Cooperative autonomous aerial and ground vehicles for item delivery

• US 10,514,690 B1
• Filed: 11/15/2016
• Issued: 12/24/2019
• Est. Priority Date: 11/15/2016
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Siegel, Hilliard Bruce, Evans, Ethan Zane
• Primary Examiner(s): Ziaeianmehdizadeh, Navid
• Application Number:
  US15/352,423
• Time in Patent Office: 1,134 Days
• Field of Search: None
• CPC Class Codes: G01C 21/3407 specially adapted for specific applications
• CPC Class Codes: G01C 21/3415 Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
• CPC Class Codes: G01C 21/3423 Multimodal routing, i.e. combining two or more modes of transportation, where the modes can be any of, e.g. driving, walking, cycling, public transport
• 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: G01C 23/00 Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
• CPC Class Codes: G05D 1/0027 involving a plurality of vehicles, e.g. fleet or convoy travelling fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0808 specially adapted for aircraft
• CPC Class Codes: G05D 1/101 specially adapted for aircraft
• CPC Class Codes: G05D 1/102 specially adapted for vertical take-off of aircraft
• CPC Class Codes: G06Q 10/08355 Routing methods

Abstract

The present disclosure is directed toward the use of two or more autonomous vehicles, working in cooperation, to deliver an item between a source location and a destination location. For example, an autonomous ground based vehicle may transport an item from a source location to a transfer location and an autonomous aerial vehicle will transport the item from the transfer location to the destination location. The transfer location may be at any location along a navigation path between the source location and the destination location. In some examples, the transfer location may be adjacent the destination location such that the autonomous aerial vehicle is only transporting the item a short distance.

Claims

1. A system, comprising:

an autonomous ground based vehicle;

a management system, including;

one or more processors;

a memory including program instructions that when executed by the one or more processors cause the one or more processors to at least;

determine a source location of an item and a destination location to which the item is to be delivered; and

send first instructions to the autonomous ground based vehicle instructing the autonomous ground based vehicle to navigate with the item from the source location toward the destination location;

wherein the autonomous ground based vehicle is configured to at least;

in response to the first instructions, navigate toward the destination location;

detect, during navigation, an obstacle that will obstruct passage of the autonomous ground based vehicle;

in response to detection of the obstacle;

determine, with the autonomous ground based vehicle, a transfer location; and

send, from the autonomous ground based vehicle and to an autonomous aerial vehicle, a request that the autonomous aerial vehicle navigate to the transfer location, retrieve the item, and continue transport of the item toward the destination location.

2. The system of claim 1, wherein the autonomous aerial vehicle is configured to at least:

in response to the request, determine that the autonomous aerial vehicle is available based at least in part on a position of the autonomous aerial vehicle, the destination location, the transfer location, or a time at which the autonomous aerial vehicle is to arrive at the transfer location.

3. The system of claim 1, wherein the autonomous aerial vehicle is configured to at least:

in response to the request, determine that the autonomous aerial vehicle is capable based at least in part on a payload capacity of the autonomous aerial vehicle and a power of the autonomous aerial vehicle.

4. The system of claim 1, wherein the autonomous aerial vehicle is configured to at least:

plan a navigation route for the autonomous aerial vehicle between the transfer location and the destination location.

5. The system of claim 4, wherein the destination location is at least one of a rooftop of a building, a balcony, a porch, or a personal residence.

6. The system of claim 1, wherein the program instructions further cause the one or more processors to at least:

receive an order for the item from an electronic commerce website.

7. The system of claim 1, wherein the obstacle is at least one of a step, a curb, a fence, a weather, a traffic, a body of water, a congestion, or a vertical height.

8. The system of claim 1, wherein the autonomous aerial vehicle is configured to at least:

receive the request;

determine that the autonomous aerial vehicle is available and capable of transporting the item; and

send, from the autonomous aerial vehicle, a response to the request that includes one or more acceptance parameters.

9. The system of claim 8, wherein the one or more acceptance parameters indicate at least one of an estimated arrival time of the autonomous aerial vehicle at the transfer location, a remaining power of the autonomous aerial vehicle, or a transport capability of the autonomous aerial vehicle.

10. The system of claim 1, wherein the request indicates at least one of the transfer location, an estimated time of arrival of the autonomous ground based vehicle at the transfer location, the destination location, or an item parameter.

11. A method, comprising:

initiating with a first autonomous vehicle a transport of an item from a source location toward a destination location;

receiving, at the first autonomous vehicle, a plurality of images of an environment;

processing, at the first autonomous vehicle, the plurality of images to determine an obstacle along a navigation path of the first autonomous vehicle;

in response to determining the obstacle, determining, with the first autonomous vehicle, a transfer location;

sending, from the first autonomous vehicle and to a second autonomous vehicle, a request that the second autonomous vehicle navigate to the transfer location, retrieve the item, and continue delivery of the item toward the destination location;

causing, at the transfer location, transfer of the item from the first autonomous vehicle to the second autonomous vehicle; and

transporting the item with the second autonomous vehicle past the obstacle and toward the destination location.

12. The method of claim 11, wherein the first autonomous vehicle is an autonomous ground based vehicle and the second autonomous vehicle is an autonomous aerial vehicle.

13. The method of claim 11, wherein the first autonomous vehicle is an autonomous aerial vehicle and the second autonomous vehicle is an autonomous ground based vehicle.

14. The method of claim 11, further comprising:

transporting the item with the first autonomous vehicle to within a proximity of a destination location; and

wherein the transporting with the third second autonomous vehicle is in a direction that includes a vertical component.

15. The method of claim 11, wherein transporting with the second autonomous vehicle includes transporting the item and the first autonomous vehicle toward the destination location.

16. An autonomous ground based vehicle apparatus, comprising:

one or more processors; and

a memory storing program instructions that when executed by the one or more processors cause the one or more processors to at least;

cause the autonomous ground based vehicle apparatus to transport an item from a source location toward a destination location;

detect, during transport of the item, an obstacle that will obstruct passage of the autonomous ground based vehicle apparatus;

in response to detection of the obstacle;

determine a transfer location;

send a request that an autonomous aerial vehicle of a plurality of autonomous aerial vehicles navigate to the transfer location and continue delivery of the item toward the destination location;

cause the autonomous ground based vehicle apparatus to navigate to the transfer location; and

enable transfer of the item from the autonomous ground based vehicle apparatus to the autonomous aerial vehicle.

17. The autonomous ground based vehicle apparatus of claim 16, wherein the program instructions when executed by the one or more processors further cause the one or more processors to at least:

receive from each of the plurality of autonomous aerial vehicles, acceptance parameters; and

in response to the receipt of the acceptance parameters from each of the plurality of autonomous aerial vehicles, select the autonomous aerial vehicle for transport of the item from the transfer location.

18. The autonomous ground based vehicle apparatus of claim 17, wherein the acceptance parameters include one or more of an estimated arrival time of the autonomous aerial vehicle at the transfer location, a remaining power of the autonomous aerial vehicle, or a transport capability of the autonomous aerial vehicle.