Autonomous transport navigation to a shipping location using elements of a wireless node network

Patent metadata

Field	Value
Publication number	US-9949228-B2
Application number	US-201615207545-A
Country	US
Kind code	B2
Filing date	Jul 12, 2016
Priority date	Nov 29, 2013
Publication date	Apr 17, 2018
Grant date	Apr 17, 2018

Abstract

Methods, media, and node-enabled autonomous transport vehicles are described for navigating to a shipping location using a plurality of nodes in a wireless node network. A node associated with the autonomous transport vehicle, such as a mobile master node, detects a signal broadcast from an ID node associated with the shipping location, and instructs the ID node to lower a power level of the broadcast signal. The mobile master node identifies the signal broadcast from the ID node with the lowered power level, and determines a direction of the ID node relative to the mobile master node based upon the detected signal with the lowered power level. The mobile master node then navigates to the ID node associated with the shipping location based upon the determined direction, which may involve providing the determined direction to an input for the vehicle's control system.

First claim

What is claimed is:

1. A method for navigating to a shipping location by an autonomous transport vehicle using a plurality of nodes in a wireless node network, comprising:
detecting, by a mobile master node associated with the autonomous transport vehicle, a signal broadcast from an ID node associated with the shipping location, wherein the mobile master node is one of the plurality of nodes and is operative to communicate directly with a server in the wireless node network over a first communication path, and wherein the ID node is another of the plurality of nodes and is operative to communicate directly with the mobile master node over a second communication path but not operative to communicate directly with the server over the first communication path;
instructing, by the mobile master node, the ID node to lower a power level of the signal broadcast from the ID node;
identifying, by the mobile master node, the signal broadcast from the ID node with the lowered power level;
determining, by the mobile master node, a direction of the ID node relative to the mobile master node based upon the detected signal with the lowered power level; and
navigating, by the mobile master node, to the ID node associated with the shipping location based upon the determined direction.

2. The method of claim 1 , wherein the step of navigating further comprises navigating, by the mobile master node, to the ID node as the power level of the signal is incrementally decreased over time as the mobile master node approaches the ID node.

3. The method of claim 1 further comprising receiving, by the mobile master node from the server, an identification of the ID node.

4. The method of claim 3 , wherein the detecting step further comprises detecting the identification of the ID node from the signal broadcast from the ID node.

5. The method of claim 1 , wherein the shipping location comprises one from a group consisting of a delivery point, a drop-off point, and a pickup point.

6. The method of claim 1 , wherein the mobile master node is associated with a control system of an autonomous vehicle transport; and wherein the step of navigating further comprises providing, by the mobile master node, the determined direction to an input of the control system.

7. The method of claim 6 further comprising the step of causing, by the mobile master node, the autonomous vehicle transport to stop moving when a current location of the mobile master node is within a predetermined range of the ID node.

8. The method of claim 6 , wherein the step of navigating further comprises:
accessing context data that relates to an operating environment of the ID node; and
navigating, by the mobile master node, to the ID node with reference to the accessed context data as the power level of the signal is incrementally decreased over time and as the mobile master node approaches the ID node.

9. The method of claim 6 , wherein the step of navigating further comprises:
accessing context data that relates to an anticipated operating environment of the ID node;
gathering proximity sensor data from at least one sensor deployed on the autonomous vehicle transport; and
navigating, by the mobile master node, to the ID node with reference to the accessed context data and the proximity sensor data as the power level of the signal is incrementally decreased over time and as the mobile master node approaches the ID node.

10. The method of claim 9 , wherein the operating environment of the ID node is within a package sorting facility.

11. The method of claim 1 further comprising transmitting, by the mobile master node to the server, an updated location of the mobile master node as the mobile master node approaches the ID node.

12. The method of claim 11 , wherein the updated location of the mobile master node is determined using location circuitry on the mobile master node.

13. The method of claim 11 , wherein the mobile master node is associated with a control system of an autonomous vehicle transport; and wherein the updated location of the mobile master node is determined based at least in part upon a determined position from an inertial navigation unit deployed on the autonomous vehicle transport.

14. The method of claim 11 , wherein the updated location of the mobile master node is determined based upon an onboard location provided by location circuitry on the mobile master node when available and, when the onboard location is not available, the updated location of the mobile master node is determined based at least in part upon a determined position from an inertial navigation unit deployed on the autonomous vehicle transport.

15. The method of claim 1 , wherein the shipping location comprises a waypoint in an anticipated route.

16. The method of claim 1 , wherein the shipping location comprises a first waypoint of a plurality of waypoints on an anticipated route as the mobile master node approaches a transit destination for a package transaction, wherein each of the plurality of waypoints is associated with a different ID node.

17. A method for navigating to a shipping location by an autonomous transport vehicle using a plurality of nodes in a wireless node network, comprising:
detecting, by a node associated with the autonomous transport vehicle, a signal broadcast from an ID node associated with the shipping location;
instructing, by the node associated with the autonomous transport vehicle, the ID node to lower a power level of the signal broadcast from the ID node;
identifying, by the node associated with the autonomous transport vehicle, the signal broadcast from the ID node with the lowered power level;
determining, by the node associated with the autonomous transport vehicle, a direction of the ID node relative to the mobile master node based upon the detected signal with the lowered power level; and
navigating, by the node associated with the autonomous transport vehicle, to the ID node associated with the shipping location based upon the determined direction.

18. The method of claim 17 , wherein the node associated with the autonomous transport vehicle is at least one of a master node and another ID node, wherein the master node is operative to communicate directly with a server in the wireless node network over a first communication path, and wherein the another ID node is operative to communicate with other nodes in the wireless node network but unable to directly communicate with the server.

19. The method of claim 17 , wherein the node associated with the autonomous transport vehicle comprises a master node temporarily operating as an ID node.

20. A non-transitory computer-readable medium containing instructions which when executed on a processor performs a method for navigating to a shipping location by an autonomous transport vehicle using a plurality of nodes in a wireless node network, the method comprising:
detecting, by a mobile master node associated with the autonomous transport vehicle, a signal broadcast from an ID node associated with the shipping location, wherein the mobile master node is one of the plurality of nodes and is operative to communicate directly with a server in the wireless node network over a first communication path, and wherein the ID node associated with the shipping location is another of the plurality of nodes and is operative to communicate directly with the mobile master node over a second communication path but not operative to communicate directly with the server over the first communication path;
instructing, by the mo

Assignees

• Fedex Corp Services Inc
• Fedex Corp Services Inc

Inventors

• Skaaksrud Ole-Petter

Classifications

• G01S2205/01

  specially adapted for specific applications · CPC title

• H04W12/06

  Authentication · CPC title

• H04W12/08

  Access security · CPC title

• G01S5/0289

  of multiple transceivers, e.g. in ad hoc networks · CPC title

• G01S5/14

  Determining absolute distances from a plurality of spaced points of known location · CPC title