Systems and methods for delivering merchandise using autonomous ground vehicles and unmanned aerial vehicles

Abstract

In some embodiments, apparatuses and methods are provided herein useful to delivering merchandise using autonomous ground vehicles (AGVs) in cooperation with unmanned aerial vehicles (UAVs). In some embodiments, the system includes: an AGV having a motorized locomotion system, a storage area to hold merchandise, a sensor to detect obstacles, a transceiver, and a control circuit to operate the AGV; a UAV having a motorized flight system, a gripper mechanism to grab merchandise, a transceiver, an optical sensor to capture images; and a control circuit to operate the UAV. The system also includes a control circuit that instructs movement of the AGV along a delivery route; determines if the AGV has stopped due to an obstacle; and in certain circumstances, instructs the UAV to retrieve merchandise from the AGV, calculate a delivery route for the UAV to the delivery location, and instructs the UAV to deliver the merchandise.

What is claimed is: 
     
         1 . A system for delivery of merchandise using autonomous ground vehicles in cooperation with unmanned aerial vehicles, the system comprising:
 an autonomous ground vehicle (AGV) comprising:
 a motorized locomotion system configured to facilitate movement of the AGV; 
 a storage area configured to hold at least one merchandise item; 
 at least one sensor configured to detect obstacles in a direction of travel of the AGV and to stop the AGV if the at least one sensor detects an obstacle in the direction of travel; 
 a first transceiver configured for wireless communication; 
 a first control circuit operatively coupled to the motorized locomotion system, the at least one sensor, and the first transceiver, the first control circuit configured to operate and move the AGV; 
   an unmanned aerial vehicle (UAV) comprising:
 a motorized flight system configured to facilitate flight of the UAV; 
 a gripper mechanism configured to selectively grasp, hold, and release a merchandise item; 
 a second transceiver configured for wireless communication; 
 an optical sensor configured to capture a plurality of images; 
 a second control circuit operatively coupled to the motorized flight system, the gripper mechanism, the second transceiver, and the optical sensor, the second control circuit configured to operate and fly the UAV; 
   a third control circuit configured to:
 instruct movement of the AGV along a first delivery route from a starting location to a delivery location; 
 determine if the AGV has stopped based on the detection of an obstacle by the at least one sensor; and 
 if the AGV stop satisfies a predetermined condition:
 instruct the UAV to retrieve a merchandise item to be delivered from the storage area of the AGV using the gripper mechanism; 
 calculate a second delivery route for the UAV from the stopped AGV location to the delivery location; and 
 instruct the UAV to deliver the merchandise item to be delivered from the AGV's stopped location to the delivery location using the optical sensor to capture images of the delivery location. 
 
   
     
     
         2 . The system of  claim 1  wherein the third control circuit is configured to:
 calculate a third delivery route to the delivery location from the AGV's stopped location if the AGV encounters an obstacle and the stop does not satisfy the predetermined condition; and 
 instruct the AGV to move along the third delivery route to the delivery location to complete the delivery. 
 
     
     
         3 . The system of  claim 1  wherein:
 the predetermined condition comprises completing the delivery within a predetermined delivery time; 
 the third control circuit is unable to calculate a third delivery route for the AGV in which the delivery is completed within the predetermined delivery time such that the predetermined condition is not satisfied; and 
 the third control circuit instructs the UAV to complete the delivery. 
 
     
     
         4 . The system of  claim 1  wherein the predetermined condition comprises a predetermined maximum wait time interval such that the UAV is instructed to retrieve the merchandise item to be delivered if an obstacle causes the AGV to be stopped for a length of time exceeding the predetermined maximum wait time interval. 
     
     
         5 . The system of  claim 1  further comprising a mounting area on the AGV configured to support a UAV on the AGV and to secure it during movement of the AGV. 
     
     
         6 . The system of  claim 5  wherein the third control circuit is configured to instruct the UAV to return to the mounting area on the AGV following completion of the delivery by the UAV, the UAV using its optical sensor to return to the mounting area. 
     
     
         7 . The system of  claim 1  wherein the third control circuit is physically located at a command and control center remote from the AGV and the UAV, the third control circuit in wireless communication with the first and second control circuits. 
     
     
         8 . The system of  claim 1  wherein the third control circuit defines a unitary control circuit with either the first or second control circuits such that the third control circuit is physically incorporated into either the AGV or UAV. 
     
     
         9 . The system of  claim 1  wherein the at least one sensor comprises at least one of laser, ultrasound, optical, and infrared sensors. 
     
     
         10 . The system of  claim 1  wherein the obstacles in the direction of travel of the AGV comprise at least one of motor vehicles, people, animals, road construction, curbs, and closed gates. 
     
     
         11 . The system of  claim 1  wherein the AGV and UAV each further comprise a GPS tracking device and the third control circuit is configured to track the locations of the AGV and the UAV. 
     
     
         12 . A method for delivery of merchandise using autonomous ground vehicles in cooperation with unmanned aerial vehicles, the system comprising:
 providing an autonomous ground vehicle (AGV) comprising:
 a motorized locomotion system configured to facilitate movement of the AGV; 
 a storage area configured to hold at least one merchandise item; 
 at least one sensor configured to detect obstacles in a direction of travel of the AGV and to stop the AGV if the at least one sensor detects an obstacle in the direction of travel; 
 a first transceiver configured for wireless communication; 
 a first control circuit operatively coupled to the motorized locomotion system, the at least one sensor, and the first transceiver, the first control circuit configured to operate and move the AGV; 
   providing an unmanned aerial vehicle (UAV) comprising:
 a motorized flight system configured to facilitate flight of the UAV; 
 a gripper mechanism configured to selectively grasp, hold, and release a merchandise item; 
 a second transceiver configured for wireless communication; 
 an optical sensor configured to capture a plurality of images; 
 a second control circuit operatively coupled to the motorized flight system, the gripper mechanism, the second transceiver, and the optical sensor, the second control circuit configured to operate and fly the UAV; 
   instructing movement of the AGV along a first delivery route from a starting location to a delivery location;   determining if the AGV has stopped based on the detection of an obstacle by the at least one sensor; and   if the AGV stop satisfies a predetermined condition:
 instructing the UAV to retrieve a merchandise item to be delivered from the storage area of the AGV using the gripper mechanism; 
 calculating a second delivery route for the UAV from the stopped AGV location to the delivery location; and 
 instructing the UAV to deliver the merchandise item to be delivered from the AGV's stopped location to the delivery location using the optical sensor to capture images of the delivery location. 
   
     
     
         13 . The method of  claim 12  further comprising:
 calculating a third delivery route to the delivery location from the AGV's stopped location if the AGV encounters an obstacle and the stop does not satisfy the predetermined condition; and 
 instructing the AGV to move along the third delivery route to the delivery location to complete the delivery. 
 
     
     
         14 . The method of  claim 12  further comprising:
 calculating a third delivery route and delivery time for the AGV from the stopped AGV location to the delivery location if the AGV encounters an obstacle; 
 instructing the AGV to move along the third delivery route if the delivery can be completed within a predetermined delivery time; and 
 instructing the UAV to complete the delivery along the second delivery route if the delivery cannot be completed by the AGV within the predetermined delivery time. 
 
     
     
         15 . The method of  claim 12  further comprising:
 by the AGV, waiting for the obstacle to move out of the direction of travel of the AGV for a predetermined maximum length of time; and 
 instructing the UAV to retrieve the merchandise item to be delivered if the obstacle causes the AGV to be stopped for a length of time exceeding the predetermined maximum wait time interval. 
 
     
     
         16 . The method of  claim 12  further comprising mounting the UAV on the AGV during movement of the AGV to the delivery location. 
     
     
         17 . The method of  claim 16  further comprising, by the UAV, returning to the AGV following completion of the delivery by the UAV. 
     
     
         18 . The method of  claim 12  further comprising using GPS to track the locations of the AGV and the UAV.