hook, suction cup, arm, or any other device 183 capable of grabbing and holding the cargo 109. The AV includes a ramp 189 or other similar means for automatically deploying the delivery container 109. If a ramp 189 is used, the ramp 189 is stored on the floor of the cargo area, within the cargo area, or outside the cargo area. The ramp 189 can be extendable and can include, for example, telescoping portions and rollers or rails. In one aspect, the ramp 189 extends directly from the AV, and the ramp 189 effects an incline 193 with the AV as the AV is inclined to facilitate the delivery container 109 exiting the cargo area. The rollers/tracks on the box-facing side of the ramp 189 also facilitate the removal of the transport container 109. In addition, the rollers/tracks can include an interrupt (breaking) mechanism that can be automatically controlled to push the transport container 109 away from the AV and stop or even reverse the movement of the transport container 109 away from the AV. Other deployment devices can include a ramp that conforms to the geometry of the delivery container 109 when the ramp is deployed. The ramp can be deployed from either side of the cargo area and, when deployed, can create a shell-like form around the side edges of the delivery container 109. When the delivery container 109 leaves the ramp, the ramp is retracted and stored within the cargo compartment or outside the cargo compartment. In some configurations, the delivery container 109 is placed in a wheeled container within the cargo compartment. The wheeled delivery container 109 is configured to be temporarily attachable to the capture device 181/183. When using a wheeled delivery container 109, the capture device 181/183 receives assistance from the automatic interruption of the wheel 191. In one aspect, the capture device 181/183 can consist of only a brake cable coupled to the wheel 191 of the wheeled delivery container 109, for example. The brake cable can be deployed and retracted from the inside or outside of the cargo area, or from the side, top or bottom of the cargo container. In some configurations, instead of tilting, the AV lowers itself to ground level to deploy the delivery container 109. In one aspect, the cargo area includes sensors (not shown) that detect, for example, but not limited to, leaks, hazardous odors, and hazardous cargo. For non-hazardous spills and/or for protecting successive cargo shipments from possible contamination from previous shipments, the cargo hold can include an automated sanitation feature (not shown) that can be deployed by the AV controller after the delivery container 109 has left the cargo hold. When a dangerous smell and/or dangerous cargo is detected, the AV can seal the cargo hold without deploying the delivery container 109. The AV can trigger well known hazard protocols and provide data about the delivery container 109 to authorities, for example, through wireless communication over the AV or associated with the delivery container 109.
Referring now to fig. 7A-7D, an autonomous cargo transferring apparatus that does not include wheels and a powered base is illustrated. The wheels and power base can be provided in any conventional manner. The cargo transferring device comprises a swing arm and a gripping/releasing device on each arm. Upon contact, the gripping/releasing device engages pins located on the cargo box. The engagement is stable until the triggering action enables the gripping/releasing device to be disengaged from the cargo box. The triggering action can include instructions issued by a controller in the power base, in the cargo delivery device, from a remote command center, from the user's cellular telephone, or from another command source that will control the grip/release device. The arm includes at least one extension tube 1529 and a base plate 1527. The base plate 1527 houses a rotary latch 1531, an exemplary grip/release device. When stored within the cargo conveyance apparatus as shown in fig. 7A and 7B, the base plate 1527 is fully retracted into the extension tube 1529. In fig. 7B, various views of the autonomous device are shown, some of which are relative to the ground 1533. For example, perspective view 1530P, top view 1530T, front view 1530F, back view 1530R, and side view 1530S illustrate an exemplary device having an opening for deploying cargo on a side of the device. Cargo box 1535 is shown stored in the transport equipment alongside the transport equipment. An exemplary autonomous device includes a sensor that can be used, for example, to drive the autonomous device to a target delivery/pickup location. In addition, sensors can be used to detect identification information associated with the cargo box. The base of the extension tube 1529 rests in the sector gear 1515.
With continued reference to fig. 7A-7D, to deploy the arm, the sector gear 1515 is rotated. Meanwhile, the base plate 1527 lengthens as it expands and contracts from within the extension tube 1529, as shown in fig. 7A and 7C. When a cargo box is to be deployed, rotary latch 1531 is operatively coupled with box pin 1537 (fig. 7C). As the arm moves, the cargo box 1535 moves from various angles due to pressure from the arm at the rotary latch 1531 on the box pin 1537 as shown in fig. 7C, as discussed with respect to fig. 7B. Fig. 7B-7D illustrate a deployment in which the cargo box is released at the level of the ground upon which the autonomous device also rests. The illustrated system is capable of deploying cargo boxes at any height permitted by the geometry of the transport equipment and the rotational distance of the sector gear 1515. When the autonomous device determines that the cargo box reaches its target destination, the rotary latch 1531 is released and the arm retracts. The target destination can be determined by any of a number of methods including, but not limited to, a sensor that detects the distance to the ground, a sensor that detects when the cargo box applies a back pressure indicating that it has reached the surface, a sensor that detects a benchmark, or a remote indication by a user or remote operator that the cargo box has reached its target, etc.
Referring now to fig. 7E-7N, schematic perspective views provide details regarding a first configuration of a lifting/lowering mechanism of a transport apparatus. As shown in fig. 7E, the bottom panel 1539 is provided as a stationary platform for the cargo box 1535 when the cargo box 1535 is transported to its destination. The gear mounting brackets 1507 and sector gear mounting brackets 1513/1514 are operatively coupled with a chassis mounting assembly that is mounted to the chassis 1539. Between the sector gear mounting brackets 1513/1514 is a sector gear 1515, the sector gear 1515 being driven by the motor 1501 (through a gear train as described herein) to rotate the arm. An arm and arm support 1541 (fig. 7E) is operably coupled to and rotates with a sector gear 1515, which sector gear 1515 limits arm rotation. The motor 1501 rotates the gear sector 1515 and simultaneously rotates the gear type cross 1511. Specifically, motor 1501 rotates a gear 1505 (FIG. 7H) operatively coupled to cross 1511 (FIG. 7H) and rotating cross 1511. Gear 1505 (fig. 7H) also rotates gear 1503 (fig. 7H) and drive shaft 1525 (fig. 7H). The drive shaft 1525 (fig. 7H) rotates the pinion 1523 (fig. 7H) that drives the sector gear 1515, the pinion 1523 driving the gear 1521 (fig. 7H).
Referring now to fig. 8A-8C, schematic perspective views provide details regarding a second configuration of a lifting/lowering mechanism of a transport apparatus. In the second configuration, the motor 1563 (fig. 8A) rotates the drive gear 1571 (fig. 8C), and the drive gear 1571 rotates the spur gear 1553 and the spider gear 1569 (fig. 8C). The cross 1551 rotationally couples the movement of the arms. Spur gear 1553 drives extension tube 1561. Extension tube 1561 is slidingly coupled with arm 1559, arm 1559 rotates and extends to move the cargo box into or out of the autonomous vehicle. Arm 1559 includes cam follower 1575 and cam follower 1575 travels in channel 1557 to guide and limit travel of arm 1559 and the cargo box. In some configurations, the channel bends 1564 provide a gripping force on the cargo box. The shape of cam channel 1557 and the presence and location of channel bend 1564 can vary from configuration to configuration. In some configurations, the gears are sandwiched between the roller guide plate 1555 and the roller guide support plate 1567. In some configurations, motor plate 1579 enables motor 1563 to be mounted to an arm configuration through frame member 1565. In some configurations, the frame member 1565 comprises, for example, a T-slot frame. Other configurations are contemplated by the present teachings.
Referring now to fig. 9A-9D, in another configuration, the extended swivel link can be used to perform unattended manipulation of cargo containers 109 that have been transported in AV to a desired location. Deployment begins with commanding the door(s) 303 to unlock and open (fig. 9A), which in one aspect moves the cargo container 109 onto the link arm 301 substantially simultaneously. At a pre-selected point in the process, the link arm 301 (fig. 9B) rotates about the pivot point 302, extending and rotating simultaneously due to the second sliding link 313 (fig. 9C). As the link arm 301 rotates, the cargo container 109 is lifted out of the cargo hold. The second slide link arm 311 (fig. 9C) is operatively coupled with a pin 317 (fig. 9C) at a pin recess 315 (fig. 9C). As the link arm 301 and the second link arm 311 rotate, the cargo container 109 moves away from the cargo compartment interior and is deployed. At this point, the movement of the links extends to move the cargo receptacle 109 out of the floor footprint of the AV as the arms rotate. The pin 317 is released by the electromechanical latch at the end of each second link arm 311 when the link arm 301/311 reaches its maximum rotation, or when the sensor information directs the controller to stop the rotation of the link arm 301/11. In one aspect, the cargo container 109 continues to descend to the surface after the pins 317 are released and the cargo container 109 is successfully deployed by the AV. When the door(s) are closed and the latch is closed, the link arms 301/311 may reverse their movement and retract into the cargo compartment.
Referring now to fig. 10A, an exemplary method for unattended delivery and pickup relies on identifying features on a cargo box or package, for example, to indicate a target travel destination to an autonomous device. The method 9100 includes, but is not limited to, including the autonomous device leaving 9101 a docking station or holding a cargo box or package or about to pick up a cargo box or package. If 9105 a cargo box or package is being loaded directly into a cargo area of an autonomous device, then the method 9100 includes scanning 9109A the identification feature as the package is moved into cargo space. For example, the package can be manually positioned in the cargo area, or the package can be automatically loaded by, for example, a robot. If 9103 a package has been placed at the pick-up location, method 9100 includes moving 9107 the autonomous device to the target pick-up location and scanning 9109A the identification feature. In some configurations, a user requesting package pickup can send a request indicating a target location where the package will be located through a handheld/tablet/desktop device (e.g., to an autonomous vehicle). For example, the user can remain at the target location and load the package, or the user can deposit the package at the target location, and in both cases, the autonomous vehicle can scan the package for destination and other types of information. The method 9100 can include determining a target location using 9111 the package information. The target location can be determined by contacting a remote operator, by contacting the owner of the package, or by automatically creating an initial route, or possibly a combination of ways. The method 9100 can include autonomously navigating 9113A to a target location according to an initial route and avoiding obstacles detected in real-time along the route. For attended delivery, the method 9100 can include enabling 9115A user interaction with the autonomous vehicle when the target location is reached. The user interaction can include, for example, entering the security code directly into the autonomous device, or through an application interface resident on a handheld, tablet computer, laptop computer, or the like. The user input may enable, for example, a door of the autonomous vehicle to be opened and a cargo box and/or package to be provided to the user. If delivery/pick-up is unattended, method 9100 includes determining 9117A by an autonomous device to store the good. For example, if the surface at the target location is determined by the autonomous device to have a problem such as moisture or other challenging characteristics, the autonomous device searches for a better location to deploy the cargo during delivery. In some configurations, the autonomous device includes an environment and image sensor that can provide surface and other information to the autonomous device. The autonomous device uses such data in its navigation and can take additional steps to determine the delivery location based on the data. In the case of attended or unattended, the method 9100 includes scanning 9119 by an autonomous device identification associated with the package or cargo box. The autonomous device can use data from the identification information to notify the recipient, for example, that the package has been delivered, environmental conditions, time of day, and any other information that may be useful to the recipient. In some configurations, the autonomous device can inform the remote controller that it has completed delivery or pickup, and can receive the next route (if any). In one scenario, the method 9100 includes navigating 9121 an autonomous device to a docking station. The autonomous device can route itself elsewhere for further delivery (if the autonomous device has multiple cargo holds) and/or pickup. The autonomous device can determine from the daily task list where to go next, or can receive commands from a remote operator (human or computer) after each delivery/pick-up.
Referring now to fig. 10B and 10C, in one aspect, the method 9050 of the present teachings contemplates unattended delivery of goods by an AV, and can include determining 9051 (fig. 10B) that a desired destination is reached and notifying 9053 (fig. 10B) of a pre-selected recipient that the desired destination is reached. The desired destination can be selected by at least one of the recipients and sent to the deployment manager. In one aspect, the recipient can include a person purchasing the goods that are intended to be unattended for delivery. In an aspect, the recipient can include a remote control of the AV. In one aspect, the AV is able to determine whether it has reached a desired destination through appropriate sensors and onboard processing. In one aspect, the remote controller is capable of navigating the AV to a desired destination, either partially or completely. If no instruction is received to deploy the cargo 9055 (FIG. 10B), the method 9050 can include waiting for a 9073 (FIG. 10B) deployment instruction. If an instruction is received to deploy the cargo 9055 (fig. 10B), the method 9050 can include receiving 9057 (fig. 10B) security information associated with the cargo remotely from the recipient. If the security information is incorrect 9059 (FIG. 10B), then the method 9050 can include requesting 9075 (FIG. 10B) new security information. If proper security information is received 9059 (FIG. 10B), then the method 9050 can include opening 9061 (FIG. 10A) a cargo compartment associated with the cargo associated with the recipient and the provided security information, the method 9050 including deploying the cargo. If 9063 (FIG. 10B) cargo is not deployed, then method 9050 can include continuing 9077 (FIG. 10B) to deploy cargo. If 9063 (fig. 10B) the cargo has reached the deployment surface, the method 9050 can include disengaging 9065 (fig. 10B) the cargo from the deployment device. If 9067 (FIG. 10B) the cargo is not disengaged from the deployment device, the method 9050 can include continuing 9079 (FIG. 10B) to disengage the cargo from the deployment device. If 9067 (fig. 10B) cargo is disengaged from the deployment device, the method 9050 can include retracting 9069 (fig. 10C) the deployment device into the cargo hold, and notifying 9071 (fig. 10C) the recipient.
Referring now to fig. 10D and 10E, in one aspect, when a package is self-identified, routing information is included on the package or can be derived from information about the package. In an example, the identification information on the package includes an address of the recipient. With this address, the autonomous vehicle determines the route in the manner described herein and elsewhere (e.g., '007, '522, '205, '613, and ' 703). Identification information on the package can include, for example, but is not limited to, a bar code (UPC, EAN), QR code, RFID tag, pharmaceutical code, or shipping label. The autonomous vehicle of the present teachings is capable of performing both delivery and pickup at both vendor and customer locations. For example, an autonomous vehicle may be able to dock at a vendor location and may pick up packages at a vendor that has been ordered by a customer. The autonomous vehicle may travel to the destination location of the package, drop the package (autonomously, semi-autonomously, or recipient pick up), pick up other package(s) possibly at the same location, or travel to another location to pick up other package(s), deliver the package being carried anywhere to a desired customer location or desired vendor location, possibly end at a docking station to recharge and/or exchange power sources such as batteries. The method 9150 for autonomous pick-up and delivery performed from the viewpoint of an autonomous vehicle includes receiving 9151 a desired destination. For example, a remote operator, user, self-identified package, or provider can provide the desired destination. For example, a user can access an application on a handheld device and summon an autonomous vehicle to a location. For example, the autonomous vehicle can locate a package associated with a call. A provider, such as a pharmacy store, can offer packages that include prescriptions and provide desired destinations. Alternatively, prescription packages can be self-identifying. For example, the remote operator can manage the delivery schedule and provide to the autonomous vehicle periodically or at the point of registration or at the time of registration. The autonomous vehicle is able to determine its route and desired destination during its work cycle by collecting directions from remote operators, users, suppliers, and packages themselves. The method 9150 includes navigating 9153 to a desired destination. As described herein, an autonomous vehicle starts with a route and dynamically changes the route, depending on sensor inputs and what obstacles are in the path of the autonomous vehicle. Method 9150 includes searching 9155 packages. The autonomous vehicle includes sensors and a machine learning model that enable locating packages. If 9157 the package is attended, then the method 9150 includes receiving 9159 the package into a cargo hold of the autonomous vehicle. The autonomous vehicle can receive a communication from the package provider at a desired location that enables the autonomous vehicle to perform a attended reception process. The step of causing receipt of the package includes receiving identification information from the package provider that causes the cargo compartment to be opened to allow the package provider to deposit the package. If 9157 the package is unattended, then the method 9150 includes deploying 9161 a delivery/pick-up mechanism from the autonomous vehicle and retrieving 9163 the package using the delivery/pick-up mechanism. The delivery-pick mechanism can include such devices as described herein. The method 9150 includes scanning 9165 identifying information from the package (if available). If available, the identification information, which may be in the form of a code, is processed by the autonomous vehicle to parse the information included in the code. For example, the identification information may include a destination address, a description of the contents of the package, a security code required before the package is released from the hold, contact information for the intended recipient, or a direction to contact the remote control operator. In an aspect, the identification information includes route information that the autonomous vehicle may use to optimize route creation and/or seek assistance from a recipient and/or remote operator with navigation. For example, the method 9150 includes accessing or creating 9167 a route based on the identification information, and when the identification information is not present, the autonomous vehicle seeks navigation assistance from a remote operator. The method 9150 includes navigating 9169 to a desired destination determined based on the identification information. If 9171 desires that the destination be unattended, then method 9150 includes accessing delivery information according to identification information. If available, the delivery information can include whether to deliver the package to a particular location, such as a front porch or a secure area. The secure area may require a password, which may be part of the identification information, so that the autonomous vehicle can open the secure area using the password. If the environmental condition is a problem such as rain or snow, the delivery information may include where to deliver the package. The delivery tote itself may be weather-proof. If 9175 delivery information is available, then the method 9150 includes deploying 9177 with a delivery/pick-up mechanism of the package (by the apparatus described herein) in the gripping of the mechanism, and moving 9179 the package from the cargo hold to a desired location. If 9175 does not have delivery information available, then the method 9150 includes contacting 9181 a recipient or remote operator with instructions, navigating 9183 to an indicated location, deploying 9177 a delivery/pick-up mechanism, and moving 9179 the package from the hold to a desired location. If 9171 destination is attended, then method 9150 includes prompting 9185 by the autonomous vehicle that the recipient is attended to deliver for identification information. The prompt can occur on the face of the autonomous vehicle and the information can be provided to a keypad or verbally or through a biometric device, for example, on the autonomous vehicle cargo box. In one aspect, for example, the prompting can occur on a computer application, verbally, visually, or biologically. The method 9150 includes scanning 9187 the package to identify information prior to retrieving the package by the recipient. Such scanning enables the autonomous vehicle to track delivery, notify providers and others who may be interested, and create/update log files. The method 9150 includes opening 9189 the hold so that the recipient can retrieve the package and sensing 9191 when retrieving the package. Regardless of whether delivery is attended, method 9150 includes closing 9193 the cargo compartment (if no package is received and scanned at that location) and receiving 9195 further instructions from, for example, a remote operator, delivery truck, vendor, or summoning user. If 9197 the autonomous vehicle is to perform further delivery or other work, and if 9199 the autonomous device has sufficient power for another delivery, then method 9150 includes returning to step 9155. If 9197 does not deliver further, method 9150 includes navigating 9198 the autonomous vehicle to the parking area and returning to step 9151.
Referring now to fig. 11, in one aspect, a system 9100A for unattended manipulation of cargo by AV of the present teachings can include a destination processor 9101A configured to determine that a desired destination 9109 has been reached and notify a pre-selected recipient 9107A/9114 that the desired destination 9109 has been reached through a communication processor 9103. The desired destination 9109 can be selected by at least one of the recipients 9107A/9114 and sent to the deployment manager 9105. In an aspect, the recipient can include a user 9107A desiring to reserve unattended delivered/picked-up goods. In an aspect, the recipient can include a remote controller 9114 of the AV. In one aspect, the remote controller 9114 can navigate the AV partially or completely to a desired destination 9109. In one aspect, the AV is able to navigate itself to the desired destination 9109. The deployment processor 9113 can receive instructions from the communication processor 9103 that the user 9107A/9114 desires to deliver goods to a desired destination 9109, and can trigger the security processor 9115 to request and receive security information associated with the goods from the recipient. Because there are no recipients to input the security information, a request to receive the security information can be sent by the communication processor 9103 to one or more recipients. In an aspect, the recipient can provide an alternative means for unattended delivery/pickup prior to delivery. Alternative means can include, but are not limited to, providing the sender of the good with one or more designated means by which the security processor 9115 can receive security information, such as through the communication processor 9103. The security processor 9115 is capable of receiving security information from the communication processor 9103 and checking that the security information is associated with a cargo in an expected manner. In an aspect, security information is collected by sensor 9108. The security information can include any combination of passwords, cargo identifications, customer identifications, or recipient-specific information. The security process can be extended as needed to protect the cargo, for example, two-factor authentication can be required. The security processor 9115 can notify the recipient or specify whether the security information is incorrect and can request further security information. When the security information has been verified, the security processor 9115 can trigger the deployment processor 9113 to open the cargo hold associated with the recipient and the provided security information. The deployment processor 9113 is capable of initiating deployment of the cargo. Various deployment methods are taught and discussed herein. For example, the deployment processor 9113 can direct the AV controller 9117 to open the doors of the cargo hold and advance delivery containers crawled outside the cargo hold by deployment equipment. The deployment processor 9113 can direct the AV controller 9117 to move the delivery container to a surface. Depending on the delivery destination, the surface can be above or below the level of the cargo hold. When the surface is below the cargo hold, the deployment processor 9113 can direct the AV controller 9117 to lower the delivery container to the surface. When the delivery container has reached the surface, whether above or below the level of the cargo hold, the deployment processor 9113 can direct the AV controller 9117 to disengage the deployment apparatus from the delivery container. The method for disengagement has been discussed herein. The sensor can indicate when the disengagement is complete. At this time, the deployment processor 9113 can direct the AV controller 9117 to retract the deployment apparatus into the cargo hold and close the door(s) of the cargo hold. Retraction can take different forms depending on the nature of the deployment device. Various retraction techniques have been discussed herein. After the retraction is completed, the deployment processor 9113 can direct the AV controller 9117 to notify the recipient of the completed unattended cargo deployment. In one aspect, in the event that, for example, the AV is unable to navigate to the desired delivery destination or there is a harsh environment at the desired delivery destination, etc., an alternative delivery destination can be selected.
The trailer of the present teachings can enhance the utility of the delivery/pick-up vehicle by: (1) providing additional storage space, (2) providing additional energy storage or power, (3) maintaining consistent pitch between the cargo section of the delivery vehicle and the cargo section of the trailer, regardless of the underlying terrain or delivery vehicle wheel configuration, and (4) dampening vertical and horizontal movement of the trailer. Trailers can be used to increase the carrying capacity of the transport/pick-up vehicle, which can include both manual drives and autonomous vehicles. The trailer can be left behind, for example, after delivery, or can be used to deploy the cargo in, for example, but not limited to, a secure delivery container, or can be used for cargo pick-up. The trailer can include a suspension to provide a relatively smooth ride for the cargo even over uneven terrain. For example, mountain bike-type suspensions can be used in combination with slings that are connected to the wheels of a trailer. When compared to standard curbs, the trailer may include relatively large wheels, which may facilitate the trailer climbing such curbs. The trailer can also include an auxiliary power source that is wired to the towing vehicle in some configurations and can potentially extend the range of the autonomous vehicle. Storing the supplemental battery under the trailer frame may provide a lower center of gravity for the trailer. The configuration of the trailer can include a storage location for supplemental power for the towing vehicle. For example, the supplemental battery can be stored under, for example, a trailer frame. In one aspect, a supplemental power source can provide power to such devices as sensors and lights on a trailer. In one aspect, the trailer includes at least one sensor that assists the autonomous vehicle in assessing its environment. The at least one sensor can include, for example, but is not limited to, ultrasound, short range radar, and/or a camera. The sensors can be located on the rear of the trailer, on the cargo box, and/or on the sides of the trailer and cargo box. In one aspect, the trailer includes a link that enables the payload of the trailer to pitch with the cargo box of the autonomous vehicle. For example, the links can include four-bar links. In some configurations, the trailer stabilizes the autonomous vehicle at a relatively high speed. In some configurations, the trailer includes at least one processor that performs, for example, sensor processing and power control, as well as other actions that support manual or autonomous navigation. The trailer can be connected to a towing vehicle such as, for example, but not limited to, an autonomous device. In one aspect, the hitch fork between the trailer and the towing vehicle includes, for example, but not limited to, a four bar cross hitch fork or a standard ball hitch fork. In one aspect, the tie rod is connected to the hitching fork by a spherical end. In one aspect, the steering damper provides resistance to yaw movement between the trailer and the autonomous device. Steering dampers can include, but are not limited to, hydraulic or pneumatic cylinders, including needle valves that can be used to adjust resistance.
Referring now to fig. 12 and 13, a simplified version of a trailer of the present teachings including certain features is shown. For example, the trailer 400 includes a storage space 421 that can be used to carry cargo. The cargo can include, but is not limited to including, loose items, bagged items, boxed items, and/or secure delivery containers. The storage space 421 can be open, covered, partially covered, and/or switchably covered. Storage space 421 can provide secure storage that can be locked and unlocked remotely or locally. The storage space 421 may have some or all of the features of the cargo section of the delivery vehicle described in U.S. patent application Ser. No. 16/926,522 entitled "System and Method for Real time Control of an Autonomous Device (System and method for autonomous device real time control)" filed on 7/10/2020, which is incorporated herein by reference in its entirety.
With continued reference to fig. 12 and 13, the trailer 400 can also provide a power source 423 with storage or mounting outside of, for example, a cargo area. In one aspect, a power source 423, such as a battery or fuel cell, can be used to power devices found on the trailer 400, such as sensors and lights. In one aspect, the power source 423 can provide supplemental power to the vehicle that can move the trailer 400. In an aspect, the power source 423 can be wired to the towing vehicle, can be a replacement battery that can be exchanged with a battery on the towing vehicle, and/or can be an electrical device on the trailer. In an aspect, the power source 423 can include, but is not limited to including, a battery, a fuel cell, a solar collection device, and a wind collection device. The power source 423 can be installed below, above, inside, or beside the storage space 421.
With continued reference to fig. 12 and 13, the trailer 400 features that the cargo portion carried by the trailer 400 remains pitched the same as the cargo portion carried by the towing vehicle. To achieve a linkage between the trailer 400 and the towing vehicle supporting pitch consistency, the trailer 400 is connected to the towing vehicle to form a four bar linkage comprising four rigid elements: a drawbar 441, a trailer frame structure 443, a mast 431 and a hitch yoke 437 for hitch the trailer to the towing vehicle. The rigid element is arranged in a vertical plane. Here, the vertical plane refers to a plane perpendicular to a plane defined by a driving wheel of the towing vehicle or a base of the storage space 421. The storage space or cargo portion 421 is rigidly mounted to the mast 431 and thus maintains a fixed orientation relative to the mast orientation.
With continued further reference to fig. 12 and 13, the drawbar and trailer bed structures are each connected to the mast 431 by a pivot (425, 427) that allows rotation in a vertical plane. In one aspect, the trailer mast pivot 427 and the pull rod mast pivot 425 only allow movement in a vertical plane. The drawbar and trailer base structure is connected to a hitch fork on the towing vehicle by pivots 439, 435, the pivots 439, 435 allowing rotation in both the vertical and horizontal planes. In one aspect, the drawbar-hitch-fork pivot 439 and/or the trailer plate-hitch-fork-cross pivot 435 are universal joints, pillow bearings, elastomeric couplings, or other mechanical joints that allow rotation in two orthogonal planes. The four bar linkage comprising the tie rod 441, the mast 431, the trailer bed 443 and the hitch-fork 437 forms a parallelogram, wherein the opposing pairs of bars are always parallel. In this case, the hitch-fork 437 and the mast 431 are always parallel, so that the distance of the hitch-fork 437 and thus the cargo section 421 is always the same as the cargo section 361A in the towing vehicle 402, the towing vehicle 402 being rigidly connected to the hitch-fork 437.
With continued reference to fig. 12 and 13, each tire 429 can be independently adjustable by a swing arm 433 when the terrain is challenging or variable, such as, but not limited to, including steps, uneven ground, or soft ground. The swing arm 433 may include springs/dampers or shock absorbers to form the suspension of the trailer. The base of the cargo section 421 is separated from the vertical movement of the tire 429 and from the four bar linkage. The pitch of cargo section 421 is connected to the pitch of the cargo section of the towing vehicle by a four bar linkage.
With continued reference to fig. 12 and 13, illustrations of a towing vehicle and trailer of the present teachings are shown. Traction vehicle 402 is shown configured to accommodate terrain by employing a different number of drive wheels. In FIG. 1A, a towing vehicle 361A is shown with four (two not shown) drive wheels 389/391 for the purpose of navigating challenging terrain. The four bar linkage comprising the drawbar 441, the trailer frame structure 443, the mast 431 and the hitching forks 437 is capable of maintaining a consistent pitch 363 between the towing vehicle 402 and the cargo in the trailer 400, while the tires 429 are maintained in ground contact by the swing arms 433. In fig. 13, towing vehicle 402 is shown with four (two not shown) drive wheels 389/391, only one (drive wheel 391) being in ground contact. Casters 375 provide the balance required for standard driving over relatively smooth terrain requiring only two drive wheels. The tie rod 441 connected to the mast 431 and the trailer frame structure 443 are capable of maintaining a consistent pitch 363 between the towing vehicle 402 and the cargo in the trailer 400, while the tires 429 are maintained in ground contact by the swing arm 433.
Referring now to fig. 14A and 14B, there is shown a configuration of a trailer embodying the present teachings of the features described herein. The present teachings are not limited to the configuration shown in fig. 14A and 14B. These configurations and other figures are provided for illustrative purposes only. Towing vehicle 21001 includes a cargo area resting on platform 21002. In fig. 14A, the towing vehicle 21001 is configured for challenging terrain, deploying four (only two shown) drive wheels 21011 and retracting casters 21012, as the towing vehicle 21001 is not needed in this case. In fig. 14B, towing vehicle 21001 is configured for smooth terrain, deploying two (only one shown) drive wheels 21011 and casters 21012, as casters 21012 are required in this case. The ties 113 and spars (not shown) connected to mast 321 are angled to maintain consistent pitch 325 (fig. 14A) and 301 (fig. 14B) between the towing vehicle 21001 and cargo in trailer 305, while trailer tire 21011A is maintained in ground contact by swing arm 311. The distance between the cargo box of the trailer 305 (fig. 14A) and the platform above the tie-rods 113 (not shown) can be considered to be lower than the distance 201 between the cargo box of the trailer 305 and the platform above the tie-rods 113 (not shown) (fig. 14B). Other such comparisons include distance 206 (fig. 14A) compared to distance 203 (fig. 14B), where the autonomous vehicle is in a four-wheel mode (fig. 14A), where caster 21012 is lifted, while in a standard mode (fig. 14B), caster 21012 rests on a surface. In the four-wheel mode (fig. 14A), distance 207 is greater than distance 204, i.e., the front wheels are raised on the surface in the four-wheel mode and in the standard mode. Although the distance varies in each case, the pitch of the cargo box remains the same in each case (and the same as the pitch of the trailer). Distance 208 (fig. 14A) shows why pitch does not change from one mode to another relative to distance 205 (fig. 14B), particularly because the distance between the cargo box and the rear wheels changes depending on the mode. In both cases, however, the pitch 325/301 of the cargo in the towing vehicle 21001 and the trailer 305 is consistent. In one aspect, the trailer 305 can include a conventional steering damper 1114.
Referring now to fig. 15A and 15B, the trailer of the present teachings can include a wheel 21011A coupled at its axle to swing arm 311. Swing arm 311 is pivotally connected to yoke halves 105 meeting at hitching fork 107. Yoke half 105 is operatively coupled to a trailer frame panel 323, which itself is operatively coupled to shock tower brackets 101A and shock brackets 102A. Swing arm 311 can also provide a mounting feature for shock absorber 109A, shock absorber 109A also being coupled to shock absorber 102A. Shock absorber 109A can comprise any kind of motion cushioning and absorbing device including, but not limited to, springs and dampers.
Referring now to fig. 16, a trailer of the present teachings can be coupled to a towing vehicle by the configuration of the brackets. The brackets serve as an interface between the trailer and platform 21002 and the wheels of the towing vehicle. One such strut configuration includes a hitch pin sleeve 169 that provides a means for coupling a hitch pin of a trailer with a bracket configuration. The hitching tube 167 operably couples the hitching pin sleeve 169 with the hitching fork member tube 163. The hitching fork member tube 163 provides a means for coupling the tie rod and spar to the strut configuration coupled together with the hitching pin. The second set of hitch tubes 161 operatively couple the hitch post configuration with the wheel configuration and platform of the towing vehicle. In one aspect, the hitch panel 171A and the four bar interface plate 172 provide an interface between the hitch post configuration and the towing vehicle.
Referring now to fig. 17, an exemplary trailer is shown without a cargo box to illustrate features such as supplemental batteries. The pull rod 113 includes a rod end 129, the rod end 129 being operatively coupled to the hitching fork 107 (using a nut 131 (FIG. 19A)) using a hitching pin (not shown). Note that any type of hitching fork can be used, including but not limited to various types of ball hitching forks, hook hitching forks, round hitching forks, or pin hitching forks. For example, the trailer includes a battery 70000 that can be stored under the platform 145. The battery 70000 can be stored within a cargo container (not shown), beside, in front of, or behind the platform 145, or on top of the cargo container in the case of a covered cargo container. The battery 70000 can rest on the chassis 147.
Referring now to fig. 18, mast 321 provides a pivot point 322/324 for the distal end 114 of the drawbar and the distal 4 pivot pins of the trailer frame structure. The mast 321 and the platform 145 can be operably coupled by a mast-platform mount 303A.
Referring now to fig. 19A and 19B, in one aspect, the tie rod 113 is surrounded by a spring 125, the spring 125 cushioning pressure from the trailer components at the front and rear of the spring 125. When the trailer and towing vehicle are stopped and are moving at different rates, the springs 125, which are held in place by the combination of the part collar 121 and the pitch spring cup 123, respond to the movement of the frame member of the trailer. Spring stops 127 (fig. 19B) are between the springs 125 and separate them to provide fore and aft motion dampening.
Referring now to fig. 19C and 19D, a cross section illustrating the pivot point of a four bar linkage is shown. The rigid links of the four bar linkage can include a hitch fork link 211A, a tie bar link 213, a mast wire 215A, and a frame structure link 209. The pivot points can include a frame structure-hitch fork point 217, a hitch fork-tie rod point 219, a tie rod-mast point 221A, and a mast-frame structure point 223A. As described herein, the four bar linkage is capable of rotating vertically. The rotation can be achieved by, for example, a high load oil bearing 135 (fig. 19D).
Referring now to fig. 20, the tie rod 113 can be installed within the first trailer cross 133 and the second trailer cross 133A stopped. The third trailer transverse bridge 133B may be operatively coupled to a trailer frame panel 323 surrounding the tie bar 113.
Referring now to fig. 21A-21G, one configuration of delivery container 221 may include a box in which cargo may be placed. The container 221 can be any shape including, but not limited to, a non-uniform shape. The container 221 can be, for example, a grocery bag-shaped container. The container 221 can be equipped with means to ensure the safety and protection of the contents. In one aspect, the container 221 can include a device that can trigger the container 221 to activate an unlock sequence. In one aspect, the container 221 can include a lock input keypad 223, a finger slide sensor, or a cellular telephone or other signal receiver, each of which can enable a user to unlock the delivery container 221 using an unlocking protocol specific to the unlocking mechanism. The delivery container 221 can also include a sensor such as, for example, but not limited to, an imaging device such as, for example, a camera 235. The camera 235 is capable of providing a visual image of anything that enters the environment of the delivery container 221. The camera 235 can prevent malicious actors and can potentially identify malicious actors if the malicious actors tamper with the delivery container 221. The camera 235 can be operably coupled to a communication system mounted on the delivery container 221 such that images can be transmitted in real-time to anyone with permission to monitor the container 221. Alternatively, the collected images can be stored on-board or remotely for later viewing. The camera 235 (fig. 21C) can have a 360 ° collection range, for example. In some aspects, multiple cameras, possibly with different collection ranges, can be mounted in various locations on the container 221. If there are multiple cameras, all of the cameras can image the environment together around the circumference of the delivery container 221. In some configurations, the container 221 can include a multi-part cargo compartment, where the multiple parts can be operably coupled to enclose the cargo within the container 221. In one aspect, the container 221 can include a top 231 and a cargo holding region 233 (fig. 21D), each of which can take on any geometry and volume. Top 231 And cargo holding area 233 can be operably coupled by fasteners, the selection of which can depend on the type of cargo and, for example, the desired security of the cargo. In one aspect of the present invention, the fastener can include a zipper, a button,Any, some, or all of a strip, wire, chain, ribbon, rope, or glue. The container 221 can include a locator device 229 (fig. 21E) and/or a theft alarm 227 (fig. 21E). In an aspect, the locator device may include a GPS or other location device, and the theft alarm 227 can include, for example, but not limited to, a bicycle alarm, a projector alarm, and/or an emergency button. The container 221 can include attachment points 225 (fig. 21G) for subjecting the container 221 to mechanical movement, and a tray 237 (fig. 21F) for positioning cargo within the container 221. The present teachings contemplate configurations of containers, trays, and associated sensors and attachment points of different sizes and shapes.
Referring now to fig. 22A-22D, various possible configurations of delivery containers are shown. In one aspect, the delivery container can include a plurality of sections 253 (fig. 22A), each section available for separate secure storage, the entirety of the plurality of sections fitting into a pre-selected size cargo compartment area. The secure storage can be implemented by, for example, but not limited to, a keypad region 251 that can include a plurality of security features. The keyboard region 251 can be positioned on the container 261 (fig. 22C) and on the respective portions 253 (fig. 22A). The keypad region 251 may include a battery housing 252 (fig. 22B), which battery housing 252 may be used to power various features such as, for example, but not limited to, lights, cameras, and/or GPS. The keypad region 251 can include, for example, a keypad, RFID, and/or zipper stops, among other features. The container 261 (fig. 22C) can include a flexible, collapsible, and/or collapsible material that enables compact storage of the container 261 (fig. 22C) when the container 261 (fig. 22C) is not in use or is partially in use. The container 261 (fig. 22C) can include a clamp receptacle 262 (fig. 22B). The grip receiving portion 262 (fig. 22B) can be implemented using, for example, but not limited to, a grip portion and/or a hook for gripping and moving the container 261 (fig. 22C). Other means of attachment are contemplated by the present teachings.
With continued reference to fig. 22A-22D, the delivery container of the present teachings can take any geometric shape. The delivery container shown herein is for exemplary purposes only. In addition, the opening/closing mechanism of the delivery container can include a zipper 255 (fig. 22A),Straps, buttons, hooks, and/or other types of fasteners. If the exemplary delivery container 261 (fig. 22C) includes a zipper 259 (fig. 22C), the keypad 251 can include zipper stops 271/273. Other fastener stops and accessories are contemplated by the present teachings. The delivery container 261 (fig. 22C) can also include recesses 265/266 (fig. 22C) that can be used, for example, to attach a clamping device 267 (fig. 22C) and a storage handle 269 (fig. 22C), respectively. The delivery container of the present teachings can be constructed of a flexible material that can be contracted for storage or partial use. In one aspect, the top and bottom 289 (fig. 22D) of the delivery container of the present teachings can comprise a rigid or semi-rigid material, such as a lightweight plastic or plastic honeycomb. The delivery container can include a telescoping rim 268 (fig. 22D) that can enable the container to collapse. />
With specific reference to fig. 22E-22G, the delivery container of the present teachings can be constructed of panels, pleats, and flaps (wings) organized to achieve the fold 334 (fig. 22G) delivery container. The delivery container can be constructed from a split panel that can allow the delivery container to be folded into a flat pattern 336 (fig. 22G). In one aspect, the panels can be constructed of sheet steel that can be split in the middle to achieve folding, or can extend the entire width of the delivery container without requiring folding. In one aspect, the delivery container can be constructed from a laminated TPU fabric with a steel security panel. The delivery container can include a security system for the delivery container such as, for example, but not limited to, a keyboard lock 1013 (fig. 22E). The security system can also include an imaging system, such as, for example and without limitation, camera 1019 (fig. 22E), possibly imaging a 360 ° -radius around the delivery container. In an aspect, the delivery container can include at least one alarm 1023 (fig. 22E). At least one alarm 1023 (fig. 22E) is particularly capable of generating a notification if the delivery container has been moved, if there is movement around the delivery container, or if there is tampering with the delivery container, for example. The delivery container can include electronics 1021 (fig. 22E) that can control features available on the delivery container and can transmit data that can inform a user or another remote system of the status of the delivery and delivery container itself. Electronics 1021 (fig. 22E) can receive information that can be used to control features included in the delivery container from opening the delivery container to image the surrounding environment to generate notifications regarding delivery and the status of the delivery container. The delivery container can include features that enable automatic movement of the delivery container, e.g., connection points 1017 (fig. 22E), which can be used by a deployment mechanism that can be installed within the cargo compartment area. In an aspect, the delivery container can include a top 1011 (fig. 22E). In one aspect, the top 1011 (fig. 22E) can include electronics 1021 (fig. 22E), at least one alarm 1023 (fig. 22E), and means for pairing the top 1011 (fig. 22E) and the cargo compartment 1015 (fig. 22E). The device can include a connector 1014 (fig. 22E) that can be operatively coupled with a security lock 1013 (fig. 22E). When the security lock 1013 (fig. 22E) is unlocked, the connector 1014 (fig. 22E) can be released. The manner of unlocking depends at least on the type of lock and can take any of a number of conventional forms.
Referring now to fig. 22F, in another configuration, a shock absorber can be mounted on the delivery container to reduce the likelihood of damaging the contents of the delivery container and the delivery container itself. In one aspect, the shock absorber can include, for example, but not limited to, a gas impactor, a spring, and/or a cushion. In one aspect, the shock absorber is retractable for storage into the delivery container. In one aspect, the delivery container can include a panel 1029, the panel 1029 can strengthen the delivery container and can enable the contractibility of the delivery container along with the hinge 1028. In one aspect, the shock absorber can include a spring 1016. When the delivery container is deployed from a height and gravity is attracted or otherwise moved to the lower surface, the shock absorber 1016 can compress to absorb the shock.
Referring now to fig. 22G, an exemplary delivery container that can be ridable in a trailer of the present teachings can be fully collapsible and stackable. The delivery container can also include a security feature. In an aspect, the delivery container can include a visible feature, such as an opening for imaging and collecting security information. The visible feature can be mounted anywhere on the delivery container. In an aspect, the imaging feature 2011, security feature 2013, and latch 2023 can be mounted on the top 2015 of the delivery container and within the top 2015. The security feature 2013 can enable the latch 2023 to disengage to open the delivery container. The top 2015 can include a security area (not shown) in which an electronic and communication system can be located that can automate the security features of the delivery container. In an aspect, the delivery container can include panels 2019/2017 that enable shrinkage of the delivery container. The delivery container can include features that can be used to grasp the delivery container for deployment. In an aspect, the feature can include a base 2021. Straps, ropes, and other devices can be connected to the base 2021. The panels 2019/2017 can be connected by, for example, a hinge, and can be used to fold the delivery container.
Referring now to fig. 22H-22M, in another configuration, the delivery container can comprise a fully collapsible and stackable delivery container. The delivery container can also include security features whose operation is primarily hidden. In an aspect, the delivery container can include a visible feature, such as an opening for imaging and collecting security information. The visible feature can be mounted anywhere on the delivery container. In an aspect, the imaging features 2011 (fig. 22H) and the security features 2013 (fig. 22H) and the latches 2023 (fig. 22H) can be mounted on the top 2015 (fig. 22H) and within the top 2015 of the delivery container. The security feature 2013 (fig. 22H) enables disengagement of the latch 2023 (fig. 22H) to open the delivery container. The top 2015 (fig. 22H) can include a security area (not shown) in which positioning can be in an electronic and communication system that can automate the security features of the delivery container. In one aspect, the delivery container can include panels 2019/2017 (fig. 22H) that enable shrinkage of the delivery container. The delivery container can include features that can be used to grasp the delivery container for deployment. In an aspect, the feature can include a base 2021 (fig. 22H). For example, as discussed herein, straps, ropes, and other devices can be connected to the base 2021 (fig. 22H) at the recess 2022 (fig. 22J). The panels 2019/2017 (fig. 22H) can be joined by, for example, a hinge 2025 (fig. 22I) and can be used for folding as shown in fig. 22K. When the box is fully folded as shown in fig. 22L, the stack of boxes as shown in fig. 22M can be conveniently transported.
Referring now to fig. 22N and 22O, the delivery container of the present teachings can take any shape. In an aspect, the delivery container can include a segmented top configured with a latch strap. The segmented top may include segments, a latch mechanism, and a security feature. In one aspect, the top can include two movable sections 2061/2063 (FIG. 22O). In an aspect, each of the movable sections can form a single panel with a side of the delivery container. In one aspect, each movable section 2061 (fig. 22O) can be connected to a side 2057 (fig. 22O) of a delivery container. In an aspect, the latch strap 2055 may host a security feature. The safety features can include, but are not limited to, a latch mechanism 2051 and at least one sensor 2053. In one aspect, the latch mechanism 2051 can receive a command to open the delivery container and can disengage the latch strip 2055 from the latch receiver 2059 (fig. 22O). The latch mechanism 2051 can include, for example, a magnetic latch or an automatic door lock device. The at least one sensor 2053 can include, for example, a camera, a motion sensor, an audio sensor, and/or an environmental sensor.
Referring now to fig. 23A-23B, an exploded view and a cross-sectional view of an exemplary tote are shown. The shape of the tote shown is merely exemplary. The tote can take any shape. For example, it can be sized to conform to the amount of space in an autonomous vehicle designed to travel. In one aspect, the totes are smaller than the hold of the autonomous vehicle such that multiple totes can occupy the hold. In one aspect, the tote can take a variety of shapes, such as, for example, but not limited to, a cube, cylinder, cone, sphere, or pizza box shape. Multiple types of items destined for different target locations can occupy the event tote. The identity of the item itself indicates the final recipient of the item. In one aspect, the tote itself includes identification information for indicating the destination of the tote to the autonomous vehicle.
With continued reference to fig. 23A-23B, in one aspect, the tote is not affected by the preselected environmental conditions, depending on the materials used in its construction and the extent to which the seam is sealed. For example, if the outer surface of the tote is waterproof, water-draining, or water-resistant, the contents will be protected to some extent from water intrusion. If the outer surface has thermal resistance, the outer surface will resist heat flow. If the outer surface has chemical resistance, the outer surface will resist chemical attack for a certain period of time. Other forms of shielding and blocking are contemplated by the present teachings. A combination of protection and blocking can be applied to protect the contents of the tote from various types of environmental intrusion, such as heat and moisture intrusion. In one aspect, the tote exterior surface includes an outer skin 10023, a top/bottom skin 10029, and a connecting means 10025. The skin 10023/10029 can be coated with various materials to achieve barrier and protection, or the skin 10023/10029 can be composed of inherently verified materials, such as the waterproof material polytetrafluoroethylene. The connection 10025 includes some form of fastener that provides access to the contents of the tote. Examples of such fasteners include zippers and hook and loop fasteners.
With continued reference to fig. 23A-23B, inside the enclosure, an exemplary tote of the present teachings includes a top panel 10027, a small panel 10031, and a large panel 10037. The top panel 10027 is located between the top skin 10029 and the outer skin 10023. In one aspect, the small panel 10031 is located between the outer skin 10023 and the inner skin 10035 on the non-pin side of the tote. The plurality of minor panels 10031 shown in fig. 23A illustrates a configuration in which the sides of the tote are collapsible, folding at the seams between the minor panels 10031. Other configurations are contemplated by the present teachings. For example, there can be more than two small panels 10031, thereby achieving different types of folding. The large panel 10037 is located between the outer skin 10023 and the inner skin 10035 and provides further support for the weight that the tote pins 10021 must bear. In one aspect, the tote pins 10021 are grasped by a lift/lift mechanism that effects attended or unattended delivery/pickup of the packages. The interior of the tote is defined by the inner skin 10035 and the tote tray 10033. In one aspect, the tote trays 10033 enable transport of relatively heavy items in the totes. In one aspect, the tote tray 10033 is removably secured to the large panel 10037 by a flanged bolt combination 10039 (fig. 23B) connected to the female hook. The present teachings contemplate other forms of attachment between the tote trays 10033 and the large/small panels 10021/10031.
Referring now to FIG. 24, an exemplary collapsed tote is shown. In one aspect, a shrink tote includes a flexible panel and a tray.
Referring now to fig. 25A-25D, an exemplary open top tote is shown. The exemplary open top tote as shown in fig. 25A includes side panels 10045, pin panels 10041, bottom panels 10047, and tote pins 10043. In one aspect, the tote can be autonomously lifted from the hold by a gripping mechanism engaged with the handling pins 10043. The tote can take any shape depending on its intended use. In one aspect, the tote takes the shape of a cargo compartment of an autonomous vehicle. The side panels 10045, the pin panels 10041, and the bottom panels 10047 can take any shape. As shown in fig. 25B and 25C, another configuration of the exemplary tote is constructed of 22O material and otherwise flattened for stacking and storage. In one aspect, the side panels 10046 are perforated for the folded configuration. In one aspect, the end plate 10042 includes a pin cavity 10051 and a hand cavity 10049. In one aspect, the tote is capable of transporting multiple packages, as shown in FIG. 25C. In one aspect, the disposable tote can be constructed of cardboard and/or waterproof materials, such as, but not limited to, plastic, wood fiber, medium density fiberboard, and/or oriented strand board. In one aspect, and referring to fig. 25D, the collapsible bin includes folds over the wings 10101 (fig. 25D) and 10111/10113 (fig. 25D) that both enable flat storage of the bin and strengthen the sides of the bin. In one aspect, the case includes a handle 10103/10107 (fig. 25D) and a bottom 10115 (fig. 25D). Flap 10109 secures the sides to each other. In one aspect, the tank is open-topped.
Referring now to fig. 26, a durable container descent system is shown. The exemplary container descent system includes a side 10008, a front 10002, and a rear 10004. The side 10008 includes an actuator 10011, a link arm 10001, a first rail 10005, and a rail carriage 10003. In one aspect, the actuator 10011 energizes the rail carriage 10003 to move the first rail 10005 up and down. When the rail carriage 10003 moves the first rail 10005 up and down, the angle between the link arms 10001 increases and decreases. As the angle between the link arms 10001 changes, the corners 10009 move along the second guide rail 10007. As the corner 10009 moves away from the front 10002 and rear 10004, a container (not shown) held by a container descent apparatus falls through the container descent bottom opening. In one aspect, the container descent device is lifted/lowered/raised by an autonomous gripping device engaged with pin 10006. In one aspect, the actuator 10011 is remotely activated by wireless control (possibly by a user, a remote operator, or in combination with movement of an autonomous device).
Referring now to fig. 27A-27D, exemplary interactions between a delivery truck and an autonomous vehicle are illustrated. In an aspect, the delivery truck and the autonomous vehicle are communicatively coupled by direct communication or by communication of a dispatcher and/or a remote operator. Such communicative coupling may be implemented by a network-based cloud. In one aspect, the delivery truck summons an autonomous vehicle and vice versa. In one aspect, delivery trucks call each other, autonomous vehicles call each other, and/or straddle vehicles occur between the delivery trucks and the autonomous vehicles. In an aspect, depending on the circumstances, the activities between vehicles are coordinated among each other, or by a scheduler and/or a remote operator, or a combination. In one aspect, the trailer may be associated with an autonomous vehicle. In one aspect, a trailer is in communication with at least one autonomous vehicle and at least one delivery truck. In one aspect, the trailer carries an additional power option for the autonomous vehicle. In one aspect, trailer power is used for locking and theft prevention of cargo towed in a trailer. In one aspect, the trailer may carry at least one battery, for example in a base compartment of the trailer, that can be used by an autonomous vehicle that needs to be charged. In an aspect, an autonomous vehicle may supply power to another autonomous vehicle that needs to be charged. In one aspect, the autonomous vehicle is preloaded and aware of its respective target destination(s). In one aspect, the autonomous vehicle calls the delivery trucks to carry them to their target destination(s) and deliver them as close as possible to the target destination(s). In an aspect, if the autonomous vehicle requires additional cargo space, the trailer or more autonomous vehicles are added to the requesting autonomous vehicle and/or delivery truck.
Referring now to fig. 27A, in an aspect, an autonomous vehicle calls a delivery vehicle, such as, for example, a delivery truck. If the autonomous vehicle has already delivered and is able to accommodate additional items to be delivered, the autonomous vehicle may call a delivery truck, or may need to pick up the autonomous vehicle for any number of reasons. For example, the autonomous vehicle may need to be charged, or the autonomous vehicle may have been summoned to a target destination that is too far from the current location of the autonomous vehicle for timely delivery. The delivery truck may transport the autonomous vehicle to a location closer to the target destination, and if desired, the autonomous vehicle may travel a remaining distance, such as if the remaining distance is not navigable by the delivery truck. In one aspect, the autonomous vehicle notifies the scheduler that it has a problem, such as a power problem. The delivery truck is summoned to possibly swap out the battery or, in the alternative, rescue the autonomous vehicle and/or its cargo. In one aspect, a delivery truck is summoned to bring more cargo to an autonomous vehicle or pick up items preloaded on the autonomous vehicle.
An exemplary configuration is shown in fig. 27. The autonomous vehicle communicates directly or indirectly with the delivery truck controller 15017 in the delivery truck 15001. In one aspect, delivery truck 15001 is a tractor-trailer. In one aspect, the truck-trailer includes a truck-trailer controller 15015. The vehicle controllers communicate with each other and with a communication processor 15003 of the server 15005 via the network 15013. In an aspect, the scheduler 15007 operates in the server 15005 and manages the location and delivery of autonomous vehicles and delivery trucks. Such an exemplary configuration can be used and extended in a variety of ways. Exemplary commands exchanged between the autonomous vehicle(s) and the delivery truck(s) include (a) a problem of determining the autonomous vehicle by the autonomous vehicle, (b) requesting assistance by the autonomous vehicle from the delivery truck having a space to haul the autonomous vehicle if the autonomous vehicle is disabled, (c) requesting by the autonomous vehicle a delivery truck that meets delivery criteria such as proximity to the autonomous vehicle and/or proximity to a target destination if the autonomous vehicle needs to make at least one lift for delivery, and (d) requesting by the autonomous vehicle a delivery truck that contains cargo that is scheduled to be delivered in the vicinity of the autonomous vehicle if the autonomous vehicle needs more cargo to deliver. Other reasons for summoning a delivery truck can be considered through a status table performed by the autonomous vehicle. The state table can be dynamically updated, can have a set of pre-selected states, or can be modified by a user or remote operator.
With continued reference to fig. 27A, when a delivery truck is summoned, it moves to summoned an autonomous vehicle. The summoning the autonomous vehicle can issue further commands such as (a) guiding the truck-trailer by any problem that the autonomous vehicle is dependent on the autonomous vehicle to open the doors to the truck-trailer cargo area if possible, (b) guiding the lift device within the truck-trailer by the autonomous vehicle to position the autonomous vehicle if possible, or positioning the loading device within the truck-trailer to deliver cargo to the autonomous device, (c) commanding the lift device to lift the autonomous vehicle into the delivery truck by the autonomous vehicle, or commanding the doors of the autonomous vehicle to open toward the doors of the truck-trailer by the autonomous vehicle, and (d) commanding the loading device to move cargo from the truck trailer to the autonomous vehicle by the autonomous vehicle. In one aspect, the goods are electronically marked with their destination and other characteristics. In an aspect, the autonomous vehicle issues a command to scan for identification information on the cargo, and determines a route to the target destination based at least on the identification information on the cargo. In an aspect, an autonomous vehicle issues a command to autonomously move cargo from an autonomous vehicle cargo bay and/or an autonomous vehicle trailer cargo bay to a delivery truck using a delivery arm in the autonomous vehicle, as described herein, or using a mechanism provided by a truck-trailer. In an aspect, the autonomous vehicle navigates to another pick-up or delivery target destination.
Referring now to fig. 27B, an exemplary configuration with multiple delivery trucks and multiple autonomous vehicles is shown. It should be appreciated that although not shown, multiple servers could be used to offload processing from a single processor. In the exemplary configuration shown in fig. 27B, autonomous vehicles 15011A-15011D are configured to communicate with each other in a local network that may be self-organizing. In an aspect, a plurality of autonomous vehicles 15011x form a fleet and use a local network to communicate which autonomous vehicle 15011x is the leader, the leader's speed and speed/direction changes, and brake actuation. Information about the leader can be sent by the leader or inferred from sensors on the non-leader autonomous vehicle 15011 x. In one aspect, multiple autonomous vehicles 15011x may call a truck 15001x to multiple locations. Likewise, delivery trucks 15001A-15001C are configured to communicate with each other in a local network that may be self-organizing. Each local network and possibly each individual vehicle is configured to communicate with the server 15005 directly or through a conventional communication network. In one aspect, the plurality of autonomous vehicles 15011x may call at least one delivery truck 15001x, either directly select a delivery truck or through the server 15005, wherein the scheduler 15007 consults the delivery truck's schedule and location and sends the closest truck or a truck without cargo or a truck with cargo that is scheduled to be delivered to a target destination in the vicinity of the called autonomous vehicle. In an aspect, the procedure outlined herein for transferring cargo from the cargo hold of an autonomous vehicle and/or the cargo hold of a trailer to a delivery truck(s) is followed. The autonomous vehicles communicate with each other and with the scheduler to coordinate the next pick-up/delivery, which can involve more cargo than a single autonomous vehicle and/or trailer and/or delivery truck can handle alone.
Referring to fig. 27C, a block diagram illustrating the functionality of each of the components performed during an exemplary truck summoning is depicted. In an aspect, the autonomous vehicle 15009 calls the truck 15001 (fig. 27A), and the truck adapter box 15019 receives the call from the autonomous vehicle 15009, travels to the location indicated by the call, and notifies the scheduler 15007 of its status. When the truck 15001 (fig. 27A) arrives, the autonomous vehicle 15009 is notified by the truck 15001 (fig. 27A) or by the scheduler 15007 or by both, and the truck 15001 (fig. 27A) opens its door. The autonomous vehicle 15009 opens its door(s) and activates its delivery arm to move its cargo to the truck 15001 (fig. 27A). The gate is closed and the scheduler 15007 is notified of the status. In one aspect, activity is recorded.
Referring now to fig. 27D, in an aspect, an autonomous vehicle trailer 15012 is configured to communicate with a scheduler 15007 and a truck 15001 to provide status and other information regarding its cargo. In one aspect, an autonomous vehicle trailer 15012 carrying items such as power and cargo is summoned by the autonomous vehicle 15011 and/or truck 15001 to carry cargo that is not suitable for the autonomous vehicle 15012, or when the autonomous vehicle 15011 requires power, such as a charged battery pack. In one aspect, the autonomous vehicle trailer 15012 tracks the status of the power source it is hauling and provides this information to, for example, the scheduler 15007, the autonomous vehicle 15011, and the truck 15001. Alternatively, in one aspect, the power source is charged by a wireless transmitter (not shown). The wireless transmitter can be located below the road surface on which the autonomous vehicle 15011 and autonomous vehicle trailer 15012 travel. The wireless transmitter can be located on the truck 15001, the autonomous vehicle 15011, and/or the autonomous vehicle trailer 15012. In one aspect, among other features that are powered on the autonomous vehicle trailer 15012, sensors that enable locking and anti-theft protection, etc., are located around the cargo of the autonomous vehicle trailer. In one aspect, an autonomous vehicle trailer includes protection from environmental intrusion, and a sensor for detecting such intrusion.
Configurations of the present teachings relate to computer systems for implementing the methods discussed in the description herein and to computer readable media containing programs for implementing the methods. The raw data and results can be stored for future retrieval and processing, printing, display, transfer to another computer, and/or transfer elsewhere. The communication link can be wired or wireless, for example, using a cellular communication system, a military communication system, and a satellite communication system. The components of the system are capable of operating on a computer having a variable number of CPUs. Other alternative computer platforms can be used.
The present configuration also relates to software/firmware/hardware for implementing the methods discussed herein, and a computer readable medium storing software for implementing the methods. The various modules described herein can be done on the same CPU or can be done on different CPUs. The present configuration has been described in language specific to structural and methodological features. However, it is to be understood that the present configuration is not limited to the specific features shown and described herein.
The method can be implemented in whole or in part electronically. Signals representing actions taken by elements of the system and other disclosed configurations can travel over at least one real-time communication network. The control and data information can be electronically executed and stored on at least one computer-readable medium. The system can be implemented to execute on at least one computer node in at least one real-time communication network. Common forms of at least one computer-readable medium can include, for example, but are not limited to, a floppy disk, a flexible disk, hard disk, magnetic tape, or any other magnetic medium, a compact disk-read only memory, or any other optical medium, punch cards, paper tape, or any other physical medium with patterns of holes, a random access memory, a programmable read only memory, and an Erasable Programmable Read Only Memory (EPROM), a flash EPROM, or any other memory chip or cartridge, or any other medium from which a computer can read. Further, the at least one computer readable medium can contain any form of graphics, limited as necessary to appropriate permissions, including but not limited to Graphics Interchange Format (GIF), joint Photographic Experts Group (JPEG), portable Network Graphics (PNG), scalable Vector Graphics (SVG), and Tagged Image File Format (TIFF).
Although the present teachings have been described above in terms of specific configurations, it should be understood that they are not limited to these disclosed configurations. Many modifications and other arrangements will occur to those skilled in the art, and are contemplated and covered by both the present invention and the appended claims. The scope of the present teachings should be determined by proper construction and interpretation of the appended claims and their legal equivalents, as understood by those skilled in the art from the disclosure in this specification and the drawings.
What is to be protected is referred to in the claims.
Claims (105)
1. A method for autonomous unattended package delivery, comprising:
receiving a package into a cargo area of an Autonomous Vehicle (AV), the cargo area comprising a secure container;
receiving an intended destination for the package;
autonomously commanding the AV to navigate to the desired destination; and
the secure container containing the package is autonomously deployed from the AV at the desired destination, which is unattended.
2. The method of claim 1, wherein autonomously receiving the package comprises:
security settings on the secure container are adjusted to achieve consistency between the desired destination and the secure container.
3. The method of claim 1, wherein autonomously navigating the AV to the desired destination comprises:
determining a route between the location of the AV and the desired destination;
continuously determining free space for navigating the AV in the vicinity of the route; and
the AV is commanded to traverse the free space.
4. The method of claim 2, wherein autonomously deploying the package comprises:
opening the cargo area;
autonomously moving the secure container out of the cargo area using a deployment device;
commanding the deployment device to move the secure container to a surface external to the AV;
continuously determining the position of the safety container;
disconnecting the secure container from the deployment device when the secure container reaches the surface;
retracting the deployment device into the cargo area; and
closing the cargo area.
5. The method of claim 4, wherein the deploying device comprises: and (5) a crane.
6. The method of claim 4, wherein the deploying device comprises: and (5) a forklift.
7. The method of claim 4, wherein the deploying device comprises: and (5) a mechanical arm.
8. The method of claim 4, wherein the deploying device comprises: and (5) rotating the connecting rod.
9. The method of claim 4, wherein the deploying device comprises: the ramp may be extended.
10. The method of claim 4, wherein the deploying device comprises: a plurality of cables deployed from the telescoping arms.
11. The method of claim 4, wherein the deploying device comprises: a plurality of rollers operatively coupled to the wing plate.
12. The method of claim 4, wherein the cargo area comprises: at least part of the coverage area of the AV.
13. The method of claim 4, wherein the secure container comprises: at least one secure input device;
at least one position sensing device;
at least one camera;
at least one alarm system; and
at least one device coupling the deployment device to the secure container.
14. The method of claim 13, wherein the at least one secure input device comprises:
and a keyboard.
15. The method of claim 13, wherein the at least one position sensing device comprises:
GPS。
16. the method of claim 13, wherein the at least one camera comprises:
360 ° imaging camera.
17. The method of claim 13, wherein the at least one alarm system comprises:
an audio tamper alert device.
18. A method according to claim 3, wherein determining the route comprises:
and reading package identification information associated with the package, the package identification information including the desired destination.
19. The method of claim 1, further comprising:
autonomously picking up a second parcel at the desired destination;
determining a second desired destination from the identification information on the second package; and
navigating to the second desired destination.
20. A system for autonomous unattended package delivery, comprising:
an Autonomous Vehicle (AV) having a cargo area;
a receiver on the AV, the receiver configured to receive a desired destination for a package;
a deployment device associated with the cargo area, the deployment device configured to deploy the package at the desired destination;
a plurality of sensors configured to receive sensor information about an environment surrounding the AV;
a controller configured to:
Determining a route between the location of the AV and the desired destination;
continuously determining a free navigation space along the route based on at least one of the sensor information;
autonomously generating a command for navigating the AV in the free navigation space to the desired destination;
autonomously generating a command for deploying the package;
autonomously re-storing the deployment device; and
a notification is autonomously provided when the package has completed deployment.
21. A trailer for autonomous parcel delivery, comprising:
a mast configured to mount a cargo box;
a hitch fork configured to connect the trailer to a towing vehicle;
a frame structure configured to be operably coupled with the mast at a first end, the frame structure configured to be operably coupled with the hitching fork at a second end; and
a pull rod configured to be operably coupled with the mast at a third end, the pull rod configured to be operably coupled with the hitching fork at a fourth end,
wherein the mast, the hitch fork, the frame structure and the tie rod are configured as rigid elements forming a four bar linkage for maintaining a consistent pitch between the cargo box and the cargo compartment of the towing vehicle.
22. The trailer as in claim 21, further comprising:
at least two wheels separate from the four bar linkage, the at least two wheels carrying a load in the trailer.
23. The trailer as in claim 21, further comprising:
a swing arm configured to be operably coupled with a wheel that carries a load in the trailer.
24. The trailer as in claim 21, further comprising:
a shock absorber is configured to be operably coupled to a wheel that carries a load in the trailer.
25. The trailer as in claim 21, further comprising:
and a spring surrounding the pull rod, wherein the spring buffers the front-back movement of the frame structure.
26. The trailer as in claim 21, further comprising:
a steering damper is operatively coupled to the frame structure.
27. A delivery arm assembly for autonomously moving cargo from a cargo area, comprising:
a motor;
a sector gear driven by the motor;
at least one delivery arm operably coupled with the sector gear; and
a gear train coupled with the sector gear, the gear train configured to transfer power from the motor to the at least one delivery arm,
Wherein the motor, the sector gear, the at least one delivery arm, and the gear train are configured to occupy the cargo area.
28. The delivery arm assembly of claim 27, wherein the cargo area comprises:
a cavity in an autonomous vehicle.
29. The delivery arm assembly of claim 27, wherein the at least one delivery arm comprises:
a substrate; and
at least one extension tube configured to extend a length of the substrate.
30. The delivery arm assembly of claim 27, wherein the at least one delivery arm comprises:
a latch configured to be operably coupled to a cargo box delivery apparatus.
31. The delivery arm assembly of claim 30, wherein the cargo box delivery apparatus comprises:
and (5) a pin.
32. The delivery arm assembly of claim 27, further comprising:
a geared cross shaft configured to rotate when the motor is activated, the geared cross shaft operably coupling a first delivery arm of the at least one delivery arm to a second delivery arm of the at least one delivery arm.
33. The delivery arm assembly of claim 27, further comprising:
At least one rotation limiting device configured to limit rotation of the sector gear.
34. The delivery arm assembly of claim 33, wherein the at least one rotation limiting device comprises:
at least one support.
35. The delivery arm assembly of claim 33, further comprising:
at least one switch.
36. A delivery arm assembly for autonomously moving cargo from a cargo area, comprising:
a motor;
a drive gear configured to be rotated by the motor;
at least one delivery arm; and
a spur gear configured to be driven by the drive gear, the spur gear configured to drive the at least one delivery arm;
wherein the motor, the drive gear, the at least one delivery arm, and the spur gear are configured to occupy the cargo area.
37. The delivery arm assembly of claim 36, wherein the at least one delivery arm comprises:
at least one extension tube configured to move when the spur gear rotates; and
at least one roller guide plate comprising at least one cam channel,
Wherein the at least one delivery arm is slidingly coupled to the at least one extension tube, the at least one delivery arm including a cam follower that travels in the at least one cam channel as the at least one extension tube moves.
38. The delivery arm assembly of claim 36, further comprising:
a geared cross shaft configured to rotate when the motor is activated, the geared cross shaft operably coupling a first delivery arm of the at least one delivery arm with a second delivery arm of the at least one delivery arm.
39. A secure cargo container comprising:
at least one secure input device;
at least one position sensing device;
at least one camera;
at least one alarm system; and
at least one device coupling a deployment device with the secure cargo container.
40. The secure cargo container of claim 39, wherein the at least one secure input device comprises:
and a keyboard.
41. The secure cargo container of claim 39, wherein the at least one position sensing device comprises:
GPS。
42. the secure cargo container of claim 39, wherein the at least one camera comprises:
360 ° imaging camera.
43. The secure cargo container of claim 39, wherein the at least one alarm system comprises:
an audio tamper alert device.
44. The secure cargo container of claim 39, further comprising:
at least one connection point configured to accept the deployment device.
45. The secure cargo container of claim 39, further comprising:
at least one shock absorber configured to cushion movement of the contents of the secure cargo container.
46. The secure cargo container of claim 39, further comprising:
at least one fold line configured to enable contractibility of the secure cargo container.
47. The secure cargo container of claim 39, further comprising:
at least one hinge configured to enable contractibility of the secure cargo container.
48. A cargo container comprising:
a shell having an outer skin and at least one end skin, the outer skin having a first end and a second end;
a top panel located between a first end skin of the at least one end skin and the first end;
A tote tray located between a second end skin of the at least one end skin and the second end;
an inner skin operatively coupled to the tote tray; and
a plurality of side panels located between the outer skin and the inner skin, the plurality of side panels configured to enable contractibility of the cargo container.
49. The cargo container of claim 48, further comprising:
a tote apparatus configured to be operably coupled to a lift apparatus.
50. The cargo container of claim 48, further comprising:
at least one camera.
51. The cargo container of claim 48, further comprising:
at least one alarm system.
52. The cargo container of claim 48, further comprising:
at least one handle.
53. The cargo container of claim 49 wherein the tote apparatus comprises:
and (5) a pin.
54. A container descent system comprising:
a plurality of panels;
at least one actuator;
at least two link arms arranged at an angle relative to each other, the at least two link arms being configured to move under control of the at least one actuator; and
At least two corners operatively coupled with the at least two link arms, the at least two corners traveling in opposite directions from each other when at least one of the at least two link arms is moved, the at least two corners traveling along an edge of at least one of the plurality of panels,
wherein the at least two corners release the container when the angle increases beyond a threshold.
55. The vessel lowering system of claim 54, further comprising:
at least one lifting device.
56. The container descent system of claim 55, wherein the lifting device comprises:
at least one pin.
57. The container descent system of claim 55, wherein the plurality of panels comprises:
a first panel;
a second panel configured to be larger than the first panel; and
a plurality of third panels operatively coupling the first panel with the second panel, the plurality of third panels providing at least one cavity for the at least one lifting device.
58. The container descent system of claim 57, wherein the first panel comprises:
At least one cavity configured to allow one of the at least two corners to pass through.
59. The container descent system of claim 57, wherein the second panel comprises:
at least one cavity configured to allow one of the at least two corners to pass through.
60. A delivery system, comprising:
at least one long haul vehicle controller associated with the at least one long haul vehicle;
at least one autonomous vehicle controller associated with at least one autonomous vehicle, the at least one autonomous vehicle controller configured to communicate with the at least one long haulage device controller, the at least one autonomous vehicle controller executing instructions comprising:
sending a call to the at least one long haul vehicle controller;
issuing at least one command to the at least one autonomous vehicle, the at least one command configured to receive delivery from the at least one long haul vehicle into the at least one autonomous vehicle;
issuing at least one movement command to the at least one autonomous vehicle, the at least one movement command navigating the at least one autonomous vehicle to a delivery location; and
Issuing the at least one command to the at least one autonomous vehicle, the at least one command configured to enable delivery at the delivery location.
61. The delivery system of claim 60, further comprising:
at least one trailer configured to be operably coupled with the autonomous vehicle.
62. The delivery system of claim 61, wherein the at least one trailer comprises:
at least one power source.
63. The delivery system of claim 62, wherein the at least one power source comprises:
an alternative power source for an autonomous vehicle power source.
64. The delivery system of claim 62, wherein the at least one power source comprises:
at least one battery.
65. The delivery system of claim 61, wherein the at least one trailer comprises:
a mast configured to mount a cargo box;
a hitch fork configured to connect the trailer to a towing vehicle;
a frame structure configured to be operably coupled with the mast at a first end, the frame structure configured to be operably coupled with the hitching fork at a second end; and
A pull rod configured to be operably coupled with the mast at a third end, the pull rod configured to be operably coupled with the hitching fork at a fourth end,
wherein the mast, the hitch fork, the frame structure and the tie rod are configured as rigid elements forming a four bar linkage for maintaining a consistent pitch between the cargo box and the cargo compartment of the towing vehicle.
66. The delivery system of claim 65, wherein the at least one trailer comprises:
at least two wheels separate from the four bar linkage, the at least two wheels carrying a load in the trailer.
67. The delivery system of claim 65, wherein the at least one trailer comprises:
a swing arm configured to be operably coupled with a wheel that carries a load in the trailer.
68. The delivery system of claim 65, wherein the at least one trailer comprises:
a shock absorber is configured to be operably coupled with a wheel that carries a load in the trailer.
69. The conveyor system of claim 65, wherein said at least one trailer comprises:
and a spring surrounding the pull rod, wherein the spring is used for buffering the front-back movement of the frame structure.
70. The delivery system of claim 65, wherein the at least one trailer comprises:
a steering damper is operatively coupled to the frame structure.
71. The delivery system of claim 60, further comprising:
at least one scheduler communicatively coupled with the at least one autonomous vehicle, the at least one scheduler for transmitting a delivery schedule to the at least one autonomous vehicle controller.
72. The delivery system of claim 60, further comprising:
at least one scheduler communicatively coupled with the at least one long haul vehicle, the at least one scheduler communicating a delivery schedule to the at least one long haul vehicle controller.
73. A method for autonomously managing delivery of items, comprising:
determining, by the autonomous vehicle, a problem for the autonomous vehicle;
if the problem is that an autonomous vehicle is disabled, requesting assistance from a delivery truck by the autonomous vehicle, the delivery truck configured to carry the autonomous vehicle;
Requesting, by the autonomous vehicle, the delivery truck that meets a first pre-selected delivery criteria if the problem is that autonomous vehicle transportation requires at least one delivery; and
if the problem is that the autonomous vehicle requires more items to deliver, the delivery truck containing items meeting a second pre-selected delivery criteria is requested by the autonomous vehicle.
74. The method of claim 73, wherein the first pre-selected delivery criteria comprises:
proximity of the delivery truck to the autonomous vehicle; and
the proximity of the delivery truck to at least one delivery destination of the item.
75. The method of claim 73, wherein the second pre-selected delivery criteria comprises:
the substantial proximity of the delivery truck to at least one delivery destination of the item.
76. The method of claim 73, further comprising:
the delivery truck is summoned based on a status table configured to direct the autonomous vehicle to summon the delivery truck under preselected conditions.
77. The method of claim 76, further comprising:
the state table is dynamically updated.
78. The method of claim 76, wherein the state table comprises:
a set of pre-selected states.
79. The method of claim 76, further comprising:
modifications to the state table are received from a user or a remote operator.
80. The method of claim 76, further comprising:
directing, by the autonomous vehicle, the delivery truck to open at least one door to a cargo area in the delivery truck;
guiding, by the autonomous vehicle, a lifting device within the delivery truck to position the autonomous vehicle; and
the lifting device is commanded by the autonomous vehicle to lift the autonomous vehicle into the delivery truck.
81. The method of claim 76, further comprising:
the article is electronically marked with at least one feature of the article.
82. The method of claim 81, further comprising:
scanning, by the autonomous vehicle, the at least one feature;
a route to at least one delivery destination is determined based on the at least one characteristic.
83. The method of claim 81, further comprising:
the item is autonomously moved from the autonomous vehicle to the delivery truck using a delivery arm in the autonomous vehicle.
84. The method of claim 81, further comprising:
a loading device is positioned within the delivery truck to deliver the item to the autonomous vehicle.
85. The method of claim 81, further comprising:
an autonomous vehicle door of the autonomous vehicle is opened by the autonomous vehicle to open toward a truck door of the delivery truck.
86. The method of claim 81, further comprising:
the item is moved from the delivery truck to the autonomous vehicle by the autonomous vehicle.
87. The method of claim 81, further comprising:
the item is moved by the autonomous vehicle from an autonomous vehicle trailer to the delivery truck.
88. The method of claim 81, further comprising:
the item is moved from the autonomous device trailer to the delivery truck by the delivery truck.
89. The method of claim 81, further comprising:
the autonomous vehicle is navigated to at least one delivery destination.
90. A method for autonomously managing pickup of items, comprising:
determining, by an autonomous vehicle, a problem for the autonomous vehicle;
requesting assistance from a truck by the autonomous vehicle if the problem is that the autonomous vehicle is disabled, the truck configured to carry the autonomous vehicle;
Requesting, by an autonomous vehicle, the truck meeting a first pre-selected pick-up criteria if the problem is that autonomous vehicle transportation requires at least one pick-up; and
if the problem is that the autonomous vehicle requires more space to hold items that have been picked up, the truck meeting a second pre-selected pickup criteria is requested by the autonomous vehicle.
91. The method of claim 90, wherein the first pre-selected pickup criteria comprises:
a substantial proximity of the truck to the autonomous vehicle; and
the substantial proximity of the truck to at least one pick-up destination.
92. The method of claim 90, wherein the second pre-selected pickup criteria comprises:
the substantial proximity of the truck to at least one pick-up destination.
93. The method of claim 90, further comprising:
the truck is summoned based on a status table configured to direct the autonomous vehicle to summon the truck under preselected conditions.
94. The method of claim 93, further comprising:
the state table is dynamically updated.
95. The method of claim 93, wherein the state table comprises:
A set of pre-selected states.
96. The method of claim 93, further comprising:
modifications to the state table are received from a user or a remote operator.
97. The method of claim 90, further comprising:
directing the truck by the autonomous vehicle to open at least one door to a cargo area in the truck;
guiding, by the autonomous vehicle, a lifting device within the truck to position the autonomous vehicle; and
the lifting device is commanded by the autonomous vehicle to lift the autonomous vehicle into the truck.
98. The method of claim 90, further comprising:
scanning, by the autonomous vehicle, an electronic tag on the item, the electronic tag having at least one feature; and
a route to at least one delivery destination is determined based on the at least one characteristic.
99. The method of claim 90, further comprising:
the item is autonomously moved from the autonomous vehicle to the truck using a delivery arm in the autonomous vehicle.
100. The method of claim 90, further comprising:
a loading device is positioned within the truck to receive the item from the autonomous vehicle.
101. The method of claim 90, further comprising:
an autonomous vehicle door of the autonomous vehicle is opened by the autonomous vehicle to open toward a truck door of the truck.
102. The method of claim 90, further comprising:
the item is moved from the autonomous vehicle to the truck by the autonomous vehicle.
103. The method of claim 90, further comprising:
the item is moved by the autonomous vehicle from an autonomous vehicle trailer to the truck.
104. The method of claim 90, further comprising:
the item is moved from the autonomous device trailer to the truck by the truck.
105. The method of claim 90, further comprising:
the autonomous vehicle is navigated to at least one delivery destination.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US63/202,925 | 2021-06-30 | ||
| US202163203180P | 2021-07-12 | 2021-07-12 | |
| US63/203,180 | 2021-07-12 | ||
| PCT/US2022/073288 WO2023279044A2 (en) | 2021-06-30 | 2022-06-30 | System and method for unattended package manipulation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117643044A true CN117643044A (en) | 2024-03-01 |
Family
ID=90032533
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202280044304.0A Pending CN117643044A (en) | 2021-06-30 | 2022-06-30 | Method, apparatus and system for unattended package delivery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117643044A (en) |
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2022
- 2022-06-30 CN CN202280044304.0A patent/CN117643044A/en active Pending
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