Unmanned aircraft systems and methods to interact with specifically intended objects

• US 10,139,817 B2
• Filed: 03/13/2017
• Issued: 11/27/2018
• Est. Priority Date: 03/14/2016
• Status: Active Grant

• Current Assignee: Walmart Apollo, LLC (WalMart Inc.)
• Original Assignee: Walmart Apollo, LLC (WalMart Inc.)
• Inventors: High, Donald R., Taylor, Robert C.
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Li, Ce Li
• Application Number:
  US15/457,638
• Publication Number:
  US 20170261977A1
• Time in Patent Office: 624 Days
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 1/22 Taking-up articles from earth's surface
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 2101/64 for parcel delivery or retrieval
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G06Q 10/00 Administration; Management
• CPC Class Codes: G06V 10/245 by locating a pattern; Special marks for positioning
• CPC Class Codes: G06V 20/00 Scenes; Scene-specific elements control of digital cameras H04N23/60
• CPC Class Codes: G06V 40/172 Classification, e.g. identification

Abstract

In some embodiments, systems, apparatuses, methods, and processes are provided to control and allocate UASs. In some embodiments, a system to control unmanned aircraft systems (UAS), comprises: one or more wireless transceivers configured to communicate with the UAS; a control circuit coupled with the transceiver(s); and a memory coupled to the control circuit and storing computer instructions that when executed by the control circuit cause the control circuit to perform the steps of: receive sensor data captured by at least one sensor of a UAS; determine, from the sensor data, unique identification of an object at a predefined location; and confirm, from the sensor data, that the identified object is an expected object expected at the predefined location.

Claims

1. A system to control unmanned aircraft systems (UAS), comprising:

one or more wireless transceivers;

a control circuit coupled with the transceiver(s); and

a memory coupled to the control circuit and storing computer instructions that when executed by the control circuit cause the control circuit to perform the steps of;

receive, prior to initiating delivery and lowering by the UAS of a package intended to be delivered to the predefined location to be received by a customer associated with the predefined location, sensor data captured by at least one sensor of a UAS comprising image data captured by a camera on the UAS;

determine, from the sensor data, a unique identification of a first delivery pad at the predefined location comprising obtaining from image processing of the image data a first delivery pad identifier that is unique to the first delivery pad associated with the predefined location and distinct from other delivery pads, wherein the first delivery pad is configured to at least receive a package to be delivered by the UAS;

confirm, from the sensor data and prior to initiating the delivery by the UAS of the package intended to be delivered to the predefined location, that the identified first delivery pad is an expected object expected at the predefined location;

receive additional sensor data from the UAS;

detect a second package is located on the first delivery pad;

confirm there is sufficient space on the first delivery pad, not occupied by the second package, to receive the package being carried by the UAS; and

initiate delivery of the package in response to confirming there is sufficient space on the first delivery pad to deliver the package;

wherein the control circuit, in determining the unique identification of the first delivery pad, determines a package identifier from the sensor data of the second package expected to be cooperated with the UAS and to be retrieved by the UAS to be returned to a supplier.

2. The system of claim 1, wherein the control circuit is further configured to obtain dimensions of the package being delivered, detect from image processing measurements on the first delivery pad and detect how much area is blocked by the second package, determine an available delivery area not occupied by the second package, and confirm there is sufficient space on the first delivery pad to receive the package will fit.

3. The system of claim 1, wherein the control circuit is further configured to obtain an identification through facial recognition of the customer positioned proximate the predefined location, and confirm the predefined location based on the identification of both the first delivery pad identifier and the facial recognition of the customer.

4. The system of claim 1, wherein the control circuit is further configured to:

receive a communication from a distribution vehicle wherein the communication comprises an identification of the distribution vehicle, obtain additional image data captured by the camera on the UAS, while the UAS is above a roof of the distribution vehicle, obtain a unique identification of the distribution vehicle at a location from image processing of the additional image data, and confirm that the identification of the distribution vehicle is consistent with an expected distribution vehicle assigned to transport the UAS away from the predefined location.

5. The system of claim 1, wherein the control circuit is further configured to confirm the predefined location based on the identification of both the first delivery pad identifier and the package identifier of the second package.

6. The system of claim 1, wherein the first delivery pad identifier comprises a predefined pattern of colors.

7. The system of claim 1, wherein the control circuit further receives, through the wireless transceiver, a detected communication from a user interface unit associated with the customer who is associated with the predefined location, wherein the control circuit, in confirming the identified first delivery pad is the expected object, confirms the identified first delivery pad based on the received sensor data and the detected communication from the user interface unit.

8. The system of claim 7, wherein the control circuit is further configured to obtain an identification through facial recognition of a customer positioned proximate the predefined location, and confirm the predefined location based on the identification of the first delivery pad identifier, the detected communication from the user interface unit, and the facial recognition of the customer.

9. The method of claim 1, further comprising:

obtaining, by the UAS, dimensions of the package being delivered, detect from image processing measurements on the first delivery pad;

detecting how much area is blocked by the second package;

determining an available delivery area not occupied by the second package, and

confirming there is sufficient space on the first delivery pad to receive the package will fit.

10. A method of controlling unmanned aircraft systems (UAS), comprising:

receiving, prior to initiating delivery and lowering by a UAS of a package intended to be delivered to a predefined location to be received by a customer associated with the predefined location, sensor data captured by at least one sensor of the UAS comprising image data captured by a camera on the UAS;

determining, from the sensor data, a unique identification of a first delivery pad at the predefined location comprising obtaining from image processing of the image data a first delivery pad identifier that is unique to the first delivery pad associated with the predefined location and distinct from other delivery pads, wherein the first delivery pad is configured to at least receive a package to be delivered by the UAS;

confirming, from the sensor data and prior to initiating the delivery by the UAS of the package intended to be delivered to the predefined location, that the identified first delivery pad is an expected object expected at the predefined location;

receiving additional sensor data from the UAS;

detecting a second package is located on the first delivery pad;

confirming there is sufficient space on the first delivery pad, not occupied by the second package, to receive the package being carried by the UAS; and

initiating delivery of the package in response to confirming there is sufficient space on the first delivery pad to deliver the second package;

wherein the determining the unique identification of the first delivery pad comprises determining, from the sensor data, a package identifier of the second package expected to be cooperated with the UAS and to be retrieved by the UAS to be returned to a supplier.

11. The method of claim 10, further comprising:

receiving a detected communication from a user interface unit associated with the customer who is associated with the predefined location; and

wherein the confirming the identified first delivery pad is the expected object comprises confirming the identified first delivery pad based on the received sensor data and the detected communication from the user interface unit.

12. The method of claim 11, further comprising:

obtaining an identification through facial recognition of the customer positioned proximate the predefined location; and

confirming the predefined location based on the identification of the first delivery pad identifier, the detected communication from the user interface unit, and the facial recognition of the customer.

13. The method of claim 10, further comprising:

obtaining an identification through facial recognition of the customer positioned proximate the predefined location, and confirm the predefined location based on the identification of both the first delivery pad identifier and the facial recognition of the customer.

14. The method of claim 10, further comprising:

receiving a communication from a distribution vehicle, wherein the communication from the distribution vehicle comprises an identification of the distribution vehicle;

obtain additional image data captured by the camera on the UAS, while the UAS is above a roof of the distribution vehicle, obtain a unique identification of the distribution vehicle at a location from image processing of the additional image data; and

confirming that the identification of the distribution vehicle is consistent with an expected distribution vehicle assigned to transport the UAS away from the predefined location.

15. The method of claim 10, further comprising:

confirming, by the UAS, the predefined location based on the identification of both the first delivery pad identifier and the package identifier of the second package.

16. The method of claim 10, further comprising identifying that the first delivery pad identifier comprises a predefined pattern of colors.