JPWO2019237031A5 - - Google Patents
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- JPWO2019237031A5 JPWO2019237031A5 JP2020568274A JP2020568274A JPWO2019237031A5 JP WO2019237031 A5 JPWO2019237031 A5 JP WO2019237031A5 JP 2020568274 A JP2020568274 A JP 2020568274A JP 2020568274 A JP2020568274 A JP 2020568274A JP WO2019237031 A5 JPWO2019237031 A5 JP WO2019237031A5
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- 238000004891 communication Methods 0.000 claims description 21
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Description
多目的ロボットは、進行経路に沿って方略的に設置されたスマートビーコンからの情報を受信することができる。いくつかの構成では、スマートビーコンからの情報は、暗号化されることができ、および／または本教示の多目的ロボットとスマートビーコンとの間で交換される情報は、暗号化され、多目的ロボットを悪意のあるハッキングから保護することができる。いくつかの構成では、スマートビーコンは、ローカルエリアをマッピングするために使用され得る、カメラ、レーダ、および／またはＬＩＤＡＲを含むことができる。いくつかの構成では、スマートビーコンは、複雑性および特殊性において変動し得る。例えば、ネットワーク通信を管理し得る、スマートビーコンは、ネットワーク部材が通信サービスを必要とするであろう可能性が高いエリア内に設置されることができる。マッピングカメラを含む、スマートビーコンは、マッピングが要求される場所内に設置されることができ、現在の必要性に応じて、ある場所からある場所に移動されることができる。いくつかの構成では、スマートビーコンは、データ転送ホットスポット能力または他のネットワーキング能力を含み、本教示の車隊ネットワークが、車隊部材に通信することを可能にすることができる。いくつかの構成では、スマートビーコンは、進行経路を認識し、多目的ロボットがその所望の目的地に到達するために要求される、次のナビゲーションステップを認知することができる。スマートビーコンは、多目的ロボットの経路および／または目的地の少なくとも一部をサーバから受信することができる。スマートビーコンは、可能性として、識別情報のセキュア無線交換を通して、可能性として、視覚的および／または可聴識別技法を通して、もしくは他方の手段によって、本教示の多目的ロボットを識別することができる。メッセージのセキュア交換は、例えば、暗号化、ならびにインフライトメッセージ修正、盗聴およびサービス拒否等の中間者脅威、第三者アプリケーション脅威、および悪意のある／誤ったアプリケーション脅威に対する他の形態の保護を含むことができる。多目的ロボットは、自動追尾、三角測量、および照準信号を含む、ナビゲーション情報をスマートビーコンから受信することができる。多目的ロボットは、限定ではないが、輻輳エリアおよび経路閉鎖を含む、現在のマッピング情報を、スマートビーコンから受信することができ、多目的ロボットは、それが収集した情報をスマートビーコンに送信することができる。多目的ロボットは、随時、例えば、限定ではないが、小包送達および／または集荷の間、ビーコン情報を他の多目的ロボット車隊部材に利用可能にすることができる。多目的ロボットは、多目的ロボットのＩＭＵデッドレコニングおよび車輪回転ナビゲーションを補正するために使用され得る、情報を、スマートビーコンから受信することができる。いくつかの構成では、多目的ロボットは、スマートビーコンから受信された情報を通して、全体的にナビゲートすることができる。例えば、輻輳エリアでは、本教示の多目的ロボット上に位置するセンサのうちのいくつかは、遮断され得ることが可能性として考えられる。スマートビーコン上のセンサ、例えば、ＬＩＤＡＲセンサは、多目的ロボット自体がそのオンボードセンサで取得し得ない、ナビゲーション情報を、本教示の多目的ロボットに提供することができる。本教示の多目的ロボット、トラック、および／またはスマートビーコンのいずれか上に位置するセンサは、カメラおよび／または熱結像からの現在の輻輳情報を提供し、ヒートマップを形成することができる。多目的ロボットは、車隊の別の部材、中央制御場所、または多目的ロボット自体によって制御され得る、命令を、操向可能ＲＦまたはレーザビーコンから受信することができる。いくつかの構成では、多目的ロボットは、データが他の車隊部材によって収集されるように計画される場合、最小数のセンサとともに構成されることができる。多目的ロボットは、これらのセンサデータ、例えば、ヒートマップを受信し、潜在的進行ルート内の障害物、可能性として、動的障害物のグループの場所を認識することができる。種々のタイプのビーコンを伴わないエリアでは、センサの部分的または完全補完を伴う、探索用多目的ロボットが、ナビゲーションおよび輻輳データを読み出し、データを、商品およびサービスを送達するための探索されたルートを進行する、本教示の多目的ロボットにアクセス可能にすることができる。探索システムは、そのセンサデータおよび分析を、中央サービス、クラウドベースの保管場所エリア、スマートビーコン、および／または別の探索システム、多目的ロボット、ならびに／もしくは、例えば、トラックまたは送達車隊の他の部材に提供することができる。ビーコンは、車隊部材間のデータ通信を促進するために使用されることができ、位置特定正確度を改良するために使用されることができる。いくつかの構成では、ビーコンは、その中では全地球測位技法が不十分である、エリア内を、多目的ロボットをナビゲートすることに役立てるために使用され得る、例えば、Ｗｉ－ＦｉおよびＲＦ信号等の信号を生成する、無線アクセスポイントを含むことができる。
本発明は、例えば、以下を提供する。
（項目１）
少なくとも１つの開始点から少なくとも１つの実行点まで、動的に作成された経路に沿って、多目的ネットワークによってサービスを実行するための方法であって、前記方法は、
（ａ）少なくとも１つの多目的車両によって、複数のシステムコレクタを含む前記多目的ネットワークから、前記少なくとも１つの開始点と前記少なくとも１つの多目的実行点との間の少なくとも１つの提案される経路を自動的に受信することであって、前記少なくとも１つの提案される経路は、事前に選択されたタイプのルートのセットのうちの少なくとも１つに限定され、前記複数のシステムコレクタは、前記少なくとも１つの多目的車両を含む、ことと、
（ｂ）前記少なくとも１つの多目的車両によって、前記少なくとも１つの提案される経路と関連付けられる履歴データにアクセスすることであって、前記履歴データの少なくとも一部は、前記複数のシステムコレクタのうちの少なくとも１つによって収集される、ことと、
（ｃ）前記少なくとも１つの多目的車両によって、前記提案される経路についてのリアルタイムデータを受信することであって、前記リアルタイムデータは、前記複数のシステムコレクタのうちの少なくとも１つによって収集される、ことと、
（ｄ）前記少なくとも１つの多目的車両によって、前記多目的ネットワークによって更新された前記提案される経路を受信することであって、前記更新は、前記履歴データおよび前記収集されたリアルタイムデータに基づく、ことと、
（ｅ）前記少なくとも１つの多目的車両によって、前記更新された提案される経路をナビゲートすることと、
（ｆ）前記少なくとも１つの多目的車両が前記少なくとも１つの多目的実行点に到達するまで、（ｃ）～（ｅ）を繰り返すことと
を含む、方法。
（項目２）
（ｆ）前記少なくとも１つの多目的車両が前記更新された提案される経路をナビゲートするにつれて、前記少なくとも１つの多目的車両によって、前記更新された提案される経路を認証し、前記更新された提案される経路に注釈を付けることと、
（ｇ）前記少なくとも１つの多目的車両によって、前記認証されて注釈が付けられた更新された提案される経路を前記多目的ネットワークに提供することと、
をさらに含む、項目１に記載の方法。
（項目３）
前記少なくとも１つの多目的車両によって、履歴データと通信ネットワークからの前記リアルタイムデータとにアクセスすることをさらに含み、前記通信ネットワークは、前記複数のシステムコレクタを含み、前記複数のシステムコレクタは、前記通信ネットワークを通してデータを共有する、項目１に記載の方法。
（項目４）
前記認証し、注釈を付けることは、
前記少なくとも１つの多目的車両によって、前記少なくとも１つの多目的車両の運転者からの視覚的に収集された情報を受信すること
を含む、項目１に記載の方法。
（項目５）
前記履歴データは、複数のソースからのデータを含む、項目１に記載の方法。
（項目６）
前記多目的ネットワークは、サーバを備える、項目１に記載の方法。
（項目７）
前記履歴データおよび前記更新された提案される経路は、前記サーバによって維持される、項目６に記載の方法。
（項目８）
少なくとも１つの開始点から少なくとも１つの多目的実行点に商品を送達する多目的実行システムであって、前記多目的実行システムは、
複数のシステムコレクタであって、前記システムコレクタは、通信ネットワークを形成し、前記システムコレクタは、前記少なくとも１つの開始点と前記少なくとも１つの多目的実行点との間の提案される経路と関連付けられる履歴データにアクセスし、前記複数のシステムコレクタは、少なくとも１つの多目的車両を含み、前記少なくとも１つの多目的車両は、少なくとも１つのセンサと、少なくとも１つの保管コンテナとを含み、前記少なくとも１つの保管コンテナは、前記商品を格納し、前記履歴データは、前記提案される経路に沿って以前に収集された車両データを含み、前記複数のシステムコレクタは、前記少なくとも１つの多目的車両が前記提案される経路をナビゲートする前、および、前記少なくとも１つの多目的車両が前記提案される経路をナビゲートする間、前記提案される経路についてのリアルタイムデータを収集し、前記複数のシステムコレクタのうちの少なくとも１つは、前記車両データと、前記履歴データと、前記リアルタイムデータとに少なくとも基づいて、前記提案される経路を更新する、複数のシステムコレクタと、
前記履歴データと、前記リアルタイムデータと、前記少なくとも１つのセンサとに少なくとも基づいて、前記少なくとも１つの多目的車両が前記少なくとも１つの開始点から前記少なくとも１つの多目的実行点に前記更新された提案される経路をナビゲートするにつれて、前記更新された提案される経路を継続的に更新するプロセッサと
を備える、多目的実行システム。
（項目９）
前記プロセッサは、前記少なくとも１つの多目的車両内で実行される、項目８に記載の多目的実行システム。
（項目１０）
前記プロセッサは、サーバ内で実行される、項目８に記載の多目的実行システム。
（項目１１）
前記複数のシステムコレクタは、少なくとも１つの自律車両を備える、項目８に記載の多目的実行システム。
（項目１２）
前記複数のシステムコレクタは、少なくとも１つの半自律車両を備える、項目８に記載の多目的実行システム。
（項目１３）
前記複数のシステムコレクタは、前記更新された提案される経路に沿って位置付けられる少なくとも１つのビーコンを備え、前記少なくとも１つのビーコンは、前記通信ネットワークを経由してデータを送受信する、項目８に記載の多目的実行システム。
（項目１４）
前記複数のシステムコレクタは、前記更新された提案される経路に沿って位置付けられる少なくとも１つのビーコンを備え、前記少なくとも１つのビーコンは、基点情報を前記多目的実行システムに提供する、項目８に記載の多目的実行システム。
（項目１５）
前記複数のシステムコレクタは、都市の歩道上で動作する少なくとも１つの車両を備える、項目８に記載の多目的実行システム。
（項目１６）
前記複数のシステムコレクタは、地方の路上で動作する少なくとも１つの車両を備える、項目８に記載の多目的実行システム。
（項目１７）
前記少なくとも１つの多目的車両は、前記履歴データおよび前記リアルタイムデータに少なくとも基づいて、前記少なくとも１つの多目的車両の現在の場所および状況を検出する少なくとも１つの位置特定サブシステムを備える、項目８に記載の多目的実行システム。
（項目１８）
前記少なくとも１つの多目的車両は、前記履歴データに少なくとも基づいて、前記少なくとも１つの多目的車両の現在の場所および状況を検出する少なくとも１つの位置特定サブシステムを備える、項目８に記載の多目的実行システム。
（項目１９）
前記複数のシステムコレクタは、少なくとも１つの無線アクセスポイントを備える、項目８に記載の多目的実行システム。
（項目２０）
前記少なくとも１つの多目的車両は、前記更新された提案される経路内の少なくとも１つの障害物を位置特定する障害物サブシステムを備え、前記障害物サブシステムは、前記少なくとも１つの障害物が発見されると、前記更新された提案される経路を更新する、項目８に記載の多目的実行システム。
（項目２１）
前記少なくとも１つの多目的車両は、前記履歴データおよび前記リアルタイムデータに少なくとも基づいて、前記少なくとも１つの開始点と前記少なくとも１つの多目的実行点との間の少なくとも１つの好ましい経路を判定する好ましいルートサブシステムを備え、前記好ましいルートサブシステムは、前記更新された提案される経路内の前記少なくとも１つの障害物の数に少なくとも基づいて、前記少なくとも１つの開始点と前記少なくとも１つの多目的実行点との間の少なくとも１つの回避可能な経路を判定する、項目２０に記載の多目的実行システム。
（項目２２）
前記少なくとも１つの多目的車両は、少なくとも１つの道路障害物を検出する道路障害物登攀サブシステムを備え、前記道路障害物登攀サブシステムは、前記少なくとも１つの多目的車両に、前記少なくとも１つの道路障害物を乗り越えるようにコマンドし、前記道路障害物登攀サブシステムは、前記少なくとも１つの多目的車両に、前記少なくとも１つの道路障害物を横断する間、平衡および安定性を維持するようにコマンドする、項目８に記載の多目的実行システム。
（項目２３）
前記道路障害物は、縁石を含む、項目２２に記載の多目的実行システム。
（項目２４）
前記道路障害物は、段差を含む、項目２２に記載の多目的実行システム。
（項目２５）
前記少なくとも１つの多目的車両は、少なくとも１つの階段を検出する階段登攀サブシステムを備え、前記階段登攀サブシステムは、前記少なくとも１つの多目的車両に、前記少なくとも１つの階段に相対し、前記少なくとも１つの階段を横断するようにコマンドし、前記階段登攀サブシステムは、前記少なくとも１つの多目的車両に、前記少なくとも１つの階段を横断する間、安定化された動作を達成するようにコマンドする、項目８に記載の多目的実行システム。
（項目２６）
前記少なくとも１つの多目的車両は、前記少なくとも１つの多目的車両のオペレータを収容する着座特徴を備える、項目８に記載の多目的実行システム。
（項目２７）
前記少なくとも１つの多目的車両は、車椅子を備える、項目８に記載の多目的実行システム。
（項目２８）
前記プロセッサは、前記履歴データと前記リアルタイムデータと前記少なくとも１つのセンサとのうちの少なくとも１つからのナビゲーション規則情報にアクセスする規則遵守サブシステムを備え、前記規則遵守サブシステムは、前記少なくとも１つの多目的車両に、少なくとも前記ナビゲーション規則情報に従ってナビゲートするようにコマンドし、前記システムコレクタは、前記システムコレクタが、動作し、前記更新された提案されるナビゲーション経路と相互作用するにつれて、前記ナビゲーション規則情報を学習する、項目８に記載の多目的実行システム。
（項目２９）
前記プロセッサは、訓練サブシステムを備え、前記訓練サブシステムは、前記少なくとも１つの多目的車両と前記少なくとも１つの障害物との間の相互作用と関連付けられるデータを作成し、前記データにアクセスする、項目２８に記載の多目的実行システム。
（項目３０）
前記訓練サブシステムは、ニューラルネットワークを備える、項目２８に記載の多目的実行システム。
（項目３１）
前記少なくとも１つの多目的車両は、前記少なくとも１つの多目的車両の少なくとも１つの第２の車両に、前記少なくとも１つの多目的車両の第１の車両に追従するようにコマンドするグループ化サブシステムを備え、前記グループ化サブシステムは、前記第１の多目的車両と前記少なくとも１つの第２の多目的車両との間の結合を維持する、項目８に記載の多目的実行システム。
（項目３２）
前記結合は、電子的結合を含む、項目３１に記載の多目的実行システム。
（項目３３）
前記少なくとも１つの多目的車両は、少なくとも１つのバッテリを備え、前記バッテリは、急速充電特徴を含み、前記急速充電特徴は、前記少なくとも１つの多目的車両の最小量の非動作時間に適応する、項目８に記載の多目的実行システム。
（項目３４）
前記少なくとも１つの多目的車両は、少なくとも１つのバッテリを備え、前記バッテリは、迅速交換特徴を含み、前記迅速交換特徴は、前記少なくとも１つの多目的車両の最小量の非動作時間に適応する、項目８に記載の多目的実行システム。
（項目３５）
前記少なくとも１つのバッテリは、前記少なくとも１つのバッテリを前記少なくとも１つの多目的車両にロックするロック特徴を備え、前記ロック特徴は、前記少なくとも１つのバッテリの除去を可能にするためのセキュリティ特徴を含む、項目３３に記載の多目的実行システム。
（項目３６）
前記少なくとも１つのセンサからのデータを処理するセンササブシステムであって、前記少なくとも１つのセンサは、
生命体を感知する少なくとも１つの熱センサと、
移動物体を感知する少なくとも１つのカメラと、
物体の点群表現を提供する少なくとも１つのレーザセンサであって、前記レーザセンサは、障害物までの距離を感知する、少なくとも１つのレーザセンサと、
前記障害物までの距離を感知する少なくとも１つの超音波センサと、
前記障害物の速さと、前記少なくとも１つの多目的車両に近接する天候および交通量とを感知する少なくとも１つのレーダセンサと
を含む、センササブシステムと、
複数の前記少なくとも１つのセンサからのデータを融合させるセンサ融合サブシステムであって、前記センサ融合サブシステムは、前記少なくとも１つの障害物を分類する、センサ融合サブシステムと、
前記少なくとも１つの障害物の将来的位置を予測する挙動モデルサブシステムと
をさらに備える、項目８に記載の多目的実行システム。
（項目３７）
前記少なくとも１つのセンサからのデータを処理するセンササブシステムであって、前記少なくとも１つのセンサは、
動的物体を感知する少なくとも１つの熱センサと、
移動物体を感知する少なくとも１つのカメラと、
物体の点群表現を提供する少なくとも１つのレーザセンサであって、前記レーザセンサは、障害物までの距離を感知する、少なくとも１つのレーザセンサと、
前記障害物までの距離を感知する少なくとも１つの超音波センサと、
前記障害物の速さと前記少なくとも１つの多目的車両に近接する天候および交通量とを送信する少なくとも１つのレーダセンサと
のうちの少なくとも２つを含む、センササブシステムと、
複数の前記少なくとも１つのセンサからのデータを融合させるセンサ融合サブシステムであって、前記センサ融合サブシステムは、前記少なくとも１つの障害物を分類する、センサ融合サブシステムと、
前記少なくとも１つの障害物の将来的位置を予測する挙動モデルサブシステムと
をさらに備える、項目８に記載の多目的実行システム。
（項目３８）
前記複数のシステムコレクタは、前記商品を前記少なくとも１つの多目的車両に輸送する少なくとも１つの送達トラックを備え、前記少なくとも１つの送達トラックは、前記少なくとも１つの多目的車両を少なくとも１つの送達場所に輸送する、項目８に記載の多目的実行システム。
（項目３９）
前記少なくとも１つの送達トラックは、前記少なくとも１つの多目的車両内の使用済みの少なくとも１つのバッテリと充電された少なくとも１つのバッテリの交換を可能にする、項目３８に記載の多目的実行システム。
（項目４０）
前記少なくとも１つの送達トラックは、少なくとも１つのバッテリ充電特徴を備える、項目３８に記載の多目的実行システム。
（項目４１）
前記少なくとも１つの送達トラックは、前記少なくとも１つの多目的車両の搬入および搬出を可能にする少なくとも１つの昇降機構を備える、項目３８に記載の多目的実行システム。
（項目４２）
前記少なくとも１つの送達トラックは、
前記少なくとも１つの多目的車両の搬入を可能にする少なくとも１つの搬入用昇降特徴と、
前記少なくとも１つの多目的車両の搬出を可能にする少なくとも１つの搬出用昇降特徴と
を備え、
前記送達トラックは、前記搬入および前記搬出の間、移動することが可能である、項目３８に記載の多目的実行システム。
（項目４３）
前記複数のシステムコレクタは、少なくとも１つの障害物を感知する少なくとも１つのビーコンを備え、前記少なくとも１つのビーコンは、前記複数のシステムコレクタ間の通信を可能にし、前記少なくとも１つのビーコンは、前記少なくとも１つのビーコンと前記複数のシステムコレクタとの間で交換されるデータを不正から保護する、項目８に記載の多目的実行システム。
（項目４４）
前記複数のシステムコレクタは、前記商品を前記少なくとも１つの送達トラックに輸送する少なくとも１つの航空用車両を備える、項目８に記載の多目的実行システム。
（項目４５）
前記少なくとも１つの送達トラックを前記少なくとも１つの多目的車両と結合する配車機構をさらに備え、前記配車機構は、前記少なくとも１つの多目的車両内のバッテリ寿命を追跡し、前記配車機構は、前記少なくとも１つの多目的車両が呼出に応答することを可能にする、項目２１に記載の多目的実行システム。
（項目４６）
システムコレクタのネットワークを使用する方法であって、前記システムコレクタのネットワークは、少なくとも１つの多目的車両を含み、前記システムコレクタのネットワークの各々は、少なくとも１つのプロセッサを含み、前記システムコレクタのネットワークは、商品を商業施設から消費者場所に移動させるためのものであって、前記方法は、
（ａ）前記少なくとも１つのプロセッサの少なくとも１つの受信側プロセッサによって、前記商業施設と関連付けられる場所から前記消費者場所に前記商品を送達するための要求を前記商業施設から受信することと、
（ｂ）前記少なくとも１つの受信側プロセッサによって、前記少なくとも１つの多目的車両のステータスに少なくとも基づいて、前記少なくとも１つの多目的車両のうちの少なくとも１つの最適多目的車両を選定するための選択基準を判定することと、
（ｃ）前記少なくとも１つの受信側プロセッサによって、前記少なくとも１つの最適多目的車両と関連付けられる少なくとも１つの送達プロセッサに、前記少なくとも１つの最適多目的車両に前記商業施設に向かい前記商品を受領するようにコマンドするように指示することと、
（ｄ）前記商品が前記少なくとも１つの最適多目的車両内に保管されるとき、前記少なくとも１つの送達プロセッサによって、少なくとも１つのセキュリティ手段と前記商品を関連付けることであって、前記少なくとも１つのセキュリティ手段は、前記商品を解放するためにセキュリティ情報を要求する、ことと、
（ｅ）前記少なくとも１つの送達プロセッサによって、前記システムコレクタのネットワークから受信された履歴情報に少なくとも基づいて、前記商業施設と前記消費者場所との間の提案される経路を判定することと、
（ｆ）前記少なくとも１つの送達プロセッサによって、前記システムコレクタのネットワークからリアルタイムで受信された情報に少なくとも基づいて、前記提案される経路を更新することと、
（ｇ）前記少なくとも１つの送達プロセッサによって、前記少なくとも１つの最適多目的車両に、前記更新された提案される経路に沿って進むようにコマンドすることと、
（ｈ）前記少なくとも１つの最適多目的車両が前記消費者場所に到達するまで、（ｆ）および（ｇ）を繰り返すことと、
（ｉ）前記少なくとも１つの送達プロセッサによって、前記セキュリティ情報を照合することと、
（ｊ）前記少なくとも１つの送達プロセッサによって、前記セキュリティ情報が照合される場合、前記消費者場所において前記商品を解放することと
を含む、方法。
（項目４７）
前記ステータスは、前記多目的車両の場所を含む、項目４６に記載の方法。
（項目４８）
少なくとも１つの第１の場所から少なくとも１つの第２の場所に商品を移動させるための多目的実行システムであって、
少なくとも１つの多目的車両を含むシステムコレクタのネットワークと、
前記システムコレクタの各々と関連付けられる少なくとも１つのプロセッサであって、前記少なくとも１つのプロセッサは、少なくとも１つの受信側プロセッサと、少なくとも１つの送達プロセッサとを含み、前記少なくとも１つの受信側プロセッサは、
少なくとも１つの要求を前記少なくとも１つの第１の場所から受信し、前記商品を前記少なくとも１つの第２の場所に送達することと、
前記少なくとも１つの多目的車両のステータスに少なくとも基づいて、前記少なくとも１つの多目的車両の少なくとも１つの最適多目的車両を選定することと、
前記少なくとも１つの最適多目的車両と関連付けられる少なくとも１つの送達プロセッサに、前記少なくとも１つの最適多目的車両に前記少なくとも１つの第１の場所に向かい前記商品を受領するようにコマンドするように指示することであって、前記少なくとも１つの送達プロセッサは、
前記商品が前記少なくとも１つの最適多目的車両内に保管されるとき、少なくとも１つのセキュリティ手段と前記商品を関連付けることであって、前記少なくとも１つのセキュリティ手段は、前記商品を解放するためにセキュリティ情報を要求する、ことと、
前記システムコレクタのネットワークから受信された履歴情報に少なくとも基づいて、前記少なくとも１つの第１の場所と前記少なくとも１つの第２の場所との間の提案される経路を判定することと、
前記少なくとも１つの最適多目的車両に、前記少なくとも１つの最適多目的車両が前記少なくとも１つの第２の場所に到達するまで、前記提案される経路に沿って進むようにコマンドすることと、
受信された前記セキュリティ情報を照合することと、
前記消費者場所において前記商品を解放することと
を実行する、ことと
を実行する、少なくとも１つのプロセッサと
を備える、システム。
（項目４９）
前記少なくとも１つの送達プロセッサは、
（ａ）前記システムコレクタのネットワークからリアルタイムで受信された情報に少なくとも基づいて、前記提案される経路を更新することと、
（ｂ）前記少なくとも１つの最適多目的車両に、前記更新された提案される経路に沿って進むようにコマンドすることと、
（ｃ）前記少なくとも１つの最適多目的車両が前記少なくとも１つの第２の場所に到達するまで、（ａ）および（ｂ）を繰り返すことと
を実行することを含む、項目４８に記載のシステム
（項目５０）
トラックが、前記少なくとも１つの第１の場所に、次いで、前記少なくとも１つの第２の場所の近傍に、前記多目的車両を輸送する、項目４８に記載のシステム。
（項目５１）
前記多目的車両は、指向性ジェスチャライトおよび車両可視性ライトを含むライトパッケージを備える、項目４８に記載のシステム。
（項目５２）
自律多目的車両であって、
多目的車両移動方向情報と、
多目的車両移動速さ情報と、
多目的車両周辺帯と
を含むジェスチャライトと、
ジェスチャデバイスと、
前記自律多目的車両によってアクセス可能な少なくとも１つのセンサであって、前記少なくとも１つのセンサは、センサデータを収集する、少なくとも１つのセンサと
を備える、自律多目的車両。
（項目５３）
前記ジェスチャデバイスは、少なくとも１つの擬人化特徴を備える、項目５２に記載の多目的車両。
（項目５４）
前記少なくとも１つの擬人化特徴は、前記センサデータに基づいて、歩行者との対面遭遇を可能にする、項目５３に記載の多目的車両。
（項目５５）
前記少なくとも１つのセンサは、前記多目的車両と統合されたローカルセンサを備える、項目５２に記載の多目的車両。
（項目５６）
前記少なくとも１つのセンサは、前記多目的車両と統合されない遠隔センサを備える、項目５２に記載の多目的車両。
（項目５７）
少なくとも１つの第１の場所から少なくとも１つの第２の場所に商品を送達するための方法であって、
（ａ）複数の多目的車両のうちの少なくとも１つによって、通信ネットワークを通して、前記複数の多目的車両のうちの少なくとも１つを前記複数の多目的車両のうちの他の車両と結合することと、
（ｂ）複数の多目的車両のうちの少なくとも１つによって、前記少なくとも１つの第１の場所から前記複数の多目的車両のうちの少なくとも１つの中に前記商品を受領することと、
（ｃ）複数の多目的車両のうちの少なくとも１つによって、前記少なくとも１つの第１の場所と前記少なくとも１つの第２の場所との間の提案される経路を判定することと、
（ｄ）複数の多目的車両のうちの少なくとも１つによって、前記複数の多目的車両のうちの少なくとも１つが、前記１つの少なくとも１つの多目的車両が前記少なくとも１つの第２の場所に到達するまで、前記提案される経路に沿って、前記複数の多目的車両のうちの前記他の車両に追従することを可能にすることと、
（ｈ）複数の多目的車両のうちの少なくとも１つによって、前記複数の多目的車両のうちの前記他の車両が、前記商品を前記第２の場所に送達することを可能にすることと
を含む、方法。
（項目５８）
（ｅ）複数の多目的車両のうちの少なくとも１つによって、前記１つの少なくとも１つの多目的車両および前記他の少なくとも１つの多目的車両からリアルタイムで受信された情報に少なくとも基づいて、前記提案される経路を更新することと、
（ｆ）複数の多目的車両のうちの少なくとも１つによって、前記１つの少なくとも１つの多目的車両が、前記更新された提案される経路に沿って進むことを可能にすることと、
（ｇ）前記１つの少なくとも１つの多目的車両が前記少なくとも１つの第２の場所に到達するまで、（ｅ）および（ｆ）を繰り返すことと
をさらに含む、項目５７に記載の方法。
（項目５９）
前記結合は、物理的結合を含む、項目５７に記載の方法。
（項目６０）
前記結合は、電子的結合を含む、項目５７に記載の方法。
（項目６１）
前記結合は、物理的および電子的結合を含む、項目５７に記載の方法。
（項目６２）
前記複数の多目的車両は、少なくとも１つの半自律多目的車両を備える、項目５７に記載の方法。
（項目６３）
前記複数の多目的車両は、少なくとも１つの自律多目的車両を備える、項目５７に記載の方法。
（項目６４）
前記少なくとも１つの自律多目的車両は、前記提案される経路と異なる経路を辿ることができる、項目６３に記載の方法。
（項目６５）
前記複数の多目的車両のネットワークに前記更新情報を送信することをさらに含む、項目５７に記載の方法。
（項目６６）
前記複数の多目的車両のうちの１つを呼び出すことをさらに含み、前記複数の多目的車両のうちの呼び出される車両は、前記少なくとも１つの第１の場所に最も近く、前記複数の多目的車両のうちの呼び出される車両は、動作中である、項目５７に記載の方法。
（項目６７）
前記少なくとも１つの半自律車両は、前記少なくとも１つの半自律車両の上方、背後、下方、または側面に保管場所を備え、前記保管場所は、異なるサイズを有する、項目６２に記載の方法。
（項目６８）
前記商品を収容するために十分に大きい保管コンテナを有する前記複数の多目的車両のうちの１つを呼び出すことをさらに含む、項目５７に記載の方法。
（項目６９）
充電ステーションにおいて一晩保管するために前記保管コンテナを使用することをさらに含む、項目６８に記載の方法。
（項目７０）
前記商品のための電子支払を承認することをさらに含む、項目５７に記載の方法。
（項目７１）
コードと前記保管コンテナの場所との組み合わせを使用して、前記保管コンテナをロック解除することをさらに含む、項目６８に記載の方法。
（項目７２）
前記複数の多目的車両のうちの１つの重心の変化によって不正を検出することをさらに含む、項目５７に記載の方法。
（項目７３）
前記複数の多目的車両のうちの１つの不正が検出される場合、アラートを生成することをさらに含む、項目５７に記載の方法。
（項目７４）
前記ネットワーク化された複数の多目的車両に共通の記憶装置内に前記アラートを記憶することをさらに含む、項目７３に記載の方法。
（項目７５）
前記複数の多目的車両のうちの１つの不正が検出される場合、前記複数の多目的車両のうちの１つを安全な場所に向かって自動的に操向させることをさらに含む、項目５７に記載の方法。
（項目７６）
前記複数の多目的車両のうちの１つが不正を検出するとき、安全プロシージャを開始することをさらに含む、項目５７に記載の方法。
（項目７７）
前記保管コンテナは、事前に選択されたサイズを備える、項目６８に記載の方法。
（項目７８）
商業施設から消費者場所に送達される商品を格納するための保管コンテナであって、前記保管コンテナは、
前記商品を保持する少なくとも１つのコンパートメントであって、前記商品は、前記少なくとも１つのコンパートメント内に固着され、前記商品は、複数の非関連消費者宛であり、前記少なくとも１つのコンパートメントのサイズは、修正可能である、少なくとも１つのコンパートメントと、
前記少なくとも１つのコンパートメントを管理する少なくとも１つのプロセッサであって、前記少なくとも１つのプロセッサは、前記保管コンテナと関連付けられる多目的車両ネットワークに前記商品についての情報を送信する、少なくとも１つのプロセッサと、
前記多目的車両ネットワークと関連付けられる多目的車両に応じて、前記保管コンテナの搭載を可能にする少なくとも１つの特徴であって、少なくとも１つの特徴は、前記保管コンテナの配向を調節する、少なくとも１つの特徴と、
前記保管コンテナと関連付けられる少なくとも１つの環境障壁と、
前記少なくとも１つのコンパートメントに関する不正を検出する少なくとも１つのセンサであって、前記少なくとも１つのセンサは、ロック／ロック解除情報を受信する、少なくとも１つのセンサと、
前記商品についての情報を記録する少なくとも１つの保管デバイスと、
ＲＦＩＤ回路構成であって、前記ＲＦＩＤ回路構成は、前記保管コンテナが開放されると無効にされる、ＲＦＩＤ回路構成と
を備え、
前記保管コンテナは、脆弱な商品の輸送を可能にし、前記保管コンテナは、消費者場所における開放までアクセスを制限することを可能にする、保管コンテナ。
（項目７９）
多目的実行システムの少なくとも１つの部材によって、少なくとも１つの第１の場所から少なくとも１つの第２の場所に商品を送達するための提案されるルートを実行するための方法であって、
前記少なくとも１つの部材によって、少なくとも１つの静的障害物を含むマップにアクセスすることと、
前記少なくとも１つの部材によって、前記マップを前記提案されるルートで更新し、ルートマップを形成することと、
前記少なくとも１つの部材によって、前記少なくとも１つの静的障害物に少なくとも基づいて、前記提案されるルートを更新することと、
前記少なくとも１つの部材によって、前記多目的実行システムが前記更新された提案されるルートをナビゲートするにつれて、前記更新された提案されるルートと関連付けられるリアルタイムデータを持続的に集めることと、
前記少なくとも１つの部材によって、前記リアルタイムデータに少なくとも基づいて、前記提案されるルートを持続的に更新することと、
変化が存在するとき、前記少なくとも１つの部材によって、前記多目的実行システムが前記更新された提案されるルートをナビゲートするにつれて、前記ルートマップを前記リアルタイムデータおよび前記更新された提案されるルートで持続的に更新することと、
前記少なくとも１つの部材によって、前記更新されたルートマップに少なくとも基づいて、少なくとも１つの動的物体の少なくとも１つの特性を推察することと、
前記少なくとも１つの部材によって、前記更新されたルートマップおよび前記推測される少なくとも１つの特性を前記多目的実行システムに提供することと
を含む、方法。
（項目８０）
前記ルートマップを基点データで持続的に更新することをさらに含む、項目７９に記載の方法。
（項目８１）
前記ルートマップを交通信号灯および歩行者情報で持続的に更新することをさらに含む、項目７９に記載の方法。
（項目８２）
前記更新された提案されるルートと関連付けられる少なくとも１つの道路規則に少なくとも基づいて、前記更新された提案されるルートを持続的に更新することをさらに含む、項目７９に記載の方法。
（項目８３）
前記ルートマップを前記多目的実行システム内のオペレータによって提供される情報で持続的に更新することをさらに含む、項目７９に記載の方法。
（項目８４）
前記更新された提案されるルートをナビゲートするために要求される時間量および空間を持続的に算出することをさらに含む、項目７９に記載の方法。
（項目８５）
前記マップは、少なくとも１つの商業的に利用可能なマップを含む、項目７９に記載の方法。
（項目８６）
前記更新されたルートマップをクラウドソース情報で持続的に更新することをさらに含む、項目７９に記載の方法。
（項目８７）
前記更新されたルートマップを表面コーティングから導出される情報で持続的に更新することをさらに含む、項目７９に記載の方法。
（項目８８）
前記少なくとも１つの部材の車輪回転からのデータおよび慣性測定データを処理することによって、前記更新されたルートマップ上の前記少なくとも１つの部材を位置特定することをさらに含む、項目７９に記載の方法。
（項目８９）
前記多目的実行システムは、複数の前記少なくとも１つの部材を備える、項目７９に記載の方法。
（項目９０）
前記基点データに少なくとも基づいて、前記少なくとも１つの部材を位置特定することをさらに含む、項目８０に記載の方法。
（項目９１）
前記基点データは、基点マーカ場所を含む、項目８０に記載の方法。
（項目９２）
多目的実行システムによって、少なくとも１つの荷物を送達するための方法であって、前記多目的実行システムは、ルート計画サブシステム、少なくとも１つのセンサ、および物理的保管場所と相互作用し、前記方法は、
前記多目的実行システムによって、少なくとも１つのマップおよび目的地住所を前記ルート計画サブシステムから受信することと、
前記多目的実行システムによって、センサデータを前記少なくとも１つのセンサから受信することと、
前記多目的実行システムによって、前記少なくとも１つのマップを前記センサデータで動的にクロスチェックすることと、
前記多目的実行システムによって、前記多目的実行システムが辿るための経路を動的に作成することであって、前記経路は、前記動的にクロスチェックされた少なくとも１つのマップおよび前記目的地住所に少なくとも基づく、ことと、
前記多目的実行システムによって、前記動的に作成された経路および前記動的にクロスチェックされた少なくとも１つのマップに少なくとも基づいて、前記経路を動的にクロスチェックすることと、
前記多目的実行システムが前記目的地住所に到達するまで、前記多目的実行システムを移動させることであって、前記移動は、前記動的にクロスチェックされた経路に少なくとも基づく、ことと、
前記多目的実行システムによって、前記物理的保管場所からの少なくとも１つの荷物の送達を可能にすることと
を含む、方法。
（項目９３）
前記多目的実行システムによって、前記多目的実行システムを位置特定することをさらに含む、項目９２に記載の方法。
（項目９４）
前記多目的実行システムによって、少なくとも１つの物体を検出することと、
前記多目的実行システムによって、前記少なくとも１つの物体の少なくとも１分類を認識することと、
前記多目的実行システムによって、前記少なくとも１つの物体と関連付けられる少なくとも１つのパラメータを推定することと
をさらに含む、項目９２に記載の方法。
（項目９５）
前記少なくとも１つの物体が不安定である場合、前記多目的実行システムによって、前記不安定な物体の少なくとも１つの将来的場所を予測することをさらに含む、項目９４に記載の方法。
（項目９６）
前記少なくとも１つのセンサは、少なくとも１つの近距離センサを備える、項目９２に記載の方法。
（項目９７）
前記多目的実行システムの中に、前記少なくとも１つの近距離センサからの近距離データを受信することと、
前記受信された近距離データに少なくとも基づいて、前記多目的実行システムを停止させることと
をさらに含む、項目９６に記載の方法。
（項目９８）
前記多目的実行システムによって、ユーザデータを受信することと、
前記多目的実行システムによって、前記ユーザデータに少なくとも基づいて、前記少なくとも１つのマップを更新することと
をさらに含む、項目９２に記載の方法。
（項目９９）
前記少なくとも１つの荷物の送達を可能にすることは、
前記多目的実行システムによって、前記少なくとも１つの荷物へのアクセスと関連付けられる情報を受信することと、
前記情報が前記少なくとも１つの荷物と関連付けられる場合、前記多目的実行システムによって、前記少なくとも１つの荷物を送達することと
を含む、項目９２に記載の方法。
（項目１００）
少なくとも１つの荷物を送達するための送達システムであって、前記送達システムは、ルート計画サブシステム、少なくとも１つのセンサ、および物理的保管場所と相互作用し、前記システムは、
少なくとも１つのマップおよび目的地住所を前記ルート計画サブシステムから受信する知覚サブシステムと、
センサデータを前記少なくとも１つのセンサから受信するセンサインターフェースと、
前記少なくとも１つのマップを前記センサデータで動的にクロスチェックするマップクロスチェックサブシステムと、
前記送達システムが辿るための経路を動的に作成する経路計画サブシステムであって、前記経路は、前記動的にクロスチェックされた少なくとも１つのマップおよび前記目的地住所に少なくとも基づく、経路計画サブシステムと、
前記動的に作成された経路および前記動的にクロスチェックされた少なくとも１つのマップに少なくとも基づいて、前記経路を動的にクロスチェックする経路チェックサブシステムと、
前記送達システムが前記目的地住所に到達するまで前記送達システムを移動させる経路追従サブシステムであって、前記移動は、前記動的にクロスチェックされた経路に少なくとも基づく、経路追従サブシステムと、
前記物理的保管場所からの少なくとも１つの荷物の送達を可能にする荷物サブシステムと
を備える、送達システム。
（項目１０１）
前記知覚サブシステムは、前記送達システムを位置特定する位置特定プロセスをさらに備える、項目１００に記載の送達システム。
（項目１０２）
前記知覚サブシステムは、
少なくとも１つの物体を検出する検出プロセスと、
前記少なくとも１つの物体の少なくとも１分類を認識する認識プロセスと、
前記少なくとも１つの物体と関連付けられる少なくとも１つのパラメータを推定する推定プロセスと
を備える、項目１００に記載の送達システム。
（項目１０３）
前記知覚サブシステムは、前記少なくとも１つの物体が不安定である場合に前記不安定な物体の少なくとも１つの将来的場所を予測する伝搬サブシステムを備える、項目１００に記載の送達システム。
（項目１０４）
前記少なくとも１つのセンサは、少なくとも１つの近距離センサを備える、項目１００に記載の送達システム。
（項目１０５）
近距離データを前記少なくとも１つの近距離センサから受信する安全性サブシステムをさらに備え、前記安全性サブシステムは、前記受信された近距離データに少なくとも基づいて、前記送達システムを停止させる、項目１０４に記載の送達システム。
（項目１０６）
ユーザデータを受信する通信インターフェースさらに備え、前記通信インターフェースは、前記ユーザデータに少なくとも基づいて、前記少なくとも１つのマップの更新を管理する、項目１００に記載の送達システム。
（項目１０７）
前記荷物サブシステムは、前記少なくとも１つの荷物へのアクセスについての情報を受信する荷物インターフェースサブシステムを備え、前記荷物インターフェースサブシステムは、前記情報が前記少なくとも１つの荷物と適切に関連付けられる場合、前記少なくとも１つの荷物を送達する、項目１００に記載の送達システム。
（項目１０８）
少なくとも１つの送達エリア内の少なくとも１つの第１の点から少なくとも１つの第２の点にシステムを運転するための方法であって、
前記システムによって、前記少なくとも１つの送達エリアと関連付けられる少なくとも１つのマップを識別することと、
前記少なくとも１つの送達エリアと関連付けられる少なくとも１つのセンサによって収集されたデータに少なくとも基づいて、前記システムを位置特定することと、
前記システムによって、前記少なくとも１つの送達エリア内の少なくとも１つの物体を検出することと、
前記システムによって、前記少なくとも１つの物体を分類することと、
前記システムによって、除外基準に基づいて、前記少なくとも１つの物体のうちの少なくとも１つを除外することと、
前記システムによって、前記少なくとも１つのマップを更新することと、
前記システムによって、前記少なくとも１つの送達エリア内の少なくとも１つの運転表面を検出することと、
前記システムによって、前記少なくとも１つの運転表面を分類することと、
前記システムによって、前記更新された少なくとも１つのマップおよび前記少なくとも１つの運転表面分類に少なくとも基づいて、経路を形成することと、
前記システムを位置特定することと、
前記システムによって、前記少なくとも１つの経路を辿ることと
を含む、方法。
（項目１０９）
前記少なくとも１つの運転表面を分類することは、
前記システムによって、前記少なくとも１つの運転表面を複数の道路セグメントに分けることと、
前記システムによって、複数の接続されるノードで端間統合された前記複数の道路セグメントの少なくとも１つの道路ネットワークを形成することと、
前記システムによって、前記複数の道路セグメントの各々にコストを割り当てることと、
前記システムによって、前記コストに少なくとも基づいて、前記少なくとも１つの運転表面に分類を割り当てることと
を含む、項目１０８に記載の方法。
（項目１１０）
前記システムを位置特定することは、
前記ルートマップ上の前記システムの現在の位置を位置特定することと、
前記センサデータに少なくとも基づいて、前記システムを配向することと、
前記センサデータに少なくとも基づいて、前記システムの運動を推定することと、
前記センサデータに少なくとも基づいて、前記運動推定を精緻化することと、
前記精緻化された運動推定および前記センサデータに少なくとも基づいて、前記現在の位置を調節することと
を含む、項目１０８に記載の方法。
（項目１１１）
前記システムによって、配向データの事前に選択された自由度の数に少なくとも基づいて、前記システムを配向することを含む、項目１１０に記載の方法。
（項目１１２）
前記運動を推定することは、
前記システムによって、第１の更新レートおよび第１の忠実性において、視覚的データを受信することと、
前記システムによって、以前に受信された前記視覚的データに少なくとも基づいて、第２の周波数において、前記現在の位置を調節することと
を含む、項目１１０に記載の方法。
（項目１１３）
前記現在の位置を調節することは、
前記システムによって、第３の周波数において、ＬＩＤＡＲデータを受信することと、
前記システムによって、前記ＬＩＤＡＲデータから、表面および線を検出することと、
前記システムによって、前記検出された表面および線から三角測量することと、
前記システムによって、前記三角測量された表面および線に少なくとも基づいて、前記現在の位置を調節することと
を含む、項目１１０に記載の方法。
（項目１１４）
少なくとも１つの物体を検出することは、
前記システムによって、前記センサデータからのＲＧＢデータおよび深度情報にアクセスすることと、
前記システムによって、前記ＲＧＢデータおよび深度情報に少なくとも基づいて、前記少なくとも１つの物体のうちの少なくとも１つの周囲に少なくとも１つの２Ｄ境界ボックスを生成することと
を含む、項目１０８に記載の方法。
（項目１１５）
前記少なくとも１つの物体を分類することは、
前記システムによって、前記少なくとも１つの物体から特徴を抽出することと、
前記システムによって、畳み込みニューラルネットワークに少なくとも基づいて、前記少なくとも１つの物体を分類することと、
前記システムによって、前記少なくとも１つの２Ｄ境界ボックスを少なくとも１つの錐台および少なくとも１つの３Ｄ境界ボックスに拡張することと、
前記システムによって、前記少なくとも１つの３Ｄ境界ボックスの限界を点群深度データから検出することと、
前記システムによって、前記少なくとも１つの物体と関連付けられる少なくとも１つの点を前記少なくとも１つの３Ｄ境界ボックスから抽出することと、
前記システムによって、前記少なくとも１つの２Ｄ境界ボックスに基づいて、前記抽出された少なくとも１つの点と関連付けられる前記少なくとも１つの３Ｄ境界ボックスを増強させることと、
前記少なくとも１つの３Ｄ境界ボックスの移動およびレーダデータに少なくとも基づいて、前記少なくとも１つの物体の移動レートを推定することと、
前記更新された少なくとも１つのマップ、前記移動レート、および前記分類された少なくとも１つの物体に少なくとも基づいて、動的場面マップを生産することと
を含む、項目１１４に記載の方法。
（項目１１６）
前記ルートマップを形成することは、誘導ポリシ検索深層ニューラルネットワークを使用した深層強化学習を含む、項目１０８に記載の方法。
（項目１１７）
前記ルートマップを形成することは、
前記システムによって、前記複数の道路セグメントの各々の少なくとも１つの静的性質を判定することと、
前記システムによって、前記複数の道路セグメントの各々を横断する動的コストを判定することと、
前記システムによって、グラフトポロジに少なくとも基づいて、前記動的コストを持続的に更新することと、
前記システムによって、前記動的コストと関連付けられる少なくとも１つのメトリックを更新することと、
前記システムによって、前記更新された少なくとも１つのメトリックおよび前記更新された動的コストに少なくとも基づいて、前記ルートマップを形成することと
を含む、項目１０９に記載の方法。
（項目１１８）
センサデータは、交通密度、歩行者交差点要件、交通標識、歩道場所、歩道条件、および非歩道運転可能エリアのうちの少なくとも１つを含む、項目１０８に記載の方法。
The multipurpose robot can receive information from smart beacons that are strategically installed along the traveling path. In some configurations, the information from the smart beacon can be encrypted, and / or the information exchanged between the multipurpose robot of this teaching and the smart beacon is encrypted, malicious to the multipurpose robot. Can be protected from hacking. In some configurations, the smart beacon can include a camera, radar, and / or lidar that can be used to map the local area. In some configurations, smart beacons can vary in complexity and peculiarities. For example, a smart beacon that can manage network communication can be installed in an area where network components are likely to require communication services. Smart beacons, including mapping cameras, can be placed within locations where mapping is required and can be moved from one location to another, depending on current needs. In some configurations, the smart beacon includes data transfer hotspot capabilities or other networking capabilities that allow the fleet network of this teaching to communicate with fleet members. In some configurations, the smart beacon can recognize the path of travel and the next navigation step required for the multipurpose robot to reach its desired destination. The smart beacon can receive at least a portion of the path and / or destination of the multipurpose robot from the server. The smart beacon can identify the multipurpose robot of the present teaching, potentially through secure radio exchange of identification information, possibly through visual and / or audible identification techniques, or by other means. Secure exchange of messages includes, for example, encryption and other forms of protection against intermediate threats such as in-flight message modification, eavesdropping and denial of service, third party application threats, and malicious / false application threats. be able to. Multipurpose robots can receive navigation information from smart beacons, including auto-tracking, triangulation, and aiming signals. The multipurpose robot can receive current mapping information from the smart beacon, including, but not limited to, congestion areas and route closures, and the multipurpose robot can send the information it collects to the smart beacon. .. The multipurpose robot can make beacon information available to other multipurpose robot fleet members at any time, for example, but not limited to, during parcel delivery and / or pickup. The multipurpose robot can receive information from the smart beacon that can be used to correct the IMU dead reckoning and wheel rotation navigation of the multipurpose robot. In some configurations, the multipurpose robot can navigate globally through the information received from the smart beacon. For example, in a congested area, it is possible that some of the sensors located on the multipurpose robot of the present teaching may be blocked. A sensor on a smart beacon, such as a lidar sensor, can provide navigation information to the multipurpose robot of the present teaching that the multipurpose robot itself cannot acquire with its onboard sensor. Sensors located on any of the multipurpose robots, tracks, and / or smart beacons of this teaching can provide current congestion information from cameras and / or thermal imaging and form heatmaps. The multipurpose robot can receive commands from a steerable RF or laser beacon that may be controlled by another member of the fleet, a central control location, or the multipurpose robot itself. In some configurations, the multipurpose robot can be configured with a minimum number of sensors if the data is planned to be collected by other fleet members. The multipurpose robot can receive these sensor data, eg, heatmaps, to recognize obstacles in a potential travel route, possibly the location of a group of dynamic obstacles. In areas without various types of beacons, a multipurpose robot for exploration, with partial or complete complementation of sensors, reads navigation and congestion data and routes the data to deliver goods and services. It is possible to make the progressing multipurpose robot of this teaching accessible. The search system transfers its sensor data and analysis to central services, cloud-based storage areas, smart beacons, and / or other search systems, multipurpose robots, and / or, for example, trucks or other components of the delivery fleet. Can be provided. Beacons can be used to facilitate data communication between fleet members and can be used to improve location accuracy. In some configurations, beacons can be used to help navigate multipurpose robots within an area, where global positioning techniques are inadequate, such as Wi-Fi and RF signals. Can include wireless access points that generate signals for.
The present invention provides, for example,:
(Item 1)
A method for executing a service by a multipurpose network along a dynamically created route from at least one starting point to at least one execution point.
(A) The at least one multipurpose vehicle automatically routes at least one proposed route between the at least one starting point and the at least one multipurpose execution point from the multipurpose network containing the plurality of system collectors. Receiving, the at least one proposed route is limited to at least one of a set of preselected types of routes, the plurality of system collectors being the at least one multipurpose vehicle. Including, that,
(B) Accessing historical data associated with the at least one proposed route by the at least one multipurpose vehicle, wherein at least a portion of the historical data is at least one of the plurality of system collectors. Collected by one, and
(C) Receiving real-time data about the proposed route by the at least one multipurpose vehicle, the real-time data being collected by at least one of the plurality of system collectors. When,
(D) Receiving the proposed route updated by the multipurpose network by the at least one multipurpose vehicle, wherein the update is based on the historical data and the collected real-time data. ,
(E) Navigating the updated proposed route by the at least one multipurpose vehicle.
(F) Repeating (c) to (e) until the at least one multipurpose vehicle reaches the at least one multipurpose execution point.
Including the method.
(Item 2)
(F) As the at least one multipurpose vehicle navigates the updated proposed route, the at least one multipurpose vehicle authenticates the updated proposed route and the updated proposed route. Annotate the route and
(G) To provide the multipurpose network with the authenticated, annotated, updated and proposed route by the at least one multipurpose vehicle.
The method according to item 1, further comprising.
(Item 3)
The communication network further comprises accessing the historical data and the real-time data from the communication network by the at least one multipurpose vehicle, wherein the communication network includes the plurality of system collectors and the plurality of system collectors are the communication network. The method according to item 1, which shares data through.
(Item 4)
The above-mentioned authentication and annotation is
Receiving visually collected information from the driver of the at least one multipurpose vehicle by the at least one multipurpose vehicle.
The method according to item 1.
(Item 5)
The method according to item 1, wherein the historical data includes data from a plurality of sources.
(Item 6)
The method according to item 1, wherein the multipurpose network includes a server.
(Item 7)
6. The method of item 6, wherein the historical data and the updated proposed route are maintained by the server.
(Item 8)
A multi-purpose execution system that delivers goods from at least one starting point to at least one multi-purpose execution point.
A history of a plurality of system collectors, wherein the system collector forms a communication network, and the system collector is associated with a proposed route between the at least one starting point and the at least one multipurpose execution point. Accessing the data, said said system collector comprises at least one multipurpose vehicle, said at least one multipurpose vehicle includes at least one sensor and at least one storage container, said at least one storage container. , The historical data includes vehicle data previously collected along the proposed route, and the plurality of system collectors may include the at least one multipurpose vehicle on the proposed route. Before navigating and while the at least one multipurpose vehicle navigates the proposed route, real-time data about the proposed route is collected and at least one of the plurality of system collectors. , A plurality of system collectors that update the proposed route, at least based on the vehicle data, the historical data, and the real-time data.
Based on at least the historical data, the real-time data, and the at least one sensor, the at least one multipurpose vehicle is proposed to be updated from the at least one starting point to the at least one multipurpose execution point. With a processor that continuously updates the proposed updated route as it navigates the route.
A multi-purpose execution system.
(Item 9)
8. The multipurpose execution system according to item 8, wherein the processor is executed in the at least one multipurpose vehicle.
(Item 10)
The multipurpose execution system according to item 8, wherein the processor is executed in a server.
(Item 11)
8. The multipurpose execution system according to item 8, wherein the plurality of system collectors include at least one autonomous vehicle.
(Item 12)
8. The multipurpose execution system according to item 8, wherein the plurality of system collectors include at least one semi-autonomous vehicle.
(Item 13)
Item 8. The plurality of system collectors include at least one beacon positioned along the updated proposed route, wherein the at least one beacon sends and receives data via the communication network. Multipurpose execution system.
(Item 14)
Item 8. The plurality of system collectors include at least one beacon positioned along the updated proposed path, wherein the at least one beacon provides origin information to the multipurpose execution system, item 8. Multipurpose execution system.
(Item 15)
The multipurpose execution system according to item 8, wherein the plurality of system collectors include at least one vehicle operating on a sidewalk in a city.
(Item 16)
The multipurpose execution system according to item 8, wherein the plurality of system collectors include at least one vehicle operating on a rural road.
(Item 17)
Item 8. The item 8 comprises said that the at least one multipurpose vehicle comprises at least one locating subsystem that detects the current location and status of the at least one multipurpose vehicle based on at least the historical data and the real time data. Multipurpose execution system.
(Item 18)
The multipurpose execution system according to item 8, wherein the at least one multipurpose vehicle comprises at least one positioning subsystem that detects the current location and situation of the at least one multipurpose vehicle based on at least the historical data.
(Item 19)
8. The multipurpose execution system according to item 8, wherein the plurality of system collectors include at least one radio access point.
(Item 20)
The at least one multipurpose vehicle comprises an obstacle subsystem that locates at least one obstacle in the updated proposed route, wherein the at least one obstacle is found. Then, the multipurpose execution system according to the item 8 that updates the updated proposed route.
(Item 21)
The at least one multipurpose vehicle is a preferred route subsystem that determines at least one preferred route between the at least one starting point and the at least one multipurpose execution point based on at least the historical data and the real-time data. The preferred route subsystem comprises at least one between the at least one starting point and the at least one multipurpose execution point, at least based on the number of the at least one obstacle in the updated proposed route. 20. The multipurpose execution system according to item 20, which determines one avoidable route.
(Item 22)
The at least one multipurpose vehicle comprises a road obstacle climbing subsystem that detects at least one road obstacle, the road obstacle climbing subsystem comprises the at least one road obstacle on the at least one multipurpose vehicle. The road obstacle climbing subsystem commands the at least one multipurpose vehicle to maintain equilibrium and stability while crossing the at least one road obstacle, item 8. Multipurpose execution system described in.
(Item 23)
22. The multipurpose execution system according to item 22, wherein the road obstacle includes a curb.
(Item 24)
The multipurpose execution system according to item 22, wherein the road obstacle includes a step.
(Item 25)
The at least one multipurpose vehicle comprises a stair climbing subsystem that detects at least one staircase, the stair climbing subsystem facing the at least one staircase relative to the at least one multipurpose vehicle and said at least one. In item 8, commanding the stairs to cross, the stair climbing subsystem commands the at least one multipurpose vehicle to achieve stabilized movement while crossing the at least one staircase. Described multipurpose execution system.
(Item 26)
The multipurpose execution system according to item 8, wherein the at least one multipurpose vehicle comprises a seating feature that accommodates an operator of the at least one multipurpose vehicle.
(Item 27)
The multipurpose execution system according to item 8, wherein the at least one multipurpose vehicle includes a wheelchair.
(Item 28)
The processor comprises a rule compliance subsystem that accesses navigation rule information from at least one of the historical data, the real-time data, and the at least one sensor, wherein the rule compliance subsystem is the at least one. The multipurpose vehicle is commanded to navigate at least according to the navigation rule information, the system collector said the navigation rule information as the system collector operates and interacts with the updated proposed navigation route. The multipurpose execution system according to item 8 for learning.
(Item 29)
The processor comprises a training subsystem that creates and accesses data associated with an interaction between the at least one multipurpose vehicle and the at least one obstacle. 28. The multipurpose execution system.
(Item 30)
28. The multipurpose execution system according to item 28, wherein the training subsystem comprises a neural network.
(Item 31)
The at least one multipurpose vehicle comprises a grouping subsystem that commands at least one second vehicle of the at least one multipurpose vehicle to follow the first vehicle of the at least one multipurpose vehicle. The multipurpose execution system according to item 8, wherein the grouping subsystem maintains a coupling between the first multipurpose vehicle and the at least one second multipurpose vehicle.
(Item 32)
31. The multipurpose execution system according to item 31, wherein the bond comprises an electronic bond.
(Item 33)
Item 8 The at least one multipurpose vehicle comprises at least one battery, the battery comprising a fast charging feature, the fast charging feature adapting to a minimum amount of non-operating time of the at least one multipurpose vehicle. Multipurpose execution system described in.
(Item 34)
8 Multipurpose execution system described in.
(Item 35)
The at least one battery comprises a locking feature that locks the at least one battery to the at least one multipurpose vehicle, the locking feature comprising a security feature for allowing removal of the at least one battery. The multipurpose execution system according to item 33.
(Item 36)
A sensor subsystem that processes data from at least one sensor, wherein the at least one sensor is.
At least one heat sensor that senses living organisms,
With at least one camera that senses moving objects,
At least one laser sensor that provides a point group representation of an object, wherein the laser sensor includes at least one laser sensor that senses the distance to an obstacle.
At least one ultrasonic sensor that senses the distance to the obstacle,
With at least one radar sensor that senses the speed of the obstacle and the weather and traffic volume in close proximity to the at least one multipurpose vehicle.
Including the sensor subsystem and
A sensor fusion subsystem that fuses data from a plurality of the at least one sensor, wherein the sensor fusion subsystem is a sensor fusion subsystem that classifies the at least one obstacle.
With a behavior model subsystem that predicts the future position of at least one obstacle
The multipurpose execution system according to item 8, further comprising.
(Item 37)
A sensor subsystem that processes data from at least one sensor, wherein the at least one sensor is.
At least one thermal sensor that senses dynamic objects,
With at least one camera that senses moving objects,
At least one laser sensor that provides a point group representation of an object, wherein the laser sensor includes at least one laser sensor that senses the distance to an obstacle.
At least one ultrasonic sensor that senses the distance to the obstacle,
With at least one radar sensor that transmits the speed of the obstacle and the weather and traffic volume in close proximity to the at least one multipurpose vehicle.
A sensor subsystem, including at least two of them,
A sensor fusion subsystem that fuses data from a plurality of the at least one sensor, wherein the sensor fusion subsystem is a sensor fusion subsystem that classifies the at least one obstacle.
With a behavior model subsystem that predicts the future position of at least one obstacle
The multipurpose execution system according to item 8, further comprising.
(Item 38)
The plurality of system collectors comprises at least one delivery truck that transports the goods to the at least one multipurpose vehicle, the at least one delivery truck transporting the at least one multipurpose vehicle to at least one delivery location. , The multipurpose execution system according to item 8.
(Item 39)
38. The multipurpose execution system of item 38, wherein the at least one delivery truck allows the replacement of at least one used battery and at least one charged battery in the at least one multipurpose vehicle.
(Item 40)
38. The multipurpose execution system of item 38, wherein the at least one delivery track comprises at least one battery charging feature.
(Item 41)
38. The multipurpose execution system of item 38, wherein the at least one delivery truck comprises at least one elevating mechanism that allows loading and unloading of the at least one multipurpose vehicle.
(Item 42)
The at least one delivery truck
At least one carry-in elevating feature that enables the carry-in of at least one multipurpose vehicle, and
With at least one unloading lifting feature that allows the unloading of at least one multipurpose vehicle
Equipped with
38. The multipurpose execution system of item 38, wherein the delivery truck is capable of moving between said loading and unloading.
(Item 43)
The plurality of system collectors comprises at least one beacon that senses at least one obstacle, the at least one beacon enables communication between the plurality of system collectors, and the at least one beacon is said to be at least. Item 8. The multipurpose execution system according to item 8, which protects the data exchanged between one beacon and the plurality of system collectors from fraud.
(Item 44)
8. The multipurpose execution system of item 8, wherein the plurality of system collectors comprises at least one aviation vehicle that transports the goods to the at least one delivery truck.
(Item 45)
Further comprising a vehicle allocation mechanism for coupling the at least one delivery truck to the at least one multipurpose vehicle, the vehicle allocation mechanism tracks battery life in the at least one multipurpose vehicle, and the vehicle allocation mechanism is said to be at least one. 21. The multipurpose execution system according to item 21, which allows the multipurpose vehicle to answer a call.
(Item 46)
A method of using a network of system collectors, wherein the network of system collectors comprises at least one multipurpose vehicle, each of the networks of said system collectors comprises at least one processor, and the network of said system collectors. The method is for moving goods from a commercial facility to a consumer location.
(A) Receiving a request from the commercial facility for delivering the goods from the location associated with the commercial facility to the consumer location by at least one receiving processor of the at least one processor.
(B) The at least one receiving processor determines a selection criterion for selecting at least one optimal multipurpose vehicle among the at least one multipurpose vehicle, at least based on the status of the at least one multipurpose vehicle. That and
(C) The at least one receiving processor commands the at least one delivery processor associated with the at least one optimal multipurpose vehicle to direct the at least one optimal multipurpose vehicle to the commercial facility to receive the goods. Instructing to do and
(D) When the goods are stored in the at least one optimal multipurpose vehicle, the at least one delivery processor associates the goods with at least one security measure, wherein the at least one security means. , Requesting security information to release the goods, and
(E) Determining a proposed route between the commercial facility and the consumer location by the at least one delivery processor based on at least historical information received from the system collector's network.
(F) Updating the proposed route by the at least one delivery processor based on at least the information received in real time from the network of the system collector.
(G) Commanding the at least one optimal multipurpose vehicle by the at least one delivery processor to follow the updated proposed route.
(H) Repeating (f) and (g) until the at least one optimal multipurpose vehicle reaches the consumer location.
(I) Collating the security information with the at least one delivery processor.
(J) When the security information is collated by the at least one delivery processor, the goods are released at the consumer place.
Including, how.
(Item 47)
46. The method of item 46, wherein the status includes the location of the multipurpose vehicle.
(Item 48)
A multi-purpose execution system for moving goods from at least one first place to at least one second place.
A network of system collectors, including at least one multipurpose vehicle,
At least one processor associated with each of the system collectors, said at least one processor including at least one receiving processor and at least one delivering processor, said at least one receiving processor.
Receiving at least one request from the at least one first location and delivering the goods to the at least one second location.
To select at least one optimal multipurpose vehicle of the at least one multipurpose vehicle based on at least the status of the at least one multipurpose vehicle.
By instructing the at least one delivery processor associated with the at least one optimal multipurpose vehicle to command the at least one optimal multipurpose vehicle to go to the at least one first location and receive the goods. The at least one delivery processor is
When the goods are stored in the at least one optimal multipurpose vehicle, the goods are associated with at least one security measure, the at least one security means providing security information to release the goods. Request, that,
Determining a proposed route between the at least one first location and the at least one second location, based on at least historical information received from the system collector's network.
Commanding the at least one optimal multipurpose vehicle to follow the proposed route until the at least one optimal multipurpose vehicle reaches the at least one second location.
Collating the received security information with
To release the goods at the consumer location
To execute, and
With at least one processor
The system.
(Item 49)
The at least one delivery processor
(A) Updating the proposed route based on at least the information received in real time from the system collector's network.
(B) Commanding the at least one optimal multipurpose vehicle to follow the updated proposed route.
(C) Repeating (a) and (b) until the at least one optimal multipurpose vehicle reaches the at least one second location.
48. The system according to item 48.
(Item 50)
48. The system of item 48, wherein the truck transports the multipurpose vehicle to the at least one first location and then to the vicinity of the at least one second location.
(Item 51)
48. The system of item 48, wherein the multipurpose vehicle comprises a light package that includes a directional gesture light and a vehicle visibility light.
(Item 52)
It is an autonomous multipurpose vehicle
Multipurpose vehicle movement direction information and
Multipurpose vehicle movement speed information and
With the multipurpose vehicle peripheral zone
With gesture lights, including
Gesture device and
At least one sensor accessible by the autonomous multipurpose vehicle, said at least one sensor with at least one sensor that collects sensor data.
An autonomous multipurpose vehicle equipped with.
(Item 53)
52. The multipurpose vehicle according to item 52, wherein the gesture device comprises at least one anthropomorphic feature.
(Item 54)
The multipurpose vehicle according to item 53, wherein the at least one anthropomorphic feature allows face-to-face encounters with pedestrians based on the sensor data.
(Item 55)
52. The multipurpose vehicle according to item 52, wherein the at least one sensor comprises a local sensor integrated with the multipurpose vehicle.
(Item 56)
52. The multipurpose vehicle of item 52, wherein the at least one sensor comprises a remote sensor that is not integrated with the multipurpose vehicle.
(Item 57)
A method for delivering goods from at least one first place to at least one second place.
(A) Coupling at least one of the plurality of multipurpose vehicles with the other vehicle of the plurality of multipurpose vehicles through a communication network by at least one of the plurality of multipurpose vehicles.
(B) Receiving the goods from at least one first place into at least one of the plurality of multipurpose vehicles by at least one of the plurality of multipurpose vehicles.
(C) Determining the proposed route between the at least one first location and the at least one second location by at least one of the plurality of multipurpose vehicles.
(D) By at least one of the plurality of multipurpose vehicles, the said at least one of the plurality of multipurpose vehicles until the at least one multipurpose vehicle reaches the at least one second place. To be able to follow the other vehicle of the plurality of multipurpose vehicles along the proposed route.
(H) At least one of the plurality of multipurpose vehicles enables the other vehicle of the plurality of multipurpose vehicles to deliver the goods to the second location.
Including, how.
(Item 58)
(E) The proposed route, based on at least information received in real time from the at least one multipurpose vehicle and the other at least one multipurpose vehicle by at least one of the plurality of multipurpose vehicles. To update and
(F) At least one of the plurality of multipurpose vehicles allows the one at least one multipurpose vehicle to travel along the updated proposed route.
(G) Repeating (e) and (f) until the one at least one multipurpose vehicle reaches the at least one second place.
57. The method of item 57.
(Item 59)
57. The method of item 57, wherein the bond comprises a physical bond.
(Item 60)
57. The method of item 57, wherein the bond comprises an electronic bond.
(Item 61)
57. The method of item 57, wherein the bond comprises a physical and electronic bond.
(Item 62)
57. The method of item 57, wherein the plurality of multipurpose vehicles comprises at least one semi-autonomous multipurpose vehicle.
(Item 63)
57. The method of item 57, wherein the plurality of multipurpose vehicles comprises at least one autonomous multipurpose vehicle.
(Item 64)
63. The method of item 63, wherein the at least one autonomous multipurpose vehicle can follow a route different from the proposed route.
(Item 65)
57. The method of item 57, further comprising transmitting the updated information to the network of the plurality of multipurpose vehicles.
(Item 66)
Further comprising calling one of the plurality of multipurpose vehicles, the recalled vehicle of the plurality of multipurpose vehicles is closest to the at least one first location and of the plurality of multipurpose vehicles. 58. The method of item 57, wherein the vehicle to be called is in operation.
(Item 67)
62. The method of item 62, wherein the at least one semi-autonomous vehicle comprises a storage location above, behind, below, or on the side of the at least one semi-autonomous vehicle, wherein the storage location has a different size.
(Item 68)
58. The method of item 57, further comprising calling one of the plurality of multipurpose vehicles having a storage container large enough to accommodate the goods.
(Item 69)
68. The method of item 68, further comprising using the storage container for overnight storage at a charging station.
(Item 70)
58. The method of item 57, further comprising approving electronic payments for said goods.
(Item 71)
68. The method of item 68, further comprising unlocking the storage container using a combination of a code and the location of the storage container.
(Item 72)
58. The method of item 57, further comprising detecting fraud by changing the center of gravity of one of the plurality of multipurpose vehicles.
(Item 73)
58. The method of item 57, further comprising generating an alert if fraud in one of the plurality of multipurpose vehicles is detected.
(Item 74)
73. The method of item 73, further comprising storing the alert in a storage device common to the networked multipurpose vehicles.
(Item 75)
58. Item 57, further comprising automatically steering one of the plurality of multipurpose vehicles towards a safe place when fraud is detected in one of the plurality of multipurpose vehicles. Method.
(Item 76)
58. The method of item 57, further comprising initiating a safety procedure when one of the plurality of multipurpose vehicles detects fraud.
(Item 77)
68. The method of item 68, wherein the storage container comprises a preselected size.
(Item 78)
A storage container for storing goods delivered from a commercial facility to a consumer location, wherein the storage container is
The merchandise is at least one compartment that holds the merchandise, the merchandise is anchored in the at least one compartment, the merchandise is destined for a plurality of unrelated consumers, and the size of the at least one compartment is. With at least one compartment that can be modified,
The at least one processor that manages the at least one compartment, wherein the at least one processor transmits information about the goods to the multipurpose vehicle network associated with the storage container.
At least one feature that allows the storage container to be mounted, depending on the multipurpose vehicle associated with the multipurpose vehicle network, the at least one feature being the at least one feature that adjusts the orientation of the storage container. ,
With at least one environmental barrier associated with the storage container,
The at least one sensor that detects fraud with respect to the at least one compartment, wherein the at least one sensor receives lock / unlock information and the at least one sensor.
At least one storage device that records information about the product and
An RFID circuit configuration, wherein the RFID circuit configuration is invalidated when the storage container is opened.
Equipped with
The storage container allows the transportation of vulnerable goods, and the storage container allows access to be restricted until opening at the consumer location.
(Item 79)
A method for performing a proposed route for delivering goods from at least one first location to at least one second location by at least one component of a multipurpose execution system.
Accessing a map containing at least one static obstacle by the at least one member and
Using the at least one member to update the map with the proposed route to form a route map.
Updating the proposed route by the at least one member, at least based on the at least one static obstacle.
As the multipurpose execution system navigates the updated proposed route by the at least one member, it continuously collects real-time data associated with the updated proposed route.
With the at least one member, the proposed route is continuously updated based on at least the real-time data.
When changes are present, the route map is sustained with the real-time data and the updated proposed route as the multipurpose execution system navigates the updated proposed route by the at least one member. And to update
Inferring at least one characteristic of at least one dynamic object by the at least one member, at least based on the updated route map.
The at least one member provides the updated route map and the at least one inferred characteristic to the multipurpose execution system.
Including the method.
(Item 80)
79. The method of item 79, further comprising continuously updating the route map with baseline data.
(Item 81)
79. The method of item 79, further comprising continuously updating the route map with traffic signal lights and pedestrian information.
(Item 82)
79. The method of item 79, further comprising continuously updating the updated proposed route based on at least one road rule associated with the updated proposed route.
(Item 83)
79. The method of item 79, further comprising continuously updating the route map with information provided by an operator in the multipurpose execution system.
(Item 84)
79. The method of item 79, further comprising continuously calculating the amount of time and space required to navigate the updated proposed route.
(Item 85)
79. The method of item 79, wherein the map comprises at least one commercially available map.
(Item 86)
79. The method of item 79, further comprising continuously updating the updated route map with crowd source information.
(Item 87)
79. The method of item 79, further comprising continuously updating the updated route map with information derived from the surface coating.
(Item 88)
79. The method of item 79, further comprising locating the at least one member on the updated route map by processing data from wheel rotation and inertial measurement data of the at least one member.
(Item 89)
79. The method of item 79, wherein the multipurpose execution system comprises a plurality of the at least one member.
(Item 90)
The method of item 80, further comprising locating the at least one member based on at least the baseline data.
(Item 91)
The method of item 80, wherein the origin data comprises a origin marker location.
(Item 92)
A method for delivering at least one package by means of a multipurpose execution system, wherein the multipurpose execution system interacts with a route planning subsystem, at least one sensor, and a physical storage location.
Receiving at least one map and destination address from the route planning subsystem by the multipurpose execution system.
Receiving sensor data from the at least one sensor by the multipurpose execution system.
The multipurpose execution system dynamically cross-checks the at least one map with the sensor data.
The multipurpose execution system dynamically creates a route for the multipurpose execution system to follow, at least based on the dynamically cross-checked at least one map and the destination address. , That and
Dynamically cross-checking the route based on at least the dynamically created route and at least one dynamically cross-checked map by the multipurpose execution system.
Moving the multipurpose execution system until the multipurpose execution system reaches the destination address, the movement is at least based on the dynamically cross-checked route.
The multipurpose execution system enables delivery of at least one package from the physical storage location.
Including, how.
(Item 93)
92. The method of item 92, further comprising locating the multipurpose execution system by the multipurpose execution system.
(Item 94)
To detect at least one object by the multipurpose execution system,
Recognizing at least one classification of the at least one object by the multipurpose execution system
To estimate at least one parameter associated with the at least one object by the multipurpose execution system.
92. The method of item 92.
(Item 95)
94. The method of item 94, further comprising predicting at least one future location of the unstable object by the multipurpose execution system when the at least one object is unstable.
(Item 96)
92. The method of item 92, wherein the at least one sensor comprises at least one short range sensor.
(Item 97)
Receiving short-range data from the at least one short-range sensor in the multipurpose execution system.
To shut down the multipurpose execution system based on at least the received short range data.
96. The method of item 96.
(Item 98)
Receiving user data by the multipurpose execution system
The multipurpose execution system updates the at least one map based on at least the user data.
92. The method of item 92.
(Item 99)
Allowing delivery of at least one of the packages is
Receiving information associated with access to the at least one package by the multipurpose execution system.
When the information is associated with the at least one package, the multipurpose execution system delivers the at least one package.
92. The method of item 92.
(Item 100)
A delivery system for delivering at least one package, said delivery system interacts with a route planning subsystem, at least one sensor, and a physical storage location.
A perceptual subsystem that receives at least one map and destination address from said route planning subsystem.
A sensor interface that receives sensor data from at least one sensor, and
A map cross-checking subsystem that dynamically cross-checks at least one map with the sensor data.
A route planning subsystem that dynamically creates a route for the delivery system to follow, wherein the route is based on at least one dynamically cross-checked map and the destination address. With the system
A route check subsystem that dynamically cross-checks the route based on at least the dynamically created route and the dynamically cross-checked at least one map.
A route-following subsystem that moves the delivery system until the delivery system reaches the destination address, wherein the movement is at least based on the dynamically cross-checked route.
With a package subsystem that allows delivery of at least one package from the physical storage location
A delivery system.
(Item 101)
100. The delivery system of item 100, wherein the perceptual subsystem further comprises a locating process for locating the delivery system.
(Item 102)
The perceptual subsystem is
A detection process that detects at least one object,
A recognition process that recognizes at least one classification of at least one object,
With an estimation process that estimates at least one parameter associated with at least one object
100. The delivery system according to item 100.
(Item 103)
The delivery system of item 100, wherein the perceptual subsystem comprises a propagation subsystem that predicts at least one future location of the unstable object if the at least one object is unstable.
(Item 104)
The delivery system according to item 100, wherein the at least one sensor comprises at least one short range sensor.
(Item 105)
Further comprising a safety subsystem that receives short-range data from the at least one short-range sensor, the safety subsystem shuts down the delivery system based on at least the received short-range data, item 104. The delivery system described in.
(Item 106)
The delivery system of item 100, further comprising a communication interface for receiving user data, wherein the communication interface manages updates to the at least one map based on at least the user data.
(Item 107)
The baggage subsystem comprises a baggage interface subsystem that receives information about access to the at least one baggage, said baggage interface subsystem if the information is appropriately associated with the at least one baggage. The delivery system according to item 100, which delivers at least one package.
(Item 108)
A method for operating a system from at least one first point to at least one second point within at least one delivery area.
Identifying at least one map associated with said at least one delivery area by said system.
To locate the system based on at least the data collected by at least one sensor associated with the at least one delivery area.
The system detects at least one object in the at least one delivery area and
By the system, the at least one object is classified and
Excluding at least one of the at least one object by the system based on the exclusion criteria.
By updating the at least one map by the system,
The system detects at least one operating surface within the at least one delivery area.
By the system, the at least one operating surface is classified and
By the system, the route is formed based on at least one of the updated maps and the at least one operating surface classification.
To locate the system and
By following the at least one route by the system
Including, how.
(Item 109)
Classification of at least one operating surface is
The system divides the at least one driving surface into a plurality of road segments.
The system forms at least one road network of the plurality of road segments integrated end-to-end with a plurality of connected nodes.
By the system, cost is allocated to each of the plurality of road segments, and
By the system, the classification is assigned to the at least one operating surface based on at least the cost.
108. The method of item 108.
(Item 110)
Positioning the system is
To locate the current position of the system on the route map and
Orienting the system based on at least the sensor data
Estimating the motion of the system based on at least the sensor data,
To refine the motion estimation based on at least the sensor data,
Adjusting the current position based at least on the refined motion estimates and the sensor data.
108. The method of item 108.
(Item 111)
110. The method of item 110, comprising orienting the system by the system based on at least the number of preselected degrees of freedom in the orientation data.
(Item 112)
Estimating the movement is
By the system, receiving visual data at a first update rate and a first fidelity,
The system adjusts the current position at a second frequency, at least based on the previously received visual data.
110. The method of item 110.
(Item 113)
Adjusting the current position is
Receiving lidar data at a third frequency by the system and
Using the system to detect surfaces and lines from the lidar data,
Triangulation from the detected surfaces and lines by the system and
The system adjusts the current position based on at least the triangulated surface and lines.
110. The method of item 110.
(Item 114)
Detecting at least one object
Accessing RGB data and depth information from the sensor data by the system
The system creates at least one 2D boundary box around at least one of the at least one object, at least based on the RGB data and depth information.
108. The method of item 108.
(Item 115)
Classification of at least one object is
Extracting features from the at least one object by the system
The system classifies the at least one object based on at least a convolutional neural network.
The system extends the at least one 2D boundary box to at least one frustum and at least one 3D boundary box.
By the system, the limit of the at least one 3D boundary box is detected from the point cloud depth data, and
The system extracts at least one point associated with the at least one object from the at least one 3D boundary box.
The system augments the at least one 3D boundary box associated with the at least one extracted point based on the at least one 2D boundary box.
Estimating the movement rate of the at least one object based on at least the movement and radar data of the at least one 3D boundary box.
To produce a dynamic scene map based on at least one of the updated maps, the movement rate, and at least one of the classified objects.
114. The method of item 114.
(Item 116)
The method of item 108, wherein forming the route map comprises deep reinforcement learning using a guided policy search deep neural network.
(Item 117)
Forming the route map is
The system determines at least one static property of each of the plurality of road segments.
The system determines the dynamic cost across each of the plurality of road segments.
By the system, the dynamic cost is continuously updated based on at least the graph topology.
The system updates at least one metric associated with the dynamic cost.
By the system, the route map is formed based on at least one of the updated metrics and the updated dynamic cost.
109.
(Item 118)
58. The method of item 108, wherein the sensor data comprises at least one of traffic density, pedestrian intersection requirements, traffic signs, sidewalk locations, sidewalk conditions, and non-sidewalk driveable areas.
Claims (74)
（ａ）少なくとも１つの多目的車両によって、複数のシステムコレクタを含む前記多目的ネットワークから、前記少なくとも１つの開始点と少なくとも１つの多目的実行点との間の少なくとも１つの提案される経路を自動的に受信することであって、前記少なくとも１つの提案される経路は、事前に選択されたタイプのルートのセットのうちの少なくとも１つに限定され、前記複数のシステムコレクタは、前記少なくとも１つの多目的車両を含む、ことと、
（ｂ）前記少なくとも１つの多目的車両によって、前記少なくとも１つの提案される経路と関連付けられる履歴データにアクセスすることであって、前記履歴データの少なくとも一部は、前記複数のシステムコレクタのうちの少なくとも１つによって収集される、ことと、
（ｃ）前記少なくとも１つの多目的車両によって、前記提案される経路についてのリアルタイムデータを受信することであって、前記リアルタイムデータは、前記複数のシステムコレクタのうちの少なくとも１つによって収集される、ことと、
（ｄ）前記少なくとも１つの多目的車両によって、前記多目的ネットワークによって更新された前記提案される経路を受信することであって、前記更新は、前記履歴データおよび前記収集されたリアルタイムデータに基づく、ことと、
（ｅ）前記少なくとも１つの多目的車両によって、前記更新された提案される経路をナビゲートすることと、
（ｆ）前記少なくとも１つの多目的車両が前記少なくとも１つの多目的実行点に到達するまで、（ｃ）～（ｅ）を繰り返すことと
を含む、方法。 A method for executing a service by a multipurpose network along a dynamically created route from at least one starting point to at least one execution point.
(A) The at least one multipurpose vehicle automatically receives at least one proposed route between the at least one starting point and the at least one multipurpose execution point from the multipurpose network containing the plurality of system collectors. That is, the at least one proposed route is limited to at least one of a set of preselected types of routes, and the plurality of system collectors will include the at least one multipurpose vehicle. Including, and
(B) Accessing historical data associated with the at least one proposed route by the at least one multipurpose vehicle, wherein at least a portion of the historical data is at least one of the plurality of system collectors. Collected by one, and
(C) Receiving real-time data about the proposed route by the at least one multipurpose vehicle, the real-time data being collected by at least one of the plurality of system collectors. When,
(D) Receiving the proposed route updated by the multipurpose network by the at least one multipurpose vehicle, wherein the update is based on the historical data and the collected real-time data. ,
(E) Navigating the updated proposed route by the at least one multipurpose vehicle.
(F) A method comprising repeating (c)-(e) until the at least one multipurpose vehicle reaches the at least one multipurpose execution point.
（ｇ）前記少なくとも１つの多目的車両によって、前記認証されて注釈が付けられた更新された提案される経路を前記多目的ネットワークに提供することと、
をさらに含む、請求項１に記載の方法。 (F) As the at least one multipurpose vehicle navigates the updated proposed route, the at least one multipurpose vehicle authenticates the updated proposed route and the updated proposed route. Annotate the route and
(G) To provide the multipurpose network with the authenticated, annotated, updated and proposed route by the at least one multipurpose vehicle.
The method according to claim 1, further comprising.
前記少なくとも１つの多目的車両によって、前記少なくとも１つの多目的車両の運転者からの視覚的に収集された情報を受信すること
を含む、請求項１に記載の方法。 The above-mentioned authentication and annotation is
The method of claim 1, wherein the at least one multipurpose vehicle comprises receiving visually collected information from the driver of the at least one multipurpose vehicle.
複数のシステムコレクタであって、前記システムコレクタは、通信ネットワークを形成し、前記システムコレクタは、前記少なくとも１つの開始点と前記少なくとも１つの多目的実行点との間の提案される経路と関連付けられる履歴データにアクセスし、前記複数のシステムコレクタは、少なくとも１つの多目的車両を含み、前記少なくとも１つの多目的車両は、少なくとも１つのセンサと、少なくとも１つの保管コンテナとを含み、前記少なくとも１つの保管コンテナは、前記商品を格納し、前記履歴データは、前記提案される経路に沿って以前に収集された車両データを含み、前記複数のシステムコレクタは、前記少なくとも１つの多目的車両が前記提案される経路をナビゲートする前、および、前記少なくとも１つの多目的車両が前記提案される経路をナビゲートする間、前記提案される経路についてのリアルタイムデータを収集し、前記複数のシステムコレクタのうちの少なくとも１つは、前記車両データと、前記履歴データと、前記リアルタイムデータとに少なくとも基づいて、前記提案される経路を更新する、複数のシステムコレクタと、
前記履歴データと、前記リアルタイムデータと、前記少なくとも１つのセンサとに少なくとも基づいて、前記少なくとも１つの多目的車両が前記少なくとも１つの開始点から前記少なくとも１つの多目的実行点に前記更新された提案される経路をナビゲートするにつれて、前記更新された提案される経路を継続的に更新するプロセッサと
を備える、多目的実行システム。 A multipurpose execution system that delivers goods from at least one starting point to at least one multipurpose execution point.
A history of a plurality of system collectors, wherein the system collector forms a communication network, and the system collector is associated with a proposed route between the at least one starting point and the at least one multipurpose execution point. Accessing the data, said said system collector comprises at least one multipurpose vehicle, said at least one multipurpose vehicle includes at least one sensor and at least one storage container, said at least one storage container. , The historical data includes vehicle data previously collected along the proposed route, and the plurality of system collectors may include the at least one multipurpose vehicle on the proposed route. Before navigating and while the at least one multipurpose vehicle navigates the proposed route, real-time data about the proposed route is collected and at least one of the plurality of system collectors. , A plurality of system collectors that update the proposed route, at least based on the vehicle data, the historical data, and the real-time data.
Based on at least the historical data, the real-time data, and the at least one sensor, the at least one multipurpose vehicle is proposed to be updated from the at least one starting point to the at least one multipurpose execution point. A multipurpose execution system comprising a processor that continuously updates the proposed updated route as it navigates the route.
生命体を感知する少なくとも１つの熱センサと、
移動物体を感知する少なくとも１つのカメラと、
物体の点群表現を提供する少なくとも１つのレーザセンサであって、前記レーザセンサは、障害物までの距離を感知する、少なくとも１つのレーザセンサと、
前記障害物までの距離を感知する少なくとも１つの超音波センサと、
前記障害物の速さと、前記少なくとも１つの多目的車両に近接する天候および交通量とを感知する少なくとも１つのレーダセンサと
を含む、センササブシステムと、
複数の前記少なくとも１つのセンサからのデータを融合させるセンサ融合サブシステムであって、前記センサ融合サブシステムは、前記少なくとも１つの障害物を分類する、センサ融合サブシステムと、
前記少なくとも１つの障害物の将来的位置を予測する挙動モデルサブシステムと
をさらに備える、請求項１２に記載の多目的実行システム。 A sensor subsystem that processes data from at least one sensor, wherein the at least one sensor is.
At least one heat sensor that senses living organisms,
With at least one camera that senses moving objects,
At least one laser sensor that provides a point group representation of an object, wherein the laser sensor includes at least one laser sensor that senses the distance to an obstacle.
At least one ultrasonic sensor that senses the distance to the obstacle,
A sensor subsystem comprising the speed of the obstacle and at least one radar sensor that senses the weather and traffic volume in the vicinity of the at least one multipurpose vehicle.
A sensor fusion subsystem that fuses data from a plurality of the at least one sensor, wherein the sensor fusion subsystem is a sensor fusion subsystem that classifies the at least one obstacle.
The multipurpose execution system according to claim 12 , further comprising a behavior model subsystem that predicts the future position of at least one obstacle.
動的物体を感知する少なくとも１つの熱センサと、
移動物体を感知する少なくとも１つのカメラと、
物体の点群表現を提供する少なくとも１つのレーザセンサであって、前記レーザセンサは、障害物までの距離を感知する、少なくとも１つのレーザセンサと、
前記障害物までの距離を感知する少なくとも１つの超音波センサと、
前記障害物の速さと前記少なくとも１つの多目的車両に近接する天候および交通量とを送信する少なくとも１つのレーダセンサと
のうちの少なくとも２つを含む、センササブシステムと、
複数の前記少なくとも１つのセンサからのデータを融合させるセンサ融合サブシステムであって、前記センサ融合サブシステムは、前記少なくとも１つの障害物を分類する、センサ融合サブシステムと、
前記少なくとも１つの障害物の将来的位置を予測する挙動モデルサブシステムと
をさらに備える、請求項１２に記載の多目的実行システム。 A sensor subsystem that processes data from at least one sensor, wherein the at least one sensor is.
At least one thermal sensor that senses dynamic objects,
With at least one camera that senses moving objects,
At least one laser sensor that provides a point group representation of an object, wherein the laser sensor includes at least one laser sensor that senses the distance to an obstacle.
At least one ultrasonic sensor that senses the distance to the obstacle,
A sensor subsystem comprising at least two of the radar sensors transmitting the speed of the obstacle and the weather and traffic volume in close proximity to the at least one multipurpose vehicle.
A sensor fusion subsystem that fuses data from a plurality of the at least one sensor, wherein the sensor fusion subsystem is a sensor fusion subsystem that classifies the at least one obstacle.
The multipurpose execution system according to claim 12 , further comprising a behavior model subsystem that predicts the future position of at least one obstacle.
前記少なくとも１つの多目的車両の搬入を可能にする少なくとも１つの搬入用昇降特徴と、
前記少なくとも１つの多目的車両の搬出を可能にする少なくとも１つの搬出用昇降特徴と
を備え、
前記少なくとも１つの送達トラックは、前記搬入および前記搬出の間、移動することが可能である、請求項２５に記載の多目的実行システム。 The at least one delivery truck
At least one carry-in elevating feature that enables the carry-in of at least one multipurpose vehicle, and
Equipped with at least one unloading lifting feature that allows the unloading of at least one multipurpose vehicle.
25. The multipurpose execution system of claim 25 , wherein the at least one delivery truck is capable of moving between said loading and unloading.
（ａ）前記少なくとも１つのプロセッサの少なくとも１つの受信側プロセッサによって、前記商業施設と関連付けられる場所から前記消費者場所に前記商品を送達するための要求を前記商業施設から受信することと、
（ｂ）前記少なくとも１つの受信側プロセッサによって、前記少なくとも１つの多目的車両のステータスに少なくとも基づいて、前記少なくとも１つの多目的車両のうちの少なくとも１つの最適多目的車両を選定するための選択基準を判定することと、
（ｃ）前記少なくとも１つの受信側プロセッサによって、前記少なくとも１つの最適多目的車両と関連付けられる少なくとも１つの送達プロセッサに、前記少なくとも１つの最適多目的車両に前記商業施設に向かい前記商品を受領するようにコマンドするように指示することと、
（ｄ）前記商品が前記少なくとも１つの最適多目的車両内に保管されるとき、前記少なくとも１つの送達プロセッサによって、少なくとも１つのセキュリティ手段と前記商品を関連付けることであって、前記少なくとも１つのセキュリティ手段は、前記商品を解放するためにセキュリティ情報を要求する、ことと、
（ｅ）前記少なくとも１つの送達プロセッサによって、前記システムコレクタのネットワークから受信された履歴情報に少なくとも基づいて、前記商業施設と前記消費者場所との間の提案される経路を判定することと、
（ｆ）前記少なくとも１つの送達プロセッサによって、前記システムコレクタのネットワークからリアルタイムで受信された情報に少なくとも基づいて、前記提案される経路を更新することと、
（ｇ）前記少なくとも１つの送達プロセッサによって、前記少なくとも１つの最適多目的車両に、前記更新された提案される経路に沿って進むようにコマンドすることと、
（ｈ）前記少なくとも１つの最適多目的車両が前記消費者場所に到達するまで、（ｆ）および（ｇ）を繰り返すことと、
（ｉ）前記少なくとも１つの送達プロセッサによって、前記セキュリティ情報を照合することと、
（ｊ）前記少なくとも１つの送達プロセッサによって、前記セキュリティ情報が照合される場合、前記消費者場所において前記商品を解放することと
を含む、方法。 A method of using a network of system collectors, wherein the network of system collectors comprises at least one multipurpose vehicle, each of the networks of said system collectors comprises at least one processor, and the network of said system collectors. The method is for moving goods from a commercial facility to a consumer location.
(A) Receiving a request from the commercial facility for delivering the goods from the location associated with the commercial facility to the consumer location by at least one receiving processor of the at least one processor.
(B) The at least one receiving processor determines a selection criterion for selecting at least one optimal multipurpose vehicle among the at least one multipurpose vehicle, at least based on the status of the at least one multipurpose vehicle. That and
(C) The at least one receiving processor commands the at least one delivery processor associated with the at least one optimal multipurpose vehicle to direct the at least one optimal multipurpose vehicle to the commercial facility to receive the goods. Instructing to do and
(D) When the goods are stored in the at least one optimal multipurpose vehicle, the at least one delivery processor associates the goods with at least one security measure, wherein the at least one security means. , Requesting security information to release the goods, and
(E) Determining a proposed route between the commercial facility and the consumer location by the at least one delivery processor based on at least historical information received from the system collector's network.
(F) Updating the proposed route by the at least one delivery processor based on at least the information received in real time from the network of the system collector.
(G) Commanding the at least one optimal multipurpose vehicle by the at least one delivery processor to follow the updated proposed route.
(H) Repeating (f) and (g) until the at least one optimal multipurpose vehicle reaches the consumer location.
(I) Collating the security information with the at least one delivery processor.
(J) A method comprising releasing the goods at the consumer location when the security information is collated by the at least one delivery processor.
少なくとも１つの多目的車両を含むシステムコレクタのネットワークと、
前記システムコレクタの各々と関連付けられる少なくとも１つのプロセッサであって、前記少なくとも１つのプロセッサは、少なくとも１つの受信側プロセッサと、少なくとも１つの送達プロセッサとを含み、前記少なくとも１つの受信側プロセッサは、
少なくとも１つの要求を前記少なくとも１つの第１の場所から受信し、前記商品を前記少なくとも１つの第２の場所に送達することと、
前記少なくとも１つの多目的車両のステータスに少なくとも基づいて、前記少なくとも１つの多目的車両の少なくとも１つの最適多目的車両を選定することと、
前記少なくとも１つの最適多目的車両と関連付けられる少なくとも１つの送達プロセッサに、前記少なくとも１つの最適多目的車両に前記少なくとも１つの第１の場所に向かい前記商品を受領するようにコマンドするように指示することと
を実行し、前記少なくとも１つの送達プロセッサは、
前記商品が前記少なくとも１つの最適多目的車両内に保管されるとき、少なくとも１つのセキュリティ手段と前記商品を関連付けることであって、前記少なくとも１つのセキュリティ手段は、前記商品を解放するためにセキュリティ情報を要求する、ことと、
前記システムコレクタのネットワークから受信された履歴情報に少なくとも基づいて、前記少なくとも１つの第１の場所と前記少なくとも１つの第２の場所との間の提案される経路を判定することと、
前記少なくとも１つの最適多目的車両に、前記少なくとも１つの最適多目的車両が前記少なくとも１つの第２の場所に到達するまで、前記提案される経路に沿って進むようにコマンドすることと、
受信された前記セキュリティ情報を照合することと、
前記少なくとも１つの第２の場所において前記商品を解放することと
を実行する、少なくとも１つのプロセッサと
を備える、多目的実行システム。 A multi-purpose execution system for moving goods from at least one first place to at least one second place.
A network of system collectors, including at least one multipurpose vehicle,
At least one processor associated with each of the system collectors, said at least one processor comprising at least one receiving processor and at least one delivering processor, said at least one receiving processor.
Receiving at least one request from the at least one first location and delivering the goods to the at least one second location.
To select at least one optimal multipurpose vehicle of the at least one multipurpose vehicle based on at least the status of the at least one multipurpose vehicle.
Instructing the at least one delivery processor associated with the at least one optimal multipurpose vehicle to instruct the at least one optimal multipurpose vehicle to go to the at least one first location and receive the goods.
And said at least one delivery processor
When the goods are stored in the at least one optimal multipurpose vehicle, the goods are associated with at least one security measure, the at least one security means providing security information to release the goods. Request, that,
Determining a proposed route between the at least one first location and the at least one second location, based on at least historical information received from the system collector's network.
Commanding the at least one optimal multipurpose vehicle to follow the proposed route until the at least one optimal multipurpose vehicle reaches the at least one second location.
Collating the received security information with
A multi-purpose execution system comprising at least one processor that performs the release of the goods at at least one second location.
（ａ）前記システムコレクタのネットワークからリアルタイムで受信された情報に少なくとも基づいて、前記提案される経路を更新することと、
（ｂ）前記少なくとも１つの最適多目的車両に、前記更新された提案される経路に沿って進むようにコマンドすることと、
（ｃ）前記少なくとも１つの最適多目的車両が前記少なくとも１つの第２の場所に到達するまで、（ａ）および（ｂ）を繰り返すことと
を実行することを含む、請求項３４に記載の多目的実行システム。 The at least one delivery processor
(A) Updating the proposed route based on at least the information received in real time from the system collector's network.
(B) Commanding the at least one optimal multipurpose vehicle to follow the updated proposed route.
(C) The multipurpose execution according to claim 34 , which comprises repeating (a) and (b) until the at least one optimal multipurpose vehicle reaches the at least one second place. System .
（ａ）複数の多目的車両のうちの少なくとも１つによって、通信ネットワークを通して、前記複数の多目的車両のうちの第１の多目的車両を前記複数の多目的車両のうちの第２の多目的車両と結合することと、
（ｂ）前記複数の多目的車両のうちの少なくとも１つによって、前記少なくとも１つの第１の場所から前記複数の多目的車両のうちの少なくとも１つの中に前記商品を受領することと、
（ｃ）前記複数の多目的車両のうちの少なくとも１つによって、前記少なくとも１つの第１の場所と前記少なくとも１つの第２の場所との間の提案される経路を判定することと、
（ｄ）前記複数の多目的車両のうちの少なくとも１つによって、前記複数の多目的車両のうちの前記第１の多目的車両が、前記複数の多目的車両のうちの前記第１の多目的車両が前記少なくとも１つの第２の場所に到達するまで、前記提案される経路に沿って、前記複数の多目的車両のうちの前記第２の多目的車両に追従することを可能にすることと、
（ｈ）前記複数の多目的車両のうちの前記少なくとも１つによって、前記複数の多目的車両のうちの前記第２の多目的車両が、前記商品を前記第２の場所に送達することを可能にすることと
を含む、方法。 A method for delivering goods from at least one first place to at least one second place.
(A) By at least one of the plurality of multipurpose vehicles, the first multipurpose vehicle of the plurality of multipurpose vehicles is combined with the second multipurpose vehicle of the plurality of multipurpose vehicles through a communication network. When,
(B) Receiving the goods from at least one first place into at least one of the plurality of multipurpose vehicles by at least one of the plurality of multipurpose vehicles.
(C) Determining the proposed route between the at least one first location and the at least one second location by at least one of the plurality of multipurpose vehicles.
(D) By at least one of the plurality of multipurpose vehicles, the first multipurpose vehicle of the plurality of multipurpose vehicles and the first multipurpose vehicle of the plurality of multipurpose vehicles are at least one of the plurality of multipurpose vehicles. To be able to follow the second multipurpose vehicle of the plurality of multipurpose vehicles along the proposed route until reaching one second location.
(H) The at least one of the plurality of multipurpose vehicles enables the second multipurpose vehicle of the plurality of multipurpose vehicles to deliver the goods to the second location. And how to do it.
（ｆ）前記複数の多目的車両のうちの少なくとも１つによって、前記複数の多目的車両のうちの前記第１の多目的車両が、前記更新された提案される経路に沿って進むことを可能にすることと、
（ｇ）前記複数の多目的車両のうちの前記第１の多目的車両が前記少なくとも１つの第２の場所に到達するまで、（ｅ）および（ｆ）を繰り返すことと
をさらに含む、請求項３７に記載の方法。 (E) Received in real time by at least one of the plurality of multipurpose vehicles from the first multipurpose vehicle of the plurality of multipurpose vehicles and the second multipurpose vehicle of the plurality of multipurpose vehicles. To update the proposed route, at least based on the information provided,
(F) At least one of the plurality of multipurpose vehicles allows the first multipurpose vehicle of the plurality of multipurpose vehicles to travel along the updated proposed route. When,
(G) The 37th aspect of the present invention further includes repeating (e) and (f) until the first multipurpose vehicle among the plurality of multipurpose vehicles reaches at least one second place. The method of description.
前記少なくとも１つの部材によって、少なくとも１つの静的障害物を含むマップにアクセスすることと、
前記少なくとも１つの部材によって、前記マップを前記提案されるルートで更新し、ルートマップを形成することと、
前記少なくとも１つの部材によって、前記少なくとも１つの静的障害物に少なくとも基づいて、前記提案されるルートを更新することと、
前記少なくとも１つの部材によって、前記多目的実行システムが前記更新された提案されるルートをナビゲートするにつれて、前記更新された提案されるルートと関連付けられるリアルタイムデータを持続的に集めることと、
前記少なくとも１つの部材によって、前記リアルタイムデータに少なくとも基づいて、前記提案されるルートを持続的に更新することと、
変化が存在するとき、前記少なくとも１つの部材によって、前記多目的実行システムが前記更新された提案されるルートをナビゲートするにつれて、前記ルートマップを前記リアルタイムデータおよび前記更新された提案されるルートで持続的に更新することと、
前記少なくとも１つの部材によって、前記更新されたルートマップに少なくとも基づいて、少なくとも１つの動的物体の少なくとも１つの特性を推測することと、
前記少なくとも１つの部材によって、前記更新されたルートマップおよび前記推測される少なくとも１つの特性を前記多目的実行システムに提供することと
を含む、方法。 A method for performing a proposed route for delivering goods from at least one first location to at least one second location by at least one component of a multipurpose execution system.
Accessing a map containing at least one static obstacle by the at least one member and
Using the at least one member to update the map with the proposed route to form a route map.
Updating the proposed route by the at least one member, at least based on the at least one static obstacle.
As the multipurpose execution system navigates the updated proposed route by the at least one member, it continuously collects real-time data associated with the updated proposed route.
With the at least one member, the proposed route is continuously updated based on at least the real-time data.
When changes are present, the route map is sustained with the real-time data and the updated proposed route as the multipurpose execution system navigates the updated proposed route by the at least one member. And to update
Inferring at least one property of at least one dynamic object by the at least one member, at least based on the updated route map.
A method comprising providing the multipurpose execution system with the updated route map and the at least one inferred characteristic by the at least one member.
前記多目的実行システムによって、少なくとも１つのマップおよび目的地住所を前記ルート計画サブシステムから受信することと、
前記多目的実行システムによって、センサデータを前記少なくとも１つのセンサから受信することと、
前記多目的実行システムによって、前記少なくとも１つのマップを前記センサデータで動的にクロスチェックすることと、
前記多目的実行システムによって、前記多目的実行システムが辿るための経路を動的に作成することであって、前記経路は、前記動的にクロスチェックされた少なくとも１つのマップおよび前記目的地住所に少なくとも基づく、ことと、
前記多目的実行システムによって、前記動的に作成された経路および前記動的にクロスチェックされた少なくとも１つのマップに少なくとも基づいて、前記経路を動的にクロスチェックすることと、
前記多目的実行システムが前記目的地住所に到達するまで、前記多目的実行システムを移動させることであって、前記移動は、前記動的にクロスチェックされた経路に少なくとも基づく、ことと、
前記多目的実行システムによって、前記物理的保管場所からの少なくとも１つの荷物の送達を可能にすることと
を含む、方法。 A method for delivering at least one package by means of a multipurpose execution system, wherein the multipurpose execution system interacts with a route planning subsystem, at least one sensor, and a physical storage location.
Receiving at least one map and destination address from the route planning subsystem by the multipurpose execution system.
Receiving sensor data from the at least one sensor by the multipurpose execution system.
The multipurpose execution system dynamically cross-checks the at least one map with the sensor data.
The multipurpose execution system dynamically creates a route for the multipurpose execution system to follow, at least based on the dynamically cross-checked at least one map and the destination address. , That and
Dynamically cross-checking the routes based on at least the dynamically created route and at least one dynamically cross-checked map by the multipurpose execution system.
Moving the multipurpose execution system until the multipurpose execution system reaches the destination address, the movement is at least based on the dynamically cross-checked route.
A method comprising the ability to deliver at least one package from said physical storage location by means of the multipurpose execution system.
前記多目的実行システムによって、前記少なくとも１つの物体の少なくとも１分類を認識することと、
前記多目的実行システムによって、前記少なくとも１つの物体と関連付けられる少なくとも１つのパラメータを推定することと
をさらに含む、請求項６２に記載の方法。 To detect at least one object by the multipurpose execution system,
Recognizing at least one classification of the at least one object by the multipurpose execution system
62. The method of claim 62 , further comprising estimating at least one parameter associated with the at least one object by the multipurpose execution system.
少なくとも１つのマップおよび目的地住所を前記ルート計画サブシステムから受信する知覚サブシステムと、
センサデータを前記少なくとも１つのセンサから受信するセンサインターフェースと、
前記少なくとも１つのマップを前記センサデータで動的にクロスチェックするマップクロスチェックサブシステムと、
前記送達システムが辿るための経路を動的に作成する経路計画サブシステムであって、前記経路は、前記動的にクロスチェックされた少なくとも１つのマップおよび前記目的地住所に少なくとも基づく、経路計画サブシステムと、
前記動的に作成された経路および前記動的にクロスチェックされた少なくとも１つのマップに少なくとも基づいて、前記経路を動的にクロスチェックする経路チェックサブシステムと、
前記送達システムが前記目的地住所に到達するまで前記送達システムを移動させる経路追従サブシステムであって、前記移動は、前記動的にクロスチェックされた経路に少なくとも基づく、経路追従サブシステムと、
前記物理的保管場所からの少なくとも１つの荷物の送達を可能にする荷物サブシステムと
を備える、送達システム。 A delivery system for delivering at least one package, said delivery system interacts with a route planning subsystem, at least one sensor, and a physical storage location.
A perceptual subsystem that receives at least one map and destination address from said route planning subsystem.
A sensor interface that receives sensor data from at least one sensor, and
A map cross-checking subsystem that dynamically cross-checks at least one map with the sensor data.
A route planning subsystem that dynamically creates a route for the delivery system to follow, wherein the route is based on at least one dynamically cross-checked map and the destination address. With the system
A route check subsystem that dynamically cross-checks the route based on at least the dynamically created route and the dynamically cross-checked at least one map.
A route-following subsystem that moves the delivery system until the delivery system reaches the destination address, wherein the movement is at least based on the dynamically cross-checked route.
A delivery system comprising a baggage subsystem that allows delivery of at least one package from said physical storage location.
少なくとも１つの物体を検出する検出プロセスと、
前記少なくとも１つの物体の少なくとも１分類を認識する認識プロセスと、
前記少なくとも１つの物体と関連付けられる少なくとも１つのパラメータを推定する推定プロセスと
を備える、請求項６５に記載の送達システム。 The perceptual subsystem is
A detection process that detects at least one object,
A recognition process that recognizes at least one classification of at least one object,
65. The delivery system of claim 65 , comprising an estimation process that estimates at least one parameter associated with the at least one object.
前記システムによって、前記少なくとも１つの送達エリアと関連付けられる少なくとも１つのマップを識別することと、
前記少なくとも１つの送達エリアと関連付けられる少なくとも１つのセンサによって収集されたデータに少なくとも基づいて、前記システムを位置特定することと、
前記システムによって、前記少なくとも１つの送達エリア内の少なくとも１つの物体を検出することと、
前記システムによって、前記少なくとも１つの物体を分類することと、
前記システムによって、除外基準に基づいて、前記少なくとも１つの物体のうちの少なくとも１つを除外することと、
前記システムによって、前記少なくとも１つのマップを更新することと、
前記システムによって、前記少なくとも１つの送達エリア内の少なくとも１つの運転表面を検出することと、
前記システムによって、前記少なくとも１つの運転表面を分類することと、
前記システムによって、前記更新された少なくとも１つのマップおよび前記少なくとも１つの運転表面分類に少なくとも基づいて、経路を形成することと、
前記システムを位置特定することと、
前記システムによって、前記少なくとも１つの経路を辿ることと
を含む、方法。 A method for operating a system from at least one first point to at least one second point within at least one delivery area.
Identifying at least one map associated with said at least one delivery area by said system.
To locate the system based on at least the data collected by at least one sensor associated with the at least one delivery area.
The system detects at least one object in the at least one delivery area and
By the system, the at least one object is classified and
Excluding at least one of the at least one object by the system based on the exclusion criteria.
By updating the at least one map by the system,
The system detects at least one operating surface within the at least one delivery area.
By the system, the at least one operating surface is classified and
By the system, the route is formed based on at least one of the updated maps and the at least one operating surface classification.
To locate the system and
A method comprising following at least one route by the system.
前記システムによって、前記少なくとも１つの運転表面を複数の道路セグメントに分けることと、
前記システムによって、複数の接続されるノードで端間統合された前記複数の道路セグメントの少なくとも１つの道路ネットワークを形成することと、
前記システムによって、前記複数の道路セグメントの各々にコストを割り当てることと、
前記システムによって、前記コストに少なくとも基づいて、前記少なくとも１つの運転表面分類を更新することと
を含む、請求項６８に記載の方法。 Classification of at least one operating surface is
The system divides the at least one driving surface into a plurality of road segments.
The system forms at least one road network of the plurality of road segments integrated end-to-end with a plurality of connected nodes.
By the system, cost is allocated to each of the plurality of road segments, and
The method of claim 68 , comprising updating said at least one operating surface classification by said system, at least based on said cost.
前記システムによって、前記センサデータからのＲＧＢデータおよび深度情報にアクセスすることと、
前記システムによって、前記ＲＧＢデータおよび深度情報に少なくとも基づいて、前記少なくとも１つの物体のうちの少なくとも１つの周囲に少なくとも１つの２Ｄ境界ボックスを生成することと
を含む、請求項６８に記載の方法。 Detecting at least one object
Accessing RGB data and depth information from the sensor data by the system
28. The method of claim 68 , comprising generating by the system at least one 2D boundary box around at least one of the at least one object, based on at least the RGB data and depth information.
前記システムによって、前記少なくとも１つの物体から特徴を抽出することと、
前記システムによって、畳み込みニューラルネットワークに少なくとも基づいて、前記少なくとも１つの物体を分類することと、
前記システムによって、前記少なくとも１つの２Ｄ境界ボックスを少なくとも１つの錐台および少なくとも１つの３Ｄ境界ボックスに拡張することと、
前記システムによって、前記少なくとも１つの３Ｄ境界ボックスの限界を点群深度データから検出することと、
前記システムによって、前記少なくとも１つの物体と関連付けられる少なくとも１つの点を前記少なくとも１つの３Ｄ境界ボックスから抽出することと、
前記システムによって、前記少なくとも１つの２Ｄ境界ボックスに基づいて、前記抽出された少なくとも１つの点と関連付けられる前記少なくとも１つの３Ｄ境界ボックスを増強させることと、
前記少なくとも１つの３Ｄ境界ボックスの移動およびレーダデータに少なくとも基づいて、前記少なくとも１つの物体の移動レートを推定することと、
前記更新された少なくとも１つのマップ、前記移動レート、および前記分類された少なくとも１つの物体に少なくとも基づいて、動的場面マップを生産することと
を含む、請求項７０に記載の方法。 Classification of at least one object is
Extracting features from the at least one object by the system
The system classifies the at least one object based on at least a convolutional neural network.
The system extends the at least one 2D boundary box to at least one frustum and at least one 3D boundary box.
By the system, the limit of the at least one 3D boundary box is detected from the point cloud depth data, and
The system extracts at least one point associated with the at least one object from the at least one 3D boundary box.
The system augments the at least one 3D boundary box associated with the at least one extracted point based on the at least one 2D boundary box.
Estimating the movement rate of the at least one object based on at least the movement and radar data of the at least one 3D boundary box.
70. The method of claim 70 , comprising producing a dynamic scene map based on at least one updated map, said movement rate, and at least one classified object.
前記システムによって、前記複数の道路セグメントの各々の少なくとも１つの静的性質を判定することと、
前記システムによって、前記複数の道路セグメントの各々を横断する動的コストを判定することと、
前記システムによって、グラフトポロジに少なくとも基づいて、前記動的コストを持続的に更新することと、
前記システムによって、前記動的コストと関連付けられる少なくとも１つのメトリックを更新することと、
前記システムによって、前記更新された少なくとも１つのメトリックおよび前記更新された動的コストに少なくとも基づいて、前記道路ネットワークを形成することと
を含む、請求項６９に記載の方法。 Forming the road network is
The system determines at least one static property of each of the plurality of road segments.
The system determines the dynamic cost across each of the plurality of road segments.
By the system, the dynamic cost is continuously updated based on at least the graph topology.
The system updates at least one metric associated with the dynamic cost.
69. The method of claim 69 , comprising forming the road network by the system based on at least one updated metric and at least the updated dynamic cost.
28. The method of claim 68 , wherein the sensor data comprises at least one of traffic density, pedestrian intersection requirements, traffic signs, sidewalk locations, sidewalk conditions, and non-sidewalk driveable areas.
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2019
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- 2019-06-07 MX MX2020013312A patent/MX2020013312A/en unknown
- 2019-06-07 JP JP2020568274A patent/JP2021527204A/en active Pending
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- 2019-06-07 CA CA3106189A patent/CA3106189A1/en active Pending
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2022
- 2022-05-30 JP JP2022087571A patent/JP2022134135A/en active Pending
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2023
- 2023-06-05 US US18/329,056 patent/US20230315102A1/en active Pending
- 2023-06-21 JP JP2023101623A patent/JP2023115121A/en active Pending
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