公开(公告)号：US11491643B2

公开(公告)日：2022-11-08

申请号：US16351587

申请日：2019-03-13

Applicant: FEDEX CORPORATE SERVICES, INC.

Inventor： Ole-Petter Skaaksrud ,  Frank Mayfield ,  Daniel Gates

IPC: B25J9/08 ,  G06Q10/08 ,  B25J5/00 ,  B25J19/02 ,  G05D1/02 ,  G08G1/00 ,  G05D1/00 ,  B60Q5/00 ,  B60W10/04 ,  B60W10/20 ,  B60W30/09 ,  H04B1/3822 ,  B25J9/16 ,  B65G1/137 ,  G06F21/32 ,  G06Q30/06 ,  B60P3/00 ,  B65G67/24 ,  H02J9/00 ,  B65D88/52 ,  B65D90/02 ,  B65D90/08 ,  B65D90/18 ,  B60G17/015 ,  G01C21/34 ,  H04W52/32 ,  B60C5/00 ,  G07C9/37 ,  G07C9/00 ,  G07C9/27 ,  G06Q50/28 ,  H04W84/20

Abstract: Methods are described that perform a dispatched consumer-to-store return or swap logistics operation for an item being replaced using a modular autonomous bot apparatus assembly and a dispatch server. The method begins with receiving a return operation dispatch command that includes identifier information, transport parameters, and designated pickup information for the item being replaced/returned, along with authentication information related to an authorized supplier of the item being replaced. Modular components of the bot apparatus are verified to be compatible with the dispatched logistics operation. The MAM then autonomously causes the bot apparatus to move to the designated pickup location, notifies the authorized supplier of an approaching pickup, receives supplier authorization input to permissively allow access to a payload area within the bot apparatus, monitors loading as the item being replaced is received along with return documentation, and then autonomously causes movement of the bot apparatus back to the origin location.

公开(公告)号：US11491641B2

公开(公告)日：2022-11-08

申请号：US16351573

申请日：2019-03-13

Applicant: FEDEX CORPORATE SERVICES, INC.

Inventor： Ole-Petter Skaaksrud ,  Frank Mayfield ,  Daniel Gates

IPC: B25J9/08 ,  G06Q10/08 ,  B25J5/00 ,  B25J19/02 ,  G05D1/02 ,  G08G1/00 ,  G05D1/00 ,  B60Q5/00 ,  B60W10/04 ,  B60W10/20 ,  B60W30/09 ,  H04B1/3822 ,  B25J9/16 ,  B65G1/137 ,  G06F21/32 ,  G06Q30/06 ,  B60P3/00 ,  B65G67/24 ,  H02J9/00 ,  B65D88/52 ,  B65D90/02 ,  B65D90/08 ,  B65D90/18 ,  B60G17/015 ,  G01C21/34 ,  H04W52/32 ,  B60C5/00 ,  G07C9/37 ,  G07C9/00 ,  G07C9/27 ,  G06Q50/28 ,  H04W84/20

Abstract: Methods are described that perform a dispatched inventory operation related to an inventory item within a modular autonomous bot apparatus assembly and a dispatch server. modular mobile autonomy control module (MAM) receives an inventory dispatch command from the dispatch server and a modular cargo storage system (CSS) receives the inventory item at an inventory hub location. The MAM autonomously causes the assembly to then move to a remote business facility as a destination location, receive authentication input from an authorized delivery recipient, coordinates with the CSS to provide selective access to the inventory item, detects when the inventory item has been removed from within the CSS, and autonomously causes the assembly to move on a return route back to the inventory hub location after removal of the inventory item.

公开(公告)号：US20210354287A1

公开(公告)日：2021-11-18

申请号：US17332397

申请日：2021-05-27

Applicant: FEDEX CORPORATE SERVICES, INC.

Inventor： Ole-Petter Skaaksrud ,  Frank Mayfield ,  Daniel Gates

IPC: B25J9/08 ,  G06Q10/08 ,  B25J5/00 ,  B25J19/02 ,  G05D1/02 ,  G08G1/00 ,  G05D1/00 ,  B60Q5/00 ,  B60W10/04 ,  B60W10/20 ,  B60W30/09 ,  H04B1/3822 ,  B25J9/16 ,  B65G1/137 ,  G06F21/32 ,  G06Q30/06 ,  B60P3/00 ,  B65G67/24 ,  H02J9/00 ,  B65D88/52 ,  B65D90/02 ,  B65D90/08 ,  B65D90/18 ,  B60G17/015 ,  G01C21/34 ,  H04W52/32 ,  B60C5/00

Abstract: A modular multiple mobility base assembly apparatus is described for transporting an item being shipped having a base adapter plate and two cooperating and coordinating modular mobility bases that are each coupled to the bottom of the base adapter plate and collectively support the base adapter plate. One of the modular mobility bases operations a master autonomous mobile vehicle, while the other operates as a slave autonomous mobile vehicle that receives propulsion and steering control signals from the master while providing feedback sensor data to the master for use in coordinated and cooperative movement of the assembly apparatus. Each of the modular mobility bases also including respective wireless transceivers through which at least the control signals and sensor data are provided between mobility base units.

公开(公告)号：US20210299858A1

公开(公告)日：2021-09-30

申请号：US17232273

申请日：2021-04-16

Applicant: FEDEX CORPORATE SERVICES, INC.

Inventor： Ole-Petter Skaaksrud ,  Frank Mayfield ,  Daniel Gates

IPC: B25J9/08 ,  G06Q10/08 ,  B25J5/00 ,  B25J19/02 ,  G05D1/02 ,  G08G1/00 ,  G05D1/00 ,  B60Q5/00 ,  B60W10/04 ,  B60W10/20 ,  B60W30/09 ,  H04B1/3822 ,  B25J9/16 ,  B65G1/137 ,  G06F21/32 ,  G06Q30/06 ,  B60P3/00 ,  B65G67/24 ,  H02J9/00 ,  B65D88/52 ,  B65D90/02 ,  B65D90/08 ,  B65D90/18 ,  B60G17/015 ,  G01C21/34 ,  H04W52/32

Abstract: A modular auxiliary power module is described for a modular autonomous bot apparatus that transports an item being shipped. The modular auxiliary power module includes a base adapter platform, a cargo door, an auxiliary power source, and an output power outlet disposed on the base adapter platform as part of a modular component electronics interface. A top side of the base adapter platform has a cargo support area configured to support the item being shipped. Interlocking alignment interfaces (such as channels or latches) are on the top and bottom of the platform. The cargo door is movably attached to and extending from an edge of the base adapter platform, and the output power outlet is coupled to the auxiliary power source and provides access to power for other components of the modular autonomous bot apparatus from the auxiliary power source.

公开(公告)号：US11077551B2

公开(公告)日：2021-08-03

申请号：US16351566

申请日：2019-03-13

Applicant: FEDEX CORPORATE SERVICES, INC.

Inventor： Ole-Petter Skaaksrud ,  Frank Mayfield ,  Daniel Gates

IPC: B25J9/08 ,  G06Q10/08 ,  B25J5/00 ,  B25J19/02 ,  G05D1/02 ,  G08G1/00 ,  G05D1/00 ,  B60C5/00 ,  B60W10/04 ,  B60W10/20 ,  B60W30/09 ,  H04B1/3822 ,  B25J9/16 ,  B65G1/137 ,  G06F21/32 ,  G06Q30/06 ,  B60P3/00 ,  B65G67/24 ,  H02J9/00 ,  B65D88/52 ,  B65D90/02 ,  B65D90/08 ,  B65D90/18 ,  B60G17/015 ,  G01C21/34 ,  H04W52/32 ,  G06Q50/28 ,  H04W84/20

Abstract: A modular mobility base for a modular autonomous bot apparatus transporting an item being shipped including a mobile base platform, a component alignment interface, a mobility controller, a propulsion and steering system, and sensors. The component alignment interface provides an alignment channel into which another modular component can be placed and secured on the platform. The mobility controller generates propulsion control signals for controlling speed of the modular mobility base and steering control signals for navigation of the modular mobility base. The propulsion system is connected to the platform and responsive to the propulsion control signal. The steering system is connected to the mobile base platform and is responsive to the steering control signal to cause changes to directional movement of the modular mobility base. The sensors are disposed on the platform provide feedback sensor data to the mobility controller about a condition of the modular mobility base.

公开(公告)号：US20190287059A1

公开(公告)日：2019-09-19

申请号：US16351598

申请日：2019-03-13

Applicant: FEDEX CORPORATE SERVICES, INC.

Inventor： Ole-Petter Skaaksrud ,  Frank Mayfield ,  Daniel Gates

IPC: G06Q10/08 ,  G08G1/00 ,  B25J5/00 ,  B25J9/08

Abstract: Methods perform one or more dispatched medical logistics operations using a modular autonomous bot apparatus assembly and a dispatch server where the operations are related to a diagnosis kit for treating a patient. The MAM of the bot receives a dispatch command, verifies compatibility of the bot assembly with the dispatched operation(s), receives a diagnosis kit in the CSS, has the MAM autonomously causing the MB to move to a destination location while notifying the authorized delivery recipient for the diagnosis kit of the approaching delivery. With appropriate authentication input received, the MAM coordinates with the CSS to provide access to the kit, monitor unloading of the kit, provide instructional information on use of the kit, and autonomously cause the MB to return to the original location with a return item related to the diagnosis kit with notification to personnel at the medical entity about the return item.

公开(公告)号：US20190287046A1

公开(公告)日：2019-09-19

申请号：US16351579

申请日：2019-03-13

Applicant: FEDEX CORPORATE SERVICES, INC.

Inventor： Ole-Petter Skaaksrud ,  Frank Mayfield ,  Daniel Gates

IPC: G06Q10/08 ,  G05D1/02 ,  G08G1/00 ,  B25J9/08

Abstract: Methods are described that perform dispatched store-to-consumer logistics operations for an ordered item using a modular autonomous bot apparatus assembly and a dispatch server. A dispatch command is received from the dispatch server. The different modular components of the bot assembly are verified to be compatible with the dispatched operation and the ordered item is received in a payload area of a modular cargo storage system. The bot assembly autonomously moves from an origin location to a destination location and notifies the delivery recipient of the approach delivery. When delivery recipient authentication input is received that correlates to the authentication information, selective access is provided to the ordered item within the cargo storage system at the destination location. The bot apparatus monitors unloading, and autonomously moves back to the origin location after the ordered item is detected as removed from the cargo storage system.

公开(公告)号：US11842590B2

公开(公告)日：2023-12-12

申请号：US17402727

申请日：2021-08-16

Applicant: FEDEX CORPORATE SERVICES, INC.

Inventor： Ole-Petter Skaaksrud ,  Frank Mayfield ,  Daniel Gates

IPC: B25J5/00 ,  G07C9/27 ,  B25J9/08 ,  G06Q10/083 ,  B25J19/02 ,  G05D1/02 ,  G08G1/00 ,  G05D1/00 ,  B60Q5/00 ,  B60W10/04 ,  B60W10/20 ,  B60W30/09 ,  G06Q10/0833 ,  H04B1/3822 ,  G06Q10/0836 ,  B25J9/16 ,  B65G1/137 ,  G06F21/32 ,  G06Q10/0875 ,  G06Q30/0601 ,  B60P3/00 ,  B65G67/24 ,  H02J9/00 ,  B65D88/52 ,  B65D90/02 ,  B65D90/08 ,  B65D90/18 ,  G06Q10/0837 ,  B60G17/015 ,  G06Q10/0832 ,  G01C21/34 ,  H04W52/32 ,  B60C5/00 ,  G07C9/37 ,  G07C9/00 ,  G06Q50/28 ,  H04W84/20

CPC classification number: G07C9/27 ,  B25J5/007 ,  B25J9/08 ,  B25J9/162 ,  B25J9/163 ,  B25J9/1666 ,  B25J9/1679 ,  B25J19/02 ,  B60C5/005 ,  B60G17/0152 ,  B60P3/007 ,  B60Q5/005 ,  B60W10/04 ,  B60W10/20 ,  B60W30/09 ,  B65D88/524 ,  B65D90/023 ,  B65D90/08 ,  B65D90/18 ,  B65G1/1373 ,  B65G67/24 ,  G01C21/3438 ,  G05D1/0011 ,  G05D1/0022 ,  G05D1/0088 ,  G05D1/021 ,  G05D1/027 ,  G05D1/0214 ,  G05D1/0223 ,  G05D1/0225 ,  G05D1/0274 ,  G05D1/0276 ,  G05D1/0287 ,  G05D1/0295 ,  G06F21/32 ,  G06Q10/083 ,  G06Q10/0832 ,  G06Q10/0833 ,  G06Q10/0836 ,  G06Q10/0837 ,  G06Q10/0838 ,  G06Q10/0875 ,  G06Q30/0633 ,  G07C9/00182 ,  G07C9/00563 ,  G07C9/00571 ,  G07C9/00857 ,  G07C9/37 ,  G08G1/202 ,  H02J9/00 ,  H04B1/3822 ,  H04W52/322 ,  B60W2554/00 ,  G05B2219/39172 ,  G05B2219/50391 ,  G05D2201/0206 ,  G05D2201/0216 ,  G06Q50/28 ,  G07C2009/0092 ,  H04W84/20

Abstract: A detachable modular mobile autonomy module (MAM) for a modular autonomous bot apparatus includes a housing with latching points, an autonomous controller, location circuitry, external sensors monitoring an environment external to the MAM and providing sensor data to the controller, multi-element light panels on the housing driven by the controller; and a modular component power and data bus. The bus has a bottom side modular component electronics interface disposed on the housing that mates to a corresponding interface on another proximately-attached modular component of the bot. The MAM receives sensor data from the external sensors, receives outside sensor data from additional sensors disposed on a mobility unit of the bot, generates steering and propulsion control output signals based on location data from the location circuitry, external sensor data, mobility unit sensor data, and destination information data maintained by the controller, and generates transport and delivery information for the light panels.

公开(公告)号：US11783657B2

公开(公告)日：2023-10-10

申请号：US17381505

申请日：2021-07-21

Applicant: FEDEX CORPORATE SERVICES, INC.

Inventor： Ole-Petter Skaaksrud ,  Frank Mayfield ,  Daniel Gates

IPC: B60Q5/00 ,  B60W10/04 ,  B60W10/20 ,  B60W30/09 ,  B25J9/08 ,  B25J19/02 ,  B25J5/00 ,  G05D1/00 ,  G08G5/00 ,  B65D90/18 ,  G07C9/37 ,  B65G67/24 ,  G06F21/32 ,  G06Q50/28 ,  B65D90/08 ,  G07C9/27 ,  G06Q10/083 ,  G05D1/02 ,  G08G1/00 ,  G06Q10/0833 ,  H04B1/3822 ,  G06Q10/0836 ,  B25J9/16 ,  B65G1/137 ,  G06Q10/0875 ,  G06Q30/0601 ,  B60P3/00 ,  H02J9/00 ,  B65D88/52 ,  B65D90/02 ,  G06Q10/0837 ,  B60G17/015 ,  G06Q10/0832 ,  G01C21/34 ,  H04W52/32 ,  B60C5/00 ,  G07C9/00 ,  H04W84/20

CPC classification number: G07C9/27 ,  B25J5/007 ,  B25J9/08 ,  B25J9/162 ,  B25J9/163 ,  B25J9/1666 ,  B25J9/1679 ,  B25J19/02 ,  B60C5/005 ,  B60G17/0152 ,  B60P3/007 ,  B60Q5/005 ,  B60W10/04 ,  B60W10/20 ,  B60W30/09 ,  B65D88/524 ,  B65D90/023 ,  B65D90/08 ,  B65D90/18 ,  B65G1/1373 ,  B65G67/24 ,  G01C21/3438 ,  G05D1/0011 ,  G05D1/0022 ,  G05D1/0088 ,  G05D1/021 ,  G05D1/027 ,  G05D1/0214 ,  G05D1/0223 ,  G05D1/0225 ,  G05D1/0274 ,  G05D1/0276 ,  G05D1/0287 ,  G05D1/0295 ,  G06F21/32 ,  G06Q10/083 ,  G06Q10/0832 ,  G06Q10/0833 ,  G06Q10/0836 ,  G06Q10/0837 ,  G06Q10/0838 ,  G06Q10/0875 ,  G06Q30/0633 ,  G07C9/00182 ,  G07C9/00563 ,  G07C9/00571 ,  G07C9/00857 ,  G07C9/37 ,  G08G1/202 ,  H02J9/00 ,  H04B1/3822 ,  H04W52/322 ,  B60W2554/00 ,  G05B2219/39172 ,  G05B2219/50391 ,  G05D2201/0206 ,  G05D2201/0216 ,  G06Q50/28 ,  G07C2009/0092 ,  H04W84/20

Abstract: A modular autonomous cart assembly for transporting an item being shipped is described with a sensor-equipped mobility base that carries the item(s), a modular cart handle, a sensor-equipped modular mobile cart autonomy control module detachably attached to the modular handle, all sharing a modular common power and data transport bus. The autonomous controller of the modular control module is programmatically adapted operative to establish a secure connection to a wireless mobile courier node, locate the courier node and the cart assembly, receive sensor data from the base and control module sensors, generate steering and propulsion control commands using the locations and sensor data and send them to a controller on the mobility base so that the assembly can autonomously track and follow the current location of the courier node as the courier node moves and while maintaining a predetermined follow distance from the current location of the courier node.

公开(公告)号：US11235457B2

公开(公告)日：2022-02-01

申请号：US17100071

申请日：2020-11-20

Applicant: FEDEX CORPORATE SERVICES, INC.

Inventor： Ole-Petter Skaaksrud ,  Frank Mayfield ,  Daniel Gates

IPC: B25J9/08 ,  G06Q10/08 ,  B25J5/00 ,  B25J19/02 ,  G05D1/02 ,  G08G1/00 ,  G05D1/00 ,  B60Q5/00 ,  B60W10/04 ,  B60W10/20 ,  B60W30/09 ,  H04B1/3822 ,  B25J9/16 ,  B65G1/137 ,  G06F21/32 ,  G06Q30/06 ,  B60P3/00 ,  B65G67/24 ,  H02J9/00 ,  B65D88/52 ,  B65D90/02 ,  B65D90/08 ,  B65D90/18 ,  B60G17/015 ,  G01C21/34 ,  H04W52/32 ,  B60C5/00 ,  G06Q50/28 ,  H04W84/20

Abstract: A modular autonomous bot apparatus assembly is described for transporting an item being shipped. The assembly includes a modular mobility base having propulsion, steering, sensors for collision avoidance, and suspension actuators; a modular auxiliary power module with a power source and cargo door; a modular cargo storage system with folding structural walls and a latching system; and a modular mobile autonomy module that covers the cargo storage system and provides human interaction interfaces, externals sensors, a wireless interface, and an autonomous controller with interfacing circuitry coupled to the human interaction interfaces and sensors on the mobile autonomy module. The assembly has a power and data transport bus that provides a communication and power conduit across the different modular components. A method for on-demand assembly of such a bot apparatus is further described with steps for authenticating the different modular components during assembly.