SYSTEM AND METHOD FOR DETECTING HUMANS BY AN UNMANNED AUTONOMOUS VEHICLE

• US 20180144645A1
• Filed: 11/17/2017
• Published: 05/24/2018
• Est. Priority Date: 11/21/2016
• Status: Abandoned Application

• Current Assignee: Walmart Apollo, LLC (WalMart Inc.)
• Original Assignee: Wal-Mart Stores Texas LLC (WalMart Inc.)
• Inventors: Fenton, Timothy M., High, Donald R., Antel, Nicholas Ray
• Application Number:
  US15/815,936
• Publication Number:
  US 20180144645A1
• Time in Patent Office: Days
• 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: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: G05D 1/0055 with safety arrangements
• CPC Class Codes: G05D 1/0676 specially adapted for landing
• CPC Class Codes: G06F 18/251 of input or preprocessed data
• CPC Class Codes: G06F 18/256 of results relating to different input data, e.g. multimodal recognition
• CPC Class Codes: G06Q 10/083 Shipping
• CPC Class Codes: G06V 10/143 Sensing or illuminating at different wavelengths
• CPC Class Codes: G06V 10/803 of input or preprocessed data
• CPC Class Codes: G06V 10/811 the classifiers operating on different input data, e.g. multi-modal recognition
• CPC Class Codes: G06V 20/13 Satellite images
• CPC Class Codes: G06V 20/17 taken from planes or by drones
• CPC Class Codes: G06V 40/103 Static body considered as a whole, e.g. static pedestrian or occupant recognition
• CPC Class Codes: G08G 5/0021 located in the aircraft
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933
• CPC Class Codes: H04B 7/18506 Communications with or from aircraft, i.e. aeronautical mobile service

Abstract

An unmanned vehicle is configured to deliver packages or other payloads includes a first sensor, a second sensor, a third sensor, and a control circuit. The first sensor is configured to sense infrared energy, and the second sensor is configured to sense visible light viewable by a human observer. The third sensor is configured to sense radio frequency (RF) energy from a mobile wireless device. The control circuit is coupled to the first sensor, the second sensor, and the third sensor, and is configured to determine the presence of a human associated with the mobile wireless device using the sensed infrared energy, the sensed visible light, and the sensed RF energy.

Claims

1. An unmanned vehicle that is configured to deliver packages along a package delivery route to customers, comprising:

a package that is to be delivered along a package delivery route;

an engine and a propulsion apparatus that are configured to move and direct the unmanned vehicle along the delivery route;

a first sensor, the first sensor configured to sense infrared energy;

a second sensor, the second sensor being configured to sense visible light viewable by a human observer;

a third sensor, the third sensor configured to sense radio frequency (RF) energy from a mobile wireless device;

a control circuit coupled to the propulsion apparatus, the first sensor, the second sensor, and the third sensor, the control circuit being configured to determine the presence and location of a human associated with the mobile wireless device using the sensed infrared energy, the sensed visible light, and the sensed RF energy, and the control circuit being configured to control and direct the propulsion apparatus to navigate the unmanned vehicle so as to avoid colliding with the detected human.

2. The unmanned vehicle of claim 1, wherein the control circuit is configured to produce a composite image by fusing together the sensed infrared energy and the sensed visible light energy, and analyze the composite image for the presence of a human form and analyze the sensed RF energy for the presence of uplink energy produced by the mobile wireless device,

3. The unmanned vehicle of claim 2, wherein the control circuit is configured to correlate the uplink energy with the human form to determine the presence of the human associated with the mobile wireless device carried by the human form.

4. The unmanned vehicle of claim 2, wherein the control circuit is configured to determine a line of bearing to the mobile wireless device.

5. The unmanned vehicle of claim 2, wherein the composite image presents temperature properties that are associated with humans.

6. The unmanned vehicle of claim 1, wherein the control circuit is configured to create electronic control signals that are effective to maneuver the unmanned vehicle so as to avoid a collision with the human.

7. The unmanned vehicle of claim 1, wherein the unmanned vehicle is an unmanned aerial drone.

8. The unmanned vehicle of claim 1, wherein the control circuit is configured to determine a distance to the human.

9. The unmanned vehicle of claim 1, wherein the control circuit forms electronic control signals that are effective to control the operation of the unmanned vehicle so as to maintain a predetermined distance between the human and the unmanned vehicle.

10. The unmanned vehicle of claim 9, wherein the control circuit determines the received signal strengths of RF signals received from the mobile wireless device and the received signal strengths are used to form the electronic control signals.

11. An apparatus that is configured to determine the presence of a human, the apparatus comprising:

a first sensor, the first sensor configured to sense infrared energy;

a second sensor, the second sensor being configured to sense visible light viewable by a human observer;

a third sensor, the third sensor configured to sense radio frequency (RF) energy from a mobile wireless device;

a control circuit coupled to the first sensor, the second sensor, and the third sensor, the control circuit configured to determine the presence and position of a human associated with the mobile wireless device using the sensed infrared energy, the sensed visible light, and the sensed RF energy.

12. The apparatus of claim 11, wherein the apparatus is disposed at a stationary location.

13. The apparatus of claim 11, wherein the apparatus is disposed at a moving device.

14. The apparatus of claim 11, wherein the control circuit is configured to produce a composite image by fusing together the sensed infrared energy and the sensed visible light energy, and analyze the composite image for the presence of a human form and analyze the sensed RF energy for the presence of uplink energy produced by the mobile wireless device.

15. The apparatus of claim 14, wherein the control circuit is configured to correlate the uplink energy with the human form to determine the presence of the human associated with the mobile wireless device carried by the human form.

16. The apparatus of claim 14, wherein the control circuit is configured to determine a line of bearing to the mobile wireless device.

17. A method of using an unmanned vehicle to deliver packages in a package delivery route and avoid collisions with humans while proceeding along the route, comprising:

sensing infrared energy at a first sensor deployed at the unmanned vehicle;

sensing visible light at a second sensor deployed at the unmanned vehicle;

sensing radio frequency (RF) energy at a third sensor deployed at the unmanned vehicle, the sensed RF energy originating from a mobile wireless device;

determining the presence of a human associated with the mobile wireless device using the sensed infrared energy, the sensed visible light, and the sensed RF energy.

18. The method of claim 17, wherein determining the presence of a human comprises producing a composite image by fusing the sensed infrared energy and the sensed visible light energy, analyzing the composite image for the presence of a human form, and analyzing the sensed RF energy for the presence of uplink energy produced by a mobile wireless device.

19. The method of claim 18, further comprising correlating the uplink energy with the human form to determine the presence of a human associated with the mobile wireless device.

20. The method of claim 18, where the correlating comprises determining a line of bearing to the mobile wireless device.