公开(公告)号：US11224969B2

公开(公告)日：2022-01-18

申请号：US17100037

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.

公开(公告)号：US20210308860A1

公开(公告)日：2021-10-07

申请号：US17233973

申请日：2021-04-19

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 cargo storage system (CSS) is described for use on a base platform of a modular autonomous bot apparatus that transports an item being shipped. The modular CSS includes a set of folding structural walls, an interlocking alignment interface on at least one of the walls, and a modular component power and data transport bus. The walls at least partially enclose a payload area above the base platform. The interlocking alignment interface has a set of latches and a locking handle coupled to the set of latches that actuates the latches to interlock with the base platform. The power and data transport bus have top and bottom side modular component electronics interfaces where each interface has a power conduit outlet and a command and data communication interface.

公开(公告)号：US11135717B2

公开(公告)日：2021-10-05

申请号：US16351634

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 ,  G06Q50/28 ,  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：US11090802B2

公开(公告)日：2021-08-17

申请号：US16351576

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 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：US20190287063A1

公开(公告)日：2019-09-19

申请号：US16351587

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 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：US20190286152A1

公开(公告)日：2019-09-19

申请号：US16351681

申请日：2019-03-13

Applicant: FEDEX CORPORATE SERVICES, INC.

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

IPC: G05D1/02 ,  H04B1/3822 ,  H04W52/32 ,  G01C21/34 ,  B60P3/00 ,  G05D1/00

Abstract: Methods and systems are described that use multiple node-enabled autonomous transport vehicles on a single logistics operation having multiple legs performed by different transport vehicles with enhanced transfer of the item being shipped between such vehicles. A first or primary master node on a first node-enabled autonomous transport vehicle detects a signal from the second master node on a second transport vehicle, navigates to the second transport vehicle based on the detected signal and its direction, and may dock in a transfer configuration. At least one item (or a container with an item) is transferred as payload from the first to the second vehicle using one or more object manipulation systems on respective ones of the first and second transport vehicles. The second vehicle then detects a signal from another node, and navigates to that node as another leg in the multi-leg operation.