SYSTEMS AND METHODS FOR DELIVERING PRODUCTS TO MULTIPLE DELIVERY DESTINATIONS VIA AUTONOMOUS TRANSPORT VEHICLES

• US 20190066038A1
• Filed: 08/09/2018
• Published: 02/28/2019
• Est. Priority Date: 08/31/2017
• Status: Active Grant

• Current Assignee: Walmart Apollo, LLC (WalMart Inc.)
• Original Assignee: Walmart Apollo, LLC (WalMart Inc.)
• Inventors: O'Brien, John J.
• Granted Patent: US 10,535,035 B2
• Time in Patent Office: Days
• CPC Class Codes: B65G 1/127 the circuit being confined in a vertical plane
• CPC Class Codes: B65G 2203/0216 Codes or marks on the article
• CPC Class Codes: B65G 67/02 Loading or unloading land vehicles
• CPC Class Codes: B65G 67/04 Loading land vehicles loading or unloading boats to or from land vehicles B60P3/10
• CPC Class Codes: B65G 67/24 Unloading land vehicles
• CPC Class Codes: G01C 21/343 Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips travelling salesman problem G06Q10/04; optimisation of routes G06Q10/047
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0297 by controlling means in a control room
• CPC Class Codes: G06Q 10/0832 Special goods or special handling procedures, e.g. handling of hazardous or fragile goods

Abstract

In some embodiments, methods and systems are provided that provided for delivering products ordered by a customer of a retailer to a delivery destination designated by the ordering customer by way of autonomous transport vehicles configured to identify products to be dropped off at their next delivery destinations and to prepare such products for deployment while the ATVs are still en-route to their next delivery destinations, and to automatically deploy such products upon arrival at such delivery destinations.

Claims

1. A system of facilitating delivery of packages containing products ordered by customers to delivery destinations via autonomous transport vehicles, the system comprising:

at least one autonomous transport vehicle configured to transport at least one package to at least one delivery destination, the autonomous transport vehicle including;

a processor-based control unit;

at least one sensor;

a cargo receptacle configured to retain the at least one package;

a package deployment apparatus in communication with the control unit and configured to move the at least one package within the cargo receptacle and to eject the at least one package from the cargo receptacle;

wherein the control unit is configured to;

obtain a delivery destination of the at least one package in response to scan of the at least one package via the at least one sensor during a loading of the at least one package into the cargo receptacle;

determine a delivery route for the at least one autonomous transport vehicle from a deployment location of the at least one autonomous transport vehicle to the at least one delivery destination;

analyze the determined delivery route of the autonomous transport vehicle from the deployment location to the at least one delivery destination to determine a drop off sequence in which the at least package is to be dropped off at the at least one delivery destination along the determined delivery route;

obtain, via the at least one sensor and during movement by the at least one autonomous transport vehicle along the determined delivery route, a location of the at least one autonomous transport vehicle relative to a location of the at least one delivery destination that is next in the drop off sequence;

activate the package deployment apparatus to move, within the cargo receptacle, the at least one package associated with the at least one delivery destination that is next in the drop off sequence, based on a determination by the control circuit that the autonomous transport vehicle is located within a predefined threshold distance from the at least one delivery destination that is next in the drop off sequence; and

cause the package deployment apparatus to eject, from the cargo receptacle, the at least one package moved within the cargo receptacle by the package deployment apparatus from the cargo receptacle, based on a determination by the control circuit that the at least one autonomous transport vehicle is at the at least one delivery destination that is next in the drop off sequence.

2. The system of claim 1, wherein the at least one sensor comprises an altimeter, a velocimeter, a gyroscope, an accelerometer, a magnetometer, a thermometer, a battery life sensor, a radar, a lidar, a global positioning system (GPS) sensor, a laser range finder, a sonar, a motion-detecting sensor, an object proximity sensor, a radio frequency identification (RFID) sensor, an optical sensor, a barcode sensor, a photo sensor, and a digital camera sensor.

3. The system of claim 1, further comprising a central electronic database configured to store information indicating the at least one delivery destination associated with the at least one package, and wherein the control unit is further configured to:

cause transmission from the at least one autonomous transport vehicle and to the central electronic database, a signal including an identifying characteristic of the at least one package scanned by the at least one sensor;

receive, from the central electronic database, the information indicating the at least one delivery destination associated with the at least one package; and

convert the received information indicating the at least one delivery destination

4. The system of claim 1, further comprising a central electronic database configured to store the predefined threshold distance from the at least one delivery destination that is next in the drop off sequence, and wherein the control unit is further configured to:

cause transmission from the at least one autonomous transport vehicle and to the central electronic database, a signal including an identification of the at least one delivery destination that is next in the drop off sequence of the at least one autonomous transport vehicle; and

receive, from the central electronic database, the predefined threshold distance from the at least one delivery destination that is next in the drop off sequence.

5. The system of claim 1, wherein the control unit is further configured to:

obtain global positioning system (GPS) coordinates of the deployment location of the at least one autonomous transport vehicle tasked with delivering the at least one package to the at least one delivery destination;

obtain global positioning system (GPS) coordinates of the at least one delivery destination associated with the at least one package; and

generate the delivery route based on an analysis, by the control circuit, of the obtained GPS coordinates of the deployment location and the obtained GPS coordinates of the at least one delivery destination.

6. The system of claim 1,

wherein the package deployment apparatus comprises a movable platform configured to support the at least one package thereon and a movable picking arm configured to couple to the at least one package located on the movable platform and to lift the at least one package from the movable platform;

wherein the control unit is configured to transmit a control signal to the package deployment apparatus, the control signal indicating the at least one package located on the movable platform that is associated with the at least one delivery destination that is next in the drop off sequence; and

wherein, in response to the control signal, the movable platform is configured to move such that the at least one package located on the movable platform and associated with the at least one delivery destination that is next in the drop off sequence is positioned in alignment with the movable picking arm.

7. The system of claim 6, wherein the control unit is configured to transmit a control signal to the package deployment apparatus, the control signal configured to cause the movable picking arm to:

move towards the platform;

couple to the at least one package that is positioned in alignment with the movable picking arm during the moving step;

lift the at least one package coupled to by the movable picking arm off the movable platform; and

eject the at least one package lifted by the movable picking arm off the movable platform from the cargo receptacle through an opening of the cargo receptacle onto a package drop off area at the at least one delivery destination that is next in the drop off sequence.

8. The system of claim 1,

wherein the package deployment apparatus comprises a movable support structure including at least one arm configured to couple to and retain the at least one package;

wherein the control circuit is configured to transmit a control signal to the package deployment apparatus, the control signal indicating the at least one package being retained by the at least one arm of the movable support structure that is associated with the at least one delivery destination that is next in the drop off sequence; and

wherein, in response to the control signal, the movable support structure is configured to move such that the at least one package being retained by the at least one arm of the movable support structure that is associated with the at least one delivery destination that is next in the drop off sequence is positioned in alignment with an opening of the cargo receptacle.

9. The system of claim 8,

wherein the control unit is configured to transmit a control signal to the package deployment apparatus, the control signal causing the arm of the movable support structure to one of:

eject the at least one package being retained by the at least one arm of the movable support structure from the cargo receptacle by uncoupling the at least one arm from the at least one package such that the at least one package falls through the opening of the cargo receptacle and onto a package drop off area at the at least one delivery destination that is next in the drop off sequence; and

eject the at least one package being retained by the at least one arm of the movable support structure from the cargo receptacle by lowering the at least one package, while being coupled to by the at least one arm, through the opening of the cargo receptacle and onto a package drop off area at the at least one delivery destination that is next in the drop off sequence.

10. The system of claim 1, wherein the control unit is configured to, in response to a scan, by the at least one sensor, of the at least one package associated with the at least one delivery destination that is next in the drop off sequence and which has been moved by the activated package deployment apparatus, to validate that the at least one package that has been moved by the package deployment apparatus corresponds to the at least one delivery destination that is next in the drop off sequence.

11. A method of facilitating delivery of packages containing products ordered by customers to delivery destinations via autonomous transport vehicles, the method comprising:

providing at least one autonomous transport vehicle configured to transport at least one package to at least one delivery destination, the autonomous transport vehicle including;

a processor-based control unit;

at least one sensor;

a cargo receptacle configured to retain the at least one package;

a package deployment apparatus in communication with the control unit and configured to move the at least one package within the cargo receptacle and to eject the at least one package from the cargo receptacle;

obtaining, via the control unit, a delivery destination of the at least one package by scanning the at least one package via the at least one sensor during a loading of the at least one package into the cargo receptacle;

determining, via the control unit, a delivery route for the at least one autonomous transport vehicle from a deployment location of the at least one autonomous transport vehicle to the at least one delivery destination;

analyzing, via the control unit, the determined delivery route of the autonomous transport vehicle from the deployment location to the at least one delivery destination to determine a drop off sequence in which the at least package is to be dropped off at the at least one delivery destination along the determined delivery route;

obtaining, via the at least one sensor and during movement of the at least one autonomous transport vehicle along the determined delivery route, a location of the at least one autonomous transport vehicle relative to a location of the at least one delivery destination that is next in the drop off sequence;

activating, via the control unit, the package deployment apparatus to move, within the cargo receptacle, the at least one package associated with the at least one delivery destination that is next in the drop off sequence, based on a determination by the control circuit that the autonomous transport vehicle is located within a predefined threshold distance from the at least one delivery destination that is next in the drop off sequence; and

causing, via the control unit, the package deployment apparatus to eject, from the cargo receptacle, the at least one package moved by the package deployment apparatus in the causing step from the cargo receptacle, based on a determination by the control circuit that the at least one autonomous transport vehicle is at the at least one delivery destination that is next in the drop off sequence.

12. The method of claim 11, wherein the at least one sensor comprises an altimeter, a velocimeter, a gyroscope, an accelerometer, a magnetometer, a thermometer, a battery life sensor, a radar, a lidar, a global positioning system (GPS) sensor, a laser range finder, a sonar, a motion-detecting sensor, an object proximity sensor, a radio frequency identification (RFID) sensor, an optical sensor, a barcode sensor, a photo sensor, and a digital camera sensor.

13. The method of claim 11, further comprising providing a central electronic database configured to store information indicating the at least one delivery destination associated with the at least one package, and wherein the obtaining step further comprises:

transmitting, from the at least one autonomous transport vehicle and to the central electronic database, a signal including an identifying characteristic of the at least one package scanned by the at least one sensor;

receiving, at the at least one autonomous transport vehicle and from the central electronic database, the information indicating the at least one delivery destination associated with the at least one package; and

converting, via the control unit, the received information indicating the at least one delivery destination associated with the at least one package to global positioning system (GPS) coordinates.

14. The method of claim 11, further comprising providing a central electronic database configured to store the predefined threshold distance from the at least one delivery destination that is next in the drop off sequence, and wherein the obtaining step further comprises:

transmitting, from the at least one autonomous transport vehicle and to the central electronic database, a signal including an identification of the at least one delivery destination that is next in the drop off sequence of the at least one autonomous transport vehicle; and

receiving, at the at least one autonomous transport vehicle and from the central electronic database, the predefined threshold distance from the at least one delivery destination that is next in the drop off sequence.

15. The method of claim 11, wherein the determining step further comprises:

obtaining global positioning system (GPS) coordinates of the deployment location of the at least one autonomous transport vehicle tasked with delivering the at least one package to the at least one delivery destination;

obtaining global positioning system (GPS) coordinates of the at least one delivery destination associated with the at least one package; and

generating the delivery route based on an analysis, by the control circuit, of the obtained GPS coordinates of the deployment location and the obtained GPS coordinates of the at least one delivery destination.

16. The method of claim 11 wherein the package deployment apparatus comprises a movable platform configured to support the at least one package thereon and a movable picking arm configured to couple to the at least one package located on the movable platform and to lift the at least one package from the movable platform, and wherein the activating step further comprises:

transmitting, via the control unit, a control signal to the package deployment apparatus, the control signal indicating the at least one package located on the movable platform that is associated with the at least one delivery destination that is next in the drop off sequence; and

moving, in response to the control signal, the movable platform such that the at least one package located on the movable platform and associated with the at least one delivery destination that is next in the drop off sequence is positioned in alignment with the movable picking arm.

17. The method of claim 16, wherein the causing step further comprises:

transmitting, via the control unit, a control signal to the package deployment apparatus, the control signal causing the movable picking arm to;

move towards the platform;

couple to the at least one package that is positioned in alignment with the movable picking arm during the moving step;

lift the at least one package coupled to by the movable picking arm off the movable platform; and

eject the at least one package lifted by the movable picking arm off the movable platform from the cargo receptacle through an opening of the cargo receptacle onto a package drop off area at the at least one delivery destination that is next in the drop off sequence.

18. The method of claim 11, wherein the package deployment apparatus comprises a movable support structure including at least one arm configured to couple to and retain the at least one package, and wherein the activating step further comprises:

transmitting, via the control unit, a control signal to the package deployment apparatus, the control signal indicating the at least one package being retained by the at least one arm of the movable support structure that is associated with the at least one delivery destination that is next in the drop off sequence; and

moving, in response to the control signal, the movable support structure such that the at least one package being retained by the at least one arm of the movable support structure that is associated with the at least one delivery destination that is next in the drop off sequence is positioned in alignment with an opening of the cargo receptacle.

19. The method of claim 18, wherein the causing step further comprises:

transmitting, via the control unit, a control signal to the package deployment apparatus, the control signal causing the arm of the movable support structure to one of;

eject the at least one package being retained by the at least one arm of the movable support structure from the cargo receptacle by uncoupling the at least one arm from the at least one package such that the at least one package falls through the opening of the cargo receptacle and onto a package drop off area at the at least one delivery destination that is next in the drop off sequence; and

eject the at least one package being retained by the at least one arm of the movable support structure from the cargo receptacle by lowering the at least one package, while being coupled to by the at least one arm, through the opening of the cargo receptacle and onto a package drop off area at the at least one delivery destination that is next in the drop off sequence.

20. The method of claim 11, wherein the activating step further comprises scanning the at least one package associated with the at least one delivery destination that is next in the drop off sequence and which has been moved by the activated package deployment apparatus, in order to validate that the at least one package that has been moved by the package deployment apparatus corresponds to the at least one delivery destination that is next in the drop off sequence.