Container method and system for automated end-to-end package delivery

Patent metadata

Field	Value
Publication number	US-11981508-B2
Application number	US-202117207369-A
Country	US
Kind code	B2
Filing date	Mar 19, 2021
Priority date	Mar 19, 2021
Publication date	May 14, 2024
Grant date	May 14, 2024

Abstract

Disclosed is an end-to-end delivery system that uses standard containers designed for autonomous vehicle (AV) goods delivery, a purpose-built AV cargo management system, a purpose-built robot to load and unload packages, and software to coordinate the various tasks involved. The standard containers may include a hardware locking interface for locking to a carrying robot. The cargo management system may include a programmable conveyor system installed on each floor of a multi-floor cargo space within the AV. For example, the floor may include a roller surface to allow omnidirectional routing of packages. An elevator shaft may be used for receiving and off-loading containers. The software may identify a target container anywhere within the multi-floor cargo space, and determine how to rearrange the containers within a grid in the AV so that the target container may be moved to the elevator shaft for unloading.

First claim

What is claimed:

1. A modular conveyor system for delivering cargo, the system comprising:
a vehicle comprising:
a multi-floor cargo space, each floor of the multi-floor cargo space comprising a plurality of cells, each cell of the plurality of cells comprising a programmable moveable floor and configured to store a standard container;
an elevator extending across the multi-floor cargo space, the elevator comprising a programmable moveable elevator floor;

a modular robot including a modular platform configured to removeably engage with the programmable moveable elevator floor and to receive the target standard container, wherein the modular robot is releasably coupled to the vehicle in a stowed configuration during travel of the vehicle, wherein the modular robot is configured to transition from the stowed configuration to a deployed configuration in order to receive the target standard container from the programmable moveable elevator floor, and wherein, when the modular robot is in the deployed configuration, the modular platform is disposed parallel to the programmable moveable floor;
a memory that stores computer-executable instructions; and
a processor configured to access the memory and execute the computer-executable instructions to:
identify a target cell of the plurality of cells storing a target standard container within the multi-floor cargo space;
determine a pathway from the target cell to the programmable moveable elevator floor and a moving pattern configured to provide the pathway to the target standard container; and
cause the programmable moveable floors to move according to the moving pattern to move the target standard container to the programmable moveable elevator floor.

2. The system of claim 1 , wherein the programmable moveable floors and the programmable moveable elevator floor each comprise a rotatable conveyor belt.

3. The system of claim 2 , wherein the rotatable conveyor belt is configured to permit longitudinal movement in a first direction, and to rotate about a vertical axis to permit longitudinal movement in a second direction different from the first direction.

4. The system of claim 3 , wherein the second direction is either 90 degrees, 180 degrees, or 270 degrees from the first direction.

5. The system of claim 1 , wherein the elevator is positioned at a rear of the vehicle.

6. The system of claim 1 , wherein the programmable moveable elevator floor is configured to move vertically between each floor of the multi-floor cargo space.

7. The system of claim 1 , wherein each standard container comprises a unique identification code.

8. The system of claim 1 , wherein each standard container comprises a moveable door and a lock configured to be actuated to lock and unlock the moveable door, and wherein the moveable door is configured to lock and be unlocked via actuation from the modular robot.

9. The system of claim 1 , wherein each standard container is identical in size and shape.

10. The system of claim 1 , wherein the modular platform comprises a first locking interface configured to releasably engage with a second locking interface of the target standard container.

11. The system of claim 1 , wherein the modular platform comprises a retractable ramp configured to retract into an interior passage of the modular platform and be disposed substantial parallel to a floor of the modular platform, in a retracted position.

12. The system of claim 1 , wherein the modular platform comprises a plurality of wheels configured to move the modular platform, and wherein, when the modular robot transitions from the stowed configuration to the deployed configuration, the modular platform rotates about an axis.

13. The system of claim 12 , wherein the plurality of wheels are configured to readjust to angle the modular platform relative to a ground, and wherein, when the modular robot transitions from the stowed configuration to the deployed configuration, the modular platform rotates about 90 degrees about the axis.

14. A method comprising:
identifying a target cell of a plurality of cells of a multi-floor cargo space of a vehicle, each cell of the plurality of cells comprising a programmable moveable floor and configured to store a standard container, the target cell storing a target standard container within the multi-floor cargo space;
determining a pathway from the target cell to a programmable moveable elevator floor of an elevator extending across the multi-floor cargo space;
determining a moving pattern configured to provide the pathway to the target standard container;
moving the programmable moveable floors according to the moving pattern to move the target standard container to the programmable moveable elevator floor; and
receiving the target standard container from the programmable moveable elevator floor at a modular robot including a modular platform configured to removeably engage with the programmable moveable elevator floor, wherein the modular robot is releasably coupled to the vehicle in a stowed configuration during travel of the vehicle, and configured to transition from the stowed configuration to a deployed configuration in order to receive the target standard container, and wherein, when the modular robot is in the deployed configuration, the modular platform is disposed parallel to the programmable moveable floor.

15. The method of claim 14 , wherein identifying the target cell comprises identifying the target standard container via an identification code unique to the target standard container.

16. The method of claim 15 , wherein each of the programmable moveable floors comprises a rotatable conveyor belt, and wherein moving the programmable moveable floors comprises moving the rotatable conveyor belt to permit longitudinal movement in a first direction.

17. The method of claim 16 , further comprising rotating the rotatable conveyor belt about a vertical axis to permit longitudinal movement in a second direction, the second direction being either 90 degrees, 180 degrees, or 270 degrees from the first direction.

18. The method of claim 15 , further comprising moving the programmable moveable elevator floor vertically to a floor of the multi-floor cargo space comprising the target cell.

19. The method of claim 15 , further comprising:
engaging a modular platform with the programmable moveable elevator floor;
moving the target standard container from the programmable moveable elevator floor to the modular platform; and
coupling the target standard container to the modular platform.

20. The method of claim 14 , further comprising the steps of:
lowering the modular robot from the programmable moveable elevator floor to a ground;
decoupling the modular robot from the vehicle; and
self-driving the modular robot from the vehicle to a target delivery destination.

Assignees

• Ford Global Tech Llc

Inventors

• Chen Yifan
• Panigrahi Smruti
• Lundeen Kurt
• Horowitz Geoffrey
• Madhavan Pavithra

Classifications

• B65G1/1371 Primary

  with data records · CPC title

• B60P3/007

  for delivery of small articles, e.g. milk, frozen articles · CPC title

• B65G67/04

  Loading land vehicles {(loading or unloading boats to or from land vehicles B60P3/10)} · CPC title

• B65G67/24

  Unloading land vehicles · CPC title

• B60P3/00 Primary

  Vehicles adapted to transport, to carry or to comprise special loads or objects (ambulances or other vehicles with special provisions for transporting patients or disabled persons, or their personal conveyances A61G3/00; hearses A61G21/00; fire-fighting land vehicles A62C27/00; refuse-collecting vehicles B65F3/00, B65F7/00; snow-removing vehicles E01H; armoured or armed vehicles F41H7/00; self-propelled mine-clearing vehicles F41H11/16) · CPC title