Methods for executing scheduled logistics operations

Abstract

This invention relates to a method for performing scheduled logistics operations. A modular autonomous robotic device assembly for transporting goods is described. The assembly includes: a modular mobility base having propulsion components, steering components, sensors for collision avoidance, and suspension actuators; a modular auxiliary power module having a power supply and a cargo door; a modular cargo storage system having foldable structural walls and a latching system; and a modular mobile autonomous module covering the cargo storage system and providing a human interface, external sensors, a wireless interface, and an autonomous controller having interface circuitry connected to the human interface and sensors on the mobile autonomous module. The assembly has a power and data transport bus that provides communication and power channels across the different modular components. A method for assembling such a robotic device on demand is further described, including a step for authenticating the different modular components during assembly.

Description

[0001] This application is a divisional application of application number 201980019136.8 filed on September 14, 2020, entitled "Modular Autonomous Robot Equipment Component for Transporting Shipped Articles".

[0002] Priority and related applications

[0003] This application hereby claims priority to provisional patent application number 62 / 642,732, filed on March 14, 2018, entitled "Enhanced Apparatus, Assemblies, and Systems Involving a Modular Autonomous Logistics Vehicle Transport and Methods of Operating the Same".

[0004] This application also relates, in terms of subject matter, to the following concurrently filed non-provisional patent applications (each of which also claims priority to the same provisional patent application cited above): (1) non-provisional patent application number _ / _, entitled "A Modular Mobility Base for a Modular Autonomous Logistics vehicle Transport Apparatus"; (2) non-provisional patent application number _ / _, entitled "AModular Multiple Mobility Base Assembly Apparatus for Transporting an Item Being Shipped"; (3) non-provisional patent application number _ / _, entitled "AModular Auxiliary Power Module for a Modular Autonomous Bot Apparatus that Transports an Item Being Shipped"; (4) non-provisional patent application number _ / _, entitled "A Modular Cargo Storage Apparatus for use on a Base Platform of a Modular Autonomous Bot Apparatus that Transports an Item Being Shipped"; (5) non-provisional patent application number _ / _, entitled "ADetachable Modular Mobile Autonomy Control Module for a Modular Autonomous Bot Apparatus that Transports an Item Being Shipped". Non-provisional patent application number for “Shipped” _ / _, _; (6) Non-provisional patent application number for the title “Methods of Performing a Dispatched Logistics Operation Related to an Item Being Shipped and Using a Modular Autonomous Bot Apparatus Assembly and a Dispatch Server” _ / _, _;(7) Non-provisional patent application number _ / _, _ titled "Methods of Performing an Inventory Management Related Dispatched Logistics Operation for an InventoryItem and Using a Modular Autonomous Bot Apparatus Assembly and a DispatchServer"; (8) Titled "Methods of Performing a DispatchedStore-to-Consumer Logistics Operation Related to an Ordered Item and Using a Modular Autonomous Bot Apparatus Non-provisional patent application number _ / _, _ entitled "Methods of Performing a Dispatched Consumer-to-StoreLogistics Operation Related to an Item Being Replaced Using a ModularAutonomous Bot Apparatus Assembly and a Dispatch Server" Diagnosis Kit for Treating a Patient and Using aModular Autonomous Bot Apparatus Assembly and a Dispatch Non-provisional patent application number for "Server" _ / _, _; (11) Non-provisional patent application number for "Apparatus and Systems of a Modular Autonomous CartApparatus Assembly for Transporting an Item Being Shipped" _ / _, _;(12) Non-provisional patent application number _ / _, _ entitled "Apparatus, Systems, and Methods for Performing a Dispatched Logistics Operation for a Deliverable Item from a Hold-at-Location Logistics Facility Using a Modular Autonomous Bot Apparatus Assembly, a Dispatch Server and an Enhanced Remotely Actuated Logistics Receptacle Apparatus"; and (13) Non-provisional patent application number _ / _, _ entitled "Methods and Systems for Navigating to a Designated Shipping Location as Part of a Multi-leg Logistics Operations using a Wireless Node Network and Multiple Node-Enabled Autonomous Transport Vehicles in the Network". Technical Field

[0005] This disclosure generally relates to systems, devices, components, and methods in the field of logistics, and more particularly to aspects of enhanced systems, devices, components, and methods related to the deployment and use of highly autonomous transportation systems, which may include and utilize elements of multi-purpose modular autonomous logistics vehicle transport (MALVT) or node-enabled autonomous transport vehicles (AVs), components of such multi-purpose modular autonomous logistics vehicle transport (MALVT) or node-enabled autonomous transport vehicles (AVs), and systems relating to multi-purpose modular autonomous logistics vehicle transport (MALVT) or node-enabled autonomous transport vehicles (AVs). Background Technology

[0006] In the field of logistics technology, which involves the delivery and pickup of goods and objects for transportation between locations, existing systems deploy vans and delivery personnel to manage and implement scheduled logistics operations for the delivery and pickup of such goods and objects from business and residential locations. However, deploying manually controlled logistics delivery vehicles and systems can lead to [problems / challenges].

[0007] Generally, autonomous and semi-autonomous vehicles exist that can move and be manipulated from their origin to different locations, but this is not without its problems in the logistics field. For example, the adaptability of common autonomous or semi-autonomous logistics systems is less than the required adaptability. Specific autonomous logistics delivery vehicles may lack compatibility for logistics operations with specific task assignments or the ability to efficiently handle a wide variety of items / objects of different sizes. Furthermore, known autonomous logistics delivery solutions may result in undesirable waste involving the dispatching of oversized delivery vehicles for a given logistics operation. Lack of interoperability with location facilities and access barriers are also problems faced by commonly autonomous logistics delivery vehicles.

[0008] To address these requirements and present further enhanced and improved devices, components, systems, and methods for the autonomous delivery or retrieval of items / objects being shipped, there remains a need for improved systems that provide a wider range of more robust, adaptable, and interactive autonomous logistics vehicles. These autonomous logistics vehicles utilize modular autonomous logistics robot devices (as individual modular components, as specific components of such components) and modular autonomous logistics vehicle systems to address this problem. Such systems do so with cost-effective, dynamic, and innovative solutions that solve this problem in practical applications utilizing such modular components and modular autonomous logistics vehicles using these components. Summary of the Invention

[0009] In the following description, certain aspects and embodiments will become apparent. It should be understood that these aspects and embodiments can be practiced in their broadest sense without one or more features of these aspects and embodiments. It should be understood that these aspects and embodiments are exemplary only.

[0010] In the following description, certain aspects and embodiments will become apparent. It should be understood that these aspects and embodiments can be practiced in their broadest sense without one or more features of these aspects and embodiments. It should be understood that these aspects and embodiments are exemplary only.

[0011] One aspect of this disclosure relates to a modular autonomous robotic device assembly for transporting shipped goods. In this aspect, the assembly includes a modular mobility base, a modular auxiliary power module, a modular cargo storage system or module, and a modular mobile autonomous control module, all of which interface with and are modularly coupled to a common power and command / data transport bus. The modular mobility base has: a steerable powered base platform that responds to navigation input to cause movement and path changes; base sensors disposed on the steerable powered base platform and generating base feedback sensor data on objects in the path of the modular mobility base; actuators for tilting the steerable powered base platform relative to the ground; a mobility controller coupled to the base sensors and the set of actuators, and operable to receive base feedback sensor data and generate navigation input; and an interface to the common power and data transport bus. A modular auxiliary power module is detachably connected to a modular mobility base and includes: a base adapter platform with a payload area on top of the base adapter platform; an auxiliary power supply housed as part of the base adapter platform; a hinged cargo door extending from one side of the base adapter platform; and its own interface to a common power and data transport bus. A modular cargo storage module is detachably connected to the modular auxiliary power module and includes: a set of folding structural walls assembled onto the base adapter platform of the auxiliary power module to partially enclose the payload area using the hinged cargo door of the modular auxiliary power module. The modular cargo storage module also includes: a locking handle that causes the modular cargo storage system to latch to the base adapter platform; and its own interface to a common power and data transport bus. A modular mobile autonomous module is detachably connected to the top of the folding structural walls of the modular cargo storage module and includes: a human-interaction interface (e.g., a display, multi-element light panel); sensors; a wireless communication interface; and an autonomous controller with interface circuitry connected to the human-interaction interface and sensors on the modular mobile autonomous module. The autonomous controller of the modular mobile autonomous control module is programmed and configured to operate to: receive base feedback sensor data from the mobility controller at least via a common power and data transport bus; receive onboard sensor data from sensors on the modular mobile autonomous module; generate steering control commands and propulsion control commands based at least on position data from the positioning circuitry, information about base feedback sensor data received from the mobility controller, onboard sensor data such as that received by the autonomous controller from the autonomous module's sensors, and destination information data held by the autonomous controller; transmit the steering control commands and propulsion control commands to the mobility controller via a common modular component power and data transport bus; and generate transportation and delivery information to be provided on a human-interactive interface.In this regard, component-to-component secure handover is achieved between the modular mobility base, modular auxiliary power module, modular cargo storage system, and modular autonomous mobile control module, which are each certified modular components.

[0012] In another aspect, a method for assembling modular autonomous robotic device components for transporting goods on demand is described. In this additional aspect, the method involves: causing an assembly server to receive a request for assembling a modular autonomous robotic device component; causing the assembly server to generate an assigned scheduling profile, which identifies the type of each of a modular mobility base, a modular auxiliary power module, a modular cargo storage system, and a modular mobile autonomous control module based on the request for assembly, to be used as an authorized portion of the modular autonomous robotic device component; detachably mounting the selected modular mobility base to the selected modular auxiliary power module using interlocking alignment interfaces disposed on each of the selected modular mobility base and the selected modular auxiliary power module; and detachably mounting the selected modular cargo storage system to the selected modular auxiliary power module. The top of the auxiliary power module; the selected modular mobile autonomous control module is detachably mounted to the top of the selected modular cargo storage system; the selected modular cargo storage system is secured to each of the selected modular auxiliary power module and the selected modular mobile autonomous control module using a locking handle, the locking handle actuating at least one set of actuated latches disposed on the selected modular cargo storage system; the assembly server sends an assigned scheduling profile for the modular autonomous robot equipment components to the selected modular mobile autonomous control module; and each of the selected modular mobility base, the selected modular auxiliary power module, and the selected modular cargo storage system is authenticated according to the authentication information in the assigned scheduling profile.

[0013] Each of these aspects and its features respectively achieves improvements to autonomous logistics vehicle technology. Additional advantages of this and other aspects of the disclosed embodiments and examples will be set forth in part in the description which follows, and will be apparent in part from that description, or may be learned by practice of the invention. It will be understood that both the foregoing general description and the following detailed description are exemplary and illustrative only and do not limit the invention as claimed. Attached Figure Description

[0014] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate several embodiments according to one or more principles of the invention, and together with the description, serve to explain one or more principles of the invention. In the drawings,

[0015] Figure 1 It is a diagram of an exemplary wireless node network as known in the prior art;

[0016] Figure 2 This is a more detailed diagram of an exemplary wireless node network as known in the prior art;

[0017] Figure 3 A more detailed diagram of an exemplary ID node device as known in the prior art;

[0018] Figure 4 A more detailed diagram of an exemplary master node device as known in the prior art;

[0019] Figure 5 A more detailed diagram of an exemplary server as known in the prior art;

[0020] Figure 6 It is a diagram illustrating the structure or format of exemplary notification data packets as known in the prior art;

[0021] Figure 7 This is a diagram illustrating sample content of exemplary notification data packets known in the prior art;

[0022] Figure 8 It is a state diagram illustrating the transitions between exemplary states known in the prior art and various states as part of an operation performed by an exemplary node;

[0023] Figure 9 This is a diagram illustrating exemplary components of a wireless node network during an exemplary master-to-ID node association, as known in the prior art.

[0024] Figure 10 This is a diagram illustrating exemplary components of a wireless node network during an exemplary ID-to-ID node association, as known in the prior art.

[0025] Figure 11 This is a diagram illustrating exemplary components of a wireless node network during a query from an exemplary ID to a master node, as known in the prior art.

[0026] Figure 12 This is a diagram illustrating exemplary components of a wireless node network during an exemplary alert notification mode, as known in the prior art.

[0027] Figure 13 It is a diagram illustrating the exemplary location determination using master node announcements as known in the prior art;

[0028] Figure 14 It is a diagram illustrating the exemplary location determination using ID node announcements as known in the prior art;

[0029] Figure 15 It is a diagram illustrating an exemplary position determined by triangulation as known in the prior art;

[0030] Figure 16 It is a diagram illustrating an exemplary position determined by chaining triangulation as known in the prior art;

[0031] Figure 17 These are diagrams of exemplary components of different exemplary modular autonomous logistics transport vehicle (MALVT robot devices) and their parts according to embodiments of the present invention;

[0032] Figure 18A This is a diagram of an exemplary modular mobility base (MB) unit component of an exemplary MALVT robot device according to an embodiment of the present invention;

[0033] Figure 18B It is shown in a tilted configuration according to an embodiment of the present invention. Figure 18A Additional diagram of an exemplary modular mobility base unit component;

[0034] Figure 18C This is a block diagram illustrating further details of an exemplary modular mobility base unit component according to an embodiment of the present invention;

[0035] Figure 19 This is a diagram of an exemplary assembly of a plurality of modular mobility base unit components paired with an exemplary base adapter board module (BAPM) according to an embodiment of the present invention;

[0036] Figure 20A This is a diagram of an exemplary modular mobility base (MB) unit component paired with an exemplary modular auxiliary power module (APM) according to an embodiment of the present invention;

[0037] Figure 20B This is a block diagram illustrating further details of an exemplary modular auxiliary power module according to an embodiment of the present invention;

[0038] Figure 20C This is a diagram of an exemplary modular auxiliary power module according to an embodiment of the present invention, the modular auxiliary power module having different actuation band surfaces to serve as a type of articulated object manipulation system that can be deployed on the exemplary modular auxiliary power module;

[0039] Figure 20D This is a diagram of an exemplary modular auxiliary power module according to an embodiment of the present invention, the modular auxiliary power module having different actuated sliding arms as a type of articulated object manipulation system that can be deployed on the exemplary modular auxiliary power module;

[0040] Figure 20E This is a diagram of an exemplary modular auxiliary power module according to an embodiment of the present invention, which has different actuated gripping arms as a type of articulated object manipulation system that can be deployed on the exemplary modular auxiliary power module;

[0041] Figure 21 This is a diagram of an exemplary component of an exemplary mobility base (MB) unit paired with an exemplary modular auxiliary power module (APM) and an exemplary modular cargo storage system (CSS) according to an embodiment of the present invention;

[0042] Figure 22A This is according to an embodiment of the present invention. Figure 21 An alternative view of an exemplary component having an exemplary modular mobility base (MB) unit component paired with an exemplary modular auxiliary power module (APM) and an exemplary modular cargo storage system (CSS);

[0043] Figure 22B This is a block diagram illustrating further details of exemplary modular cargo storage system components according to an embodiment of the present invention;

[0044] Figure 23 This is a diagram illustrating a folded configuration of an exemplary modular cargo storage system (CSS) according to an embodiment of the present invention;

[0045] Figure 24 This is a diagram illustrating a folding configuration for a plurality of exemplary modular cargo storage system components according to an embodiment of the present invention;

[0046] Figure 25 This is a diagram illustrating different exemplary shape factors for different exemplary modular cargo storage system components according to embodiments of the present invention;

[0047] Figure 26 This is a diagram of an alternative embodiment of an exemplary modular cargo storage system (CSS) with an exemplary actuated cargo door according to an embodiment of the present invention;

[0048] Figures 27A to 27B This is a diagram of an embodiment of an exemplary modular cargo storage system (CSS) according to an embodiment of the present invention, the modular cargo storage system having an exemplary actuated sliding arm disposed on one of the walls of the CSS;

[0049] Figure 27C This is a diagram of an embodiment of an exemplary modular cargo storage system (CSS) according to an embodiment of the present invention, the modular cargo storage system having an exemplary actuated gripping arm disposed on one of the walls of the CSS;

[0050] Figure 28 This is a front view of an exemplary modular mobile autonomous module (MAM) according to an embodiment of the present invention;

[0051] Figure 29 This is according to an embodiment of the present invention. Figure 28 Rear view of an exemplary modular mobile autonomous module (MAM);

[0052] Figures 30A to 30B This is according to an embodiment of the present invention. Figure 28 Figures showing different bottom views of an exemplary modular mobile autonomous module (MAM);

[0053] Figure 31 This is a block diagram illustrating further details of an exemplary modular mobile autonomous module (MAM) according to an embodiment of the present invention;

[0054] Figure 32 This is a diagram illustrating an exemplary component of an exemplary modular mobility base (MB) unit, incorporating an exemplary modular auxiliary power module (APM), an exemplary modular storage system (CSS), and an exemplary modular mobile autonomous module (MAM) according to an embodiment of the present invention.

[0055] Figure 33 This is a diagram of an exemplary system having an exemplary modular mobile autonomous module (MAM) within an exemplary modular autonomous robot device component according to an embodiment of the present invention, wherein the MAM communicates with an exemplary server and a mobile external wireless node;

[0056] Figure 34 This is a diagram of two exemplary modular components during the assembly of an exemplary modular autonomous robot device assembly according to an embodiment of the present invention, wherein authentication of the modular components is performed during assembly;

[0057] Figure 35 This is a diagram illustrating an exemplary smart latch and interface configuration used with another embodiment of an exemplary cargo storage system (CSS) according to an embodiment of the present invention;

[0058] Figure 36 This is a diagram illustrating an exemplary fastening configuration used with an exemplary cargo storage unit (CSS) according to an embodiment of the present invention;

[0059] Figure 37 This is a diagram of an exemplary modular autonomous logistics transport vehicle (MALVT robot device) according to an embodiment of the present invention, which is configured such that the cargo door extends and is in a forward-tilted orientation.

[0060] Figure 38This is a diagram of an exemplary modular autonomous logistics transport vehicle (MALVT robot device) according to an embodiment of the present invention, which is configured such that the cargo door is extended and oriented in an "upright" mode.

[0061] Figure 39 This is a front view of an exemplary modular autonomous logistics transport vehicle (MALVT robot device) according to an embodiment of the present invention, the modular autonomous logistics transport vehicle device being configured such that the cargo door extends and is in a lifting orientation; and

[0062] Figure 40 This is a rear view of an exemplary modular autonomous logistics transport vehicle (MALVT robot device) according to an embodiment of the present invention, which is configured such that the cargo door is extended and in a lifting orientation.

[0063] Figure 41 This is a flowchart of an exemplary method for constructing modular autonomous robot equipment components for transporting goods on demand, according to an embodiment of the present invention;

[0064] Figure 42 This is a diagram of an exemplary system relating to an assembly of modular autonomous logistics transport vehicle equipment (MALVT robot equipment) according to an embodiment of the present invention;

[0065] Figures 43A to 43F This is a diagram of an exemplary modular autonomous logistics transport vehicle (MALVT robot device) in various stages of an exemplary scheduled logistics operation according to an embodiment of the present invention;

[0066] Figure 44 This is a flowchart of an exemplary method according to an embodiment of the present invention, which is used to perform a scheduled logistics operation involving the delivery of shipped items using a modular autonomous robot device component (MALVT robot device component) and a scheduling server;

[0067] Figure 45 This is a flowchart of another embodiment of an exemplary method according to an embodiment of the present invention, which is used to perform a scheduled logistics operation involving picking up items to be shipped using a modular autonomous robot device component (MALVT robot device component) and a scheduling server;

[0068] Figure 46 This is a flowchart of another embodiment of an exemplary method according to an embodiment of the present invention, which is used to perform scheduled logistics operations using a modular autonomous robot device component (MALVT robot device component) and a scheduling server, the logistics operations involving picking up the items to be shipped, holding the items to be shipped in an object holding position, and delivering the items to be shipped.

[0069] Figures 47A to 47B This is a diagram of an exemplary system relating to an exemplary modular autonomous logistics transport vehicle (MALVT robot device) according to an embodiment of the present invention, which performs logistics operations related to inventory management scheduling, which relate to inventory items at an inventory hub location and at one of a plurality of remote commercial locations.

[0070] Figures 48A to 48D This is a diagram of an exemplary modular autonomous logistics transport vehicle (MALVT robot device) according to an embodiment of the present invention, which docks and interacts with an exemplary node-enabled racking system to pick up / unload inventory items.

[0071] Figure 49 This is a flowchart of an embodiment of an exemplary method according to an embodiment of the present invention, which is used to perform logistics operations related to inventory management using a modular autonomous robot device component (MALVT robot device component) and a scheduling server, the logistics operations involving inventory items;

[0072] Figures 50A to 50B This is part of a flowchart of an alternative embodiment of an exemplary method according to an embodiment of the present invention, which is used to perform logistics operations related to inventory management scheduling using a modular autonomous robot device component (MALVT robot device component) and an inventory management server, the logistics operations involving inventory items;

[0073] Figure 51 This is a flowchart of an embodiment of an exemplary method according to an embodiment of the present invention, which is used to perform store-to-consumer logistics operations related to ordered items and scheduled using a modular autonomous robot device component (MALVT robot device component) and a scheduling server.

[0074] Figures 52A to 52F This is a diagram of an exemplary modular autonomous logistics transport vehicle (MALVT robot device) according to an embodiment of the present invention, which docks and interacts with a pick-and-place machine enabled by an exemplary node in a warehouse location.

[0075] Figure 53 This is a flowchart of an alternative embodiment of an exemplary method according to an embodiment of the present invention, which is used to perform store-to-consumer logistics operations related to ordered items and scheduled using a modular autonomous robot device component (MALVT robot device component) and a scheduling server.

[0076] Figure 54This is a flowchart of an embodiment of an exemplary method according to an embodiment of the present invention, which is used to perform consumer-to-store logistics operations related to the replaced items and using a modular autonomous robot device component (MALVT robot device component) and a scheduling server.

[0077] Figure 55 This is a flowchart of an embodiment of an exemplary method according to an embodiment of the present invention, which is used to perform a swap logistics operation related to a swapped item and using a modular autonomous robot device component (MALVT robot device component) and a scheduling server.

[0078] Figures 56A to 56B This is a flowchart of an embodiment of an exemplary method according to an embodiment of the present invention, which is used to perform logistics operations involving medical-related scheduling of diagnostic kits for treating patients and using modular autonomous robotic device components (MALVT robotic device components) and a scheduling server;

[0079] Figure 57A This is a diagram of an exemplary modular autonomous handcart device assembly according to an embodiment of the present invention;

[0080] Figure 57B This is from an embodiment of the present invention. Figure 57A More detailed diagrams of exemplary modular autonomous handcart device components;

[0081] Figure 58 This is a diagram of an exemplary modular autonomous trolley device assembly according to an embodiment of the present invention, which uses a mobile base sub-assembly having an extended base adapter plate and two mobile base units;

[0082] Figures 59A to 59C This is a diagram of an exemplary modular autonomous handcart device component, as deployed and used in different operating modes having an exemplary wireless mobile courier node, according to an embodiment of the present invention.

[0083] Figures 60 to 61 This is a diagram of an exemplary system of multiple modular autonomous trolley device components for transporting different items according to an embodiment of the present invention;

[0084] Figure 62 This is a diagram of an exemplary modular autonomous logistics transport vehicle (MALVT robot equipment assembly) at an exemplary self-pickup logistics facility according to an embodiment of the present invention;

[0085] Figure 63This is a flowchart of an embodiment of an exemplary method according to an embodiment of the present invention, which is used to perform a scheduled logistics operation on deliverable items from a self-pickup logistics facility with a secure storage area and uses a modular autonomous robot device component (MALVT robot device component) and a scheduling server.

[0086] Figures 64A to 64H This is a diagram of an exemplary modular autonomous logistics transport vehicle (MALVT robot device assembly) according to an embodiment of the present invention, which docks and interacts with an exemplary remotely actuated logistics container that can be located at a self-pickup logistics facility.

[0087] Figures 65A to 65B This is a flowchart of an embodiment of an exemplary method according to an embodiment of the present invention, which is used to perform scheduled logistics operations on deliverable items held in a remotely actuated logistics container and uses a modular autonomous robot device component (MALVT robot device component) and a scheduling server.

[0088] Figure 66 This is a flowchart of an embodiment of an exemplary method according to an embodiment of the present invention, which is used for a station-based self-pickup logistics operation that uses a modular autonomous robot device component (operating as a temporary station-based self-pickup logistics container) and a scheduling server to perform scheduling of deliverable items from an originating location.

[0089] Figure 67 This is a diagram of an autonomous transport vehicle enabled by multiple exemplary nodes according to an embodiment of the present invention;

[0090] Figures 68A to 68E This is a diagram of an exemplary system according to an embodiment of the present invention, which uses autonomous transport vehicles enabled by multiple exemplary nodes when navigation between an exemplary express transport vehicle and a designated shipping location of the shipped item is performed as part of a multi-mile autonomous logistics operation for the shipped item.

[0091] Figure 69 is a flowchart of an embodiment of an exemplary method according to an embodiment of the present invention, which is used to navigate to a designated loading location as part of a multi-mile logistics operation using multiple nodes in a wireless node network, a server in the network, and autonomous transport vehicles enabled by multiple nodes in the network.

[0092] Figure 70 This is a flowchart illustrating an embodiment of an exemplary method according to an embodiment of the present invention, the method being used to navigate to a designated loading location as part of a multi-mile logistics operation using multiple nodes in a wireless node network, a server in the network, an autonomous transport vehicle enabled by a first node in the network, and an autonomous transport vehicle enabled by a selected node from a group of other node-enabled autonomous transport vehicles; and

[0093] Figure 71 This is a flowchart of another exemplary method according to an embodiment of the present invention, which is used to navigate to a designated loading location as part of a multi-mile logistics operation using multiple nodes in a wireless node network, a server in the network, and multiple node-enabled autonomous transport vehicles in the network, wherein one of the node-enabled autonomous transport vehicles operates as a master node to at least control docking and transfer operations as part of the multi-mile logistics operation. Detailed Implementation

[0094] Exemplary embodiments will now be referenced in detail. Wherever possible, the same reference numerals are used in the drawings and description to refer to the same or similar parts. However, those skilled in the art will understand that different embodiments may implement certain parts in different ways depending on the needs of the intended deployment and operating environment of the respective embodiments.

[0095] Throughout this description, reference will also be made to wireless node-based network devices (e.g., ID nodes, master nodes, container nodes, and servers operating in a wireless node network), exemplary technologies using such node-based devices, and interactions with such devices in the field of logistics delivery, as explained in more detail in U.S. Application No. 14 / 445,523 (now granted U.S. Patent No. 8,989,053), U.S. Application No. 14 / 979,685 (published as U.S. Patent Application Publication No. US2016 / 01232481), and U.S. Application No. 15 / 433,023 (published as U.S. Patent Application Publication No. US2017 / 0279892), each of which is hereby incorporated herein by reference. The information disclosed in U.S. Application No. 14 / 445,523 (now granted as U.S. Patent No. 8,989,053), U.S. Application No. 14 / 979,685 (published as U.S. Patent Application Publication No. US2016 / 01232481), and U.S. Application No. 15 / 433,023 (published as U.S. Application Publication No. US2017 / 0279892) is collectively referred to herein as TRON Network Reference Information or more generally as TRON Technology. In particular, those skilled in the art will appreciate that the description of such node-based devices, how they interact and communicate, how they associate with other nodes to establish secure communication and information sharing, and how they use various node localization techniques to determine the location of specific nodes in the network provides fundamental teaching on building block elements that can serve as control elements that can interact with each other in embodiments of the exemplary Modular Autonomous Logistics Transport Vehicle (MALVT) robot device and its components, as described in more detail below.

[0096] Generally, the following description begins with a broad overview of the TRON technology cited above, which can be used in implementations involving various embodiments of modular autonomous logistics robots, components, parts, vehicles, and systems. Exemplary embodiments of MALVT robot devices are presented and explained as corresponding modular components of such devices and modular assemblies of compatible components that can be assembled to form exemplary MALVT robot devices for use in logistics operations (e.g., delivery of items / objects, pickup of items / objects). Further embodiments with respect to various practical applications are described, involving the use of one or more components and / or one or more exemplary MALVT robot device components deployed in various types of logistics operations. Finally, embodiments involving multiple autonomous logistics vehicle transports are presented, which can be deployed for different routes in a single multi-mile logistics operation.

[0097] Overview of TRON Wireless Node Network Technology

[0098] More detailed, the following description together Figures 1 to 16 This provides a background overview of a known type of wireless node network having one or more lower-level devices or nodes (e.g., ID nodes) that rely on short-range communication with a higher-level device or node (e.g., a master node), the higher-level device or node being operable to communicate with a server via different communication interfaces, while the lower-level nodes cannot communicate directly with the server. Those skilled in the art will appreciate that such a hierarchy of communication network components with different functions (generally referred to as network devices) can be characterized as a network of nodes. Those skilled in the art will appreciate that in some embodiments, a wireless node network may include a server as well as different wireless nodes, despite the fact that the server may not be a dedicated wireless component. In other embodiments, the network may include similar types of wireless nodes or different types of wireless nodes.

[0099] Those skilled in the art will understand from the following detailed description that nodes can be associated with items (e.g., objects, packages, people, pieces of equipment) and can be used to identify and locate items while they are being dynamically programmed during network operation and while they are moving along a predetermined path (e.g., a transit path from origin to destination). Those skilled in the art will further understand from the following detailed description that these known types of nodes can be deployed as control systems, control electronics, controllers, processors, control modules, or other control elements that can wirelessly communicate with other nodes (e.g., controllers in modular mobility base components and autonomous control systems in modular mobile autonomous control modules), receive input from sensors, generate output messages and display information, and generate control signals for managing and controlling autonomous delivery vehicles.

[0100] again, Figures 1 to 16 Background information is provided about this known type of wireless node, which can be programmed to interact to detect other nodes, associate with other nodes, receive and respond to sensor data, generate control signals, manage other nodes, and locate other nodes in a hierarchical manner. Figure 1 The diagram illustrates a basic diagram of an exemplary wireless node network. Figure 1 The exemplary network shown includes a server 100 connected to network 1710, which is also operatively connected to different network components (such as master node 1720a) and indirectly connected to ID node 120a via master node 1720a. Master node 1720a is typically connected via short-range wireless communication (e.g., The master node 1720a connects to the ID node 120a via a formatted communication protocol. The master node 1720a typically connects to the server 100 via network 1710 through long-range wireless communication (e.g., cellular) and / or medium-range wireless communication (e.g., wireless local area data network or Wi-Fi). The ID node 120a is typically a low-cost device that can be easily placed in a package, integrated as part of packaging, or otherwise associated with an item to be tracked and located, such as package 130, a person, or an object (e.g., a vehicle). Typically, the ID node can communicate directly with the master node but not directly with the server, while the master node can communicate directly with the server and communicate individually and directly with other nodes (such as the ID node or another master node). The ability to deploy a hierarchy of nodes within an exemplary wireless node network to efficiently and cost-effectively distribute tasks and functions at different levels facilitates a wide variety of adaptive location, tracking, management, and reporting applications using such a network of nodes, as discussed in more detail below.

[0101] Generally, the lower-cost, lower-complexity ID node 120a is managed by the higher-complexity master node 1720a and server 100 as part of maintaining tracking of the location of ID node 120a (and associated items), thereby providing intelligent, robust, and broad visibility into the location and status of ID node 120a. In a typical deployment example, ID node 120a is initially associated with an item (e.g., package 130, person, or object). As ID node 120a moves with the item, it becomes associated with master node 1720a and updates server 100 with this information. Further movement of ID node 120a and the item can cause ID node 120a to disassociate from master node 1720a and be switched to become associated with another master node (not shown), after which server 100 is updated again. Thus, as items physically move from one location to another, server 100 typically operates to coordinate and manage information related to ID node 120a. See below for reference. Figure 3 and Figure 4 Further details regarding the architecture and functionality of the exemplary ID node and master node are described below, in reference to [reference needed]. Figure 5 The exemplary server 100 is described in more detail.

[0102] Although server 100 is shown connected via network 1710, those skilled in the art will understand that, depending on implementation details and desired communication paths, server 100 may have [other features]. Figure 1 More direct or dedicated connections to other components illustrated in the diagram (such as master node 1720a). Furthermore, those skilled in the art will understand that the exemplary server may include a database ( Figure 1 The collection of information (not shown) may be maintained in multiple databases on multiple server platforms or network storage servers, which may be used in other embodiments to maintain such a collection of information. Furthermore, those skilled in the art will understand that cloud technology can be used to implement the database, which essentially provides networked storage of a collection of information that is directly accessible to devices such as master node 1720a.

[0103] Network 1710 can be a general data communication network involving various communication networks or paths. Those skilled in the art will understand that such an exemplary network or path can be implemented using hardwired structures (e.g., LANs, WANs, telecommunication lines, telecommunication support structures, and telecommunication processing equipment, etc.), wireless structures (e.g., antennas, receivers, modems, routers, repeaters, etc.), and / or a combination of both, depending on the intended use. Figure 1 The network interconnecting the server 100 and other components shown is a desired implementation in an embodiment of the present invention.

[0104] Master node 1720a and ID node 120a are types of nodes. A node is typically a device or apparatus that performs one or more tasks as part of a network of components. Node embodiments may have unique identifiers, such as a Media Access Control (MAC) address or an address assigned to a hardware radio (e.g., an Internet Protocol 6 (IPv6) identifier). In some embodiments, the node's unique identifier may be associated with a shipping identifier (e.g., a shipping tracking number in one example), or may be itself a shipping tracking reference.

[0105] ID nodes (such as ID node 120a) are typically low-cost active wireless devices. In one embodiment, an exemplary ID node is a transceiver-based processing or logic unit having: a short-range radio with variable RF characteristics (e.g., a programmable RF output power range, programmable receiver sensitivity); memory accessible by the processing unit; a timer operatively coupled to the processing unit; and a power source (e.g., a battery) that provides power to the ID node's circuitry. For example, the physical implementation of an exemplary ID node can be small and therefore suitable for integration into packages, tags, containers, or other types of objects. In some implementations of the ID node, the node is rechargeable, while other implementations do not allow recharging of the power source used for the ID node. In other implementations, the ID node is environmentally self-contained or hermetically sealed to enable robust and reliable operation under a variety of harsh environmental conditions.

[0106] A master node (such as master node 1720a) typically serves as a smart bridge between ID node 120a and server 100. Therefore, a master node is generally more sophisticated than an ID node. In one example, an exemplary master node is a device having: a processing or logic unit; a short-range radio (which may have variable RF characteristics) for communicating with other nodes (ID nodes and other master nodes); a medium-range and / or long-range radio for communicating with server 100; memory accessible by the processing unit; a timer operatively coupled to the processing unit; and a power source (e.g., a battery or wired power supply connection) for powering the master node's circuitry. An exemplary master node (such as master node 1720a) may be located in a known fixed location, or alternatively, a mobile unit with dedicated location positioning circuitry (e.g., GPS circuitry) to allow the master node to determine its own location.

[0107] Although Figure 1The example illustrated in the diagram shows only a single master node and a single ID node, but those skilled in the art will understand that a wireless network may include a large number of similar or different master nodes, each communicating with server 100 and / or other master nodes, as well as a wide variety of similar or different ID nodes. Therefore, Figure 1 The exemplary network shown is a basic example, while Figure 2 The exemplary network shown is a more detailed example of an exemplary wireless node network.

[0108] Now for reference Figure 2 Another exemplary wireless node network including server 100 and network 1710 is shown. Here, master nodes 1720a, 1720b, and 1720c are deployed and connected to network 1710 (and connected to server 100 via those corresponding connections) and connected to each other. ID nodes 120a, 120b, and 120e are shown as connectable or operable to communicate via different paths to various master nodes. However, ID nodes 120c and 120d are... Figure 2 The node is shown connected to ID node 120b but not to any of the master nodes. This can be the case if, for example, ID nodes 120b, 120c, and 120d are associated with (or clustered together on pallets) different items (e.g., packages) within a larger container 210. In this example, only ID node 120b may remain within wireless communication range of any master node. This could be due, for example, to the location of the different ID nodes within the container relative to the nearest master node, adverse RF shielding caused by the container, adverse RF shielding caused by the packaging of the items, or adverse RF shielding caused by other adjacent materials that interfere with radio transmission (e.g., several packages of metal items between the ID nodes and any master nodes outside the container). Therefore, in Figure 2 In the illustrated configuration of the exemplary network shown, ID nodes 120c and 120d are outside the scope of the master node, but still have an operational communication path to the master node via ID node 120b.

[0109] In fact, in one example, ID node 120b could actually be the master node before being placed inside container 210, but when it is placed inside container 210, the changed RF environment can interfere with the master node’s ability to locate itself via location signals (e.g., GPS signals) and cause the master node to temporarily operate as an ID node, while still providing communication and data sharing with other ID nodes in container 210.

[0110] User access devices 200 and 205 are also... Figure 2The diagram illustrates a device capable of connecting to network 1710, the master node, and the ID node. Typically, user access devices 200 and 205 are types of external wireless nodes that allow users to interact with one or more components of a wireless node network. In various examples, user access devices 200 and 205 can be desktop computers, laptop computers, tablet computers (such as...), Touchscreen tablets), personal area network devices (such as, Devices), smartphones (such as, ), smart wearable devices (such as Samsung Galaxy Gear) TM Smartwatch or Google Glass TM This can be implemented using wearable smart optics or other devices that can communicate with server 100 via network 1710 through wired or wireless communication paths to master node and ID node.

[0111] like Figure 2 As shown, user access devices 200 and 205 are connected to or communicate with network 1710, but each of them can also communicate in a more direct manner (e.g., via near field communication (NFC)). They communicate with each other or with other network components via wireless connections, Wi-Fi networks, dedicated wired connections, or other communication paths.

[0112] In one example, a user access device such as apparatus 200 or 205 may facilitate associating an ID node (e.g., ID node 120a) with the package's tracking number at the start of the shipping process, coordinating with server 100 to check the status and / or location of the package and associated ID nodes during transit, and retrieving data, if possible, from the master node or ID node associated with the shipped package. Therefore, those skilled in the art will understand that user access devices such as apparatus 200, 205 are essentially interactive communication platforms through which users can initiate the shipment of items, track items, determine the status and location of items, retrieve information about items, and initiate the scheduling of logistics operations or interact with other nodes as part of the scheduling operation.

[0113] Example user access devices such as devices 200 or 205 may include sufficient hardware and code (e.g., an app or one or more other program code segments) to operate as a master node or ID node in various embodiments, as discussed in more detail below. For example, device 200 may be implemented as a mobile smartphone and functionally operate as an exemplary ID node that broadcasts announcement packet messages to other ID nodes or master nodes for association and data sharing with such nodes. In another example, device 200 is implemented as a mobile smartphone and can operate as an exemplary master node that communicates and associates with ID nodes and other master nodes as described herein, and communicates with server 100. Therefore, those skilled in the art will appreciate that a properly programmed user access device (such as device 200 or 205) can be used for implementation. Figure 3 Exemplary ID nodes and Figure 4 Examples of master nodes and their corresponding parts, code, and program modules. Therefore, for Figure 3 Exemplary ID nodes and Figure 4 The following description of the exemplary master node can be applied to user access devices that operate as ID nodes or master nodes, respectively.

[0114] ID Node

[0115] Figure 3 This is a more detailed diagram of an exemplary ID node device. As previously described, one example of an ID node includes a transceiver-based processing or logic unit having: a short-range radio with variable RF characteristics (e.g., a programmable RF output power range, programmable receiver sensitivity); a memory accessible by the processing unit; a timer operatively coupled to the processing unit; and a power source (e.g., a battery) that provides power to the ID node's circuitry. Reference now... Figure 3 In a more detailed embodiment, exemplary ID node 120a is shown to include a processing or logic unit 300 coupled to a variable power short-range communication interface 375, a memory storage device 315, volatile memory 320, a timer 370, and a battery 355. Those skilled in the art will understand that the processing unit 300 is logic such as a low-power microcontroller, which typically performs calculations on data and executes operable program code and application code, as well as other program modules or segments thereof within ID node 120a. Thus, exemplary processing unit 300 operates as a transceiver-based processing core of ID node 120a.

[0116] Those skilled in the art will also understand that the exemplary ID node 120a is a hardware-based component that can be implemented using a single processor or logic unit (such as unit 300). In one embodiment, it can utilize The processing unit 300 is implemented using an 8051 CPU core and associated peripheral circuitry as specified according to the requirements of a particular application. Less complex microcontrollers or discrete circuits can be used to implement the processing unit 300, as well as more complex and sophisticated microcontrollers. Additionally, the exemplary processing unit 300 can be integrated into a single-chip transceiver that serves as the core of ID node 120a.

[0117] The variable power short-range communication interface 375 of ID node 120a is typically coupled to a programmable radio and omnidirectional antenna of processing unit 300. In other embodiments, interface 375 may use antennas with different antenna profiles when directivity is desired. Examples of the variable power short-range communication interface 375 may include additional docking hardware (not shown) for operatively coupling the device to a specific short-range communication path (e.g., communicating at 2.4 GHz). Low-power (BLE) connection path).

[0118] In one example, various RF characteristics of the radio transceiver, such as RF output power and / or RF receiver sensitivity, can be dynamically and programmatically changed under the control of processing unit 300. In other examples, additional RF characteristics of the radio transceiver (such as frequency, duty cycle, timing, modulation scheme, spread spectrum frequency hopping aspects, etc.) can be programmatically changed as needed to flexibly adjust the RF output signal, depending on the desired implementation and intended use of ID node 120a. As will be explained in more detail below, some embodiments may use a broadcast profile with parameters that can be programmatically changed or adjusted. In other words, embodiments of ID node 120a (or any other ID node) may have programmably adjustable RF characteristics (such as adjustable RF output signal power, adjustable RF receiver sensitivity, the ability to switch to different frequencies or bands, etc.).

[0119] The battery 355 used for ID node 120a is a type of power source typically used to power the circuitry implementing ID node 120a. In one embodiment, battery 355 may be a rechargeable power source. In other embodiments, battery 355 may be a non-rechargeable power source intended to be disposed of after use. In some examples of ID nodes, the power source may involve alternative energy generation, such as solar cells.

[0120] The timer 370 used for ID node 120a typically provides one or more timing circuits used in applications such as time delay, pulse generation, and oscillator. In an example where ID node 120a saves power by entering a sleep or hibernation state for a predetermined period of time as part of an overall power-saving technique, timer 370 helps processing unit 300 manage timing operations. Additionally, the example may allow ID nodes to share data to synchronize different nodes with respect to timer 370 and a common timing reference between nodes and the server.

[0121] Examples may implement ID node 120a to optionally include a basic user interface (UI) 305 that indicates status and allows basic interactions such as start / stop. In one embodiment, UI 305 may be implemented using status lights (such as multi-mode LEDs). Different colors of the lights may indicate different states or modes of ID node 120a (e.g., notification mode (broadcast), scan mode (listen), current power state, battery level state, associated state, error, or sensed conditions (e.g., exceeding a temperature threshold, exceeding a humidity threshold, etc.)). Other examples of ID nodes may utilize a graphical display that can display such status or mode information and one or more prompts to implement UI 305 in a more granular manner.

[0122] In a further example, an exemplary status light used as part of UI 305 as an ID node can also indicate the shipping status. More specifically, the exemplary shipping status can include the status of the shipped item or the current shipping status of the item from its origin to its destination.

[0123] The example may also implement ID node 120a to optionally include one or more sensors 360. In some examples, an ID node implemented using one or more sensors 360 may be referred to as a sensor node. Examples of sensors 360 may include one or more environmental sensors (e.g., pressure, motion, light, temperature, humidity, magnetic field, altitude, attitude, orientation, acceleration, etc.) and dedicated location sensors (e.g., GPS sensors, IR sensors, proximity sensors, etc.). Those skilled in the art will understand that additional types of sensors measuring other characteristics are contemplated as sensors 360. Additionally, those skilled in the art will understand that sensor nodes may include additional procedural features to manage the collection, storage, sharing, and disclosure of captured sensor data.

[0124] The example may further implement ID node 120a to optionally include one or more magnetic switches 365. Magnetic switches 365 (such as reed switches) typically operate to close or open an electrical path or connection in response to an applied magnetic field. In other words, magnetic switches 365 are actuated by the presence or removal of a magnetic field. Various applications may involve the operation of ID node 120a with magnetic switches 365, as discussed in other examples described in more detail below.

[0125] and Figure 3 The example shown is consistent and can be based on Texas Instruments CC2540. A low-power (BLE) system-on-chip is used to implement the exemplary ID node 120a. The system-on-chip includes various peripheral devices (e.g., timer circuitry, USB, USART, general-purpose I / O pins, IR interface circuitry, DMA circuitry) to operate as an ID node and, if necessary, to interface with different possible sensors and other circuitry (e.g., additional logic chips, relays, magnetic switches) that make up the ID node.

[0126] In the additional examples, those skilled in the art will understand that similar functionality in ID nodes can be implemented in other types of hardware. For example, ID node 1720a can be implemented using specially optimized hardware (e.g., a specific application-specific integrated circuit (ASIC) with the same operational control and functionality as the node control and management code described below), discrete logic, or a combination of hardware and firmware, depending on the requirements of the ID node, such as power, processing speed, level of adjustability for RF characteristics, number of memory storage units coupled to one or more processors, cost, space, etc.

[0127] As described above, ID node 120a includes memory accessible by processing unit 300. Memory storage device 315 and volatile memory 320 are each operatively coupled to processing unit 300. Both memory components provide programming and data elements used by processing unit 300. Figure 3In the illustrated embodiment, memory storage device 315 holds various program code (e.g., node control and management code 325) and other data elements (e.g., profile data 330, security data 335, associated data 340, shared data 345, sensor data 350, etc.). Memory storage device 315 is a tangible, non-transient computer-readable medium on which information (e.g., executable code / modules, node data, sensor measurements, etc.) can be held in a non-volatile and non-transitory manner. Examples of such memory storage device 315 may include hard disk drives, ROM, flash memory, or other media structures that allow for long-term, non-volatile storage of information. In contrast, volatile memory 320 is typically a random access memory (RAM) structure used by processing unit 300 during operation of ID node 120a. When ID node 120a is powered on, volatile memory 320 may be filled with operating programs (such as node control and management code 325) or specific program modules that facilitate specific operations of ID node 120a. Furthermore, during the operation of ID node 120a, volatile memory 320 may also include certain data (e.g., profile data 330, security data 335, associated data 340, shared data 345, sensor data 350, etc.) generated when ID node 120a executes instructions such as those programmed or loaded from memory storage device 315. However, those skilled in the art will understand that this is not the case during... Figure 3 All data elements shown in the diagram must appear simultaneously in both the memory storage device 315 and the volatile memory 320.

[0128] Node control and management code

[0129] Typically, examples of node control and management code 325 are collections of software features that are implemented to typically control the behavior of a node (such as ID node 120a). In the example, the functionality of code 325 may generally be similar to that implemented in different types of nodes, such as master nodes, ID nodes, and sensor nodes. However, those skilled in the art will appreciate that while some principles of operation are similar across such nodes, other examples may utilize some degree of specialization or implement the functionality in different ways, depending on the node's intended application and purpose.

[0130] In a typical example, exemplary node control and management code 325 may generally include several programming functions or program modules, including: (1) a node announcement and query (scan) logic manager (also referred to herein as a node communication manager), which manages how and when nodes communicate; (2) an information control and exchange manager, which manages whether and how information can be exchanged between nodes; (3) a node power manager, which manages aspects of power consumption and RF output signal power and / or receiver sensitivity for variable short-range communication; and (4) an association manager, which is concerned with how nodes associate with other nodes. The following is a description of various examples of these basic program modules used by nodes.

[0131] Node Communication Manager - Announcements and Scans

[0132] In the example, the node advertisement and query (scan) logic manager governs how and when a node should advertise (transmit) its address or query (scan) the addresses of neighboring nodes. Advertisements are typically accomplished using messages, which can contain different information in various parts (e.g., headers, fields, flags, etc.). Messages can be single or in multiple groups.

[0133] In the example, the "Announce" mode (as opposed to the "Query" or "Scan" modes) is the default mode for ID nodes and causes the node to broadcast or transmit messages containing its address and relevant metadata about the node. For example, exemplary metadata may include information such as RF output power level, reference number, status flag, battery level, and the node's manufacturer name.

[0134] Figure 6 This is a diagram illustrating the structure or format of exemplary notification data groups. Refer to [link / reference] now. Figure 6 The diagram illustrates the structure of an exemplary notification data packet 600 broadcast as a signal or message from an ID node (such as ID node 120a). Packet 600 is presented with increased detail, illustrating exemplary metadata and the format of storing different types of metadata separately in different sections of the packet. Different examples may include different types of metadata, depending on the application deployed on the ID node.

[0135] Figure 7 This is a diagram illustrating sample content of an exemplary notification data group. Refer to [link / reference] now. Figure 7The exemplary notification data group 700 is illustrated as having exemplary metadata, including sample information such as RF output power levels (e.g., "TX power level"), reference numbers (e.g., "'FDX ID' (short ASCII name)"), status flags (e.g., "status flag value (indicating 'request for confirmation')"), battery levels (e.g., "battery level value (indicating 73% charge)"), and the node's manufacturer name (e.g., "company identifier (currently undefined for FedEx)"). In one example, those skilled in the art will understand that the reference numbers may be omitted or obscured for security purposes.

[0136] In one example, as mentioned above Figure 7 As described herein, exemplary announcement data packets may include RF output power levels to facilitate identification of the type of node broadcasting and the location of that broadcasting node. However, if the broadcast RF output power level is fixed and known by the node type, only the node type needs to be identifiable from exemplary announcement data packets such as packet 700.

[0137] Regarding how nodes communicate, the exemplary node may be in one of several different communication modes. A node in advertise (or transmit or broadcast) mode is visible to any other node set to query (or scan or listen) mode. In the example, the frequency and length of the advertisements may be application- and power-dependent. For example, in normal operation, the exemplary node would typically advertise periodically and expect to make proactive connections to another node at regular intervals, which could be specified by conditions set by server 100. In the example, such conditions could be set individually for a node by a higher-level node in the server or network.

[0138] If an exemplary node has not received an acknowledgment for a broadcast announcement packet within a specific time period, it may enter one or more alert phases. For example, if an exemplary node has not received an acknowledgment for a broadcast announcement packet from another node within a specific time period (often referred to as the alert interval), the exemplary node will enter the alert phase 1 state. This prompts the exemplary node to issue a follow-up announcement packet, which modifies one or more parts of itself to indicate the alert phase 1 state. More specifically, the exemplary follow-up announcement packet may have a different announcement alert header that instructs nearby nodes to send a SCAN REQ message upon receiving the announcement packet.

[0139] If the exemplary node has not received acknowledgment from the master node for the announcement packet broadcast by the exemplary node (the request from the master node for an active connection and a successful connection) within another time period, it will enter another alert phase, such as the alert phase 2 state. This prompts the exemplary node to issue a follow-up announcement packet, which modifies one or more parts of itself to indicate the alert phase 2 state. More specifically, the exemplary follow-up announcement packet may have a different announcement alert header that instructs the nearby master node to send a SCAN REQ message upon receiving the announcement packet.

[0140] If the exemplary node has data to be uploaded to the backend, it may also enter another type of alert phase. In one example, for instance, if the exemplary node has sensor data collected by the exemplary node (or received from one or more other nodes that have been communicating with the exemplary node), and the data needs to be uploaded to server 100, the exemplary node may enter an update alert phase (such as alert phase 3). This prompts the exemplary node to issue a follow-up notification packet that modifies one or more portions of itself to indicate the alert phase 3 status. More specifically, the exemplary follow-up notification packet may have a different notification header that instructs a nearby master node to make a connection with the exemplary node so that data (e.g., sensor data 350) can be transferred from the exemplary node (e.g., ID node 120a) to a nearby master node (e.g., master node 1720a). The transferred data may then be stored by the nearby master node as sensor data 450 in either or both of the master node's volatile memory 420 and memory storage device 415. After this storage operation, the nearby master node will transfer the data (e.g., sensor data 450) to server 100.

[0141] As in Figure 7 As illustrated in the diagram and explained in the above description of the alert level phase, the status flag in the header of the exemplary notification data packet is a field used in the association logic in one or more examples. For example, in one example, the presence of the status flag in the notification data packet allows a first node to transmit its status to a second node, and for the second node to report that status to a backend server such as server 100, without an active direct connection from the first node to the server. In other words, the status flag helps facilitate passive interactions (such as passive associations) between nodes.

[0142] In a more detailed example, several exemplary state types are established regarding communication with other nodes. For example, exemplary state types may include the following:

[0143] • Alert level 0 - No problem, operation is normal;

[0144] • Alert Level 1 - The announcing node is requesting confirmation from any available node that it has received its announcement packets;

[0145] • Alert Level 2 - The announcing node is requesting confirmation from any available master node that it has received its announcement packets;

[0146] • Alert Level 3 - Data for Upload - The node has captured data that can be used for uploading via the master node; and

[0147] • Synchronization - Announcement node requests to connect to a device or sensor that can synchronize data (such as timers or location information).

[0148] By broadcasting the status via, for example, a portion of the header in an announcement data packet, one or more nodes within the broadcasting node's scope can determine the node's status and initiate an active connection (if requested in the status message).

[0149] In some examples, requests for more information from the advertising node may arrive in the form of a SCAN_REQ message. Generally, an exemplary SCAN_REQ is a message sent from the scanning (listening) master node to the advertising node, requesting additional information from the advertising node. In this example, an alert status bit may, for example, indicate to the scanning master node at the application layer whether the advertising node is in a mode that will accept SCAN_REQs or in a mode that will not accept SCAN_REQs. In one example, the unconnectable and discoverable modes of the advertising node follow... Low Energy (BLE) standard.

[0150] In another example, a node can have different operating modes while scanning or listening to other nodes. For example, a node's query or scan mode can be active or passive. When a node is scanning passively, it will receive advertisement data packets but will not acknowledge or send a SCAN_REQ. However, when a node is scanning actively, it will receive advertisement data packets and will acknowledge receipt by sending a SCAN_REQ. More detailed examples are available for reference. Passive and active scanning or polling modes of the Low Energy (BLE) standard.

[0151] In the example, an exemplary node is scanning while it listens for other wireless nodes broadcasting on a short-range radio. The exemplary scanning node may capture, for example, the MAC address of the announcing node, the signal strength of the RF output signal transmitted from the announcing node, and any other metadata published by the announcing node (e.g., other information in the announcement data packets). Those skilled in the art will understand that the scope of "listening" can vary as the node scans. For example, the queries may be limited. In other words, the scope of what the node is particularly interested in and what it is listening for can be focused or otherwise limited. In this case, for example, the information collected may be limited to specific information from the target population of the short-range wireless node making the announcement; however, if information from any announcing device is collected, the information set may be considered "open."

[0152] While a node is advertising or scanning, the example can further utilize status flags and additional modes as part of how the node communicates and can be managed. In one example, when a scanning (listening) node receives an advertising data packet with a status flag indicating alert level 1 or 2 and the scanning node is in "passive" scanning mode, the node will switch to "active" scanning mode for a certain time interval. However, if the scanning node is already in "active" scanning mode in this case, the node will send a SCAN_REQ message and receive a SCAN_RSP (e.g., a message providing additional information requested from the advertising node) from the advertising node. The scanning node will then switch back to "passive" scanning mode.

[0153] In another example, when the advertising (broadcasting) node receives a SCAN_REQ from the scanning node, the advertising node will consider that its advertising data packet has been acknowledged. Furthermore, the advertising node will reset its "alert" status flag back to alert level 0. This allows the advertising node to effectively receive acknowledgments of its advertising without having made a connection to the scanning node, which advantageously and significantly saves power consumption.

[0154] In another example, when a scanning node receives an announcement data packet with a set alert level 3 status flag, the scanning node will attempt to establish a connection with the announcement device. Once the connection is established, the announcement device will attempt to upload its data to the connected device.

[0155] Therefore, when nodes communicate with each other in various advantageous ways, the example of the node announcement and query (scan) logic manager in code 325 can rely on one or more status flags, announcement modes, and scan modes.

[0156] Node Information Control and Exchange Manager

[0157] In the example, the information control and exchange manager section of node control and management code 325 determines whether and how information can be exchanged between nodes. In the example, the information control and exchange manager establishes different node operational states, where information can be modified according to a desired paradigm for the state. More specifically, the example of the information control and exchange manager can establish different levels of information exchange between nodes having a "non-connectable announcement" state or operational mode, a "discoverable announcement" state or mode, and a "general announcement" state or operational mode. When a node is in the "non-connectable announcement" mode, node information exchange is restricted. For example, an announcing node may broadcast information captured by one or more querying (scanning) nodes, but no bidirectional exchange of information occurs.

[0158] When a node is in "discoverable and advertised" mode and a scanning node is in "active" mode, node information is exchanged in two enabling ways. For example, the advertising node sends an advertisement packet, and in response, the scanning node sends a SCAN_REQ packet. After receiving the SCAN_REQ requesting additional information, the advertising node sends a SCAN RSP with the requested information. Therefore, in "discoverable and advertised" mode, there is bidirectional information exchange, but no active connection is established between the two nodes exchanging information.

[0159] Finally, for advanced bidirectional information exchange, active connections can be used between nodes, and information can be exchanged bidirectionally to and from different nodes. In a more detailed example, at this level of bidirectional information exchange, nodes are first identified and then authenticated as part of establishing an active connection. Once authenticated and subsequently actively connected to each other, nodes can securely share information back and forth. In one example, a sensor node uploading previously captured environmental information to the master node might be in this mode or state. In another example, an ID node uploading the stored results of a node scan operation to the master node might be in this mode or state. In yet another example, a master node sharing timer and / or location information with corresponding nodes might be in this mode or state.

[0160] Node Power Manager

[0161] In the example, the node power manager portion of node control and management code 325 focuses on managing power consumption and the efficient use of power within the node (e.g., adjustable levels of RF output signal power). Generally, the node is powered by a battery (such as battery 355 in an ID node) or via an interface to an external power source (such as battery / power interface 470 in a master node). In some examples, examples of external power sources may include power supplied from an outlet or power connector within the facility, or power generated onboard by a delivery vehicle (e.g., a car, truck, train, aircraft, ship, etc.). Those skilled in the art will appreciate that the interface to the external power source will generally be referred to as a “wired” power connector, and the node power manager can be informed whether the node is wired or powered by a battery (such as battery 355). Further examples may utilize wireless power transmission (such as via an induction coil) to implement the interface to the external power source.

[0162] In one example, a node can manage the power used while performing a task. For instance, a node can manage power when determining which node should perform a specific task. More specifically, the collective power consumption of a group of devices can be managed by selecting wired nodes to perform specific tasks when feasible or desired, and saving battery-powered nodes for other less energy-intensive or less demanding tasks. In another example, historical data can inform the system of the power required to complete a specific task, and the system can use this historical data to determine which node should perform the specific task. In other examples, profile data can also be used to inform the system of the power required to complete a specific task (e.g., a sensor profile, which describes the power requirements for the operation of sensor nodes that collect sensor data over a certain period of time and under certain conditions). The system can also use this profile data to determine which node should perform the specific task.

[0163] In another example, an exemplary node power manager can manage power as it determines how best to use and adjust power to more accurately accomplish a specific task. In one example, the RF signal output from a node (such as a short-range RF output signal from an ID node) can periodically move through the range of output power or switch between two or more settings that differ only in terms of detectability. As disclosed in more detail below, the variability and dynamic adjustment of the RF output signal power can allow other nodes (such as one or more master nodes) to see each node at a higher range of RF output signal power and only see nodes physically close to the advertiser node at a lower range of signal power.

[0164] In another example, an exemplary node power manager can cause a change in the characteristics of its RF output signal power when a node has been associated with a physical location or another node using background data (such as background data 560 and association logic utilizing this type of information). In one example, a node may be instructed to change the frequency of node communication and / or change the characteristics of its RF output power to save power.

[0165] In yet another example, all advertising nodes can cause their respective node power managers to periodically trigger each corresponding node to broadcast at maximum RF output signal power level, ensuring they remain within range of the scanning ID node or master node. This increases the chances of being within communication range and allows individual nodes to be properly located and managed within the network. The broadcast duration can be set or dynamically changed to allow pairing to occur (if needed).

[0166] In some examples, the exemplary node power manager adjusts the node's RF receiver sensitivity rather than adjusting the RF output signal power level. This allows for adjustable reception range (as opposed to adjustable broadcast range), which can be similarly used to manage power and boost location determination as discussed herein.

[0167] In yet another example, a combined approach can be used, where a node power manager can simultaneously and independently adjust more than one RF characteristic of a node. For example, when a node is located and associated with other nodes, an exemplary node power manager can adjust the RF output signal power level and also adjust the node's RF receiver sensitivity. Those skilled in the art will recognize that this is particularly useful in areas with unusually dense clusters of nodes and combined with varying RF output signal power levels.

[0168] Examples of exemplary node managers may refer to power profiles (e.g., profile data 330, 430 of exemplary types) when adjusting the power characteristics of a node (e.g., power consumption, power usage, output signal frequency, output signal duty cycle, timing, power level, etc.).

[0169] Node Association Manager

[0170] In the exemplary example, the node association manager section of node control and management code 325 focuses on how a node, in conjunction with and consistent with the server-side association manager in code 525, associates with other nodes, as discussed in more detail below. Therefore, when executed within a node, the exemplary node association manager instructs the node on how to associate with one or more other nodes using input from the server (e.g., entering an active connection mode).

[0171] An exemplary node association manager for nodes can indicate via status flags whether a node requires acknowledgment or connection, or whether it has information that can be uploaded to the backend. Therefore, even if a node may not yet be associated with or actively connected to another node, its status can be inferred from, for example, status information in the node's broadcast header.

[0172] Regarding connections between nodes, secure and insecure connections typically exist. While the examples may allow insecure connections between one or more groups of nodes, other examples rely on secure connections or authenticated node pairing. In one example, for a node to be paired with another node, an exemplary node association manager first identifies the node to be associated and transmits an association request to a server. The request may include a specific request to pair the nodes and request corresponding pairing credentials from a server (such as server 100). Server 100 may have staged pairing credentials for a particular node based on information indicating that the nodes will be within wireless proximity and that future pairing is possible. The visibility of node relationships may have been determined by scanning notifications or third-party data such as barcode scan information indicating that the nodes are currently or will be within proximity.

[0173] When connecting or disconnecting to exchange information in the exemplary node information exchange mode described above, nodes typically operate in multiple states, which form an exemplary announcement loop for the exemplary ID node. See below for reference. Figure 8 Furthermore, this exemplary notification loop for nodes is further explained in conjunction with and consistent with the server-side association manager in Code 525.

[0174] Airborne mode program module

[0175] In one example, node control and management code 325 may also include an air mode program module (not shown). In another example, the air mode program module may be implemented as part of a node power manager program module of code 325. When the ID node is operating in an aircraft, the exemplary air mode program module typically operates to manage the output power of the ID node's variable power short-range communication interface 375. In some cases, operating a wireless device within an aircraft may have unintentional effects on other electronic systems on the aircraft. More specifically, the example air mode program module may be operable to transition the ID node from different states or modes depending on the specific operation and / or operating conditions of the aircraft. For example, the exemplary air mode program module may be operable to transition the ID node from a state or mode (e.g., normal mode before takeoff, disabled mode during takeoff, air mode while in the air, disabled mode during descent, and normal mode after landing) based on detected environmental conditions (e.g., pressure, altitude) and / or flight details associated with the aircraft. In this way, ID nodes can be allowed to operate normally when onboard an aircraft, be completely disabled in some cases, and be able to operate in flight mode, which allows sensing and sensor data capture but may limit the transmission of RF output signals to avoid interfering with the aircraft's onboard electronics. Further information relating to methods for managing wireless devices (such as ID nodes) in an aircraft is disclosed in more detail in U.S. Patent Application Serial No. 12 / 761,963 entitled "System and Method for Management of Wireless Devices Aboard an Aircraft," which is hereby incorporated herein by reference.

[0176] Node data

[0177] As previously described, the volatile memory 320 may also include certain data (e.g., profile data 330, security data 335, associated data 340, shared data 345, sensor data, etc.) generated when the ID node 120a executes instructions such as those programmed or loaded from the memory storage device 315. Generally, data used on a node such as the ID node may be received from other nodes or generated by that node during operation.

[0178] In one example, profile data 330 is a data type that defines general types of behavior for ID nodes, such as broadcast profiles (discussed in more detail below). In another example where ID node 120a is a BLE device, profile data 330 may include information related to battery service, proximity between BLE devices, or messaging between BLE devices. Compatibility profile (exposing the state of the battery within the device). Therefore, exemplary profile data 330 may exist in volatile memory 320 and / or memory storage device 315 as a data type of parameters defining node behavior.

[0179] In one example, it is expected that secure pairing of nodes will be permitted. As will be explained in more detail below, as part of the secure pairing of nodes, a request for pairing credentials is generated and sent to server 100. Thus, exemplary security data 335 (e.g., PIN data, security certificates, keys, etc.) may reside in volatile memory 320 and / or memory storage device 315 as a data type associated with providing a secure relationship between nodes, such as the requested security credentials.

[0180] Association data (such as association data 340) typically identifies the connection relationship between nodes. For example, ID node 120a may become associated with master node 1720a when ID node 120a moves within the range of master node 1720a and after the server guides the two nodes to associate (using authorization). As a result, information identifying the relationship between ID node 120a and master node 1720a can be generated and provided to server 100 and may be provided to each of ID node 120a and master node 1720a at some point. Therefore, exemplary association data 340 may exist in volatile memory 320 and / or memory storage device 315 as a data type identifying associations between nodes, and may be generated locally as part of associating nodes.

[0181] Shared data 345 may reside in volatile memory 320 and / or memory storage device 315 as a data type exchanged between nodes. For example, background data (such as environmental data or historical data) may be the type of shared data 345.

[0182] Sensor data 350 may also reside in volatile memory 320 and / or memory storage device 315 as a data type recorded and collected from airborne sensors or from another node. For example, sensor data 350 may include temperature readings from an airborne temperature sensor from an ID node and / or from another ID node (e.g., from...). Figure 2 The humidity reading of the humidity sensor in another ID node inside container 210 shown.

[0183] Therefore, ID nodes (such as, Figure 3The node 120a) shown is a low-cost wireless node that communicates with other ID nodes and master nodes via a short-range radio with variable RF characteristics, can associate with other nodes, can broadcast to and scan for other nodes, associate with other nodes, and store information / exchange information with other nodes.

[0184] Master node

[0185] Master node (such as, in) Figure 4 The master node 1720a, shown in more detail, shares many ID node characteristics but typically extends them to act as a bridge to server 100. Generally, while ID nodes are a lower-level node type in the exemplary wireless node network, master nodes are a higher-level node type. Exemplary master nodes may be in a fixed location or otherwise stationary, while other example master nodes may be implemented as movable and mobile devices.

[0186] Now for reference Figure 4 An exemplary master node 1720a includes a processing or logic unit 400 coupled to a short-range communication interface 485, a memory storage device 415, volatile memory 420, a clock / timer 460, and a battery / power interface 470. In some examples, the short-range communication interface 485 may have variable power characteristics, such as receiver sensitivity and RF output power levels. Those skilled in the art will appreciate that the processing unit 400 is logic such as a microprocessor or microcontroller, which typically performs calculations on data and executes operating program code and application code, as well as other program modules within the master node 1720a.

[0187] Generally speaking, those skilled in the art will understand that Figure 4 The description of the hardware of ID node 1720a applies to similar hardware and software features present in every type of node, including master nodes. Those skilled in the art will understand that the exemplary master node 1720a is a hardware-based component that may utilize a single processor or logic unit, a more powerful multi-core processor, or multiple processors to implement processor 400, depending on the desired implementation. In one example, processing unit 400 may be implemented using a low-power microprocessor and associated peripheral circuitry. Less complex microcontrollers or discrete circuitry may be used to implement processing unit 400, as well as more complex and sophisticated general-purpose or special-purpose processors.

[0188] In yet another example, exemplary processing unit 400 may be implemented by a low-power ARM1176JZ-F application processor used as part of a single-board computer (such as a Raspberry Pi computer model B-Rev-2). The ARM application processor is embedded in the Raspberry Pi computer deployed... Within the BCM2835 System-on-Chip (SoC). In this example, the Raspberry Pi computer device operates as the core of an exemplary master node 1720a and includes a secure digital memory card slot and a flash memory card operating as a memory storage device 415, a 512-megabyte RAM memory storage device operating as volatile memory 420, an operating system (such as Linux) stored on the memory storage device 415 and running in the volatile memory 420, a peripheral device implementing a clock / timer 460, and a power supply device operating as a power interface 470.

[0189] Similar to the short-range interface 375 in ID node 120a, the exemplary master node 1720a includes a short-range communication interface 480 as a programmable radio and omnidirectional antenna coupled to processing unit 400. In some examples, the short-range communication interface 480 may have variable RF power characteristics, such as receiver sensitivity and / or RF output signal power levels. In some examples, the interface 480 may use antennas with different antenna profiles when directivity is desired. Examples of the short-range communication interface 480 may include additional hardware (not shown) for operatively coupling devices to a specific short-range communication path (e.g., communicating at 2.4 GHz). (BLE connectivity path). While BLE is used in one example to implement a short-range communication protocol, other low-power short-range communication protocols can be used to implement the variable-power short-range interface 480, such as ultra-low-power communication protocols used with ultra-wideband pulse radio communication, the ZigBee protocol, the IEEE 802.15.4 standard communication protocol, etc.

[0190] In one example, various RF characteristics of the radio transceiver (such as RF output power and RF receiver sensitivity) can be dynamically and programmatically changed under the control of processing unit 400. In other examples, additional RF characteristics of the radio transceiver (such as frequency, duty cycle, timing, modulation scheme, spread spectrum frequency hopping, etc.) can be programmatically changed on demand to flexibly adjust the RF output signal, depending on the desired implementation and intended use of the exemplary master node 1720a. In other words, examples of master node 1720a (or any other master node) may have programmable RF characteristics (such as adjustable RF output signal power, adjustable RF receiver sensitivity, the ability to switch to different frequencies or bands, etc.).

[0191] In addition to the short-range communication interface 480, the exemplary master node 1720a also includes a mid-range and / or long-range communication interface 485 to provide a communication path to the server 100 via the network 1710. In one example, the communication interface 485 may be implemented using a mid-range radio in the form of a Wi-Fi transceiver conforming to IEEE 802.11g. In another example, the communication interface 485 may be implemented using a longer-range radio in the form of a cellular radio. In yet another example, both the Wi-Fi transceiver and the cellular radio may be used when optimally available or according to priority (e.g., if available due to potentially lower cost, the Wi-Fi transceiver may be tried first; and if unavailable, the cellular radio may be relied upon). In other words, the example may rely on the longer-range cellular radio portion of the interface 485 as an alternative to the mid-range Wi-Fi transceiver radio, or when the mid-range radio is outside the range of the connectivity infrastructure radio within the network 1710. In another example, the short-range communication interface 480 and / or the medium-range / long-range communication interface 485 may be implemented using a wireless radio transceiver (e.g., a hardware radio, a wireless transceiver implemented using a combination of hardware and software, or a software-defined radio (SDR) implementation of a wireless radio transceiver capable of providing the functionality of both interfaces 480 and 485).

[0192] Therefore, in these examples, the medium- and / or long-range communication interface 485 can be used to transmit captured node information (e.g., profile data 430, association data 440, shared data 445, sensor data 450, and location data 455) to the server 100.

[0193] The battery / power interface 470 for the master node 1720a typically powers the circuitry implementing the master node 1720a. In one example, the battery / power interface 470 may be a rechargeable power source. For example, the master node may have a rechargeable power source along with a solar panel that charges the power source to facilitate deployment of the master node in a remote location. In another example, the battery / power interface 470 may be a non-rechargeable power source intended to be disposed of after use. In yet another example, the battery / power interface 470 may be a power interface connector (such as a power cord and internal power supply on the master node 1720a). Thus, when the exemplary master node is in a fixed or stationary configuration, it may be powered by a power cord connected to an electrical outlet that is connected to an external power source. However, other mobile master nodes may use an internal power source, such as a battery.

[0194] The clock / timer 460 used for the master node 1720a typically provides one or more timing circuits used in applications such as time delay, pulse generation, and oscillator. In an example where the master node 1720a saves power by entering a sleep or hibernation state for a predetermined period of time as part of an overall power saving technique, the clock / timer 460 helps the processing unit 400 manage timing operations.

[0195] Optionally, the example may also implement the master node 1720a as including one or more sensors 465 (as well as sensor nodes deployed on ID-based nodes and referenced above). Figure 3 (The described sensor is similar). Additionally, the example of master node 1720a may also provide a user interface 405 to indicate status and allow basic interaction for viewing captured node data and interacting with nodes and server 100. In one example, user interface 405 may provide a display, interactive buttons or soft keys, and indicating devices to facilitate interaction with the display. In a further example, a data input device may also be used as part of user interface 405. In other examples, user interface 405 may take the form of one or more lights (e.g., status lights), audible input and output devices (e.g., microphone and speaker), or a touchscreen.

[0196] As previously described, an exemplary master node (such as master node 1720a) may be located in a known fixed location, or alternatively include dedicated location positioning circuitry 475 (e.g., GPS circuitry) to allow the master node to determine its location independently or by itself. In other examples, alternative circuitry and techniques may be relied upon for positioning circuitry 475 (instead of GPS), such as positioning circuitry compatible with other satellite-based systems (e.g., the European Galileo system, the Russian GLONASS system, the Chinese BeiDou system), terrestrial radio-based positioning systems (e.g., cellular telephone tower-based or Wi-Fi-based systems), infrared positioning systems, visible light-based positioning systems, and ultrasonic-based positioning systems.

[0197] Regarding memory storage device 415 and volatile memory 420, both are operatively coupled to processing unit 400 in exemplary master node 1720a. Both memory components provide program elements used by processing unit 400 and hold and store data elements accessible to processing unit 400 (similar to possible data elements stored in memory storage device 315 and volatile memory 320 for exemplary ID node 120a).

[0198] exist Figure 4 In the example shown, memory storage device 415 holds various executable program code (e.g., master node control and management code 425), data similar to that held in memory storage device 315 of the ID node (e.g., profile data 430, security data 435, association data 440, shared data 445, sensor data 450, etc.), and other data more specific to the operation of master node 1720a (e.g., location data 455 related to the location of a particular node). Like memory storage device 315, memory storage device 415 is a tangible, non-transient computer-readable medium on which information (e.g., executable code / modules, node data, sensor measurements, etc.) can be held in a non-volatile and non-transitory manner.

[0199] Similar to the volatile memory 320 in ID node 120a, volatile memory 420 is typically a random access memory (RAM) structure used by processing unit 400 during operation of master node 1720a. When master node 1720a is powered on, volatile memory 120 may be filled with operating programs (such as master node control and management code 425) or specific program modules that facilitate specific operations of master node 1720a. Furthermore, during operation of master node 1720a, volatile memory 420 may also include certain data generated when master node 1720a executes instructions such as those programmed or loaded from memory storage device 415 (e.g., profile data 430, security data 435, associated data 440, shared data 445, sensor data 450, etc.).

[0200] Master node control and management code

[0201] Typically, examples of master node control and management code 425 are collections of software features implemented to typically control the behavior of a master node (such as master node 1720a). In one example, master node control and management code 425 typically includes several programming functions or program modules, including: (1) a node announcement and query (scan) logic manager that manages how and when nodes communicate; (2) an information control and exchange manager that manages whether and how information can be exchanged between nodes; (3) a node power manager that manages aspects of power consumption and RF output signal power and / or receiver sensitivity for variable short-range communication; (4) an association manager that focuses on how nodes are associated with other nodes; and (5) a location awareness / capture module for determining node location.

[0202] Master node program module and ID node module

[0203] In the exemplary example, the program modules (1) to (4) of the master node control and management code 425 are typically as described above. Figure 3 The similarly named program modules (1) to (4) of the described node control and management code 325 have the same functionality. Additionally, because node control and management code 325 may also include an air-mode program module, those skilled in the art will understand that master node control and management code 425 may also include a similarly functional air-mode program module to allow advantageous operation of the master node while in the air. However, and consistent with the examples set forth below, such modules may have some differences when in the master node compared to those controlling ID nodes.

[0204] Position awareness / capture module

[0205] In addition to the exemplary program modules (1) through (4) of code 425, exemplary examples of master node control and management code 425 will further include exemplary location-aware / capture modules (more commonly referred to as location manager modules for master nodes) relating to node locations. Generally, the exemplary location-aware / capture modules deployed in the exemplary master node determine their own location and, in some examples, the location of connected nodes. Examples of exemplary location-aware / capture modules may work in conjunction with location manager program code residing and operating in the server (e.g., as part of server control and management code 525), as discussed in more detail herein, when determining the node locations of other nodes.

[0206] In one example, the master node may be located in a known, fixed location. In such an example, an exemplary location-aware / capture module may perceive that the master node's location is a known, fixed location, which may be defined in a fixed, preset, or pre-programmed portion of the memory storage device 415 (e.g., information held in location data 455 in the memory storage device 415). Examples of such location information may include general location coordinates or other descriptive details that identify the master node's location. In another example where the master node may not always be in an inherently known or fixed location (e.g., for a mobile master node), the exemplary location-aware / capture module may communicate with positioning circuitry (such as GPS circuitry 475 on the master node) to determine the master node's current location.

[0207] In the example, the location of the master node can be transmitted to the server, which can use this location information as part of managing and tracking nodes in the wireless node network. For example, if the exemplary master node is mobile and has determined a new current location using positioning circuitry 475, the master node can provide this new current location to the server. Additionally, when the exemplary location sensing / capture module of the master node determines the location of a node associated with the master node, the master node can also provide the location of that associated node to the server.

[0208] server

[0209] Although Figure 3 and Figure 4 The illustrations depict the hardware and software details of an exemplary ID node and an exemplary master node, respectively. Figure 5A more detailed diagram of an exemplary server that can operate as part of an exemplary wireless node network is provided. In the exemplary example, server 100 may be referred to as an Association and Data Management Server (ASMS) that manages nodes, collects information from nodes, stores information collected from nodes, maintains or has access to background data relating to the environment in which the nodes operate, and can provide information about the nodes (e.g., status, sensor information, etc.) to the requesting entity. Further details regarding various examples of utilizing this functionality are explained below. Those skilled in the art will appreciate that node density, geographic installation characteristics, and network connectivity are all types of examples of factors that may influence the desired final architecture of the example wireless node network. Additionally, in embodiments described in more detail below, a server that can interact with the master node and ID node described herein may be implemented and deployed as a scheduling server that responds to scheduling requests and transmits scheduling commands to different nodes (such as a master node operating as an autonomous controller within a modular mobile autonomous control module (also referred to as an exemplary MAM component)).

[0210] Now for reference Figure 5 The exemplary server 100 is shown as a networked computing platform capable of connecting to and interacting with at least one wireless master node. In other examples, the exemplary server 100 may also connect to and interact with one or more user access devices. Those skilled in the art will appreciate that the exemplary server 100 is a hardware-based component that can be implemented in a wide variety of ways. For example, the server 100 may use a single processor or one or more portions of a multiprocessor component that may be implemented to communicate with devices (such as user access devices 200, 205) and wireless nodes (such as master node 1720a).

[0211] Generally, those skilled in the art will further understand that server 100 may be implemented as a single computing system, a distributed server (e.g., a single server for individual server-related tasks), a hierarchical server (e.g., a server implemented with multiple levels, wherein, depending on the implementation, information may be maintained at different levels and tasks may be performed at different levels), or a server farm that logically allows multiple different components to function as a server computing platform device from the perspective of client devices (e.g., devices 200, 205, or master node 1720a). In some regional deployments, where information collected in different regions may include and be subject to different regulatory controls and requirements implemented on the respective regional servers, exemplary servers may include servers dedicated to a specific geographic region.

[0212] Similarly, although in Figure 5The example shown illustrates a single memory storage device 515, but the exemplary server 100 may deploy more than one memory storage medium. Furthermore, the memory storage medium may take various non-transitory forms (e.g., conventional hard disk drives, solid-state storage such as flash memory, optical drives, RAID systems, cloud storage-constructed storage, network storage devices, etc.).

[0213] At its core, Figure 5 The exemplary server 100 shown includes a processing or logic unit 500 coupled to a network interface 590, which facilitates and enables operable connections and communications via a network 1710 with one or more master nodes and, in some examples, with user access devices (such as devices 200, 205). In one example, server 100 may include a medium- and / or long-distance communication interface 595 utilized thereto for more direct communication with one or more master nodes. Using these communication paths, along with program code or program modules (such as server control and management code 525), server 100 typically operates to coordinate and manage information related to ID nodes as items associated with ID nodes physically move from one location to another.

[0214] As a computing platform, the processing unit 500 of the exemplary server 100 is operatively coupled to a memory storage device 515 and a volatile memory 520, which jointly store and provide various executable program codes (e.g., server control and management code 525), data similar to data held in the corresponding memory storage device of the master or ID node (e.g., profile data 530, security data 535, association data 540, shared data 545, sensor data 550, location data 555), and background data 560 related to the environment in which the node operates (e.g., information generated within the wireless node network and information created outside the wireless node network).

[0215] Like memory storage devices 315 and 415, memory storage device 515 is a tangible, non-transient, computer-readable medium on which information (e.g., executable code / modules (e.g., server control and management code 525), node-related data (e.g., profile data 530, security data 535, association data 540, location data 555, etc.), measurement information (e.g., a type of shared data 545, sensor data 550, etc.) and information about the node's context (e.g., background data 560)) can be stored in a non-volatile and non-transient manner.

[0216] Those skilled in the art will understand that the above identification of specific program code and data is not exhaustive, and examples may include additional executable program code or modules and other data relating to the operation of processing-based devices such as ID nodes, master nodes, and servers.

[0217] Background data

[0218] As described above, server 100 can access background data 560 as part of managing nodes in a wireless node network. According to the example, exemplary server 100 may contain a collection of such background data 560 in a background database 565. (As in...) Figure 5 As illustrated, the exemplary background database 565 is a single database accessible by the processing unit 500 within server 100. Those skilled in the art will readily understand that other configurations providing an accessible collection of background data 560 are possible and contemplated within the scope and principles of this invention. For example, background database 565 may be an externally accessible database (or multiple databases), such as an accessible storage device maintained outside server 100 via a dedicated interface or network storage device (or network attached storage (NAS) unit). In yet another example, the background database may be maintained separately by an external database server (not shown) different from server 100, but accessible via a communication path from server 100 to the separate database server (e.g., via network 1710). Furthermore, those skilled in the art will appreciate that background database 565 may be implemented using cloud technology, which essentially provides distributed networked storage of a collection of information accessible to server 100 (such as background data 560, sensor data 550, shared data 545, etc.).

[0219] Within the background database 565, an exemplary example of a collection of background data 560 that typically relates to the environment in which a node operates or is expected to operate can be maintained. More specifically, the background data 560 may typically relate to what similar nodes experience in environments similar to those that a given node is currently experiencing or is expected to experience when the given node moves.

[0220] In a typical example, the environment in which a node may actually operate or is expected to operate may include different types of environments—for example, an electronic communication environment (e.g., an RF environment that may be filled with signals or include materials or structures that may impede or otherwise shield RF communication), a physical environment along the expected path along which the identified node will move (e.g., temperature, humidity, security, and other physical characteristics), a transport environment relating to how the node may move or is expected to move (e.g., the speed and other parameters of trucks, aircraft, conveyor systems), and a density environment relating to the node density in the area near a particular node (e.g., how many nodes are expected to occupy a passageway or storage facility, and a particular ID node is expected to be transported through the passageway or storage facility on its shipping path).

[0221] Depending on these different aspects of the node's operating environment, exemplary background data 560 can provide information related to different structures and conditions concerning the movement of goods (e.g., specific types of delivery equipment, vehicles, facilities, shipping containers, etc.). This information can be generated by entities operating the wireless node network (such as shipping companies). Additionally, exemplary background data 560 may include third-party data generated outside the wireless node network. Therefore, background data (such as data 560) can include a wide variety of data that generally pertains to the environment in which nodes operate and can be used to advantageously provide enhanced node management capabilities.

[0222] Generally speaking, Figure 5 The illustration shows background data 560 of an exemplary type stored in database 565 and volatile memory 520. Those skilled in the art will understand that, in addition to or instead of storing this data in a database, background data 560 may also be stored in other data structures. For example, in... Figure 5 The background data 560 illustrated in the figure may include, but is not limited to, scan data 570, historical data 575, shipping data 580, layout data 585, RF data 587, and third-party data.

[0223] Scan data 570 is typically data collected for a specific item related to an event. For example, when an item is placed in a package (such as package 130), a tag may be generated and placed on the outside of the package. The tag may include a visual identifier that identifies the package when scanned by a suitable scanning device capable of capture. Information generated in response to a scan identifier (a type of event) can be considered a type of scan data. Other scan data 570 may include, for example, general inventory information generated when package-related information is manually entered; captured package custody control data; and barcode scan data.

[0224] Historical data 575 is typically previously collected and / or analyzed data relating to common characteristics. Historical data 575 embodies operational knowledge and know-how regarding specific characteristics relevant to the operation of the wireless node network. For example, common characteristics could be specific events (e.g., the movement of items from an open-air environment to a specific enclosed environment such as a building), the type of item (e.g., the type of package, the type of contents being shipped, location, shipping route, etc.), the success rate of a specific item (e.g., successful shipments), etc. Another example of historical data 575 may include processing information associated with how items have historically been processed as they have moved from one location to another (e.g., when moving within a particular facility, processing information may indicate that the item is on a specific conveyor and may include information about the conveyor (e.g., speed and expected duration of the item on the conveyor)).

[0225] Shipment data 580 is typically data relating to the movement of an item from one location to another. In one example, shipment data 580 may include a tracking number, information about the contents of the shipped item, address information relating to the origin and destination locations, and other characteristics of the item in motion. Shipment data may further include information related to the authentication of the item (e.g., identifier information about the authorized delivery recipient of the item).

[0226] Layout data 585 is typically data relating to a physical area of ​​one or more parts of a planned route. For example, examples of layout data 585 may include architectural schematics and physical dimensions of parts of a building in which nodes can be transshipped. Examples may further include density information associated with the physical areas to be transited and the expected numbers of potential nodes in those areas as the type of layout data. In another example, examples of layout data may include configurations of how a group of packages can be assembled on pallets and placed into shipping containers (e.g., unit loading devices (ULDs)), which facilitate the movement of collections of various forms of goods using single-mode or combined transport.

[0227] RF data 587 is typically information about signal degradation in the signal path environment for a specific type of node and may relate to specific adverse RF conditions that could cause signal fluctuations, interference, or other degradation from what would otherwise be the optimal signal path environment for that type of node. For example, RF data may include shielding effects when using specific packaging or locations, shielding effects when a package is inside a specific type of container or is assembled as part of a palletized shipment, shielding effects when shipping specific contents, and other physical and electronic interference factors.

[0228] Third-party data 589 is an additional type of background data 560, which typically includes data generated outside the network. For example, third-party data may include weather information associated with a specific area that an item will pass through as it moves along a predetermined path from one location to another. Those skilled in the art will appreciate that other types of third-party data may also be considered background data 560, relating to the physical and environmental conditions that an item moving from one location to another will face.

[0229] The use of background data (such as background data 560 described above) advantageously helps server 100 (and other nodes) better manage the movement of items, provides better location determination, enhances intelligent operation and management at different levels of the wireless node network, and provides enhanced visibility into the current location and status of items during the operation of the wireless node network. In one example, server control and management code 525 can provide this functionality, enabling the wireless node network to be aware of and responsive to background information.

[0230] Server control and management code

[0231] Typically, server control and management code 525 controls the operation of exemplary server 100. In the example, server control and management code 525 is a collection of software features of programming functions or individual program modules implemented to typically control the behavior of server 100. Thus, exemplary server control and management code 525 can be implemented using several programming functions or program modules, including but not limited to: (1) a server-side association manager that provides a framework for more robust and intelligent management of nodes in a wireless node network; (2) a context-based node manager that enhances the management of nodes in a wireless node network based on context data; (3) a security manager that manages secure pairing aspects of node management; (4) a node update manager that provides updated or different programming for specific nodes and shares information with nodes; (5) a location manager that determines and tracks the location of nodes in the network; and (6) an information update manager that serves requests for information related to the current state of a node or typically provides information about a node or information collected from a node.

[0232] Server-side association manager

[0233] The server-side association manager (also known as the server-side association management function), typically a program module as shown in Exemplary Code 525, is responsible for intelligently managing nodes in a wireless node network using a secure information framework. In the example, this framework can be implemented as a background-driven learning sensor platform. The framework also implements ways to securely share information (such as RF scans, location, date / time, and sensor data) across nodes, ways to modify node behavior, and ways to let a node know it has been "missed." The framework established during the operation of the server-side association manager allows the network of nodes to be managed as a system with enhanced and optimized accuracy in determining the physical location of each ID node. Further information regarding specific examples of such association management frameworks and methods is explained in more detail below.

[0234] Background-based Association Manager

[0235] Background-based node managers, typically the program module in example code 525, are responsible for incorporating background data as part of management operations to provide an enhanced data foundation upon which node visibility can be provided. In some examples, a background-based node manager may be implemented as part of a server-side association manager, while in other examples, it may be implemented as a separate program module.

[0236] In one example, the enhanced data foundation relies on contextual data, such as contextual data 560 (e.g., scan data 570, historical data 575, shipping data 580, layout data 585, and other third-party contextual data, which provide information about the conditions and environment surrounding an item and ID node as it moves from one location to another). Such contextual data (e.g., network proprietary technology, building layout, and operational knowledge of nodes and shipping routes used with the wireless node network) provides the building blocks for enhancement, allowing server 100 to manage node tracking and location within a robustly rich contextual environment. In this example, context-based management provides visibility into the system through data analysis of when and how associations should be expected as a node travels through the wireless node network. In other examples, it provides a basis for better understanding RF signal degradation, which can be caused by the operating environment, packaging, package contents, and / or other packages associated with the item and its ID node.

[0237] Security Manager

[0238] The security manager module facilitates the association of two nodes in a wireless node network by managing the secure pairing of nodes. This security manager module can be implemented independently or as part of the association manager module in exemplary server control and management code 525. In one example, the security manager module provides appropriate pairing credentials to allow a node to securely connect to another node. Therefore, when a node wishes to connect to another node, the example requires the server to generate appropriate pairing credentials, provide those credentials to the node, and observe those credentials within the node to allow for a successful connection or association.

[0239] In operation, a node (such as master node 1720a) identifies the address of a node it wishes to connect to (such as ID node 120a). Using this address, the node prepares a pairing request and sends it to server 1720. Server 100 operates under the control of the security manager module of the association manager and determines whether the requesting node should connect to or otherwise associate with other nodes. If not, the server does not issue the requested security credentials. If so, and according to the desired association management paradigm set by the association manager of code 525, the server provides the requested credentials necessary for successful wireless pairing and the establishment of secure communication between the associated nodes.

[0240] Node Update Manager

[0241] The exemplary server control and management code 525 may include a node update manager module that provides updated programming information to nodes within the wireless node network and collects information from such nodes (e.g., shared data 545, sensor data 550). The node update module may be implemented separately or as part of the association manager module in the exemplary server control and management code 525.

[0242] Providing programmatic updates to nodes facilitates and enables the allocation of node functionality, saving power and better managing nodes as a system. For example, one instance might involve changing the functional responsibilities of different nodes by temporarily offloading responsibility for a specific function from one node to another, depending on context or association. Typically, the server directs other nodes to change their functional responsibilities. However, in some examples, the master node can direct other nodes to change their functional responsibilities.

[0243] Facilitating the collection of information from nodes and the sharing of information with other nodes as part of the association management functions of server 100, information can be collected and shared between nodes and with the server (e.g., via an exemplary node update manager). For example, one example may collect and share RF scan data (a type of shared data 545), information about the location of nodes (a type of location data 555), system information about date / time (another type of shared data 545), and sensor measurements collected from sensor nodes (a type of sensor data 550).

[0244] Location Manager

[0245] Exemplary server control and management code 525 may include a location manager module that helps determine and track node locations. In a general example, a node's location may be determined by the node itself (e.g., the ability of a master node to determine its own location via positioning circuitry 475), by nodes associated with that node (e.g., where the master node can determine the location of an ID node), by the server itself (e.g., using location information determined using one or more technologies implemented as part of code 525), and by a combined effort of the master node and the server.

[0246] Generally, an exemplary ID node may rely directly or indirectly on a master node to determine its actual physical location. Examples may use one or more methods to determine the node's location. For example, and as described more specifically below, possible methods for determining a node's location may involve controlling the node's RF characteristics (e.g., RF output signal level and / or RF receiver sensitivity level), determining relative proximity, considering association information, considering location adjustments for contextual information and the RF environment, chained triangulation, and hierarchical and adaptive methods combining various positioning methods. Further information and examples of how an exemplary location manager module can determine the location of a node using such exemplary techniques are provided in more detail below.

[0247] Additionally, those skilled in the art will appreciate that it may also be possible to determine what constitutes an actionable position relative to the actual position based on contextual information about the tracked item. For example, a larger item may require relatively lower positional accuracy than a smaller item, making it easier to implement operational decisions and status updates using knowledge of the context. If the size of the item is known, the positional accuracy can be adjusted accordingly. Thus, if a larger item is to be tracked, or if the system's contextual awareness allows for the use of lower positional accuracy, a stronger signal and therefore a wider scanning area can be employed, which can be helpful in situations where RF interference or shielding is problematic.

[0248] Information Update Manager

[0249] Exemplary server control and management code 525 may include an information update manager module that provides information relating to the operation of the wireless node network and the status of the nodes. This information may be provided in response to a request from a device outside the wireless node network (such as user access device 200). For example, someone shipping goods may inquire about the current status of the goods via their laptop or smartphone (one of several types of user access devices), which will connect to server 100 and request this information. In response, the information update manager module may serve such a request by: determining which node is associated with the goods, collecting status information related to the goods (e.g., location data, etc.), and providing the requested information in a timely and useful form that is targeted at the inquiring entity.

[0250] In another example, the user access device may connect to server 100 and request specific sensor data from a specific node. In response, the information update manager may coordinate with the node update manager and provide the user access device with the requested collected sensor data 545.

[0251] Node Filter Manager

[0252] Example server control and management code 525 may optionally include a node filter manager that helps manage node operations using a multi-level filtering mechanism. Filtering essentially sets rules that limit potential associations and communications. This example of node filter management may define different filtering levels or patterns for the master node (e.g., which ID nodes can be managed by the master node, as a way to limit communication and management burden on the master node).

[0253] In one example, a "local" mode can be defined, where the ID node communicates only at the location where the last wireless node has contacted back to server 100 and / or where third-party data indicates that the assigned master node and the ID node are in physical and wireless proximity and are managed by the assigned master node. Therefore, for the "local" mode of service filtering, only the assigned master node transmits and processes information from the nearest and assigned ID node.

[0254] Moving to a less restrictive filtering mode, a "regional" filtering mode can be defined, where the ID node can communicate from the location where it last reported back to server 100 and / or where third-party data indicates the location of the ID node, and is managed by any master node. Therefore, for a "regional" mode of business filtering, any master node near the ID node can transmit and process information from that ID node. This can be useful, for example, when it is desired to restrict associations and pairings to a specific facility.

[0255] In the least restrictive filtering mode, the "global" filtering mode can be defined as essentially system-wide communication, where ID nodes are allowed to communicate and are managed by any master node. In other words, the "global" mode of service filtering allows any ID node within the wireless node network to transmit information through a specific master node near the ID node, which can transmit and process information from that ID node.

[0256] Therefore, using this exemplary filtering pattern, an ID node under certain conditions (e.g., adverse environmental conditions, unfavorable node conditions, etc.) can signal that it needs to bypass any filtering mechanism in the appropriate location. This facilitates the management of communication and associations through the use of "alert" status flags. In this example, this would operate to disregard any filtering rules set at the master node level, allowing the ID node to be "discovered" and connected to another node.

[0257] Therefore, when executing code 525 and having access to the data types described above, the exemplary server 100 is operable to manage nodes, collect information from nodes, store information collected from nodes, maintain or have access to background data relating to the environment in which the nodes operate, and provide information about the nodes (e.g., status, sensor information, etc.) to the requesting entity.

[0258] Node communication and association examples

[0259] To better illustrate how exemplary management and communication principles can be implemented within an exemplary wireless node network Figures 8 to 12 Several examples are provided illustrating how exemplary components of a wireless node network can typically communicate (announce and scan), associate, and exchange information during different types of operation in various examples. In the examples, Figure 22A -B also provides a more detailed application of this exemplary association and communication activity when the exemplary ID node moves along a transit path (e.g., across a passageway) and is tracked and managed by different master nodes and servers.

[0260] Example of a node notification loop

[0261] As generally explained above, a node can have several different types of announcement states, where the node can be connected to and communicate with other nodes (e.g., when a master node implementing an autonomous controller within an exemplary MALVT robot device detects another node (e.g., an ID node implemented using a lift or actuated door) and wants to connect to and securely communicate with such another node). Furthermore, as a node moves within a wireless node network, its announcement and connection states can change as the node unassociates itself with previously connected nodes, associates with new nodes, or discovers that it is not associated with any other nodes. In some cases, a node can be healthy and not connected to or associated with another node during normal operation. However, in other cases, if a node has not connected to any other node for a very long period of time, it may pose a potential loss problem. Therefore, a node can experience different types of announcement states under these different operational conditions.

[0262] Typically, a node can be in a state where it cannot connect to other nodes for a certain period of time (also known as the unconnectable time interval). Later, in another state, the node may want to be connected during a defined connectable period (also known as the connectable time interval) and announce this. When a node announces it wants to be connected, it can expect to be connected at some point. In other words, there can be an optional time period during which a node expects to connect to another node. However, if a node does not connect to another node during that time period (known as the alert time interval), the node may need to take specific or urgent actions depending on the situation. For example, if a node has not connected to another node within 30 minutes (e.g., the example alert time interval), the node may internally change its operation to "more diligently" searching for other nodes to connect to. More specifically, the node may change its state flag from alert level 0 (no problem, normal operation) to alert level 2 to request acknowledgment from any available master node for receipt of the announcement packet broadcast by the node seeking connection.

[0263] Figure 8 This is a diagram illustrating exemplary announcement states (or information exchange and node connectivity states) and factors involved in the transitions between states of an exemplary ID node in a wireless node network. Now refer to... Figure 8The three exemplary states of a node are illustrated as part of an exemplary node announcement cycle—namely, ID node not connectable announcement state 805, ID node discoverable announcement state 815, and ID node general announcement state 830. The transitions between these states will depend on factors related to the expiration of the various types of time intervals described above. In the example, the duration of each of these time intervals will depend on the system implementation and the context in which the ID node operates. Such time intervals may, for example, be set by server 100 as part of data (e.g., profile data, associated data, background data) provided to the node during node updates and management operations.

[0264] Reference Figure 8 In the example illustrated, an exemplary ID node may have an alert interval set to, for example, 30 minutes, and be in ID node unconnectable announcement state 805, where the unconnectable interval is set to 5 minutes. In state 805, the ID node may broadcast or announce, but is not connectable and will not receive SCAN_REQ messages (a type of request for more information sent from another node to the announcing node). Therefore, in this example, the ID node in state 805 may announce in an unconnectable manner for at least 5 minutes, but is expected to be connected within 30 minutes.

[0265] If the reminder timeout has not yet passed (factor 810) and the unconnectable timeout is still running (factor 825), the ID node remains in state 805. However, if the reminder timeout has not yet passed (factor 810) and the unconnectable timeout has passed (factor 825), the ID node will enter a mode in which it attempts to connect to another node for a period of time (e.g., a 1-minute connectable timeout) and will move to... Figure 8 In an exemplary advertising cycle, the ID node typically advertises state 830. In state 830, the ID node remains in this state as long as the connectable time interval is running, where it can connect to another node and will receive requests of type SCAN_REQ from other nodes in response to advertising packets being broadcast by the ID node. However, when the connectable time interval (e.g., a 1-minute period) expires or expires (factor 835), the ID node returns to the unconnectable advertising state 805 at either the next time the unconnectable time interval has passed (and the ID node attempts to connect again in state 830) or the alert time interval has finally passed (and the ID node finds itself in a situation where, although it tried to connect in state 830, it has not yet connected to another node).

[0266] When the reminder timeout finally expires (factor 810), the ID node moves to ID node discoverable notification state 815. Here, the ID node is not yet connectable, but will receive requests of type SCAN_REQ from other nodes in response to a notification packet being broadcast by the ID node. In this state 815, an exemplary ID node may change its state flag to indicate and reflect that its reminder timeout has expired and the node is no longer in normal operation. In other words, the ID node may change its state flag to a type of reminder state being broadcast to indicate that the ID node urgently needs to connect to another node. For example, depending on whether the node needs to upload data (e.g., reminder level 3 state) or synchronize timers or other data with another node (e.g., synchronization state), the state flag of the notification packet broadcast by the ID node may be changed to one of the higher reminder levels. In the case where such a change occurs in the state flag and the ID node is broadcasting in state 815, the ID node waits to receive a request from another node that has received the broadcast and requests more information via a SCAN_REQ message sent from the other node to the ID node (factor 820). Once the SCAN_REQ message has been received by the ID node (factor 820), the ID node that entered alert mode because it had not connected to another node during the alert interval can connect to the other node, upload or share data as needed, and then move back to state 805 and restart the alert interval and the inaccessible interval.

[0267] Example of master node to ID node association

[0268] Announcements (broadcasts) and scans (listening) are ways in which nodes can communicate during associated operations. Figures 9 to 12 Examples are provided of how network elements (e.g., ID nodes, master nodes, and servers) of a wireless node network can communicate and operate when connected and associated, as part of several exemplary wireless node network operations.

[0269] Figure 9 This is a diagram illustrating exemplary components of a wireless node network during an exemplary master-to-ID node association. Now refer to... Figure 9 An exemplary master node M1910a is illustrated as being within communication range of an exemplary ID node A 920a. Master node M1910a also has a communication path back to server 900. As shown, master node M1910a is in scanning or listening mode (e.g., by “M1...). scan The label indicates that ID node A 920a is in announcement or broadcast mode (e.g., indicated by "A"). advIn this example, master node 910a of M1 has captured the address of ID node A 920a through an announcement of at least one announcement data packet by A, and has reported it to server 900. In this way, the capture and reporting operations effectively create a “passive” association and proximity-based custody control between nodes. This association can be recorded in a server (such as server 900) as part of association data (such as association data 540).

[0270] In another example, the passive association between the master node and the ID node can be extended to an "active" association or connection. For example, see reference... Figure 9 In the example shown, server 900 may instruct master node M1910a to associate, connect, or otherwise pair with ID node A 920a, and forward the requested security information (e.g., PIN credentials, security certificates, keys) to master node M1910a. Depending on the advertising state of ID node A 920a, ID node A 910a may only be visible (discoverable) but not connectable. In this case, master node M1910a must wait until ID node A 920a is in a connectable state (e.g., the ID node's general advertising state) and can be paired. (See above reference...) Figure 8 The discussion focuses on the fact that each ID node has a certain time window during each time period, during which it can be paired or connected.

[0271] In this example, when ID node A 920a successfully pairs with master node M1910a, ID node A 920a may no longer advertise its address. By default, only unassociated devices advertise their addresses. Paired or associated nodes will only advertise their addresses (if instructed to do so).

[0272] Example of ID node to ID node association

[0273] In various examples, an ID node can be associated with or connected to other ID nodes. Figure 10 This is a diagram illustrating exemplary components of a wireless node network during an exemplary ID-to-ID node association. Now refer to... Figure 10 Example master node M1910a, ID node A920a, and server 900, etc. Figure 9 The arrangement is similar to that shown, but with the addition of ID node B 920b, which is within communication range of ID node A 920a. In this example, ID node A 920a is listening to ID node B 920b in query (scan) mode (e.g., A...). scan) runs. When ID node A 910a detects that ID node B 920b has made an announcement using one or more announcement data packets as part of an announcement message from ID node B 920b (e.g., B... adv When ID node A 920a identifies a status flag from the message indicating that ID node B 920b has data for uploading (e.g., sensor data 350), ID node A 920a records the scan results (e.g., as a type of correlation data 340), and when subsequently connecting to master node M1910a, ID node A 920a uploads the captured scan log information to server 900. In this way, the ID node scanning, capturing, and reporting operations effectively create a “passive” association between different ID nodes. This passive association can be recorded in server 900 as part of the correlation data 540.

[0274] In another example, the passive association between two ID nodes can be extended to an "active" association or connection. For example, see reference... Figure 10 In the example shown, based on the captured status flags and information about ID node B 920b's uploads in this mode, server 900 can proactively connect to or pair with ID node B 920b by sending a request from master node M1 910a to ID node A 920a, in order to download information from ID node B 920b. In one example, security credentials authorizing the proactive connection between ID node A 920a and ID node B 920b are downloaded from master node M1 910a to ID node A 920a, which receives these security credentials from server 900. In another example, the necessary security credentials may have been pre-prepared at ID node A 920a. Furthermore, master node M1 can connect directly to ID node B 920b (if M1 is within communication range of ID node B 920b), rather than relying on an ID node-to-ID node connection.

[0275] Example of querying information from ID node to master node

[0276] The exemplary ID node can also send queries to other nodes (both the master node and the ID node). Figure 11 This is a diagram illustrating exemplary components of a wireless node network during an exemplary ID-to-master node query. Now refer to... Figure 11 The appearance of Figure 9 The similar set of nodes shown, except that the exemplary master node M1910a is in announcement or broadcast mode (e.g., M1 adv In the process, ID node A 920a is in scan mode (e.g., A). scanIn addition to the above, in this configuration, ID node A 920a can query information from master node M1910a. In one example, a query can be initiated by setting the status flag of the ID node. The requested information can be information to be shared, such as the current time, location, or environmental information maintained by master node M1910a.

[0277] In the passive association example, at A scan In this model, ID node A 920a may have captured the address of master node M1910a. However, because the ID node cannot directly connect to server 900 to request pairing security credentials (e.g., security PIN information authorizing an active connection between ID node A 920a and master node M1910a), a passive association and corresponding pairing will already be initiated from the master node. In another example, it could be possible for ID node A 920a to store the pairing credentials as security data 335 from a previous connection. This would allow ID node A 920a to then initiate an active association with master node M1910a after the passive association.

[0278] Example of alert level notification

[0279] As previously described, in one or more examples, a node may enter an alert phase or level. For example, if a node has not received acknowledgment of an announcement group from the master node within a set time period (e.g., the alert interval described in some examples), the node will enter a more specialized alert phase for the announcement, allowing it to be "discovered" or passalong the information. Figure 12 This is a diagram illustrating exemplary components of a wireless node network during an exemplary notification mode. Now refer to... Figure 12 The appearance of Figure 9 The diagram shows a similar set of nodes, with the addition of another master node (master node M2910b) and another ID node (ID node B 920b). Exemplary ID node A 920a is in announcement or broadcast mode (e.g., A...). adv In the process, nodes M1, M2, and B are each in scanning mode (e.g., M1...). scan M2 scan and B scan In ) . In such Figure 12In the example and configuration shown, the status flag in the announcement message from ID node A 920a is set to a specific alert level (e.g., alert level 2) in the message header, requesting acknowledgment from any nearby master node. In one example, ID node A 920a may enter this mode if it has not yet connected to another node for a set period of time. In another example, ID node A 920a may enter this specialized announcement mode based on received instructions (e.g., from server 900 or another nearby node) or triggered conditions (other than time), such as when a sensor input (e.g., a light) is detected or otherwise registered and the node issues continuous updates to its address as a security feature. ID node A 920a, set at this alert level and in this specialized announcement mode, is thus configured to be in an active pairing mode, awaiting pairing credentials.

[0280] From a passive association perspective, any node in scan mode can be passively associated with such announcing node (e.g., ID node A 920a in alert mode). Therefore, in the example, the alert level 2 status flag in the announcement header broadcast by ID node A 920a indicates an urgent and proactive request for intervention, rather than just a passive association without an active connection.

[0281] From a proactive association perspective, any node that can upload a special announcement header to ID node A 920a can forward security credentials from server 900. This allows the node receiving such credentials to proactively associate or pair with ID node A 920a.

[0282] Node location determination method

[0283] As part of managing and operating a wireless node network according to one or more examples of the present invention, a node may determine its own location or the location of another node. Figures 13 to 16 Some exemplary diagrams illustrating methods for determining the location of nodes are provided. As mentioned above, some nodes include positioning circuitry and can self-locate using methods such as GPS positioning, Wi-Fi triangulation, etc. And as explained above, the exemplary ID node may directly or indirectly rely on the master node (which can self-locate) to determine its location. In the examples discussed and described herein, the location of a node may generally encompass both current and past locations. For example, if the node is not moving, an example of determining the node's location could be the current location, but if the node is in motion, the location may need to be determined as a past location.

[0284] Similarly, the term "location" on its own can include locations with varying degrees of precision. For example, "location" can encompass an actual location with coordinates defined in three-dimensional space, but the use of the term "location" can also include relative locations only. Therefore, the term "location" is intended to have a general meaning unless otherwise explicitly limited to a more specific type of location.

[0285] Node location can be determined by the master node alone, by the server alone, or by the master node working in conjunction with the server. Regarding such a device, examples may use one or more methods to determine and further refine the node's location. Such example methods may include, but are not limited to: determining node location may involve controlling the node's RF characteristics (e.g., RF output signal level and / or RF receiver sensitivity level), determining relative proximity, considering association information, considering location adjustments for contextual information and the RF environment, chain triangulation, and hierarchical and adaptive methods combining various location methods. A more detailed description of these exemplary node location determination techniques is provided below.

[0286] Positioning by proximity

[0287] In one example, signal strength measurements between two or more nodes can be used to determine the proximity of the nodes. If the actual locations of the nodes are not known, one example can infer the positional relationship between the two nodes from their proximity.

[0288] Approximity when changing power characteristics

[0289] For example, an exemplary method for determining the location of a node in a wireless node network may involve altering the node's power characteristics, such as the output power of one of the nodes. Typically, and as referenced... Figure 13The explanation is that power characteristics can be altered to identify the node closest to the broadcasting node. The broadcasting node may transmit one or more signals, and other nodes may report receiving one or more of these signals. Those other nodes that receive at least one signal broadcast from the transmitting node can be considered part of a nearby group of nodes. Furthermore, when the power characteristics are altered (increased or decreased, or both), the closest group of nodes (or a single node) can be identified as the smallest group of nodes among those that receive at least one signal from the broadcasting node. Therefore, while not absolute, the type of location of the broadcasting node can be determined based on the closest one or group of nodes. This can be repeated for adjacent nodes to generate a set of closest node information for each of the nodes. More specifically, an exemplary set of closest node information for each of the nodes may include which nodes are closest (via the lowest power characteristics) and more robustly supplement this information by which other nodes are progressively further away (via increasingly larger power characteristics). Therefore, this set of nearest node information provides a basis for determining how close the nodes in the network are to each other, thus providing a type of location determination for each node.

[0290] Additionally, in some examples, background data can be referenced to further enhance the determination of how close the nodes are to each other. For example, combining this set of closest node information with background data (such as scan information registered when items change custody controls in a delivery system) can further refine how the node locations are determined. Scans and other background information will help determine, for example, whether one or more of the nodes are known to be in the same container, vehicle, or moving together on a belt. Therefore, this type of background data can be integrated into further steps of refining the degree of proximity between nodes based on background data.

[0291] Generally, the location of a node can be determined based on proximity when the power characteristics of a node change or vary in a wireless node network. One exemplary method of doing this is by instructing a first node in the network to change the power characteristics of one or more signals broadcast by that first node. In a more detailed example, such an instruction could cause the first node to incrementally decrease or increase its power characteristics (such as its output power level) between values.

[0292] The method then continues with the following steps: identifying a first group of other nodes in the wireless node network near the first node based on those nodes that receive at least one of the signals broadcast by the first node when the first node changes its power characteristics. In a further example, this step may incrementally identify which nodes in the first group of other nodes receive at least one broadcast signal when the first node incrementally changes the output power level of the broadcast signal. The incrementally identified nodes can be considered as a group of nodes that are progressively closer to the first node.

[0293] The method then continues by identifying one or more of the closest other nodes as the smallest group of other nodes that receive at least one of one or more signals broadcast by the first node when the first node changes its power characteristics.

[0294] The method then concludes by determining the position of the first node based on one or more of the closest other nodes. Therefore, when power characteristics change, the group of nodes that have received at least one signal from the signals broadcast by the first node can change, and the smallest such group is the group of nodes closest to the first node (even if there is only one node). In a more detailed example, the final step may include determining the position of the first node based on one or more of the closest other nodes and the group of nodes increasingly closer to the first node as the increasingly closer group of nodes provides more detailed proximity information for refined position determination.

[0295] For example, refer to Figure 14 The group of nodes that are increasingly closer to ID node F 920f may include the farthest node M3 and M1, which is closer than M3. When the power characteristics of ID node F decrease incrementally and its output power level changes from P1 to P2, M3 may stop receiving signals, but M1 and M2 will still receive signals. Furthermore, when the power characteristics of ID node F continue to decrease incrementally and its output power level changes from P2 to P3, M1 may stop receiving signals, but only M2, as the last node closest to ID node F, will receive signals. Therefore, in this example, the location of ID node F can be determined based on the fact that M2 is the closest node and the group of nodes that are increasingly closer includes M1 and M3, where M1 is closer than M3.

[0296] In another example, one or more further refinements to the location of the first node can be performed. In one example, the steps of the method can be repeated, wherein a second node in the node is instructed to change the power characteristics of one or more signals broadcast by the second node, and then the method can further refine the location of the first node based on the location of the second node. In a more detailed example, the steps of the method can be repeated, wherein a second node in the node is instructed to change the power characteristics of one or more signals broadcast by the second node, and then the method can further refine the location of the first node based on the location of the second node and a set of nodes that are increasingly closer to the second node. Utilizing this increasingly cross-correlated information about which nodes are closer to other nodes and to what extent (which can be further repeated for additional nodes), the example can further refine the location of the first node within the network.

[0297] The method may further include: determining background data related to the first node, and refining the position of the first node based on the background data. In the example where the power characteristic is the output power level, the output power level of the broadcast signal can be set to an incremental change based on the background data.

[0298] The method may further include: determining background data relating to the node closest to the first node, and refining the location of the first node based on the background data. In yet another example, the method may determine background data relating to incrementally identified nodes in a group of nodes that are progressively closer to the first node, and refine the location of the first node based on the background data. For example, the closest node and the progressively closer group of nodes may have scan data indicating that they are within the same container. This exemplary background data can be used to further refine the location of the located node, which can help to efficiently determine that the node is near the container. Thus, those skilled in the art will understand that background data for the located node and nodes identified as being close to it can provide relevant inputs that advantageously help to further refine the location of the node.

[0299] Those skilled in the art will understand that such a positioning method, as disclosed and explained in the various examples above, can be used on server devices (such as, Figure 5 Implemented on server 100 (illustrated in the figure), the server device runs one or more portions of server control and management code 525 (e.g., a location manager). This code may be stored on a non-transitory computer-readable medium (such as memory storage device 515 on server 100). Therefore, when code 525 is executed, the server's processing unit 500 may be operable to perform operations or steps from the exemplary methods disclosed above and variations thereof.

[0300] Examples of such server devices may include servers (such as server 100) operable to communicate with multiple nodes in a wireless node network. See reference... Figure 5 The server typically includes a server processing unit, server volatile memory, server memory storage device, and at least one communication interface. In this example, the volatile memory, memory storage device, and communication interface are each coupled to the processing unit. The memory storage device holds at least a program code segment and location data related to the location of one or more nodes. The communication interface provides a communication path that operatively connects the server to the nodes.

[0301] As mentioned above, the server processing unit is operable when running the program code segment to perform the steps and operations described above with respect to the method and its variations.

[0302] Proximity when observing signal patterns and intensities over a time period

[0303] In another example, an improved method for determining node location through proximity may include analyzing signal patterns and strengths between announcing and listening nodes. In one example, an association threshold may be set based on observed message counts, and / or the recorded signal strength over a specific time period may improve the ability to locate a node (e.g., an ID node) to another node (e.g., a master node). In some examples, the observed message counts may be implemented as an average count over repeated time periods. Furthermore, other examples may filter irrelevant observations from the observed dataset to help improve the quality of the data on which the association threshold is based, and the results may help determine node location.

[0304] In a more detailed example, an improved method for determining node location by proximity can represent the captured notification message count as a component of the node's location and the direction of travel. In this example, two exemplary master nodes (e.g., master nodes M1910a and M2910b) can capture notification messages from an ID node (e.g., ID node A920a). Master node M1 can observe and capture (e.g., record information related to the observation) 60 messages from ID node A within a 2-minute time period, while master node M2 ​​observes and captures only 7 notification messages from ID node A within the same time period. Based on the difference between the frequency at which master node M1 observes messages from ID node A and the frequency at which master node M2 ​​observes messages, the system is able to determine that ID node A is closer to master node M1 and that it is a known location.

[0305] In a further example, comparing the average timestamps of captured records allows the system to make a more accurate determination of location. For instance, if the average number of captured messages found on master node M2 ​​is increasing (e.g., messages take longer to travel from ID node A to master node M2), this indicates that ID node A is moving away from master node M2. If the average number of captured messages found on master node M2 ​​is increasing while the average number of captured messages found on master node M1 is decreasing, this indicates that ID node A is moving away from master node M2 ​​and towards master node M1. Therefore, the location of a node can also be enhanced or refined by relying on changes in message timing (transmission to reception) over multiple observation periods.

[0306] In another example, the observed signal strength can be a component in location determination and estimation of the direction of travel, allowing the system to make a more accurate determination of location. For example, two master nodes (M1910a and M2920b) may be capturing announcement messages from node (ID node A 920a). M1 captures 60 messages from ID node A within 2 minutes, while M2 captures only 7 messages. The average signal strength observed by master node M1 for the signal from ID node A is higher than the average signal strength observed by master node M2. Based on this observed signal strength information, the system will determine that ID node A is at M1, but the predicted path may indicate that ID node A is moving towards M2. As master nodes M1 and M2 continue to capture records, the system (e.g., management code 524 operating on server 900, which communicates with M1 and M2) processes the continuous feed of captured records from M1 and M2. Using this observed signal strength information, when ID node A physically moves closer to M2 and further away from M1, server 900 expects the message count and average signal strength from ID node A to increase for observations at M2 and decrease for observations at M1 during the observation period (2 minutes). Therefore, in this example, changes in the observed power level and the frequency of observed messages can indicate the actual node movement.

[0307] Making node proximity localization and node orientation determination based on signal patterns and characteristic strengths observed over a time period has the advantage of reducing the possibility of unwanted and spurious signal anomalies causing incorrect determination of the ID node's location. Furthermore, the above exemplary methods for determining node location can be applied, in conjunction with the various examples described herein for determining node location, to include the movement characteristics of nodes (e.g., moving closer to one node, moving closer to one but further away from another, etc.) as part of refining node location.

[0308] In the example, this improved method of enabling node proximity localization and node orientation determination based on signal patterns and characteristic strengths observed over a time period can be achieved by instructing first and second other nodes to detect any messages broadcast from that single node within that time period. This time period can be set based on various factors, such as background data. More specifically, the time period can be dynamically changed based on background data as the single node moves to a different background environment.

[0309] The method enables the server to receive a first indication from a first other node and a second indication from a second other node. Finally, the method determines the location of the node based on the difference between the first and second indications. The first indication relates to the characteristics of messages broadcast from the node that were detected by the first other node during the time period. Similarly, the second indication relates to the characteristics of messages broadcast from the node that were detected by the second other node during the time period. These indications may include, for example, the count of messages received by the respective other nodes, transit time factors (e.g., the average transit time for a message to be detected after broadcast), and average signal strength.

[0310] In one example, the first indicator could be a first count of messages broadcast from the node detected by a first other node during the time period, and the second indicator could be a second count of messages broadcast from the node detected by a second other node during the time period. Therefore, when the first count is greater than the second count, determining the location of the node could be a location closer to the first other node compared to the second other node. Additionally, the method could further include determining the actual direction of node movement based on comparing the first and second counts over multiple time periods. For example, the method could repeatedly observe and track the first and second counts over time within several of these time periods to determine which is increasing and which is decreasing, and determine the movement of the node based on these measurements over time.

[0311] In another detailed example, the first indication may be a first time factor of a message broadcast from the current node detected by a first other node during a predetermined time period, and the second indication may be a second time factor of a message broadcast from the current node detected by a second other node during the same time period. Furthermore, the actual node movement direction of the current node may be based on a comparison of the first and second time factors. In a more detailed example, the first time factor may be the average transit time for a message detected at a first other node to travel from the current node to that first other node, and the second time factor is the average transit time for a message detected at a second other node to travel from the current node to that second other node. Therefore, determining the position of the current node may be: when the first time factor is less than the second time factor, the current node is closer to the first other node than the second other node.

[0312] In another example, the first indication could be the first average signal strength of a message broadcast from the node detected by a first other node during the time period, and the second indication could be the second average signal strength of a message broadcast from the node detected by a second other node during the time period. Therefore, determining the location of the node could be: if the first average signal strength is greater than the second average signal strength, the location is closer to the first other node than the second other node.

[0313] In the example, the improved method described above may further include: observing the degree of change of the first average signal strength and the degree of change of the second average signal strength during repeated time periods, and determining the actual node movement direction of a node based on comparing the degree of change of the first average signal strength with the degree of change of the second average signal strength.

[0314] In another example, the method can further refine the determined location of the node. In this example, the method may further include refining the location of the node based on at least one of a first updated location received from a first other node and a second updated location received from a second other node. For example, when the first other node is a mobile master node and it is the node closer to the node being located of the two nodes, the example can utilize positioning signaling onboard to the first other node, which provides the current location of the first other node. This current location data can be transmitted by the first other node to the server to update the server in its calculation of the location of the node.

[0315] In another example, the improved method may use determined locations to layer background data to refine the location of a node. The background data associated with a particular node may be determined by the server, and therefore the location of that node may be refined based on this background data. In another example, when comparing the location of a node, the background data may be related to the closer of a first or second other node. For example, the server may perceive that a particular master node is closer to the node than a second master node, and that the particular master node is inside a container. Using this additional background data associated with the particular master node, the server may refine the location of the node based on the background data. When refining the location of a node, other exemplary types of related background data may be relied upon, such as background data of a specific shielding element associated with the environment near the particular master node (e.g., a specific type of ULD with known RF shielding characteristics, etc.).

[0316] Additionally, the method may involve checking whether a node behaves as expected. More specifically, a further example of the method may compare the location of the node with its predicted path to determine whether the node is outside the predicted path. This allows the server to use historical data learned when creating the predicted path and to keep track of the node relative to an acceptable range associated with the predicted path. The method may also generate notifications indicating whether the node is outside the predicted path. In this way, actionable tasks can then be taken to locate the node—for example, changing the filtering mode options for nodes in that general area, etc.

[0317] Those skilled in the art will understand that such improved node localization methods, as disclosed and explained in the various examples above, can be used on servers (such as...). Figure 5 Implemented on server 100 (illustrated in the figure), the server runs one or more portions of server control and management code 525 (e.g., a location manager). This code may be stored on a non-transitory computer-readable medium (such as memory storage device 515 on server 100). Therefore, when code 525 is executed, the server's processing unit 500 may be operable to perform operations or steps from the exemplary methods disclosed above and variations thereof.

[0318] Correlation-driven localization using variable RF characteristics

[0319] As described above, signal strength measurements between two or more nodes can be used to determine the relative distance between nodes. If one of the nodes has a known location (e.g., the master node M1910a), the relative positions of one or more nodes within the range of the node with the known location are generally a function of how accurately the system can determine the distance between the node with the known location and its associated nodes. In other words, the example can identify the relative positions of items and their associated junctions by relying on the variable low-power RF output signal driven by the association to determine the distance of a node from a known location.

[0320] Determined by the location of the master node announcement.

[0321] As typically mentioned above, determining node location may involve controlling the RF characteristics of the node (e.g., RF output signal level and / or RF receiver sensitivity level), and more specifically, may involve controlling aspects of the master node's announcements. Figure 13 This is a diagram illustrating an exemplary location determined using master node announcements. Figure 13 In the example illustrated, a master node with a known location (such as master node M1910a) is broadcasting an announcement message with varying RF output power levels. Figure 13 Exemplary different RF output power levels are illustrated as concentric ranges 1305 to 1315 around the master node M1910a. Thus, the master node M1910a can broadcast at a maximum power P1 relative to range 1305, but can control the RF output power level and dynamically change the RF output power level to P2 and broadcast to a smaller range 1310, or change it to P3 and broadcast to an even smaller range 1315.

[0322] In the illustrated example, receiving ID nodes A920a to E920e are in polling (scanning) mode and can each use received signals at different levels to determine their distance from the transmitter M1. Those skilled in the art will understand that, although... Figure 13 The example shown in the illustrations makes all the receiving nodes act as ID nodes, but other examples may make the receiving nodes either master nodes, ID nodes, or a mixture of both.

[0323] exist Figure 13In an exemplary example, the locations of nodes A through E can be determined based on the known location of the master node M1910a. This location, plus the range measurement at the last time each of the corresponding receiving nodes A through E received a signal from node M1, and taking into account the confidence factor of the range measurement, provides a determination of the node's location based on variable RF signal power. Depending on the quality of the range measurement, individual receiving nodes may or may not have separately calculated locations. In yet another example, if third-party or background data (such as scan information) is available, such data can be used as an additional confidence factor to determine a refined location. As the communication range of M1 is limited from P1 to P3, the accuracy of the location obtained through association increases.

[0324] exist Figure 13 The illustrated example describes an exemplary method for determining the location of a node using master node announcements. First, when the variable power short-range communication interface 480 of master node M1 is set to P1 (its maximum output), master node M1910a is seen by each of the ID nodes A920a through E920e. Based on analysis or historical measurements, the outdoor performance (optimal range) of the radio in M1's variable power short-range communication interface 480 at the P1 power level may have previously been found to be approximately 30 feet. Therefore, without checking the RSSI levels from individual ID nodes A920a through E920e and without an active calibration phase, the system knows that ID nodes A through E are within 30 feet of master node M1910a.

[0325] Next, when the variable power short-range communication interface 480 of master node M1 is set to P2 (medium output level in this example), master node M1 is seen by nodes A and B. Based on previous analysis or historical measurements, the outdoor performance (optimal range) of the variable power short-range communication interface 480 of master node M1 operating at the P2 power level is determined to be approximately 15 feet. Therefore, without checking the RSSI levels from each node, we know that ID node A 920a and ID node B 920b are within 15 feet of master node M1. Furthermore, we know that ID nodes (e.g., ID nodes C 920c, D 920d, and E 920e) that are no longer receiving broadcast RF signals from master node M1 910a are somewhere within 30 feet of master node M1 910a, but may be more than 15 feet away from M1.

[0326] Furthermore, when the master node M1's variable power short-range communication interface 480 is set to P3 (its minimum output level in this example), it is seen by ID node B 920b. Based on previous analysis or historical measurements, the outdoor performance (optimal range) of the master node M1's variable power short-range communication interface 480 operating at the P3 power level is determined to be approximately 5 feet. Therefore, without checking the RSSI levels from each ID node, we know that the location of ID node B 920b is within 5 feet of the known location of master node M1910a.

[0327] The ranging steps, as discussed in the examples above, can then be repeated for any of the identified nodes to construct a more accurate picture of the relative position of each node. The granularity of the RF characteristic settings (e.g., RF output signal power level settings) will provide a greater granularity of positional differentiation when performing the ranging steps. In one example, the ranging steps can be performed on a total set of RF characteristic settings (e.g., a few settings within a wide range), and similar steps can then be performed on a more selective range of RF characteristic settings.

[0328] The following describes an example of a method for location determination using one or more associations of nodes in a wireless node network. The method begins with a first node broadcasting one or more first messages at a first expected or predicted range distance. In one example, the first expected range distance is the optimal range of the first node. For example, the radio in the first node's communication interface may have a maximum setting to allow the node to broadcast at the maximum range assumed to be unobstructed. This setting provides the known expected range distance. Figure 13 In the example, master node M1910a can broadcast at a maximum power level P1 reaching a first range distance from node M1. However, if node M1 is known to be in an unfavorable RF shielded environment, the first expected range distance can be a distance adjusted to take into account the background environment of such shielding (e.g., a type of background data). The expected range distance can be adjusted depending on one or more types of relevant background (e.g., one or more types of background data relating to how the RF output signal from the node may be impeded).

[0329] Next, the method identifies which nodes associated with the first node have received at least one first message. In one example, the first node may be able to access and view associated data in its onboard memory storage device as part of identifying which nodes are associated with it. In one example, the association with the first node can be a passive association (e.g., not actively pairing and securely connecting) or an active association (e.g., actively pairing and being able to securely connect and share data) or a combination of both types of association.

[0330] Next, the first node broadcasts one or more second messages at a second expected range distance, where the second expected range distance is incrementally smaller than the first expected range distance. Figure 13 In the example, the master node M1910a can be the first node and is currently broadcasting at a moderate power level P2, reaching a second expected range distance from node M1. By incrementally changing the RF power level in this way, the master node M1910a is no longer able to reach the same level as before. Figure 13 Nodes C to E are shown in the diagram.

[0331] The method then terminates by determining the location of one or more of the identified associated nodes that have not received any second message but have received at least one first message, wherein the location is between a first expected range distance and a second expected range distance from the first node. Again, in Figure 13 In the example, master node M1910a can determine the location of nodes C to E (assuming they have not received messages sent from the second expected range distance at RF power level P2) as being between a first expected range distance (when master node M1 broadcasts at power level P1) and a second expected range distance (when master node M1 broadcasts at power level M2) from the known location of master node M1.

[0332] In one example, the method can also cause the first node to broadcast one or more third messages at a third expected range distance (a range that is incrementally smaller than the second expected range distance), and determine the location of one or more identified associated nodes that did not receive any third messages but received at least one second message, wherein the location is approximately near the second expected range distance from the first node. Again, in Figure 13 In the example, by incrementally changing the power level up to P1 and broadcasting a third message at a distance expected for that P1 level, master node M1 can determine the location of node A (when node A receives the second message but not the third message) as approximately near a distance expected for P2 from the location of master node M1.

[0333] Additional examples of this method can further refine this determined location by updating the location of the first node. In one example, the first node may be a mobile node. Thus, refinement may involve: determining the current mobile location of the first node; and refining the locations of one or more of the identified associated nodes that have not received any second message but have received at least one first message based on the current mobile location of the first node. Therefore, when the first node moves and updates its own location (e.g., via GPS signals received by the positioning circuit 475 on the master node), the first node is able to leverage its own updated location and advantageously refine the locations of its associated nodes.

[0334] Furthermore, in some examples, the finer-grained location of associated nodes can be transmitted to the server. This provides updates to the server and helps track and manage the locations of nodes in the network. Again, return to the reference. Figure 13 For example, master node M1910a can use this method to locate associated nodes, such as ID nodes A920a to E920e, and update server 100 with this new location data relating to the current location of node M1 and any of the nodes associated with node M1.

[0335] Those skilled in the art will understand that a node (e.g., a location-aware / capture module) can run one or more parts of the master node control and management code 425. Figure 4 The master node 1720a in Figure 13 The exemplary method as disclosed and explained above in various examples is implemented on the master node M1910a. This code may be stored on a non-transitory computer-readable medium, such as memory storage device 415 on the master node 1720a. Therefore, when code 425 is executed, the processing unit 400 of the master node may be operable to perform operations or steps from the exemplary method disclosed above and variations thereof.

[0336] In another example, a node device in a wireless node network is described, which uses location determination via association as described with reference to the steps related to the method above. As mentioned above, such a node device can be implemented using a master node, which has a node processing unit, node volatile memory, node memory storage device, and a first communication interface and a second communication interface. Each of the memory and the communication interface is coupled to the node processing unit. Further, the node memory storage device holds at least program code segments, association data, and location data, and sometimes shipping information. The first communication interface provides a first communication path operatively connecting the node to a plurality of other nodes in the network, while the second communication interface provides a second communication path operatively and independently connecting the node to a server in the network.

[0337] In this example, the node processing unit is operable to transmit one or more first messages over a first expected range distance via a first communication interface and to identify which other nodes associated with the first node have received at least one first message. In one example, the node processing unit may be operable to access associated data in a node memory storage device when identifying which nodes associated with the first node (e.g., passive, active, or both types of association) have received at least one first message.

[0338] The first expected range distance can be the optimal transmission range of the first communication interface, and in a more detailed example, this first expected range distance can be adjusted based on background data (e.g., RF shielding inherent to the node's surrounding environment). In yet another example, the first and second expected range distances can be adjusted based on one or more types of background data relating to how the RF output signal transmitted from the first communication interface can be impeded by the node's environment.

[0339] The node processing unit is also operable to transmit one or more second messages via a first communication interface at a second expected range distance (incrementally smaller than the first expected range distance) and determine the location of one or more identified associated nodes that have not received any second messages but have received at least one first message. This location is located between the first expected range distance from the node's known location and the second expected range distance from the node's known location. In a further example, the node processing unit may be operable to store the determined location in a node memory storage device as part of location data.

[0340] The node processing unit may also be operable to transmit one or more third messages via a first communication interface at a third expected range distance (a range that is progressively smaller than the second expected range distance) and to determine the location of one or more of the identified associated nodes that have not received any third messages but have received at least one second message, wherein the location is between the second expected range distance from the known location of the node and the third expected range distance from the known location of the node.

[0341] In another example, the nodes may be mobile, and the node processing unit may be further operable to refine the locations of one or more identified associated nodes that received the first message but did not receive the second message by updating the location of the first node. More specifically, the node processing unit may be operable to determine the current mobile location of the first node (e.g., by checking for a valid GPS signal using the node's onboard positioning circuitry and location locking based on such a signal), and refine the locations of one or more identified associated nodes that received at least one first message but did not receive any second message based on the current mobile location of the first node. The node processing unit may also be operable to transmit the refined locations to a server via a second communication interface.

[0342] Determined by the location of the ID node announcement

[0343] Although Figure 13 An example is provided that the location is determined through the master node's announcement, but Figure 14 Pay attention to the location determined by the ID node announcement. Specifically, Figure 14 This is a diagram illustrating an exemplary location determined using ID node announcements. Figure 14 In the example illustration shown, the exemplary ID node F 920f is in announcement mode but does not have a known location. Figure 13 The same as in the middle, Figure 14 The exemplary different RF output power levels from ID node F 920f are illustrated as concentric ranges 1405 to 1415 around ID node F 920f. Therefore, ID node F 920f can broadcast at a maximum power P1 relative to range 1405, but can control the RF output power level and dynamically change it to P2 and broadcast to a smaller range 1410, or change it to P3 and broadcast to even smaller ranges 1415. Master nodes M1910a to M3910c are positioned in various known locations relatively close to ID node F 920f, which has an unknown location. Thus, ID node F 920f can utilize the ability to adjust the RF characteristics (such as RF output signal power levels) of its own short-range communication interface as part of how the system can determine the location of ID node F through ID node announcements.

[0344] In the illustrated example, the RF output signal power level of the ID node F920f can be changed or dynamically adjusted via programmable settings (such as profile settings or parameters) related to the operation of the variable power short-range communication interface 375. Additionally, while the actual communication range may vary with the surrounding environment, the maximum expected communication range of the ID node's transmitter at each power level is known (assuming optimal operating conditions or no substantial RF shielding or interference). Therefore, a specific power level setting for a broadcast node is inherently associated with the corresponding expected range distance.

[0345] In an exemplary method of using ID node announcements to determine node location, the RF output signal power level can vary across multiple power levels to improve localization via master node association. More specifically, when the variable power short-range communication interface 375 of ID node F is set to P1 (its maximum output), ID node F 920f is seen by each of the master nodes M1910a through M3910c. The expected outdoor performance or range distance (optimal range, or range based on analysis or historical measurements) of the radio in the variable power short-range communication interface 375 of ID node F at the P1 power level may have previously been found to be approximately 30 feet. Therefore, without any checks on the RSSI levels from the individual master nodes, the system knows that ID node F is within 30 feet of master nodes M1 through M3.

[0346] Next, when the variable power short-range communication interface 375 of ID node F is set to P2 (medium output level in this example), ID node F 920f is seen by master nodes M1910a and M2910b. The expected outdoor performance or range distance (optimal range, or range based on analysis or historical measurements) of the radio in the variable power short-range communication interface 375 of ID node F operating at the P2 power level is approximately 15 feet. Therefore, in this example, without checking the RSSI levels from the individual nodes, we know that master nodes M1910a and M2910b are within 15 feet of ID node F 920f. Furthermore, in this example, we know that the master node (e.g., master node M3910c) that no longer receives broadcast RF signals from ID node F 920f is somewhere within 30 feet of ID node F 920f, but may be more than 15 feet away from node F.

[0347] Furthermore, when the variable power short-range communication interface 375 of ID node F is set to P3 (its minimum output level in this example), ID node F 920f is only seen by the master node M2910b. The expected outdoor performance or range distance (optimal range, or range based on analysis or historical measurements) of the radio in the variable power short-range communication interface 375 of ID node F operating at the P3 power level is approximately 5 feet. Therefore, in this example, without checking the RSSI level from the master node, we know that the location of ID node F 920f is within 5 feet of the known location of the master node M2910b.

[0348] Then, for any identified node, the ranging steps for the RF characteristics of the change of the announcement ID node, as discussed in the example above, can be repeated to build a more complete picture of the relative position of each node.

[0349] Furthermore, the timing between such ranging steps can vary dynamically depending on whether the node is moving. Those skilled in the art will understand that when moving, a faster flow of such ranging steps will contribute to better accuracy (assuming node movement). Therefore, when a node is moving, it is desirable to have shorter time intervals between instructing the node to broadcast one or more messages at a specific power level and then instructing the node to broadcast one or more messages at different power levels; these time intervals can be determined based on background data. For example, the background data might indicate that the node is within a node package on a moving conveyor system. Thus, the node is moving relative to a stationary master node, which may be positioned along the conveyor system. Therefore, the server can cause the first node to perform ranging steps where the power changes relatively rapidly and sequentially compared to a situation where the background data indicates the node is not moving or is substantially stationary.

[0350] The following describes an example of a method for location determination using one or more associations of nodes in a wireless node network, and explains a specific way of locating nodes using associations and master node announcement techniques of one or more master nodes. This example method begins by instructing a first node in the network to broadcast one or more first messages at a first power level related to a first expected range distance. In one example, the first expected range distance could be the optimal range of the first node in the network (e.g., a transmission range assuming no obstacles and unobstructed signal paths between nodes). In another example, the first expected range distance could be the optimal range of the first node adjusted based on background data (e.g., data related to the surrounding RF environment of the first node).

[0351] Next, the method identifies which nodes among the nodes associated with the first node have known locations. This type of identification can be accomplished, for example, by examining association data indicating which nodes among the indicated nodes are associated with the first node (e.g., via passive association, via active association, or via a combination of both), determining which nodes among the indicated nodes are associated with the first node based on the examined association data, and identifying which of those associated nodes have known locations.

[0352] The method continues by determining which of the identified associated nodes have received at least one first message. Next, the method instructs the first node to broadcast one or more second messages at a second power level, wherein the second power level is related to a second expected range distance and is incrementally smaller than the first power level. In a further example, the first and second expected range distances may be adjusted based on one or more types of background data relating to how RF output signals from the first node can be blocked.

[0353] The method then determines which of the identified associated nodes received at least one second message. The method terminates by determining the position of the first node to be at or between a first expected range distance and a second expected range distance from each of the identified associated nodes that did not receive at least one second message but did receive at least one first message.

[0354] As mentioned above, determining the location of a node can be improved when movement is taken into account. Therefore, an example of this method could be instructing a first node to broadcast one or more second messages within a time interval after instructing the first node to broadcast the one or more first messages. In some embodiments, this time interval can be predetermined, but in other embodiments it can be a parameter dynamically set based on background data associated with the first node. More specifically, the time interval can decrease from a previous value when the background data associated with the first node indicates that the first node is moving, but can increase from a previous value when the background data associated with the first node indicates that the first node is substantially stationary.

[0355] In another example, the method may further include instructing the first node to broadcast one or more third messages at a third power level. This third power level is related to a third expected range distance and is a range that is incrementally smaller than the second expected range distance. The method then determines the location of the first node at or between the first and second expected range distances from each of the identified associated nodes that have not received any third messages but have received at least one second message.

[0356] In another example, the method may include refining the location of the first node using the updated location of one or more of the identified associated nodes that have received at least one first message but have not received at least one second message. For example, if the first node is associated with a mobile master node, the updated location of the mobile master node (which may be closer to the first node than previously determined) may be used to refine the location of the first node.

[0357] In a further example, during the operation of the method described above, the first node may not be aware of its own position. In another example, the first node may have previously been aware of its own position but may no longer be aware of its own position before broadcasting the one or more first messages. More specifically, due to changes in the environment surrounding the first node, the first node may no longer be aware of its own position before broadcasting the first signal. Such changes in the environment could be, for example, when the first node has moved inside a structure that obstructs the reception of the position signal by the first node (e.g., a building, vehicle, aircraft, container, corridor, tunnel, etc.).

[0358] Those skilled in the art will understand that a node (e.g., a location-aware / capture module) can run one or more parts of the master node control and management code 425. Figure 4 Implement this method, as disclosed and explained above in various examples, on the master node 1720a in the system to control ID nodes (such as, Figure 14 The operation of the ID node F in the process is part of the location determination via ID node notification. Such code can be stored on a non-transitory computer-readable medium, such as memory storage device 415 on the master node 1720a. Therefore, when code 425 is executed, the processing unit 400 of the master node can be operable to perform operations or steps from the exemplary methods disclosed above and variations thereof.

[0359] From a device perspective, an exemplary node device using association-based location determination in a wireless node network may include a node processing unit, node memory (e.g., node volatile memory and node memory storage device) coupled to and used by the node processing unit. The node memory storage device holds at least program code segments, association data, and location data. The node device further includes a first communication interface that provides a first communication path coupled to the node processing unit and operatively connecting the node to a plurality of other nodes in the network. For example, in Figure 4 The master node 1720 in the diagram includes this type of operational structure.

[0360] When at least a program code segment residing in the node's volatile memory is executed, the node processing unit (e.g., processing unit 400 of master node 1720a) is operable to perform a specific function or step. Specifically, the node processing unit is operable to transmit instructions via a first communication interface to a first node among other nodes (e.g., an ID node or a master node temporarily operating as an ID node), thereby causing the first other node to broadcast one or more first messages at a first power level, wherein the first power level is related to a first expected range distance.

[0361] The first expected range distance can be the optimal range of the first node among the nodes, and more specifically, the optimal range of the first node among the nodes adjusted based on background data. Even more specifically, the first expected range distance and the second expected range distance can be adjusted based on one or more types of background data relating to how the RF output signal broadcast from the first node can be blocked.

[0362] The node processing unit is also operable to identify which nodes among those associated with the first node have known locations. To do this, the node processing unit can access and view association data stored on a node memory storage device (e.g., data indicating which nodes are passively or actively associated with the first other node), determine, based on the viewed association data, which remaining nodes are associated with the first other node, and identify which remaining nodes among those determined to be associated with the first other node have known locations.

[0363] The node processing unit is also operable to determine which of the identified associated nodes have received at least one first message, and to transmit another instruction to the first node via a first communication interface to cause the first node to broadcast one or more second messages at a second power level, wherein the second power level will reach a second expected range distance and incrementally be less than the first power level.

[0364] Finally, the node processing unit is operable to determine which of the identified associated nodes have received at least one second message, and then determine the position of the first node at or between a first expected range distance and a second expected range distance from each of the identified associated nodes that have not received at least one second message but have received at least one first message.

[0365] In a further example, the node processing unit may be operable to transmit a third instruction to the first node via a first communication interface, thereby causing the first node to broadcast one or more third messages at a third power level. The third power level is related to a third expected range distance and is a range that is progressively smaller than the second expected range distance. Additionally, the node processing unit may then be operable to determine the location of the first node at or between the second and third expected range distances from each of the identified associated nodes that have not received any third messages but have received at least one second message.

[0366] In another example, the node processing unit can utilize the time interval between instructions sent to the first node to consider the movement of the first node. Specifically, the node processing unit can be further operable to transmit another instruction to the first node via the first communication interface after instructing the first node to broadcast a first message to broadcast a second message within the time interval. In a more detailed example, the time interval can be dynamically set based on background data related to the first node. Even more specifically, the time interval can decrease from a previous value when the background data related to the first node indicates that the first node is moving (e.g., the first node is on a moving conveyor system), and / or the time value of the time interval can increase from a previous value when the background data related to the first node indicates that the first node is substantially stationary (e.g., the node is in a node package recently placed in a storage area).

[0367] In a further example, the node processing unit may be operable to refine the position of the first other node using the updated position of one or more of the identified associated nodes that have not received at least one second message but have received at least one first message, and cause a second communication interface (e.g., a medium- or long-distance communication interface 485 connected to the processing unit 400) to transmit the refined position to the server.

[0368] From the server's perspective, another exemplary method for location determination using one or more associations of nodes in a wireless node network is explained below. Those skilled in the art will appreciate that while the server is operable to implement the steps as illustrated in the methods discussed above, this additional method provides further details on how a server processing unit (such as processing unit 500 running server code 525) can implement this method at this level of the network. In this more detailed example, the server is communicating directly with a master node (e.g., a first node) to instruct and control how the master node interacts with an ID node (e.g., a second node) and causes operations to commence on the ID node (e.g., the second node). Therefore, the method more precisely requires communication with the first node via a communication interface to cause the second node in the network to broadcast one or more first messages at a first power level at a first power level, which is related to and corresponds to a first expected range distance. Similarly, the method more precisely requires communication with the first node via a communication interface to cause the second node to broadcast one or more second messages at a second power level at a second power level, which is related to a second expected range distance and incrementally less than the first power level. The other steps from this additional method are similar to those explained above regarding the previously described method, and similar principles will apply to this additional method.

[0369] Those skilled in the art will understand that a server (e.g., running one or more parts of server control and management code 525) can be used to control and manage the server. Figure 5 On server 100, implement this additional method as disclosed and explained in the various examples above to guide the master node in controlling the ID node (such as, Figure 14 The operation of the ID node (F) in the process is part of the location determination performed via the ID node announcement. Such code may be stored on a non-transitory computer-readable medium (such as memory storage device 515 on server 100). Therefore, when code 525 is executed, the server's processing unit 500 may be operable to perform operations or steps from the exemplary methods disclosed above and variations thereof.

[0370] Furthermore, similar to the node devices described above, one example includes an exemplary server device in a wireless node network that uses location determination via association. The exemplary server device typically includes a server processing unit, server memory (e.g., server volatile memory and server memory storage device) coupled to and used by the server processing unit. The server memory storage device holds at least program code segments, association data, and location data. The server device further includes a communication interface coupled to the server processing unit and providing access to a communication path operatively connecting the server to at least a first node in the network.

[0371] When at least a program code segment residing in the server's volatile memory is executed, the exemplary server processing unit is operable to perform a specific function or step. Specifically, the server processing unit is operable to: communicate with a first node via a communication interface, thereby causing a second node in the network to broadcast one or more first messages at a first power level at a request from the first node, wherein the first power level is related to a first expected range distance; identify which of the remaining nodes in the network associated with the second node have known locations; determine which of the identified associated nodes have received at least one first message; communicate with the first node via a communication interface to cause the second node to broadcast one or more second messages at a second power level at a request from the first node, wherein the second power level is related to a second expected range distance and incrementally less than the first power level; determine which of the identified associated nodes have received at least one second message; and subsequently, determine the location of the second node as being at or between a first expected range distance and a second expected range distance from each of the identified associated nodes that have not received any second messages but have received at least one second message. Furthermore, in a further example, the processing unit of the server device may be further operable to store the determined location as part of the location data in the server memory storage device.

[0372] In another example, the processing unit of the server device may be operable to communicate with the first node via a communication interface, after communicating with the first node to cause the second node to broadcast the one or more first messages, to cause the second node to broadcast the one or more second messages within a time interval. As previously mentioned, this type of time interval can be dynamically set based on background data related to the second node. The background data may also be used as described above with reference to the node device, but here it is applied to the second node—this is the case where the first expected range distance is the optimal range of the second node adjusted based on the background data.

[0373] Determined by the location of the main node in the announcement.

[0374] In another example, the master node typically locates itself using its own positioning circuitry, but may no longer know its location under current environmental conditions. This could occur, for example, when the master node determines its current location via GPS positioning circuitry 475 but finds itself unable to access a sufficient number of GPS signals (e.g., it cannot determine its location due to a lack of sufficient GPS signals from different GPS satellites). This can happen when a master node moving indoors is located near structures that interfere with positioning signals.

[0375] In an exemplary example where the master node attempts to determine its own location via an announcement technique, the master node may detect a loss of location confidence (e.g., when a detected GPS signal is lost; when a separate signal indicating that the master node's location is unknown is detected to the processing unit 400; when the processing unit 400 senses movement (e.g., via an accelerometer (not shown) etc.) but cannot confirm that the positioning circuit 475 is providing updated location information for the node, etc.). In other words, the master node becomes aware that it no longer has a known location.

[0376] Next, the master node starts broadcasting one or more announcement messages (to reference the ID node F920f). Figure 14 (In a similar manner to do so) to respond. This allows a master node with an unknown location to advantageously utilize the known locations of other nearby nodes. Thus, the example allows for a type of exploited chain effect, where the known locations of a particular type of node can be used to extend location information to other nodes (e.g., ID nodes) that do not know their locations or to nodes that have detected a loss of location confidence (e.g., master nodes). Therefore, this example can be used to determine the indoor location of a master node (including equipment equipped with master node functionality) when signals for conventional airborne positioning circuitry 475 are unavailable.

[0377] In the exemplary method, the method allows the first node to be unaware of its own location. This can occur when the first node (e.g., the ID node) is actually the master node that previously unaware of its own location (e.g., via received GPS signals) but no longer unaware of its location (e.g., when GPS signals can no longer be received). This causes the master node to change its operation to operate as the ID node before broadcasting the first message. In other words, due to changes in the environment surrounding the master node (e.g., when the master node has moved into a structure that obstructs the reception of location signals by the master node), the master node can cease to be unaware of its own location and begin operating as the ID node to achieve the purpose of location determination before broadcasting the first message. Thus, the example can advantageously allow a node to adaptively change its operation when moving from an unobstructed outdoor environment to an indoor environment. And, when such a master node temporarily operates as the ID node for positioning purposes, the server can interact with that master node.

[0378] Positioning using improved RSSI measurements

[0379] In another example, signal strength measurements between two or more nodes can be used to determine the proximity of nodes by employing one or more improvements to conventional RSSI measurements. In conventional RSSI measurements (such as those utilizing Bluetooth 4.0), those skilled in the art will understand that adaptive frequency hopping, as part of spread spectrum technology, can undesirably cause signal strength fluctuations. In other words, the advantages of using frequency hopping and spread spectrum for security and interference avoidance can negatively impact the use of such signals for stable proximity-based location determination. Therefore, it is desirable to emphasize signal stability and limit fluctuations for location determination purposes.

[0380] In one example, one type of improvement to RSSI measurements could include reducing the number of channels and / or the corresponding frequency range in use during node announcements. For example, a node could enable processing units 300 / 400 to adaptively control variable power short-range communication interfaces 375 / 480 to reduce the number of channels and / or the frequency range in use during node announcements. In some examples, such dynamic changes could be implemented by modifying the contents of specific types of profile data 330 / 430, such as RF profile data that effectively defines the node's RF characteristics (e.g., frequency, power level, duty cycle, number of channels, channel spacing, alternative fluctuation modes, etc.). In a further example, a first fluctuation mode could be defined, providing a default or more standard communication protocol, such as for... The conventional communication methods include frequency hopping, spread spectrum, and channel allocation. Alternative modes (one or more) can be defined to modify one or more RF characteristics to provide increasingly stable and less volatile RF output signals from the node. Therefore, a node can be dynamically placed in one or more modes regarding these RF characteristics, which increasingly emphasize the stability of the node's RF output signal and limit variability to enhance location determination using RSSI measurements.

[0381] In another example, one type of improvement for RSSI measurements could include ensuring visibility of and advantageous management of automatic gain control (AGC) circuitry (not shown) that causes changes in the RF output signal for the node. For example, a node could include a type of AGC circuitry as part of a variable power short-range communication interface 375 / 480. This type of AGC circuitry could allow the node processing unit 300 / 400, or other logic circuitry as part of the variable power short-range communication interface 375 / 480, to limit fluctuations under certain conditions (e.g., when attempting to use RSSI location determination techniques). In this example, different AGC circuitry settings could be defined in exemplary RF profile data that effectively defines the node's RF characteristics (e.g., frequency, power level, duty cycle, number of channels, channel spacing, alternative fluctuation patterns, etc.). This is yet another example of how a node could be dynamically positioned in one or more modes regarding such RF characteristics (including AGC circuitry settings) that increasingly emphasize the stability of the node's RF output signal and limit fluctuations for enhanced location determination using RSSI measurements.

[0382] Positioning by adjusting environmental factors in RF signal quality

[0383] Generally, those skilled in the art will understand that environmental factors can cause communication signals (such as RF signals) to fluctuate or be transmitted and received in a manner that is undesirably altered depending on the signal path environment. Passive physical interference factors (e.g., in the form of electronic signal shielding) can be substantially proximate and cause a decrease in signal strength across the node's output range. Additionally, depending on other active devices in the vicinity of the receiver, active radio interference factors can alter the node's RF output range. Thus, the immediate vicinity environment of a node can have numerous adverse factors that affect communication and, consequently, the ability to locate the node.

[0384] In one example, location determination can be enhanced using a data analysis approach that adapts to and considers different RF environmental factors for similar types of nodes in similar situations. For instance, for a given environment, the quality of the RF output signal of a particular type of node and the corresponding physical range of that signal to a receiver of known sensitivity can be determined. In this example, the system defines the maximum range of the signal based on predetermined conditions (such as outdoor connectivity). This assumes an environment without signal degradation due to interference or physical shielding. However, both interference and physical shielding can reduce the range of a node's RF output signal. In a dynamically adaptive and learning manner, the system can collect information about how a particular type of node can operate in a specific environment under certain settings (e.g., signal strength and corresponding settings reported for RF output signal power levels). This analysis of similar environments can be repeated. In other words, through this data analysis of the anticipated environment that similar nodes will face, signal loss information can be generated and referenced as background data (i.e., RF data) for a type of node in similar environments to refine location determination. Therefore, exemplary examples can leverage adaptive signal loss characteristics to refine location determination without requiring a calibration phase, based on a contextual understanding of the expected environment (e.g., physical shielding, such as packaging that causes signal variance, package contents, adjacent packages, adjacent package contents, and physical infrastructure).

[0385] Furthermore, combining those data points with third-party data describing the physical environment in which the node was located at that time can further refine the location. In future efforts, such information can be used as RF data (a type of background data) to manage and locate similar types of nodes expected in similar environments.

[0386] More specifically, in an example of refining location determination based on background and data analysis to adjust for known RF obstructions, the maximum physical range of the node's RF output signal relative to a receiver with known RF sensitivity is determined. In one example, this first range value may be referred to as the theoretical or nominal outdoor range of a similar type of transmitter-receiver node against physical shielding or signal interference in a similar environment but with substantially no negative impact on signal range. A second range value (which may be considered the actual RF range value) may be the observed range of the signal in a similar environment, but with background factors that reduce communication range (including physical shielding due to factors such as packaging, package contents, adjacent packages, adjacent package contents, physical infrastructure, interference from other wireless sources, or carrier-specific information such as vehicle or facility layout information). By accessing previous data analyses of the different range values ​​and utilizing knowledge of the operating environment in which the transmitting node is located (e.g., an environment similar to the node's immediate vicinity), an approximation of the actual RF output range (which intelligently adjusts to things that can be expected in the node's RF environment) can be used to determine the refined location. In other words, by knowing the appropriate background environment associated with a node (such as signal degradation information about how similar nodes operate in similar environments), improved location determination can be made to make intelligent and efficient adjustments (such as communication distance adjustments), which provides a refined location for the node.

[0387] In one example (such as, Figure 2 In the example shown, the master node 1720b is located outside a container (such as a known load-balanced device (ULD) container 210 for transporting multiple sets of items on an aircraft), which has ID nodes inside the container. A first or theoretical range value between the master node 1720b and ID node 120b can be determined at a specific RF output power level when a package (and associated ID node) is known to be less than 10 feet away from the scanning node (e.g., master node 1720b). A second range value at a similar distance to a similar type of node, but with incident RF signal loss (due to communication through the walls of container 210), can be between 4 and 5 feet. If background data (such as third-party information or scan data) indicates that the transmission node is inside the ULD container 210, the system will expect to limit the transmission range based on data analysis associated with the known RF obstruction (e.g., for the characteristics of transmission through the ULD container 210), thereby reducing the number of possible scan nodes that can be seen in the broadcast node inside the ULD container, or requiring the transmission node to increase its RF output power to be heard.

[0388] Related to this technology is an exemplary method for determining the location of a first node in a wireless node network based on background data, described below. This method begins with a network device (such as a master node or server) accessing a first type of background data relating to the immediate vicinity of the first node. This first type of background data includes signal degradation information about how a second node would operate in an environment similar to the first node's immediate vicinity, given that the second node is of a similar type. Thus, the signal degradation information provides compensatory information about what is generally expected in a more general immediate vicinity environment based on how similar types of nodes can operate in similar environments, rather than using actual measurements relative to the first node's current immediate vicinity for calibration. Since the similar environment of similar nodes is generally an approximation of what is expected to be the immediate vicinity of the first node, this advantageously avoids the need for actual calibration of the immediate vicinity environment.

[0389] In one example, signal degradation information may be based on the difference between how the second node communicates when exposed to an adverse communication environment (such as an environment similar to that of the first node) and how the second node would communicate when exposed to a nominal communication environment (such as an environment unaffected by shielding and interference). Those skilled in the art will understand that the nominal communication environment does not need to perfectly eliminate all the effects of shielding or interference. The type and aspects of signal degradation information can vary depending on a wide range of factors. In one example, signal degradation information may be related to at least one of shielding and interference. Therefore, signal degradation information may include both active and passive factors affecting the communication environment.

[0390] In another example, signal degradation can be based on the degradation behavior of the second node when the environment is an unfavorable communication environment. More specifically, signal degradation information can be based on the difference between how the second node communicates when exposed to an unfavorable communication environment and how the second node communicates when exposed to a substantially normal communication environment (such as an outdoor environment).

[0391] In another example, signal degradation information may at least relate to shipment data for one or more items that are being shipped (e.g., currently being shipped or having been shipped in the past) and located in the immediate vicinity of the first node. For example, a package near the first node may include metallic materials that could obstruct or block RF signals, and the signal degradation information may relate to such information regarding close packages shipped near the first node. In yet another example, signal degradation information may at least relate to layout data for one or more physical structures in the immediate vicinity of the first node. More specifically, the layout data may relate to one or more physical structures (e.g., walls, machines, shells, and conveyor equipment) in the immediate vicinity of nodes near the predicted path of the first node. In yet another example, signal degradation information may at least relate to historical data regarding previous operations of one or more analyses of the second node.

[0392] Next, the network device (such as a master node or server) can adjust the expected communication distance related to the first node based on the first type of background data. In one example, the expected communication distance could be a theoretical broadcast distance based on the device's radio parameters. This expected communication distance is known when it is used as an estimate of the radio range. In one example, the adjusted communication distance includes an expected reduction in the range distance of transmissions from the first node. In another example, the adjusted communication distance includes an expected reduction in the receiver sensitivity of the first node.

[0393] In yet another example, adjusting the communication distance can be accomplished by the network device adaptively adjusting the communication distance based on signal degradation information and a second type of background data. In other words, the communication distance can be adjusted based on the signal degradation information under consideration along with other types of background data, such as how the first node is moving (e.g., the expected movement of the first node along a predicted transit path of the first node) or the density of other nodes near the first node.

[0394] Next, the network device determines the location of the first node based on the adjusted communication distance. In a further example, the method can also update the adjusted communication distance via the network device based on the movement of the first node, and the updated adjusted communication distance can be used to refine the location of the first node. This can occur if the first node is a mobile master node capable of determining its own location.

[0395] Those skilled in the art will understand that network devices (e.g., those that run their respective control and management code to perform one or more parts of the steps of the method 3200 described above) can execute the steps of the method 3200. Figure 4 Example master node 1720a or Figure 5The method as disclosed and explained above in various examples is implemented on server 100. This code may be stored on a non-transitory computer-readable medium (such as memory storage device 415 on master node 1720a, or memory storage device 515 on server 100). Therefore, when such code is executed, the processing unit of the corresponding network device may be operable to perform operations or steps from the exemplary methods disclosed above and variations thereof.

[0396] More specifically, the exemplary network device is used to determine the location of a first node in a wireless node network based on background data. The exemplary network device may include a processing unit, volatile memory coupled to the processing unit, and a memory storage device coupled to the processing unit. The exemplary network device further includes a communication interface coupled to the processing unit and providing a communication path operatively connecting the network device to the first node in the network.

[0397] The memory storage device used in this apparatus holds at least a program code segment and background data containing at least signal degradation information. As a type of background data, this signal degradation information is information about how the second node will operate in an environment similar to that of the first node, when the second node is of a similar type. Examples of signal degradation information may include those discussed above.

[0398] When at least the program code segment is executed (if the program code segment resides in volatile memory), the processing unit of the network device is operable to perform the steps noted and described above. More specifically, the processing unit is operable to: access signal degradation information by connecting at least to a memory storage device; adjust the communication distance associated with the first node (if necessary) based on the signal degradation information; determine the location of the first node based on the adjusted communication distance; and store the determined location of the first node as location data in the memory storage device.

[0399] As described above, the communication distance can be adjusted by the processing unit. Furthermore, as mentioned above, the processing unit can be further operable to adaptively adjust the communication distance while also taking into account other types of background data, such as movement and anticipated node movement as detailed above.

[0400] In a further example, the network device may include positioning circuitry (such as, Figure 4The exemplary master node 1720a shown is a mobile master node with GPS circuitry 475. In this example, the processing of the network device can be further operable to determine the location of the network device based on the output signal received by the processing unit from the positioning circuit, and to determine the location of the first node based on the adjusted communication distance and the location of the network device. Thus, a first type of background data relating to the immediate vicinity of the first node is based on the determined location of the first node.

[0401] Those skilled in the art will also appreciate that, in the example, in some operating environments, signal degradation information may not require adjustment of the communication distance. However, in other environments (e.g., adverse RF environments), signal degradation information can provide a basis for adjusting the communication distance in the example, even if it is not performed every time. Therefore, adjustment of the communication distance may not be necessary in all immediate neighboring environments of the first node, but can be performed based on the immediate neighboring environment of the first node (if needed). The ability of the example to adjust the communication distance when needed and if required advantageously allows for the positioning of the first node with greater accuracy.

[0402] Positioning by triangulation

[0403] In some examples, various methods for determining the location of nodes may rely at least in part on triangulation techniques. In other words, when a wireless node network collects data about receiver-transmitter pairs, other methods for determining the location of individual nodes using triangulation may become at least partially possible. Figure 15 This is a diagram illustrating an exemplary location determination made through triangulation within a wireless node network. Now refer to... Figure 15 The illustrated embodiment shows three exemplary master nodes M1910a to M3910c, each with a known location. Exemplary ID nodes A920a to E920e are also shown, wherein they are within communication range of at least one or more of the exemplary master nodes MA910a to M3910c.

[0404] In the example illustrated, master nodes M1 through M3 can detect and collect advertisement messages from ID nodes A through E at varying and known power levels. The captured information is forwarded by master nodes M1 through M3 to backend server 100, where location determination can be made. For example, when sufficient information is available, factors such as the visibility of each node at each power level and RSSI can be used to determine the location of the nodes with a high degree of accuracy.

[0405] For an exemplary system used to triangulate nodes, three nodes with known locations must have seen the broadcasting node. In this example, two advertising ID nodes, A 920a and B 920b, are seen by three nodes (master nodes M1910a to M3910c) with known locations. Based on the captured information, the locations of ID nodes A 920a and B 920b are calculated.

[0406] Chain triangulation

[0407] In another example, a node with an inferred location can be used in conjunction with triangulation techniques to determine the location of another node in a wireless node network. Figure 16 This diagram illustrates an exemplary location determination using chained triangulation. The locations of ID nodes A 920a and B 920b have been determined by triangulation performed across master nodes M1 to M3, as shown in... Figure 15 The exemplary example shown is illustrated. However, as... Figure 16 As shown in the diagram, the location of ID node C920c can also be determined based on the example.

[0408] For example, an exemplary method for determining node positions using chain triangulation can be used to determine the computed position of ID node B920b (as referenced). Figure 15 (Explanation begins). Next, a node closer to ID node B920b can be used to obtain the missed third signal point required for triangulation. This is accomplished by placing ID node B920b in query (scan) mode so that it listens for messages from ID node C902c. ID node C is instructed to advertise, thus providing a signal that can be captured by ID node B. After capturing the signal profile of C, ID node B can transmit or share the captured information and forward it to backend server 100 via either master node M1 or M2. The obtained location determination of ID node C920c may have a high level of positioning error due to its partial reliance on a calculated reference (e.g., the location of ID node B), but the utilized location determination of ID node C920c may be accurate enough (or an actionable location) to allow the collection of useful information about ID node C920c. For example, the exploited or chained location determination of ID node C can be indicated with the help of background data that nodes M1, M2 and ID node B are all close enough to ID node C that ID node C is identified as being within the same container nodes M1, M2 and ID node B.

[0409] Position measured by proximity triangulation (LP2T)

[0410] In the example where chain triangulation can determine location via proximity-triangulation (LP2T), the starting point can be based on a proximity method to determine the relative position of the ID node to the master node, as explained above. However, once the relative position of the ID node is determined, a more precise or refined location of the ID node can be determined based on the positions of all master nodes that can capture the RF output signal broadcast from the ID node, and then triangulation is performed based on the observed signal strength of the ID node. In this example, proximity-based positioning is used as input in the triangulation calculation to estimate the historically observed possible signal degradation between the node at the proximity-determined location and the scanning master nodes. In a further example, more accurate triangulation can be possible by considering historical data on patterns of signal degradation, leading to more accurate location determination.

[0411] Related to this additional node localization technique is an exemplary method described below for determining the location of one of a plurality of nodes in a wireless node network having a server using chain triangulation. This exemplary node location does not need to be precise or exact, but can be sufficiently accurate without being absolute. This exemplary method begins with the server receiving the location of a first node from a first node. Next, the server receives the location of a second node from a second node. For example, refer to... Figure 16 In the example shown, master nodes M1 910a and M2 910b can transmit their respective position coordinates from their respective airborne positioning circuits to the server, so that the server has the current position of the two master nodes.

[0412] Next, the server infers the position of the third node in the node set. For example, in Figure 16 In the example illustrated in the diagram, the server can infer the location of ID node B920b. In one example, the inference may include enabling the server to determine the proximity-based location of a third node relative to another node with a known location, such that the proximity-based location is used as the inferred location of the third node.

[0413] In another example, inferring the position of a third node may include having the server determine the relative position of the third node with respect to the first node (as a node with a known position) or with the second node (as another node with a known position). In yet another example, the method may also include having the server adjust the inferred position of the third node to determine a refined position of the third node based on background data of the third node relating to the inferred position of the third node.

[0414] Next, the method ends by the server performing triangulation on the position of a node based on the determined distances to each of the first and second nodes, and the determined distances from the node to the inferred position of the third node.

[0415] In a more detailed example, the method can triangulate the position of a node by accessing first node background data relating to the background environment near a first node and second node background data relating to the background environment near a second node. This background environment may include an environment on a conveyor system, within a specific facility, or adjacent to materials that may degrade or shield signals received by the node. Next, more detailed triangulation allows the server to adjust the determined distance from the node to the first node's position based on the first node background data to provide a refined distance from the node to the first node's position. The server can then triangulate the position of the node based on: the adjusted determined distance from the node to the first node's position, the adjusted determined distance from the node to the second node's position, and the determined distance from the node to the refined position of the third node.

[0416] In a further example, the method may also cause the server to transmit instructions, thereby causing the node to broadcast multiple announcement signals over a period of time. In this example, the determined distance from the location of the first node to the location of the first node may be based on signals captured by the first node from the first node during that period and reported by the first node to the server. In another example, the determined distance from the location of the first node to the location of the second node may be based on signals captured by the second node from the first node and reported by the second node to the server.

[0417] In another example, the server may transmit instructions to cause a node to broadcast multiple announcement signals at different power levels. In this example, the determined distance from the location of the first node to the location of the first node may be based on signals captured by the first node from the first node and reported to the server by the first node. In yet another example, the determined distance from the location of the second node to the location of the first node may be based on signals captured by the second node from the first node and reported to the server by the second node.

[0418] In yet another example, the method can also enable the server to transmit location information to a requesting entity (e.g., another node, user access device, etc.) when it receives a request for the location of that node.

[0419] Those skilled in the art will understand that servers (such as, such as) can operate control and management code (such as, code 525) in one or more parts of the code. Figure 5The exemplary server 100 illustrated in the figure implements this method as disclosed and explained above in various examples to implement any of the functions described above. This code may be stored on a non-transitory computer-readable medium (such as memory storage device 515 in the exemplary server). Therefore, when such code is executed, a processing unit of the server (such as unit 500) may be operable to perform operations or steps from the exemplary methods disclosed above (including variations of the method).

[0420] The example also describes a server device used to determine the location of one of a plurality of nodes in a wireless node network using chain triangulation. The server device typically includes a server processing unit, server volatile memory, server memory storage device, and a communication interface. The server volatile memory, server memory storage device, and communication interface are each configured within the device to be coupled to the server processing unit. The server memory storage device holds at least a program code segment and location data relating to the nodes in the network. In some examples, the server memory storage device may also hold background data, such as background data for a first node and background data for a second node. The communication interface provides a communication path that operatively connects the server to nodes in the network, such as the first and second nodes.

[0421] When at least the program code segment residing in the server's volatile memory is executed, the server processing unit is operable to perform various functions, such as those described in the steps relating to method 3300 above. Specifically, the server processing unit is operable to receive a request for the location of a node via a communication interface. Based on the request, the server processing unit is then operable to receive the corresponding locations of the first and second nodes and store these locations as part of the location data held in the server's memory storage device. The server processing unit is further operable to infer the location of a third node among the nodes and store the inferred location of the third node as part of the location data held in the server's memory storage device. The server processing unit is then operable to perform triangulation on the location of the node based on: a determined distance from the node to the location of the first node, a determined distance from the node to the location of the second node, and a determined distance from the node to the inferred location of the third node. Finally, the server processing unit is operable to transmit the location information to the requesting entity via the communication interface in response to the request.

[0422] In one example, the server processing unit may be further operable to infer the position of a third node among nodes by operable to determine the proximity-based position of the third node relative to another node among nodes with known positions, wherein the proximity-based position is used as the inferred position operation of the third node.

[0423] In another example, the server processing unit may be further operable to transmit instructions via a communication interface, thereby causing the node to broadcast multiple announcement signals over a period of time. In this example, the determined distance from the location of the first node to the location of the first node may be based on signals captured by the first node from the first node and reported to the server by the first node during that period of time. Alternatively, the determined distance from the location of the first node to the location of the second node may be based on signals captured by the second node from the first node and reported to the server by the second node.

[0424] In another example, the server processing unit may be further operable to transmit instructions via a communication interface, causing the single node to broadcast multiple announcement signals at different power levels. In this example, the determined distance from the single node to the location of the first node may be based on signals captured by the first node from the single node and reported to the server by the first node. Alternatively, the determined distance from the single node to the location of the second node may be based on signals captured by the second node from the single node and reported to the server by the second node.

[0425] In yet another example, the server processing unit may be further operable to infer the position of the third node by operable to determine the relative position of the third node with respect to the first node or, alternatively, the second node.

[0426] In another example, the location can be refined using background data. More specifically, the server processing unit can be further operable to adjust the inferred location of the third node to determine the refined location of the third node based on the third node's background data related to the inferred location of the third node.

[0427] In a more detailed example, the server memory storage device may further maintain background data, and the server processing unit may be further operable to perform triangulation by being operable to access first node background data, which is part of the background data maintained on the server memory storage device, and which is related to the background environment near the first node. Similarly, the server processing unit may be further operable to access second node background data, which is part of the background data maintained on the server memory storage device, and which is related to the background environment near the second node. The server processing unit is then operable to adjust the determined distance from the position of the node to the first node based on the first node background data to provide a refined distance from the node to the first node. Thus, the server processing unit may be operable to perform triangulation of the position of a node based on: the adjusted determined distance from the position of the node to the first node, the adjusted determined distance from the position of the node to the second node, and the determined distance from the node to the refined position of the third node.

[0428] Combinatorial methods for determining node positions

[0429] Following the examples of node location explained above (such as node-based control elements deployed in modular components of an exemplary MALVT robot device, or node-based mobile wireless devices, or node-based control elements for actuating doors, elevators, object articulation systems, etc.), those skilled in the art will understand that further examples explicitly envision using more than one of the aforementioned location determination techniques when determining the refined location of a node in a wireless node network. For example, such a combined example may apply an ordered or prioritized approach, thereby applying a first location technique to generate first location information about the location of a node in the wireless network. Subsequently, a second location technique, selectable from a set of hierarchical or prioritized techniques (some of which may work better in certain situations and are selected or dynamically prioritized based on the context), is applied to generate second location information about the location of the node or to refine the location of the node. Other examples may apply additional location techniques to generate further refined location information.

[0430] In the example, the information in the exemplary hierarchy is typically a sorted grouping or list that identifies which technology is preferred for initial use and when other positioning technologies should be applied. This information in the exemplary hierarchy can be fixed (based on historical data and experience of success) or dynamically change over time as nodes can move relative to each other and, for example, based on contextual data that provides more information about the current or expected contextual environment.

[0431] MALVT equipment, components and systems

[0432] Based on the aforementioned wireless node technology, which can be used as a building block for control elements in various embodiments involving modular autonomous logistics robots, components, parts, vehicles, and systems described herein, further details are provided below regarding embodiments of exemplary MALVT robot devices that include corresponding modular components of such devices and embodiments of modular assemblies that include such compatible components, which can be assembled to form exemplary MALVT robot devices for use in one or more specific logistics operations (e.g., delivery of items / objects, pickup of items / objects).

[0433] In general, those skilled in the art will understand that the exemplary MALTV robotic device is a type of transport vehicle that can be implemented to operate on various types of terrain (such as on paved roads and off-road terrain), navigate different types of pathways, passageways, and indoor and outdoor transfer pipelines, and operate both inside and outside different types of delivery vehicles. The advanced modular design of the exemplary MALTV robotic device, as a separate component and as part of an assembled system (whether pre-assembled for immediate dispatch or assembled as needed in response to dispatch commands), will facilitate interoperability across different exemplary use case scenarios (e.g., last-mile delivery) and allow for more efficient storage and deployment of fleets of exemplary MALTV robotic device units, as explained in more detail below. The use of novel modular architectural principles in various embodiments also allows for rapid hardware and software development in the underlying technologies used in such processes, devices, or systems, including but not limited to autonomous driving technologies, long-range / short-range wireless communications, artificial intelligence (AI), high-resolution mapping, background and position sensors, and electric vehicle technologies.

[0434] More specifically, some exemplary novel, innovative, and advantageous aspects and features of enhanced and improved autonomous transportation systems and methods using elements of such autonomous transportation systems include, for example, the following:

[0435] • Modular design and interoperability of components, including Intelligent Mobility Autonomous Modules (MAMs) or “caps” to provide sensing and control of the exemplary MALTV robotic device. This modularity and use of inter-module locking mechanisms can also enhance and improve how the risk of injury is minimized.

[0436] • The exemplary MALTV robot device provides the ability to "stand" and "tilt," enabling unassisted delivery of objects. Such objects may generally be referred to as shipped items, but they can be parcels, a set of parcels, a group of parcels placed on a pallet, unpackaged items, etc.

[0437] • The ability to independently utilize different components of the exemplary MALTV robotic device (such as the mobility base (MB)) to provide a robot-assisted solution for existing express delivery in dense metropolitan delivery areas. Additionally, the MB can be grouped using a larger connectivity platform for transporting larger shipments.

[0438] • Leveraging and interfacing with a layered Internet of Things (IoT) type of wireless node network (see TRON Network Reference Information), such as a TRON network including ID nodes, ULD nodes, and an AI engine. Interfacing with TRON technology devices and systems provides context awareness of objects in transit, granular navigation, and manages the authentication of various wireless devices that interoperate for robotic object delivery.

[0439] • End-to-end integration with other existing systems, including fleet management systems, scheduling and operation systems, and human monitoring and decision support systems used for different exemplary MALTV robot devices while participating in and deploying them in the operating environment (e.g., when is it necessary to deploy exemplary MALTV robot devices instead of human couriers?).

[0440] The following description includes a description of different embodiments of exemplary MALVT robot devices and their associated components, as well as a general vocabulary of terms and acronyms used in the various descriptions, practical application of such portions and components of one or more MALVT robot device devices deployed in different embodiments, and embodiments in which a single logistics operation can be carried out using multiple node-enabled autonomous logistics vehicle transporters (also referred to as node-enabled AVs or autonomous transport vehicles) (such as multiple different MALVT robot devices).

[0441] As described above, the following are the general meanings of the terms and acronyms that may be used in different embodiments of this disclosure. Such meanings are intended to be exemplary and not limiting, as will be appreciated by those skilled in the art.

[0442] TRON: As explained in more detail above, this is an example of a layered Internet of Things (IoT) network that uses different types of wireless nodes to enable device-to-device communication and connectivity across multiple platforms for location, authentication, and association.

[0443] Authentication (AuthN): An exemplary cybersecurity verification process involving the authentication of entities is "who they say they are." There are many AuthN schemes, including username / password, etc.

[0444] Authorization (AuthZ): An exemplary network security process that identifies an authenticated user as being authorized to perform actions such as read-only access to a database.

[0445] Central Processing Unit (CPU): A conventional processing unit historically used in personal computers, laptops, and other computing devices for processing executable instructions. Due to its high operating speed (clock rate), those skilled in the art will understand that the CPU is a highly flexible, general-purpose processing unit.

[0446] Dedicated Short Range Communication (DSRC): Developed as a two-way, low-latency, short-to-medium-range wireless system for transmitting data between vehicles (V2V) and transportation infrastructure (V2I) for operations related to traffic flow improvement, traffic safety, and other smart transportation service applications.

[0447] The Department of Transportation (DOT) is an agency of the U.S. government, operated by the Office of the Secretary (OST). The DOT has several subcommittees to handle different modes of transportation, including the National Highway Traffic Safety Administration, the Federal Aviation Administration, and the Federal Railroad Administration, among others.

[0448] Graphics Processing Unit (GPU): A series of dedicated processors optimized for the highly intensive and massively parallel processing required for rendering graphics at high refresh rates. These processors are optimized to handle multidimensional arrays and floating-point operations. Because GPUs have been found to be beneficial for other tasks (such as deep learning, AI, Bitcoin mining, etc.), the term General Purpose GPU or GPGPU has emerged to generally refer to GPUs.

[0449] Human-Machine Interface (H2M or HMI): A user interface that connects an operator to a controller of an industrial machine, robot, or computer. Examples of such an interface may include a keyboard, switches, a display, a touch interface, etc. The interface may include electronic components for signaling and controlling autonomous systems.

[0450] Inertial Measurement Unit (IMU): An electronic device that typically measures and reports the acceleration, rotation, and sometimes the magnetic field around a moving object. These measurements are collected through a combination of accelerometers, gyroscopes, and magnetometers. It is often used in conjunction with Global Positioning Sensors (GPS) and LiDAR.

[0451] Light Detection and Ranging (LIDAR): A remote sensing device that uses pulsed lasers to measure distances and create "dot maps" of the surrounding environment. These dot maps can be used with artificial intelligence platforms to detect and classify different types of objects in the environment, such as trees, cars, pedestrians, cyclists, etc.

[0452] Light-emitting diode (LED): A low-power solid-state (semiconductor) light source. LEDs can be used to make displays that can show text and video or user interfaces.

[0453] Machine-to-machine interface (M2M): A communication protocol that enables networked devices to exchange information and perform actions directly without human intervention (usually via wireless communication channels, but can also be wired).

[0454] The National Highway Traffic Safety Administration (NHTSA) is a U.S. government agency, part of the Department of Transportation (DOT), responsible for ensuring people's safety on U.S. roads. The NHTSA is committed to achieving the highest standards of excellence in motor vehicle and highway safety.

[0455] Organic LED (OLED): A next-generation LED technology based on organic compounds that utilizes a thin, emitting electroluminescent layer. OLED technology can be used in modem displays found in televisions, smartphones, tablets, and other devices. The next generation of OLED technology is being developed in the form of flexible displays for wearable technologies.

[0456] Radio Detection and Ranging (RADAR): A remote sensing system / device that uses radio waves to determine the range, angle, and velocity of objects in the surrounding environment.

[0457] MALVT Equipment, Components, and Systems: Overview of Components

[0458] The exemplary MALVT robot system is implemented as a modular system with multiple levels of component areas, where each component is modular and replaceable from the assembled robot system. These components (often referred to as units) can be assembled to form an exemplary MALVT robot device (often also referred to as an assembly of one or more such components). This assembly can be performed on order (e.g., in response to the need to transport an object) or in advance. Such assembly can also be performed based on the specific requirements of a given order (e.g., based on the characteristics of the object being shipped or transported, such as weight, size, environmental conditions, etc.).

[0459] In one embodiment, such components may include a mobility base (MB), an auxiliary power unit (APM) or base adapter board module (BAPM), a cargo storage unit (CSS), and a mobile autonomous module (MAM). These components are highly modular, allowing for large-scale individual management while enabling rapid assembly into a working exemplary MALTV bot device within a short timeframe. When implementing use cases for the exemplary MALTV robot device, multiple versions of the components can be deployed and built to support these use cases. For example, CSSs of various sizes can be built to support multiple delivery options.

[0460] In a further embodiment, the component modules of the exemplary MALVT robot device may involve the authentication of the components as verified units and / or when the components are assembled to manufacture the exemplary MALVT robot device for a specific purpose or deployment objective. This authentication may be performed in a component-to-component manner, or by a component (e.g., a MAM component) (once assembled with the component that inquires about other components), to ensure that genuine and appropriate components have been used in the exemplary MALVT robot device components.

[0461] Such certification can be used for, for example, security purposes—e.g., to ensure that only specific components are used in an assembly or to ensure that unauthorized components are not used as part of an assembly or for certain purposes (such as using specific MB components with weight limits less than a certain deployment requirement or CSS components without storage capacity for a specific deployment). This certification can be used when assembling or deploying an assembled exemplary MALVT robot for regulatory and / or contractual compliance. For example, if a customer is not allowed to use a certain size of CSS (or requires a specific size of CSS component box), the certification feature may not allow an assembled exemplary MALVT robot using that CSS to operate with or for that customer. This regulatory / contractual compliance can be based on security (e.g., prohibition of overweight assembly), logistical requirements (e.g., passageways in a specific facility are not allowed to exceed a specified width, lifts with weight limits, etc.), etc.

[0462] The modularity of this embodiment of the components constituting the exemplary MALVT robotic device can help reduce or otherwise minimize the risk of impact and / or injury through the use of inter-component locking mechanisms. For example, if an impact is unavoidable or during an impact, the inter-component locking mechanism can be configured to disengage (e.g., based on a threshold impact sensed by an impact sensor on the exemplary MALVT robotic device). This allows for easy separation of different components to minimize impact forces on people, vehicles, and / or structures.

[0463] Figure 17 This is a diagram of exemplary components of a different exemplary modular autonomous logistics transport vehicle (MALVT robot device) 1700 and its parts according to embodiments of the present invention. Referring now to... Figure 17The figure illustrates a sequence of exemplary MALTV robot device components, including exemplary MB 1705, APM or BAPM 1710, CSS 1720, and MAM 1725. This sequence represents a logical assembly progression, beginning with MB 1705, to which APM or BAPM 1710 (with cargo door 1715) is attached, and CSS 1720 unfolds onto and attaches to APM / BAPM 1725. MAM 1725 is then mounted and secured to CSS 1720 along with its docking bus and connectors, as explained in more detail below.

[0464] Modular Mobility Base (MB) Components

[0465] Generally speaking, Figures 18A to 18C This involves details regarding the modular mobility base components. More specifically, Figure 18A This is a diagram of an exemplary modular mobility base (MB) unit or component 1705 of an exemplary MALVT robot device 1700 according to an embodiment of the present invention. Referring now to... Figure 18A The mobility base (MB) 1705 is shown having a base 1800 (e.g., a mobile base platform) and wheels 1805, which typically provide an autonomously propelled "unit" to the exemplary MALVT robotic device 1700. In one embodiment and Figure 18C As shown in more detail below, the base 1800 of the exemplary MB 1705 may include integrated control electronics (e.g., a controller or processor (also referred to as a mobility controller) with interface circuitry for sensors and actuators) that controls the MB 1705's steering, propulsion (e.g., via an electric motor powered by an onboard or offboard power source such as a battery), braking, and other actuated movements. This integrated control electronics may be implemented within a processing-based control logic and processing system within the base 1800 of the MB 1705. Other embodiments of the MB 1705 may rely on control of the steering and propulsion systems within the MB 1705, but such control is provided by the MAM component 1725 of the exemplary MALVT robot device 1700.

[0466] In addition to propulsion and steering, the exemplary MB 1705 may also include one or more sensors 1815 (e.g., front AV sensors (such as cameras), proximity sensors, IR sensors, LiDAR sensors, environmental sensors, light sensors, motion detectors, tilt sensors, impact sensors, etc.) and lights 1820 for allowing autonomous detection of nearby objects and obstacles. Figure 18AAs shown, the exemplary MB 1705 may also be deployed with an alignment channel 1810, which can be used to hold additional components attached to or loaded onto the MB 1705 in a controlled position during movement.

[0467] Those skilled in the art will also appreciate that the exemplary MB 1705 can be implemented in various sizes using a variety of propulsion options (e.g., wheeled, tracked, etc.), which may depend on, for example, the type of object to be transported in the CSS 1720 of the MB, the environment in which the MB 1705 will operate (e.g., indoor, outdoor), the accuracy required in motion (e.g., width for operation, turning distance, etc.), and the anticipated payload and articulated loading and unloading mechanisms to facilitate the loading and unloading of the CSS 1720 supported on the MB 1705.

[0468] The exemplary MB 1705 can also provide power to additional components of the MALVT robot device 1700. When the additional component is attached to the MB 1705, this power can be provided using power connectors or bus interfaces on the base 1800 (or as part of the alignment channel 1810 of the base 1800). As described in more detail below, some embodiments of the MALVT robot device 1700 may deploy an auxiliary power module (APM) 1710 to serve as an additional power source for the MALVT robot device 1700 or, in some cases, as a primary power source (including power for the MB 1705). This auxiliary power module, as a line-replaceable unit, can be easily swapped in and out for maintenance and hot-swappable recharging purposes.

[0469] The exemplary MB 1705 enables a novel and unique object transfer solution for humans and other intermediate storage devices with its ability to be raised and tilted at various angles. Figure 18B This is according to an embodiment of the present invention. Figure 18A An exemplary movable base unit component 1705 is shown, but in an inclined configuration. Reference now is made to... Figure 18BThe illustration shows a sample tilting operation, where the base portion 1800 is hinged to different orientations relative to the ground contact portion (e.g., the wheelbase support wheel 1805) to place the contents normally held on the MB 1705 into a tilt configuration by lifting one end of the MB 1705 relative to the other end. In other embodiments, different lift / tilt actuators (e.g., one or more actuators connected to different axles or motors of the wheel 1805 or to a portion of an adjustable suspension system connected to the base 1800) disposed within the base 1800 may be deployed in different portions of the MB 1705 (e.g., different sides, different swerves) to allow the MB 1705 to be selectively and hingedly lifted and / or tilted into a custom orientation under the control of an integrated control electronics within the base 1800 (or under the control of the MAM 1725 or other components communicating with the control electronics of the MB). In other words, the actuator that performs this tilting action can be responsively controlled using the onboard control logic system of MB 1705 or alternatively integrated in MAM component 1725. Further embodiments may deploy alternative lifting mechanisms for the base 1800, such as a "scissor lift" type actuation mechanism, which can be used alone or in combination with the previously described tilting actuator mechanism.

[0470] As described above, self-sensing (such as vehicle tilt, proximity, and environmental sensing) deployed on and concentrated around sensor 1815 in the exemplary MB 1705 can be incorporated into the exemplary MB 1705 to provide a safe baseline level of autonomous operation for use cases that may not involve other components (e.g., electric vehicles, "follow me" luggage carts, etc.), as described in more detail below. For example, any necessary or desired illumination for proper sensor operation can be included at one or more points along the edge of the MB 1705 via lamp 1820. Such illumination via lamp 1820 can be achieved using visible light or other wavelengths corresponding to the sensors used on the MB 1705 (e.g., infrared, etc.).

[0471] Although Figure 18A and Figure 18B An exemplary MB 1705 is illustrated in perspective, but Figure 18C This is a block diagram illustrating some external and internal details of an exemplary modular mobility base unit component 1705, which is consistent with the foregoing description of the exemplary MB 1705 according to an embodiment of the invention. Referring now to... Figure 18CAn exemplary modular mobility base for transporting a modular autonomous robotic device is illustrated as an exemplary MB 1705, which has at least a mobility base platform 1800, a modular component alignment interface 1810, a mobility controller 1825, a propulsion system 1830 that causes movement of one or more wheels 1805 (which may include all wheels 1805 for more robust propulsion), a steering system 1835 that can responsively change the orientation of at least some wheels 1805 (which may include changing the orientation of all wheels 1805 for refined movement), sensors 1815, and lights 1820.

[0472] The exemplary mobile base platform 1800 essentially provides a mobile support platform on which other components of a modular autonomous robotic device can be assembled. More specifically, the exemplary mobile base platform 1800 can be implemented using a support base and wheels 1805, wherein the support base of the platform 1800 has a top support surface on which a modular alignment interface 1810 is disposed and a peripheral edge on which sensors 1815 are disposed. The wheels 1805 are effectively coupled to the support base.

[0473] Exemplary modular component alignment interface (an example of which is) Figure 18A The alignment channel 1810 of the base 1800 shown in the figure is in Figure 18C It is shown being mounted on a mobile base platform 1800. (The last sentence appears to be incomplete and possibly contains errors.) Figure 18A Consistent with the embodiments shown, the exemplary modular alignment interface 1810 provides at least one channel (such as, Figure 18A As shown in the raised alignment channel 1810, another modular component of the modular autonomous robotic device can be placed into the channel and secured to the mobile base platform 1800. During placement, interface 1810 can be interlocked with a corresponding interface (such as a latch or other registration channel) on APM 1710.

[0474] An exemplary mobility controller 1825 is a processor-based control element housed as part of a mobile base platform 1800 and can be implemented using an ID node-type controller and programming to interface with other onboard circuitry of the modular mobility base and with other modular components within a modular autonomous robotic device assembly of such a component. More specifically, the mobility controller 1825 is operable to generate propulsion control signals for controlling the speed of the modular mobility base 1705 and steering control signals for controlling the navigation of the modular mobility base 1705. Those skilled in the art will appreciate that the propulsion control signals affecting and controlling the speed of the propulsion system 1830 can also control braking (e.g., propulsion control signals via actively reducing the speed of the wheels 1805 and / or by actuating one or more brakes (not shown) on the modular mobility base 1705).

[0475] An exemplary propulsion system 1830 is connected to a mobile base platform 1800 because the propulsion system 1830 is effectively coupled to the mobile base platform 1800 and operable to provide propulsion power to wheels 1805, causing movement of the modular mobility base 1705. The propulsion system 1830 may be implemented, for example, using one or more motors mounted on the mobile base platform 1800 in response to a propulsion control signal from a mobility controller 1825, wherein said motor(s) effectively couple their outputs to the wheels 1805 to change the rotation of one or more of the wheels 1805. In another example, the propulsion system 1830 may be implemented by one or more motors integrated with one or more of the wheels 1805 (e.g., including motors independently controllable for each of the wheels 1805). The propulsion system 1830 responds to a propulsion control signal provided by the mobility controller 1825, which may include different signals provided to each motor to implement independent control of a collective set of motors under the control of the propulsion control signal. In response to a propulsion control signal, the propulsion system 1830 is operable to move the modular mobility base 1705 from a stationary position and cause a change in the speed of the modular mobility base 1705 (e.g., actively increasing or decreasing the speed of the modular mobility base 1705). Although the exemplary modular mobility base 1705 is shown as being mounted on wheels 1805, further embodiments may implement the wheels 1805 as, for example, tracks, outriggers, hybrid wheel / track systems, magnetic levitation locomotive elements that allow movement of the modular mobility base 1705, etc.

[0476] An exemplary steering system 1835 is also connected to the mobile base platform, as the steering system 1835 is effectively coupled to the mobile base platform 1800 and operable to steer the modular mobility base 1705 via, for example, actuation changes to one or more of the wheels 1805. This causes the modular mobility base 1705 to change directional movement in response to a steering control signal from the mobility controller 1825. More specifically, embodiments may couple some wheels 1805 to the propulsion system 1830 (e.g., those wheels 1805 powered by one or more motors) and other wheels 1805 to the steering system 1835. In yet another embodiment, all wheels 1805 may be powered by one or more motors, while fewer than all wheels 1805 may be coupled to the steering system 1835. In another embodiment, some or all of the wheels 1805 may be powered by one or more motors, and all wheels 1805 may be coupled to the steering system 1835 for independent and selective steering, which provides enhanced and robust steering and propulsion for the modular mobility base 1705.

[0477] Exemplary sensors 1815 are mounted on a modular mobility base 1705 (e.g., on various portions of the mobility base platform 1800), and each sensor is coupled to a mobility controller 1825. As described above, sensors 1815 allow autonomous detection of nearby objects and path obstacles, and do so by being operable to autonomously generate feedback sensor data about the conditions of the modular mobility base (e.g., conditions around the modular mobility base, conditions in the movement path of the modular mobility base, etc.) and providing it to the mobility controller 1825. In embodiments, different sensors in the exemplary sensors 1815 may be operable to detect tilt characteristics of the mobility base platform 1800 (e.g., the level state of the platform), environmental characteristics adjacent to the mobility base platform 1800 (e.g., the temperature outside the platform 1800), and proximity characteristics of things adjacent to the mobility base platform 1800 (e.g., the distance to path obstacles in front of the platform 1800). Therefore, embodiments may render at least one of the sensors 1815 as a proximity sensor operable to autonomously detect objects in the movement path of the modular mobility base 1705 and provide proximity sensor data about the detected objects to the mobility controller 1825 as feedback sensor data. The mobility controller 1825 may receive the feedback sensor data from one or more of the proximity sensors 1815 and responsively generate a change to at least one of a propulsion control signal and a steering control signal to avoid collisions and autonomously navigate along the movement path.

[0478] Furthermore, as mentioned above... Figure 18A The exemplary lamp 1820 may be mounted on a modular mobility base 1705 (e.g., on various portions of the mobility base platform 1800) and may be activated by a mobility controller 1825 to provide path illumination to aid in the autonomous detection of nearby objects and path obstacles. The lamp 1820 may be configured to concentrate light generated by the lamp 1820 from outside the mobility base platform 1800, thereby facilitating sensor detection via one or more of the sensors 1815. In one example, one or more of the lamps 1820 may be implemented as multispectral lamps providing multispectral visibility to facilitate sensor detection by at least one of the sensors 1815 (e.g., infrared lamps to enhance night vision, etc.).

[0479] One embodiment of the modular mobility base 1705 may deploy the wheels 1805 in a configuration fixed relative to the mobility base platform 1800, allowing movement of the wheels 1805 to enable movement of the modular mobility base 1705. However, another embodiment may allow the modular mobility base 1705 to have a mobility base platform 1800 including a selectively adjustable suspension system 1840, which essentially engages the wheels 1805 to the support base 1800 in a selective configuration. This selectively adjustable suspension system 1840 may include electronically and / or hydraulically adjustable coils, springs, shocks, or other actuators that selectively engage the wheels 1805 and the mobility base platform 1800 in an articulated and adjustable manner.

[0480] More specifically, the exemplary selectively adjustable suspension system 1840 may include an actuator that can be activated to change the orientation of the support base 1800 relative to the set of wheels 1805 from a first orientation state to a second orientation state in response to a support base orientation control signal from a mobility controller 1825. For example, the mobility controller 1825 may receive sensor data from one or more of sensors 1815 indicating a detected level state of the mobile base platform 1800. In response to such sensor data from the sensors 1815, the mobility controller 1825 may operate in a feedback control manner to generate a support base orientation control signal that adjusts the level orientation of the mobile base platform 1800 to a desired orientation—whether that desired orientation is horizontal (e.g., to keep the goods to be transported in a horizontal orientation) or raises and / or tilts the mobile base platform 1800 to a desired position and orientation. In this way, one or more support base orientation control signals can activate one or more actuators in the adjustable suspension system to change the orientation configuration to a raised attitude orientation, a tilted attitude orientation, or a combination of raised and tilted attitude orientations.

[0481] In a further embodiment, the mobility controller 1825 can be programmably configured to generate one or more support base orientation control signals based on and in response to control commands from another modular component of the modular autonomous robotic device (such as, for example, MAM 1725) to cause the selectively adjustable suspension system 1840 to activate and change the orientation configuration of the support base 1800 relative to the set of wheels 1805 from a first orientation state to a second orientation state. As explained in more detail below, the ability of the modular mobility base 1705 to change its orientation in response to control signals directly from its mobility controller 1825 or control commands from a controller in the exemplary MAM 1725 (which can cause the mobility controller 1825 to activate and change the orientation configuration of the support base 1800) enables a type of articulated object manipulation of items / objects supported in a modular autonomous robotic device assembly having MB 1705. A change in the orientation configuration of the support base 1800 can cause an item / object supported by the exemplary MB 1705 to move or slide in a controlled and desired manner to facilitate the delivery or removal of the item / object from within a modular autonomous robotic device assembly having the MB 1705.

[0482] In a further embodiment, the exemplary modular mobility base 1705 may also include a wireless transceiver 1845 operatively coupled to the mobility controller 1825. Similar to the case described above with respect to ID nodes, the wireless transceiver 1845 may be implemented as a hardware radio, a wireless transceiver implemented using a combination of hardware and software, or a software-defined radio (SDR) implementation of a wireless radio transceiver. This wireless transceiver 1845 provides a bidirectional wireless data path between the mobility controller 1825 and other modular components equipped with similar wireless transceivers, as well as external wireless nodes located outside the modular autonomous robotic device. Thus, the exemplary wireless transceiver 1845 on the exemplary modular mobility base 1705 can facilitate remote wireless control of the modular mobility base 1705 via a bidirectional wireless data path from another modular component or an external wireless node located outside the modular mobility base 1705. For example, the exemplary mobility controller 1825 may generate a support base orientation control signal based on and in response to control commands from the MAM 1725 or from such an external wireless node (e.g., from a handheld mobile user access device similar to the devices 200, 205 described above) located outside the modular mobility base 1705, to cause the selectively adjustable suspension system 1840 to activate and change the orientation configuration of the support base 1800 relative to the set of wheels 1805 from a first orientation state to a second orientation state.

[0483] Various features can be utilized to implement the aforementioned exemplary modular component alignment interface on the exemplary modular mobility base 1705. For example, and as discussed above, features can be utilized in Figure 18A and Figure 18C The alignment channel 1810 on the support base 1800 shown implements a modular component alignment interface. Further embodiments of this modular component alignment interface can be implemented using a registration interface and a coupling receiver. In this example, the registration interface (such as channel 1810) is disposed as a type of fixing and alignment interface on the top support surface of the mobile base platform 1800, into which another modular component of the modular autonomous robot device can be placed and fixed to the mobile base platform 1800. More specifically, the registration interface can be implemented as a raised alignment channel (such as... Figure 18A As shown in the diagram, it can also be implemented as a recessed alignment channel into which a mating alignment structure from another modular component can be mounted and cause mutual alignment between corresponding adjacent modular components. A further example may have a registration interface implemented as a plurality of alignment channels, each of which is positioned adjacent to one of the peripheral edges of the support base 1800. In this example, the coupling receiver portion of the modular component alignment interface may be disposed on the top support surface of the mobile base platform 1800 and provide a secure receiving latch element 1855 (e.g., an interlocking latch) for a corresponding mating coupling latch element on another modular component of the modular autonomous robotic device. Thus, the secure receiving latch 1855 may be mounted into and temporarily attached to the mating coupling latch element attached to the adjacent modular component of the exemplary modular mobility base 1725.

[0484] As will be described in more detail below, exemplary modular components of the exemplary MALVT modular autonomous robot device 1700 can communicate with each other wirelessly and via a common modular component electronics interface, which provides a conduit for power sharing and data / control communication between the different modular components constituting the exemplary MALVT modular autonomous robot device 1700. Thus, the exemplary modular mobility base 1705 may also include an exemplary modular component electronics interface 1860 disposed on the top support surface of the mobility base platform 1800. The exemplary modular component electronics interface 1860 provides a bus-like conduit or power and data cooperating interface to at least one other modular component of the modular autonomous robot device, such that actively powered devices and circuitry can be coupled to the power section of the interface 1860, while electronics communicating with onboard or external entities of the exemplary MB 1705 can be operatively coupled to the data / control communication section of the interface 1860. For example, mobility controller 1825 may be coupled to interface 1860, such that mobility controller 1825 may have wired connections to electronics in other modular components of the exemplary MALVT modular autonomous robot device 1700 (e.g., an autonomous controller operating in exemplary MAM 1725 and coupled to mobility controller 1825 via interface 1860). More specifically, the data / control communication portion of interface 1860 may be implemented using a modular mating bus interface connection for relaying at least feedback sensor data from sensor 1815 coupled to mobility controller 1825 to at least another modular component of the modular autonomous robot device, and for receiving control commands from other modular components of the modular autonomous robot device, the control commands responsively causing mobility controller 1825 to generate propulsion control signals and steering control signals.

[0485] While the exemplary modular mobility base 1705 may be powered by another modular component (e.g., the exemplary APM 1710), embodiments of the exemplary modular mobility base 1705 may include an onboard power supply 1850 that supplies power to onboard active electronics (such as a mobility controller 1825), a propulsion system 1830, a steering system 1835, and sensors 1815 and lights 1820. More specifically, the onboard power supply 1850 may be connected to a power and data mating interface 1860, which may also include a power output connector that supplies power from the onboard power supply 1850 to another modular component.

[0486] In a further embodiment, the exemplary modular mobility base 1705 may include an onboard power controller (not shown as a separate device, but may be implemented as a power switch on power supply 1850 or integrated as part of mobility controller 1825) that applies power from an external power source (via a power input connector on interface 1860) and / or onboard power supply 1850 to at least mobility controller 1825, propulsion system 1830, steering system 1835, sensors 185, and lights 1820.

[0487] Those skilled in the art will understand that exemplary embodiments of the modular mobility base 1705 may enable at least its mobility controller 1825, wireless transceiver 1845, and sensor 1815 to be implemented by an ID node or master node as explained above.

[0488] Multi-modular mobility unit components

[0489] Utilizing this modular design, the system of exemplary MB unit 1705 can operate in a “cooperative mode” to achieve higher overall operational processing capacity, such as enhanced capabilities for road use or higher payloads for in-station freight operations. Figure 19 This is a diagram of an exemplary component 1900 of a plurality of modular mobility base parts 1705a, 1705b paired with an exemplary extended base adapter board module (BAPM) 1905 according to an embodiment of the present invention.

[0490] Now for reference Figure 19Specially configured MALVT robotic devices of the paired or grouped type (e.g., wirelessly paired MB units 1705a, 1705b) can function cooperatively with a collective platform (e.g., an extended BAPM 1905 supported by two MB units 100a, 100b) for handling larger or heavier items. In this configuration, the MBs (e.g., each of the MB units 1705a, 1705b) use a machine-to-machine interface (M2M) to enable inter-part communication between the MB 1705a and other components (such as another MB 1705b supporting the remainder of the BAPM 1905). Exemplary M2M interfaces can be implemented, for example, as wireless communication interfaces (e.g., Bluetooth, Wi-Fi, cellular, NFC, ZigBee, or other wireless communication format interfaces), allowing robotic components to connect securely (e.g., via secure or authorized association between robotic components using TRON node association technology), enabling the robotic components to communicate and interact cooperatively. Additionally, M2M can be used by the exemplary MALVT robot device 1700 to communicate with other intelligent connected devices (both stationary and mobile) using wireless communication (e.g., Bluetooth, cellular, etc.) (e.g., as described above, as in the TRON Network Reference Information incorporated herein by reference, the ID node and mobile master node separate from the MALVT robot device 1700). Those skilled in the art will appreciate that M2M communication can be implemented as a standard protocol using an Application Programming Interface (API) to support modular software development, and can utilize wired / wireless technologies as applicable to specific applications and embodiments. Thus, M2M communication deployed in the exemplary MB 1705 can allow multiple MALVT robot device components to pair together and cooperate to carry a larger payload that acts as a single unit. For example, this could involve, for instance, Figure 19 The coordinated propulsion and steering of each MB 1705a, 1705b in the paired assembly 400 shown is illustrated, where one MB 100a operates as a master autonomous unit, and the other MB 1705b receives input and operates as a type of subordinate autonomous unit (i.e., MB 1705b operates semi-autonomously under the control of MB 1705a, but autonomously as part of the collective assembly 1900). Thus, this exemplary embodiment of the paired assembly 1900 collectively operates as a single, larger MALVT robot system that can be deployed and used for such larger payloads.

[0491] refer to Figure 19 And the above about such Figure 18CThe exemplary modular mobility base 1705 illustrated in the diagram explains that embodiments of the exemplary modular multi-mobility base assembly device 1900 may include a base adapter plate (such as plate 1905) and two different modular mobility bases (such as MB 1705a, 1705b). The base adapter plate 1905 has a top side and a bottom side, wherein the top side provides a transport area for supporting the transported items. As explained above and Figure 19 As shown, the exemplary base adapter plate 1905 has a span long enough to be supported at both ends by two MBs 1705a and 1705b. As will be explained in more detail below, the two MBs 1705a and 1705b operate in a cooperative manner to serve as part of the assembled device 1900. Thus, one of the MBs, 1705a, is configured to operate as the master MB, while the other MB, 1705b, is configured to work with the master MB but operate as a slave device.

[0492] More specifically, in this exemplary modular multi-mobility base assembly device 1900, a first modular mobility base (e.g., MB 1705a) operating as a primary autonomous mobile vehicle is connected to the bottom side at one end of a base adapter plate 1905. Similar to the case explained with reference to the exemplary MB 1705, the first modular mobility base 1705a has a first mobility base platform, a first mobility controller, a first propulsion system, a first steering system, a first wireless transceiver, and a first set of sensors. More specifically, the first mobility controller is mounted on the MB 1705a as part of the first mobility base platform. The first mobility controller (similar to mobility controller 1825) is programmably configured to operate to generate a main propulsion control signal for controlling the speed of the first modular mobility base and a main steering co...

Claims

1. A method for performing a scheduled logistics operation, the scheduled logistics operation relating to goods to be shipped and using a modular autonomous robot device component and a scheduling server, the modular autonomous robot device component having at least: a modular mobility base for propelling the modular autonomous robot device component; a modular auxiliary power module for providing power to the modular autonomous robot device component; and a modular cargo storage system configured to temporarily hold the goods to be shipped within the modular autonomous robot device component; The method includes the following steps: a modular mobile autonomous control module that autonomously controls the operation of the modular autonomous robot equipment components. The modular mobile autonomous control module receives a scheduling command from the scheduling server. The scheduling command includes at least destination information and authentication information related to the scheduled logistics operation. The modular mobile autonomous control module, the modular mobility base, the modular auxiliary power module, and the modular cargo storage system are all certified to be compatible with the scheduled logistics operations. The modular cargo storage system receives the shipped goods; The modular mobility base is autonomously moved from its starting position on the route to the destination position identified by the destination information by the modular mobility autonomous control module. The modular mobile autonomous control module receives delivery receiver authentication input from a delivery receiver located outside the modular autonomous robot device assembly. The delivery receiver authentication input is associated with a portion of the authentication information related to the scheduled logistics operation, which indicates that the delivery receiver providing the delivery receiver authentication input is an authorized delivery receiver of the shipped items within the modular cargo storage system. After the received delivery recipient authentication input is associated with the portion of the authentication information indicating that the delivery recipient providing the authentication input is the authorized delivery recipient, the modular cargo storage system provides selective access to the shipped items within the modular cargo storage system; and After detecting that the shipped items have been removed from the modular cargo storage system, the modular mobility autonomous control module autonomously causes the modular mobility base to move from the destination location to the origin location on the return route.

2. The method according to claim 1, wherein, The step of autonomously causing the modular mobility base to move from the starting position on the route to the destination position identified by the destination information includes: the modular mobility autonomous control module autonomously causing the modular mobility base to move from the starting position to the destination position, while using multiple sensors disposed on at least one of the modular mobility base and the modular mobility autonomous control module to avoid collisions with obstacles in the path on the route to the destination position.

3. The method according to claim 1, wherein, The step of autonomously causing the modular mobility base to move from the originating position on the route to the destination position identified by the destination information includes: the modular mobility autonomous control module autonomously causing the modular mobility base to move from the originating position to the destination position, while interacting with wireless building facility nodes to actuate access obstacles placed in the path on the route to the destination position.

4. The method according to claim 3, wherein, The access obstacles include actuated doors controlled by the wireless building facility node.

5. The method according to claim 3, wherein, The access obstacles include actuated elevators controlled by the wireless building facility node.

6. The method according to claim 3, wherein, The access obstacle includes an actuated lock controlled by the wireless building facility node.

7. The method according to claim 3, wherein, Interacting with the wireless building facility node to actuate the pathway obstacle includes: Based on the authentication information related to the scheduled logistics operations, an authorized association pairing is established between the modular mobile autonomous control module and the wireless building facility node; and After the authorized association pairing is established between the modular mobile autonomous control module and the wireless building facility node, the wireless building facility node is caused to actuate the access obstacle.

8. The method according to claim 1, wherein, The step of autonomously causing the modular mobility base to move from the starting position on the route to the destination position identified by the destination information includes: autonomously causing the modular mobility base to move from the starting position to the destination position by the modular mobility autonomous control module, while using an articulated arm mounted on the modular autonomous robot device assembly and using a plurality of sensors mounted on at least one of the modular mobility base and the modular mobility autonomous control module to engage with pathway obstacles placed in the path on the route to the destination position.

9. The method according to claim 8, wherein, The access barriers include manually actuated doors.

10. The method according to claim 8, wherein, The obstacles to the access route include manually operated elevators.

11. The method according to claim 8, wherein, The access barriers include manually actuated locks.

12. The method according to claim 8, wherein, Using the articulated arm and the sensor to engage the access obstacle includes: A control element that guides the articulated arm to the obstacle using one or more of the sensors disposed on at least one of the modular mobility base and the modular mobility autonomous control module; and Once the articulated arm engages the control element of the access obstacle, the access obstacle is actuated by the modular mobile autonomous control module.

13. The method according to claim 12, wherein, The control element of the access obstacle includes one of the following: a handle for the access obstacle, a button for the access obstacle, a switch for the access obstacle, and a portion of a control panel for the access obstacle.

14. The method according to claim 1, wherein, The authentication information related to the scheduled logistics operation includes logistics constraint information regarding the scheduled logistics operation; and The step of having the modular mobility base, the modular auxiliary power module, and the modular cargo storage system authenticate each of the modular mobility base, the modular auxiliary power module, and the modular cargo storage system as compatible with the scheduled logistics operation is based at least on a comparison of each of the modular mobility base, the modular auxiliary power module, and the modular cargo storage system with the logistics constraint information regarding the scheduled logistics operation.

15. The method according to claim 1, wherein, The delivery receiver authentication input received by the modular mobile autonomous control module is provided by the delivery receiver through a user input panel, which is mounted on the modular autonomous robot device and connected to the modular mobile autonomous control module.

16. The method according to claim 1, wherein, The delivery recipient authentication input received by the modular mobile autonomous control module includes an access code provided by the delivery recipient through a user input panel located on the modular cargo storage system and operatively connected to the modular mobile autonomous control module.

17. The method according to claim 1, wherein, The delivery recipient authentication input received by the modular mobile autonomous control module includes biometric identification input provided by the delivery recipient through a user input panel, which is mounted on the modular cargo storage system and operatively connected to the modular mobile autonomous control module.

18. The method according to claim 1, wherein, The delivery receiver authentication input received by the modular mobile autonomous control module is provided by the delivery receiver via an external wireless node located outside the modular autonomous robot device assembly.

19. The method according to claim 18, wherein, The delivery receiver authentication input received by the modular mobile autonomous control module includes an access code provided by the delivery receiver through the external wireless node, which is located outside the modular autonomous robot device assembly.

20. The method according to claim 18, wherein, The delivery receiver authentication input received by the modular mobile autonomous control module includes biometric identification input provided by the delivery receiver through the external wireless node, which is located outside the modular autonomous robot device assembly.

21. The method according to claim 1, wherein, The authentication information associated with the scheduled logistics operation includes the identifier of the authorized delivery recipient of the shipped items as part of the scheduled logistics operation. and The step of receiving the delivery recipient authentication input includes: Once the modular autonomous robot device component has reached the destination location identified by the destination information, the modular mobile autonomous control module detects an announcement signal from an external wireless node within a predetermined range of the modular autonomous robot device component as the delivery receiver authentication input; and Based on the identifier of the authorized delivery recipient and the identifier information within the detected notification signal broadcast from the external wireless node, the modular mobile autonomous control module authenticates the external wireless node as associated with the authorized delivery recipient of the shipped items within the modular cargo storage system.

22. The method according to claim 1, wherein, The authentication information associated with the scheduled logistics operation includes the identifier of the authorized delivery recipient of the shipped items as part of the scheduled logistics operation. and The step of receiving the delivery recipient authentication input includes: Once the modular autonomous robot device component has reached the destination location identified by the destination information, the modular mobile autonomous control module detects spontaneous notification signals from external wireless nodes within a predetermined range of the modular autonomous robot device component; and Upon detecting the spontaneous notification signal from the external wireless node, a secure association is established between the external node and the modular mobile autonomous control module. This secure association allows for secure information sharing between the external node and the modular mobile autonomous control module and is pre-authorized by the scheduling server, as it pertains to the logistics operations of the scheduling.

23. The method according to claim 1, wherein, The step of receiving the shipped goods includes: the modular mobile autonomous control module actuating the actuated cargo door mounted on the modular auxiliary power module to the open position, wherein when the actuated cargo door is in the closed position, the actuated cargo door provides a seal to the payload area within the modular cargo storage system, and when the actuated cargo door is in the open position, the actuated cargo door provides an entrance to the payload area within the modular cargo storage system.

24. The method according to claim 23, wherein, The actuation of the actuated cargo door by the modular mobile autonomous control module includes: actuating the actuation joint on the actuated cargo door to cause the actuated cargo door to move from the closed position to the open position.

25. The method according to claim 23, wherein, The actuation of the actuated cargo door by the modular mobile autonomous control module further includes: actuating the electromechanical lock on the actuated cargo door to cause the actuated cargo door to unlock, and then moving from the closed position to the open position.

26. The method according to claim 1, wherein, The step of receiving the shipped items includes: actuating an actuated sliding arm mounted on the modular cargo storage system by the modular mobile autonomous control module to move the shipped items to the payload area within the modular cargo storage system.

27. The method according to claim 1, wherein, The step of receiving the shipped goods includes: the modular mobile autonomous control module actuating an actuated gripping arm mounted on the modular cargo storage system to grab the shipped goods and move them to the payload area within the modular cargo storage system as part of receiving the shipped goods.

28. The method according to claim 1, wherein, The step of receiving the shipped item includes: actuating an actuation belt surface disposed on the modular auxiliary power module as a movable support surface exposed within the payload area inside the modular cargo storage system by the modular mobile autonomous control module, the actuation belt surface being operable when actuated to cause the shipped item, if placed on the actuation belt surface, to move into the payload area as part of receiving the shipped item.

29. The method according to claim 1, wherein, The step of providing selective access to the shipped goods includes: once the delivery recipient authentication input is associated with a portion of the authentication information related to the scheduled logistics operation, the modular mobile autonomous control module actuates an actuated cargo door mounted on the modular auxiliary power module to an open position, wherein when the actuated cargo door is in the closed position, the actuated cargo door provides a seal to the payload area within the modular cargo storage system, and when the actuated cargo door is in the open position, the actuated cargo door provides access to the payload area within the modular cargo storage system.

30. The method according to claim 29, wherein, The actuation of the actuated cargo door by the modular mobile autonomous control module includes: actuating the actuation joint on the actuated cargo door to cause the actuated cargo door to move from the closed position to the open position.

31. The method according to claim 29, wherein, The actuation of the actuated cargo door by the modular mobile autonomous control module further includes: actuating the electromechanical lock on the actuated cargo door to cause the actuated cargo door to unlock, and then moving from the closed position to the open position.

32. The method according to claim 1, wherein, The step of providing selective access to the shipped goods includes: actuating an actuated sliding arm mounted on the modular cargo storage system by the modular mobile autonomous control module to remove the shipped goods from the payload area within the modular cargo storage system.

33. The method according to claim 1, wherein, The step of providing selective access to the shipped item includes: actuating an actuated gripper arm mounted on the modular cargo storage system by the modular mobile autonomous control module to grip the shipped item and remove it from the payload area within the modular cargo storage system.

34. The method according to claim 1, wherein, The step of providing selective entry to the shipped article includes: actuating an actuation belt surface disposed on the modular auxiliary power module as a movable support surface exposed within a payload area inside the modular cargo storage system by the modular mobile autonomous control module, the actuation belt surface being operable when actuated to cause the shipped article, if placed on the actuation belt surface, to be removed from the payload area.

35. The method according to claim 1, wherein, The step of receiving the shipped articles further includes: Based on the readable identifier on the received item, it is confirmed that the received item corresponds to the scheduled logistics operation; and The modular mobile autonomous control module receives confirmation input, which confirms that the received item corresponds to the scheduled logistics operation based on the readable identifier on the received item.

36. The method according to claim 35, wherein, The readable identifier includes a human-readable identifier placed on the received item.

37. The method of claim 35, wherein, The readable identifier includes a machine-readable identifier placed on the received item.

38. The method according to claim 35, wherein, The confirmation input includes input received on a user input panel, which is mounted on the modular cargo storage system and operatively connected to the modular mobile autonomous control module.

39. The method according to claim 1, wherein, The step of receiving the shipped articles further includes: The payload area within the modular cargo storage system is scanned by the payload monitoring sensor on the modular mobile autonomous control module. The modular mobile autonomous control module detects the transported goods within the payload area based on scan data generated by the payload monitoring sensor; and The detection of an item within the payload area is confirmed to correspond to the scheduled logistics operation based on a machine-readable identifier on the received item, as indicated by the scan data generated by the payload monitoring sensor.

40. The method of claim 1, further comprising: Once the modular autonomous robot device component is within a threshold notification range of the destination location identified by the destination information, a display reminder for the authorized delivery recipient is generated on the display of the modular mobile autonomous control module.

41. The method of claim 1, further comprising: Once the modular autonomous robot device component is within a threshold notification range of the destination location identified by the destination information, it generates an audio notification for the authorized delivery recipient on the speaker of the modular mobile autonomous control module.

42. The method of claim 1, further comprising: Once the modular autonomous robot device component is within a threshold notification range of the destination location identified by the destination information, it transmits a delivery notification message to an external wireless node identified as being associated with the delivery recipient.

43. The method according to claim 1, wherein, The originating location includes a storage location on a predetermined floor of a multi-story facility, where the modular autonomous robot equipment component is held until it is scheduled for the scheduled logistics operation. and The destination is located on another floor of the multi-story facility.

44. The method according to claim 1, wherein, The starting location includes a multi-component storage location on a predetermined floor of a multi-story facility, where each of the modular mobility base, the modular auxiliary power module, the modular cargo storage system, and the modular mobile autonomous control module, which are used as part of the modular autonomous robot equipment assembly, is held in an unassembled form at the multi-component storage location until the modular autonomous robot equipment assembly is assembled on demand in response to a scheduling command from the scheduling server. and The destination is located on another floor of the multi-story facility.

45. The method according to claim 1, wherein, The originating location includes a multi-component storage location on a predetermined floor of a multi-level facility, wherein each of the modular mobility base, the modular auxiliary power module, the modular cargo storage system, and the modular mobile autonomous control module is a leased component used as part of the modular autonomous robot equipment assembly, and each of the leased components is held at the multi-component storage location until it is scheduled as part of the modular autonomous robot equipment assembly for the scheduled logistics operation. and The destination is located on another floor of the multi-story facility.

46. ​​The method according to claim 1, wherein, The originating location of the scheduled logistics operation includes a robot storage location, where the modular autonomous robot device component is initially held, and wherein the destination information is defined as an intermediate loading location as a part of the destination information. The steps for receiving the shipped items include: The modular mobile autonomous control module autonomously causes the modular mobile base to move from the robot storage location to the intermediate loading location, and The modular cargo storage system receives the shipped goods at the intermediate loading position; and The step of autonomously causing the modular mobility base to move from the starting position on the route to the destination position identified by the destination information includes: the modular mobility autonomous control module causing the modular mobility base to move from the intermediate loading position on the intermediate delivery route to the destination position identified by the destination information; and The step of autonomously causing the modular mobile base to move from the destination location on the return route to the origin location after detecting that the transported item has been removed from the modular cargo storage system includes: after detecting that the transported item has been removed from the modular cargo storage system, the modular mobile autonomous control module autonomously causes the modular mobile base to move from the destination location on the return route to the robot storage location.

47. The method according to claim 46, wherein, The step of autonomously initiating the movement of the modular mobility base from the robot storage location to the intermediate loading location includes: after receiving a confirmation message from the scheduling server, the modular mobility autonomous control module autonomously initiating the movement of the modular mobility base from the robot storage location to the intermediate loading location, wherein the confirmation message verifies the intermediate loading location as provided by the sender of the shipped item.

48. The method according to claim 46, wherein, The intermediate loading position includes position coordinates.

49. The method according to claim 46, wherein, The intermediate loading location includes the identified location based on the office mapping.

50. The method of claim 46, wherein, The intermediate loading location includes the location of an external wireless node positioned outside the modular autonomous robot device assembly and associated with the sender of the shipped item.

51. The method according to claim 46, wherein, The intermediate loading location includes the location of the master node that is incorporated into the facility.

52. The method according to claim 46, wherein, The intermediate loading location includes the lobby area of ​​a multi-story facility.

53. The method according to claim 52, wherein, The modular autonomous robot equipment component is temporarily placed in the lobby of the multi-story facility, which serves as a self-pickup logistics container, to receive the shipped items and then autonomously move them to the destination location.

54. The method according to claim 46, wherein, The scheduling command from the scheduling server is initiated by a hotel customer request for delivery of the shipped items received through the scheduling server. The robot storage location includes storage facilities within hotel buildings; The intermediate loading location, defined as part of the destination information for the modular autonomous robot device component, includes a location within the hotel specified by the delivery recipient who sent the hotel customer request; and The method further includes the following steps: once the modular autonomous robot device component is within a threshold notification range of the destination location identified by the destination information, it notifies the delivery recipient of the upcoming delivery.

55. The method according to claim 54, wherein, The location within the hotel specified by the delivery recipient who sends the hotel customer request includes a specified hotel room within the hotel building.

56. The method according to claim 54, wherein, The location within the hotel specified by the delivery recipient who sends the hotel customer request includes a designated service area within the hotel building.

57. The method according to claim 54, wherein, The location within the hotel specified by the delivery recipient who sends the hotel customer request includes a designated meeting room within the hotel building.

58. The method according to claim 54, wherein, The location within the hotel specified by the delivery recipient who sends the hotel customer request includes the location of an external mobile wireless node associated with the delivery recipient.

59. The method according to claim 46, wherein, The scheduling command from the scheduling server is initiated by a hotel customer request for intermediate pickup and delivery of the shipped items, received through the scheduling server. The robot storage location includes storage facilities within hotel buildings; The intermediate loading location, defined as part of the destination information for the modular autonomous robot device component, includes a location within the hotel specified by the delivery recipient who sent the hotel customer request; and The method further includes the following steps: once the modular autonomous robot device component is within a threshold notification range of the destination location identified by the destination information, it notifies the delivery recipient of the upcoming delivery.

60. The method according to claim 1, wherein, The originating location of the scheduled logistics operation includes a robot storage location within the hotel building, where the modular autonomous robot device is initially held. The destination information includes intermediate loading locations and delivery locations; The steps for receiving the shipped items include: The modular mobile autonomous control module autonomously causes the modular mobile base to move from the robot storage location to the intermediate loading location. Once the modular autonomous robotic device component is within a threshold notification range of the intermediate loading location identified by the destination information, it notifies the delivery recipient of the impending pickup. The modular cargo storage system receives the shipped goods at the intermediate positioning location; and The step of autonomously causing the modular mobility base to move from the starting position on the route to the destination position identified by the destination information includes: the modular mobility autonomous control module causing the modular mobility base to move from the intermediate loading position on the intermediate delivery route to the delivery position identified by the destination information as the destination position; and The step of autonomously causing the modular mobile base to move from the destination location on the return route to the origin location after detecting that the transported item has been removed from the modular cargo storage system includes: after detecting that the transported item has been removed from the modular cargo storage system, the modular mobile autonomous control module autonomously causes the modular mobile base to move from the delivery location on the return route to the robot storage location.

61. The method according to claim 60, wherein, The step of the modular mobility base being autonomously moved by the modular mobility autonomous control module from the intermediate loading position on the intermediate delivery route to the delivery position identified by the destination information as the destination location includes: The modular mobility base is autonomously moved from the intermediate loading position on the intermediate delivery route to the delivery position and remains there, as a first stopping position identified as part of the destination information, by the modular mobility autonomous control module. The modular mobility base is autonomously moved from the first stationary position to a second delivery position by the modular mobility autonomous control module, the second delivery position being identified as the location of an external mobile wireless node associated with the delivery receiver.

62. The method according to claim 61, wherein, The step of autonomously initiating the movement of the modular mobility base from the first stopping position to a second delivery position identified as the location of an external mobile wireless node associated with the delivery recipient by the modular mobility autonomous control module includes: The modular mobile autonomous control module detects notification signals from the external mobile radio node associated with the delivery receiver; Based on the authentication information related to the scheduled logistics operations, the modular mobile autonomous control module establishes an authorized and secure association between itself and the external mobile wireless node; and After establishing the authorized security association, the modular mobility base is autonomously moved from the first stopping position to the second delivery position by the modular mobility autonomous control module.

63. The method according to claim 61, wherein, The step of the modular mobility base being autonomously moved from the delivery location on the return route to the robot storage location by the modular mobility autonomous control module after detecting that the shipped item has been removed from the modular cargo storage system includes: after detecting that the shipped item has been removed from the modular cargo storage system at the second delivery location, the modular mobility autonomous control module autonomously moves the modular mobility base from the second delivery location to the robot storage location.

64. The method according to claim 1, wherein, The originating location of the scheduled logistics operation includes a robot storage location within the hotel building, where the modular autonomous robot device is initially held. The destination information includes intermediate loading locations and delivery locations; The steps for receiving the shipped items include: The modular mobile autonomous control module autonomously causes the modular mobile base to move from the robot storage location to the intermediate loading location. The modular mobile autonomous control module detects announcement signals from external mobile wireless nodes associated with the delivery receiver; Based on the authentication information related to the scheduled logistics operation, the modular mobile autonomous control module establishes an authorized security association between the modular mobile autonomous control module and the external mobile wireless node, and the established authorized security association authenticates the delivery recipient related to the external mobile wireless node. Once the modular autonomous robot device component has established the authorized secure association between the modular mobile autonomous control module and the external mobile wireless node, the modular mobile autonomous control module transmits an imminent pickup message regarding the upcoming pickup of the transported item to the external mobile wireless node; and The modular cargo storage system receives the shipped goods at the intermediate positioning location; The step of autonomously causing the modular mobility base to move from the originating position on the route to the destination position identified by the destination information includes: when the external mobile radio node moves toward the delivery position, the modular mobility autonomous control module causes the modular mobility base to move from the intermediate loading position toward the external mobile radio node in the following mode; and The step of autonomously causing the modular mobile base to move from the destination location on the return route to the origin location after detecting that the transported item has been removed from the modular cargo storage system includes: after detecting that the transported item has been removed from the modular cargo storage system at the delivery location, the modular mobile autonomous control module autonomously causes the modular mobile base to move from the delivery location to the robot storage location.

65. The method according to claim 1, wherein, The modular mobility base includes a primary mobility base, a secondary mobility base, and an extension base adapter plate coupled to each of the primary and secondary mobility bases to support the transported goods. Each of the primary and secondary mobility bases responds to a control input from the modular mobility autonomous control module to induce coordinated movement of the modular mobility base.

66. The method according to claim 1, wherein, The originating location of the scheduled logistics operation includes a centralized robot storage location within the warehouse, where the modular autonomous robot device is initially held. The scheduling command sent by the scheduling server is initiated based on a scheduling request received by the scheduling server. This scheduling request is sent from authorized maintenance personnel related to the scheduled logistics operation. The scheduling command includes identifier information of an external mobile wireless node operated by the authorized maintenance personnel. The destination information includes the location of the mobile node of the external mobile wireless node operated by the authorized maintenance personnel.

67. The method according to claim 66, wherein, The steps of receiving the delivery recipient authentication input include: When the modular autonomous robot device component approaches the location of the external mobile wireless node, the modular mobile autonomous control module detects an announcement signal from the external mobile wireless node as the delivery receiver authentication input; and The modular mobile autonomous control module authenticates the association between the external mobile wireless node and the authorized delivery recipient of the shipped items within the modular cargo storage system based on: (a) the identifier information of the external mobile wireless node from the scheduling command; and (b) the identifier information within the detected notification signal broadcast from the external mobile wireless node.

68. The method according to claim 66, wherein, The delivery receiver authentication input received by the modular mobile autonomous control module is provided by the delivery receiver through a user input panel, which is mounted on the modular autonomous robot device and connected to the modular mobile autonomous control module.

69. The method according to claim 66, wherein, The delivery recipient authentication input received by the modular mobile autonomous control module includes an access code provided by the delivery recipient through a user input panel located on the modular cargo storage system and operatively connected to the modular mobile autonomous control module.

70. The method of claim 66, wherein, The delivery recipient authentication input received by the modular mobile autonomous control module includes biometric identification input provided by the delivery recipient through a user input panel, which is mounted on the modular cargo storage system and operatively connected to the modular mobile autonomous control module.

71. The method according to claim 66, wherein, The modular mobility base compatible with the scheduled logistics operations includes a primary mobility base, a secondary mobility base, and an extension base adapter plate coupled to each of the primary and secondary mobility bases to support the shipped goods. Each of the primary and secondary mobility bases responds to control input from the modular mobility autonomous control module to induce coordinated movement of the modular mobility base.

72. The method according to claim 66, wherein, The modular cargo storage system compatible with the scheduled logistics operations includes one of a variety of modular cargo storage systems of different sizes, which are compatible with the size parameters of the shipped goods as part of the scheduled logistics operations.

73. The method according to claim 72, wherein, The modular mobile autonomous control module compatible with the scheduled logistics operation includes one of a variety of modular mobile autonomous control modules of different sizes, which is compatible with one of the modular cargo storage systems of different sizes that is compatible with the size parameters of the shipped items, as part of the scheduled logistics operation.

74. The method according to claim 46, wherein, The robot storage location for the scheduled logistics operations includes a centralized robot storage location within the hospital, where the modular autonomous robot device is initially held. The scheduling command sent by the scheduling server is initiated based on a scheduling request received by the scheduling server. This scheduling request originates from authorized medical personnel involved in the scheduled logistics operation. The scheduling command includes identifier information of an external mobile wireless node operated by the authorized medical personnel. The intermediate loading location includes a medical supplies storage area.

75. The method according to claim 74, wherein, The medical supplies storage area includes a pharmaceutical supplies storage area, and the shipped items include prescription drugs according to the scheduled logistics operations.

76. The method according to claim 74, wherein, The destination location includes the patient's predetermined location within the hospital.

77. The method according to claim 74, wherein, The destination information includes the location of the mobile node of the external mobile wireless node operated by the authorized medical personnel.

78. The method of claim 74, further comprising the following steps: The modular mobile autonomous control module stores the delivery recipient authentication input as an information storage chain for the shipped items.

79. The method according to claim 46, wherein, The robot storage location for the scheduled logistics operations includes a centralized robot storage location within the hospital, where the modular autonomous robot device is initially held. The scheduling command sent by the scheduling server is initiated based on a scheduling request received by the scheduling server, which is sent from authorized medical personnel related to the logistics operation being scheduled. The intermediate loading location includes the hospital meal supply location; The modular cargo storage system has segmented and insulated payload areas for transporting multiple meals as the shipped items. The modular cargo storage system further has a detachable climate control module that responds to climate control inputs from the modular mobile autonomous control module to maintain the desired environment within the modular cargo storage system.

80. The method according to claim 46, wherein, The robot storage location for the scheduled logistics operations includes a centralized robot storage location within the hospital, where the modular autonomous robot device is initially held. The scheduling command sent by the scheduling server is initiated based on a scheduling request received by the scheduling server, which is sent from authorized medical personnel related to the logistics operation being scheduled. The intermediate loading location includes the location of the biohazardous materials storage facility; The destination location includes the disposal location of biohazardous materials.

81. The method of claim 74, further comprising the following steps: The modular mobile autonomous control module receives wireless hospital alarm signals during the scheduled logistics operations; as well as The modular mobile autonomous control module autonomously causes the modular mobile base to stop moving and positions the modular mobile base in a predetermined unobstructed location within the current environment of the modular autonomous robot device component.

82. The method according to claim 81, wherein, The predetermined barrier-free location within the current environment of the modular autonomous robot device assembly includes a location against a wall within the current environment, as sensed by one or more sensors on the modular autonomous robot device assembly.

83. The method according to claim 82, wherein, The predetermined unobstructed location within the current environment of the modular autonomous robot device assembly includes a location within the current environment of the modular autonomous robot device assembly that is not occupied and is sensed by the modular mobile autonomous control module relative to movement sensed within the current environment of the modular autonomous robot device assembly.

84. The method according to claim 74, wherein, The modular mobility base compatible with the scheduled logistics operations includes a primary mobility base, a secondary mobility base, and an extension base adapter plate coupled to each of the primary and secondary mobility bases to support the shipped goods. Each of the primary and secondary mobility bases responds to control input from the modular mobility autonomous control module to induce coordinated movement of the modular mobility base.

85. The method according to claim 74, wherein, The modular cargo storage system compatible with the scheduled logistics operations within the hospital includes one of a variety of modular cargo storage systems of different sizes, which are compatible with the size parameters of the shipped goods as part of the scheduled logistics operations within the hospital.

86. The method according to claim 85, wherein, The modular mobile autonomous control module compatible with the scheduled logistics operations within the hospital includes one of a variety of modular mobile autonomous control modules of different sizes, which is compatible with one of the modular cargo storage systems of different sizes that is compatible with the size parameters of the shipped items, as part of the scheduled logistics operations within the hospital.

87. The method of claim 74, further comprising the following steps: The modular mobile autonomous control module generates a warning message on a display mounted on the module, wherein the warning message relates to the shipped items within the modular cargo storage system as part of the scheduled logistics operations within the hospital.

88. The method according to claim 87, wherein, The warning information includes biohazard warnings related to the shipped items within the modular cargo storage system, as part of the scheduled logistics operations within the hospital.

89. The method according to claim 87, wherein, The warning information includes medical management information related to the shipped drugs within the modular cargo storage system, which are the shipped items in the scheduled logistics operations within the hospital.

90. The method according to claim 1, wherein, The scheduling command sent by the scheduling server is initiated based on a scheduling request received by the scheduling server. The scheduling request is sent from a sending entity related to the logistics operation being scheduled. The scheduling command includes identifier information of an external mobile wireless node operated by the sending entity and delivery receiver identifier information related to the delivery receiver of the shipped item. Wherein, the starting position of the scheduled logistics operation includes a robot storage location, the modular autonomous robot device is initially held at the robot storage location, and wherein the destination information definition is defined as an intermediate loading location as a part of the destination information; The steps for receiving the shipped items include: The modular mobile autonomous control module autonomously causes the modular mobile base to move from the robot storage location to the intermediate loading location. The modular mobile autonomous control module receives sending entity authentication input from the sending entity as part of the scheduled logistics operation. This sending entity authentication input is associated with a portion of authentication information related to the scheduled logistics operation, indicating that the sending entity providing the authentication input is an authorized provider of the shipped goods within the modular cargo storage system. After the received sending entity authentication input is associated with the part of the authentication information indicating that the sending entity providing the sending entity authentication input is the authorized provider of the shipped goods, a selective entry point is provided by the modular cargo storage system to the modular cargo storage system. The modular cargo storage system receives the shipped goods at the intermediate positioning location, and The transported goods are fixed within the modular cargo storage system by the modular mobile autonomous control module; The step of autonomously causing the modular mobility base to move from the starting position on the route to the destination position identified by the destination information includes: the modular mobility autonomous control module causing the modular mobility base to move from the intermediate loading position on the intermediate delivery route to the destination position identified by the destination information; and The step of autonomously causing the modular mobile base to move from the destination location on the return route to the origin location after detecting that the transported item has been removed from the modular cargo storage system includes: after detecting that the transported item has been removed from the modular cargo storage system, the modular mobile autonomous control module autonomously causes the modular mobile base to move from the destination location on the return route to the robot storage location.

91. The method according to claim 90, wherein, The shipped items include one or more documents to be transported within the modular cargo storage system.

92. The method according to claim 90, wherein, The intermediate loading location includes the mobile node location of the external mobile wireless node operated by the transmitting entity.

93. The method according to claim 90, wherein, The destination location includes the location of the mobile node of the external mobile wireless node operated by the delivery receiver.

94. The method according to claim 90, wherein, The steps for receiving the entity authentication input include: When the modular autonomous robot device component approaches the location of the mobile node operated by the transmitting entity, the modular mobile autonomous control module detects an announcement signal from the external mobile wireless node operated by the transmitting entity as an authentication input for the transmitting entity; and The modular mobile autonomous control module authenticates the association between the external mobile wireless node operated by the sending entity and the sending entity of the shipped goods within the modular cargo storage system based on the following two criteria: (a) the identifier information of the external mobile wireless node operated by the sending entity from the scheduling command; and (b) the identifier information within the detected notification signal.

95. The method according to claim 90, wherein, The authentication input of the sending entity received by the modular mobile autonomous control module is provided by the sending entity through a user input panel, which is mounted on the modular autonomous robot device and connected to the modular mobile autonomous control module.

96. The method according to claim 90, wherein, The authentication input of the sending entity received by the modular mobile autonomous control module includes an access code provided by the sending entity through a user input panel, which is mounted on the modular cargo storage system and operatively connected to the modular mobile autonomous control module.

97. The method according to claim 90, wherein, The authentication input of the sending entity received by the modular mobile autonomous control module includes biometric identification input provided by the sending entity through a user input panel, which is mounted on the modular cargo storage system and operatively connected to the modular mobile autonomous control module.

98. The method according to claim 90, wherein, The steps of receiving the delivery recipient authentication input include: When the modular autonomous robot device component approaches the mobile node location of the external mobile wireless node operated by the delivery receiver, the modular mobile autonomous control module detects an announcement signal from the external mobile wireless node operated by the delivery receiver as the delivery receiver's authentication input; and The modular mobile autonomous control module authenticates the association between the external mobile wireless node operated by the delivery receiver and the delivery receiver of the shipped items within the modular cargo storage system based on: (a) the delivery receiver identifier information from the scheduling command; and (b) the identifier information of the external mobile wireless node operated by the delivery receiver within the detected notification signal.

99. The method according to claim 90, wherein, The delivery receiver authentication input received by the modular mobile autonomous control module is provided by the delivery receiver through a user input panel, which is mounted on the modular autonomous robot device and connected to the modular mobile autonomous control module.

100. The method according to claim 90, wherein, The delivery recipient authentication input received by the modular mobile autonomous control module includes an access code provided by the delivery recipient through a user input panel located on the modular cargo storage system and operatively connected to the modular mobile autonomous control module.

101. The method according to claim 90, wherein, The delivery recipient authentication input received by the modular mobile autonomous control module includes biometric identification input provided by the delivery recipient through a user input panel, which is mounted on the modular cargo storage system and operatively connected to the modular mobile autonomous control module.

102. The method of claim 90, further comprising the following steps: Once the modular autonomous robot device component is within the threshold notification range of the intermediate loading location identified by the destination information, the modular mobile autonomous control module transmits the upcoming pickup notification to the sending entity as part of the scheduled logistics operation.

103. The method of claim 90, further comprising the following steps: Once the modular autonomous robot device component has moved a threshold departure distance from the intermediate loading position, the modular mobile autonomous control module transmits a departure notification to the estimated delivery recipient as part of the scheduled logistics operation.

104. The method according to claim 103, wherein, The departure notification includes an estimated arrival time for the modular autonomous robot device component from its current location to the destination location.

105. The method of claim 90, further comprising the following steps: Once the modular autonomous robot device component is within the threshold notification range of the destination location identified by the destination information, the modular mobile autonomous control module transmits an upcoming delivery notification to the delivery recipient as part of the scheduled logistics operation.

106. The method according to claim 90, wherein, The step of autonomously moving the modular mobile base from the destination location on the return route to the robot storage location after detecting that the shipped item has been removed from the modular cargo storage system includes: After detecting that the shipped goods have been removed from the modular cargo storage system at the destination location and that additional items have been placed in the modular cargo storage system at the destination location, the modular mobility autonomous control module autonomously causes the modular mobility base to move from the destination location back to the intermediate loading location. After detecting that the attached item has been removed from the modular cargo storage system at the intermediate loading position, the modular mobility autonomous control module autonomously causes the modular mobility base to move from the intermediate loading position to the robot storage position. After the modular mobility base returns to the intermediate loading position, while at the intermediate loading position, the modular mobility autonomous control module receives a second sending entity authentication input from the sending entity as part of the scheduled logistics operation. This second sending entity authentication input is an indication of authentication information related to the scheduled logistics operation. The sending entity providing the second sending entity authentication input is partially associated with the authorized provider of the shipped goods within the modular cargo storage system. After the received second sending entity authentication input is associated with the part of the authentication information indicating that the sending entity providing the second sending entity authentication input is the authorized provider of the shipped items, the modular cargo storage system provides a selective entry point within the modular cargo storage system for removing the additional items.

107. The method according to claim 90, wherein, The step of autonomously moving the modular mobile base from the destination location on the return route to the robot storage location after detecting that the shipped item has been removed from the modular cargo storage system includes: After detecting that the shipped item has been removed from the modular cargo storage system at the destination location and simultaneously detecting additional items at the destination location within the modular cargo storage system, the modular mobility autonomous control module autonomously causes the modular mobility base to move from the destination location to a second delivery location, which is identified as part of the destination information related to the scheduled logistics operation; and After detecting that the attached item has been removed from the modular cargo storage system at the second delivery location, the modular mobility base is autonomously moved from the second delivery location to the robot storage location by the modular mobility autonomous control module.

108. The method of claim 107, further comprising the following steps: After the modular mobility base arrives at the second delivery location, while at the second delivery location, the modular mobility autonomous control module receives third-party entity authentication input from a third-party entity as part of the scheduled logistics operation. The third-party entity authentication input is related to a portion of the authentication information associated with the scheduled logistics operation, which indicates that the third-party entity providing the third-party entity authentication input is an authorized third-party recipient of the additional items within the modular cargo storage system. as well as After the received third-party entity authentication input is associated with the portion of the authentication information indicating that the third-party entity providing the third-party entity authentication input is the authorized third-party recipient of the attached item, a selective entry point within the modular cargo storage system is provided by the modular cargo storage system for removing the attached item.

109. The method according to claim 1, wherein, The shipped articles include at least one of a plurality of components of a medical kit for a medical procedure, wherein at least one of the components of the medical kit is not used as part of the medical procedure and is in a condition for use in a second medical procedure; Wherein, the originating location of the scheduled logistics operation includes a robot storage location, the modular autonomous robot device is initially held at the robot storage location, and wherein the destination information definition is defined as an intermediate return loading location as a part of the destination information; The destination location of the scheduled logistics operation includes a centralized return location for one or more of the components of the medical kit; The steps for receiving the shipped items include: The modular mobile autonomous control module autonomously causes the modular mobile base to move from the robot storage location to the intermediate return loading location. The modular mobile autonomous control module receives return entity medical personnel authentication input from the return entity medical personnel related to the scheduled logistics operation. As part of the scheduled logistics operation, the return entity medical personnel authentication input is related to the authentication information provided by the module, indicating that the return entity medical personnel is part of an authorized return supplier of the shipped goods within the modular cargo storage system. After receiving the returned entity medical personnel authentication input and the indication provided by the authentication information that the returned entity medical personnel authentication input is related to the authorized return supplier of the shipped goods, a selective entry point is provided by the modular cargo storage system to the modular cargo storage system. The modular cargo storage system receives the shipped goods at the intermediate positioning location, and The transported goods are fixed within the modular cargo storage system by the modular mobile autonomous control module; The step of autonomously causing the modular mobility base to move from the starting position on the route to the destination position identified by the destination information includes: the modular mobility autonomous control module causing the modular mobility base to move from the intermediate loading position on the intermediate delivery route to the destination position identified by the destination information; and The step of autonomously causing the modular mobile base to move from the destination location on the return route to the origin location after detecting that the transported item has been removed from the modular cargo storage system includes: after detecting that the transported item has been removed from the modular cargo storage system, the modular mobile autonomous control module autonomously causes the modular mobile base to move from the destination location on the return route to the robot storage location.

110. The method according to claim 109, wherein, The intermediate loading location includes the mobile node location of the external mobile wireless node operated by the returning physical medical personnel.

111. The method according to claim 109, wherein, The steps for receiving the returned physical medical personnel authentication input include: When the modular autonomous robot device component approaches the location of the mobile node operated by the returning physical medical personnel, the modular mobile autonomous control module detects a notification signal from the external mobile wireless node operated by the returning physical medical personnel as the authentication input for the returning physical medical personnel; and The modular mobile autonomous control module authenticates the association between the external mobile wireless node operated by the returning physical medical personnel and the returning physical medical personnel of the shipped items within the modular cargo storage system based on: (a) the identifier information of the external mobile wireless node operated by the returning physical medical personnel from the scheduling command; and (b) the identifier information within the detected notification signal.

112. The method according to claim 109, wherein, The authentication input of the returning physical medical personnel received by the modular mobile autonomous control module is provided by the returning physical medical personnel through a user input panel, which is mounted on the modular autonomous robot device and connected to the modular mobile autonomous control module.

113. The method according to claim 109, wherein, The authentication input of the returning entity medical personnel received by the modular mobile autonomous control module includes an access code provided by the returning entity medical personnel through a user input panel, which is mounted on the modular cargo storage system and operatively connected to the modular mobile autonomous control module.

114. The method according to claim 109, wherein, The authentication input of the returning physical medical personnel received by the modular mobile autonomous control module includes biometric identification input provided by the returning physical medical personnel through a user input panel, which is mounted on the modular cargo storage system and operatively connected to the modular mobile autonomous control module.

115. The method according to claim 109, wherein, The steps of receiving the delivery recipient authentication input include: When the modular autonomous robot device component approaches the mobile node position of the external mobile wireless node operated by the centralized return location receiver, the modular mobile autonomous control module detects an announcement signal from the external mobile wireless node operated by the centralized return location receiver as the delivery receiver authentication input; and The modular mobile autonomous control module authenticates the association between the external mobile wireless node operated by the centralized return location receiver and the centralized return location receiver of the shipped goods within the modular cargo storage system based on: (a) the delivery receiver identifier information from the scheduling command; and (b) the identifier information of the external mobile wireless node operated by the centralized return location receiver within the detected notification signal.

116. The method according to claim 109, wherein, The delivery receiver authentication input received by the modular mobile autonomous control module is provided by the centralized return location receiver through a user input panel, which is mounted on the modular autonomous robot device and connected to the modular mobile autonomous control module.

117. The method according to claim 109, wherein, The delivery recipient authentication input received by the modular mobile autonomous control module includes an access code provided by the centralized return location recipient via a user input panel mounted on the modular cargo storage system and operatively connected to the modular mobile autonomous control module.

118. The method according to claim 109, wherein, The delivery recipient authentication input received by the modular mobile autonomous control module includes biometric identification input provided by the centralized return location recipient via a user input panel mounted on the modular cargo storage system and operatively connected to the modular mobile autonomous control module.

119. The method of claim 109, further comprising the following steps: Once the modular autonomous robot device component is within the threshold notification range of the intermediate loading location identified by the destination information, the modular mobile autonomous control module transmits the upcoming pickup notification to the returning physical medical personnel as part of the scheduled logistics operation.

120. The method of claim 109, further comprising the following steps: Once the modular autonomous robot device component has moved a threshold departure distance from the intermediate loading position, the modular mobile autonomous control module transmits the estimated delivery departure notification to the centralized return location receiver as part of the scheduled logistics operation.

121. The method according to claim 120, wherein, The departure notification includes an estimated arrival time for the modular autonomous robot device component from its current location to the destination location.

122. The method of claim 109, further comprising the following steps: Once the modular autonomous robot device component is within the threshold notification range of the destination location identified by the destination information, the modular mobile autonomous control module transmits the upcoming delivery notification to the centralized return location receiver as part of the scheduled logistics operation.

123. The method according to claim 90, wherein, The step of autonomously moving the modular mobile base from the destination location on the return route to the robot storage location after detecting that the shipped item has been removed from the modular cargo storage system includes: After detecting that the shipped goods have been removed from the modular cargo storage system at the destination location and that additional items have been placed in the modular cargo storage system at the destination location, the modular mobility autonomous control module autonomously causes the modular mobility base to move from the destination location back to the intermediate loading position; and After detecting that the attached item has been removed from the modular cargo storage system at the intermediate loading position, the modular mobility base is autonomously moved from the intermediate loading position to the robot storage position by the modular mobility autonomous control module.

124. The method according to claim 123, wherein, The additional items include replacement medical kits.

125. The method according to claim 123, wherein, The additional items include a second medical kit for different types of medical procedures.

126. The method according to claim 46, wherein, The shipped items include multiple documents collected for safe shredding; The destination location is a centralized scrap collection facility; and The intermediate loading location includes the location where a container is held to hold the collected documents for safe shredding.

127. The method according to claim 126, wherein, The shipped items further include a container that securely holds the plurality of documents collected for safe shredding.

128. The method according to claim 126, wherein, The intermediate loading location includes an identified location relative to the office mapping of the container holding the documents collected for safe shredding.

129. The method according to claim 126, wherein, The intermediate loading location includes the location of an external wireless node placed outside the modular autonomous robot device assembly, the external wireless node being part of the container that holds the documents collected for safe shredding.

130. The method of claim 126, wherein, The intermediate loading location includes the mobile location of the external wireless node, which is part of a mobile container that holds the collected files for secure shredding.

131. The method according to claim 126, wherein, The steps of receiving the shipped articles include: The modular mobile autonomous control module retrieves authentication input from the document supplier via a user input panel, which is mounted on the modular autonomous robot and connected to the modular mobile autonomous control module; and After the received pickup authentication input is associated with a portion of the authentication information related to the authorized document supplier, the modular cargo storage system provides a selective entry point within the modular cargo storage system for loading the shipped items.

132. The method according to claim 131, wherein, The pickup receiver authentication input received by the modular mobile autonomous control module includes an access code provided by the document supplier through the user input panel, which is mounted on the modular cargo storage system and operatively connected to the modular mobile autonomous control module.

133. The method according to claim 131, wherein, The pickup receiver authentication input received by the modular mobile autonomous control module includes biometric identification input provided by the document supplier through the user input panel, which is mounted on the modular cargo storage system and operatively connected to the modular mobile autonomous control module.

134. The method according to claim 131, wherein, The steps of receiving the authentication input from the receiver include: The modular mobile autonomous control module receives and retrieves authentication input through the following steps: detecting an announcement signal from an external wireless node, which is part of the container holding the files collected for secure shredding; and verifying that the detected announcement signal includes identifier information related to a portion of the authentication information relating to an authorized file vendor of the container; and After the received pickup authentication input is associated with the portion of the authentication information related to the authorized document supplier, the modular cargo storage system provides a selective entry point within the modular cargo storage system for loading the shipped items.

135. The method of claim 126, wherein the delivery recipient authentication input includes information received via a user input panel disposed on the modular autonomous robot device and connected to the modular mobile autonomous control module.

136. The method according to claim 126, wherein, The delivery recipient authentication input includes an access code provided by the delivery recipient through a user input panel mounted on the modular cargo storage system and operatively connected to the modular mobile autonomous control module.

137. The method according to claim 126, wherein, The pickup recipient authentication input includes biometric identification input provided by the delivery recipient through a user input panel, which is mounted on the modular cargo storage system and operatively connected to the modular mobile autonomous control module.

138. The method according to claim 129, wherein, The authentication information associated with the scheduled logistics operation includes the identifier of the authorized delivery recipient of the shipped items as part of the scheduled logistics operation. and The step of receiving the delivery recipient authentication input includes: Once the modular autonomous robot device component has reached the destination location identified by the destination information, the modular mobile autonomous control module detects an announcement signal from an external wireless node within a predetermined range of the destination location related to the modular autonomous robot device component as the delivery receiver authentication input; and The modular mobile autonomous control module authenticates the external wireless node associated with the destination location as being associated with the authorized delivery recipient within the modular cargo storage system, based on the identifier of the authorized delivery recipient and the identifier information within the detected notification signal broadcast from the external wireless node associated with the destination location.

139. The method according to claim 126, wherein, The steps of receiving the shipment include: deploying an articulated arm mounted on the modular autonomous robot device assembly, and using a plurality of proximity sensors and vision sensors mounted on at least one of the modular mobility base and the modular mobile autonomous control module to engage the shipment and place the shipment within the modular cargo storage system.

140. The method of claim 139, wherein, The steps of receiving the shipped articles include: The articulated arm is guided to the item being transported by the modular mobile autonomous control module using one or more of the proximity sensor and the vision sensor disposed on at least one of the modular mobility base and the modular mobile autonomous control module. The article being shipped is engaged by the hinged arm; and The articulated arm moves the transported goods to a position within the modular cargo storage system.

141. The method according to claim 139, wherein, The steps of receiving the shipped articles include: The modular mobile autonomous control module uses one or more of the proximity sensor and the vision sensor mounted on at least one of the modular mobility base and the modular mobile autonomous control module to guide the articulated arm to a closable entry point on the container. The hinged arm engages the closable inlet point on the container to allow access to the interior of the container; The documents collected for safe shredding are engaged by the hinged arm; and The articulated arm moves the documents collected for safe shredding to a location within the modular cargo storage system.

142. The method according to claim 129, wherein, The steps of receiving the shipped items include: deploying an articulated arm mounted on the modular autonomous robot equipment assembly, and using a plurality of proximity sensors and vision sensors mounted on at least one of the modular mobility base and the modular mobile autonomous control module to engage the container and place the container within the modular cargo storage system.

143. The method according to claim 1, wherein, The shipped items include multiple documents collected for safe shredding; The destination location includes a centralized scrap collection facility; Wherein, the originating location of the scheduled logistics operation includes a robot storage location, the modular autonomous robot device is initially held at the robot storage location, and wherein the destination information definition is defined as a plurality of intermediate loading locations as a part of the destination information; The steps for receiving the shipped items include: The modular mobile autonomous control module autonomously causes the modular mobile base to move from the robot storage location to the first intermediate loading location among the intermediate loading locations. The modular cargo storage system receives the first portion of the shipped goods at a first intermediate positioning position within the intermediate positioning positions. The modular mobility autonomous control module autonomously causes the modular mobility base to move from the first intermediate loading position to a second intermediate loading position within the intermediate loading positions. The modular cargo storage system receives the second portion of the shipped goods at the first intermediate positioning position in the intermediate positioning position; and The step of autonomously causing the modular mobility base to move from the starting position on the route to the destination position identified by the destination information includes: the modular mobility autonomous control module causing the modular mobility base to move from the second intermediate loading position among the intermediate loading positions to the destination position identified by the destination information; and The step of autonomously causing the modular mobility base to move from the destination location on the return route to the origin location after detecting that the transported item has been removed from the modular cargo storage system includes: after each of at least the first portion and the second portion of the transported item is detected as having been removed from the modular cargo storage system, the modular mobility autonomous control module autonomously causes the modular mobility base to move from the destination location on the return route to the robot storage location.

144. The method according to claim 1, wherein, The originating location includes a centralized base warehouse for extended use of prescription pharmaceutical supplies, where the modular autonomous robot equipment is initially held. The scheduling command sent by the scheduling server is initiated based on a scheduling request received by the scheduling server. This scheduling request is sent from authorized pharmaceutical personnel at a remote pharmaceutical export point serving the extended-duration centralized base warehouse for prescription pharmaceutical supplies. The scheduling command relates to the logistics operations of the scheduling and includes identifier information of an external mobile wireless node operated by the authorized pharmaceutical personnel. The destination location identified by the destination information includes the location of the remote drug export.

145. The method according to claim 144, wherein, The destination information includes the location of the mobile node of the external mobile wireless node operated by the authorized pharmaceutical personnel.

146. The method of claim 144, further comprising the following steps: Upon receiving the shipment, the modular mobile autonomous control module generates a first inventory data structure corresponding to the shipment, wherein the first inventory data structure includes a first chain of custody entry, which reflects the departure status of the shipment from the extended-time centralized base warehouse of the pharmaceutical prescription supplies under the custody of the modular autonomous robot equipment component.

147. The method of claim 146, further comprising the following steps: Upon arrival at the remote drug export point, the modular mobile autonomous control module generates a second custody chain entry within the first inventory data structure. This second custody chain entry reflects the arrival status of the shipped prescription drugs from the extended-time centralized base warehouse to the remote drug export point under the custody of the modular autonomous robot equipment component.

148. The method of claim 147, further comprising the following steps: After arriving at the remote pharmaceutical export and after detecting that the shipped goods have been removed from the modular cargo storage system, the modular mobile autonomous control module generates a third custody chain entry in the first inventory data structure. The third custody chain entry reflects that the custody of the shipped goods has been changed from the modular autonomous robot equipment component to the remote pharmaceutical export.

149. The method according to claim 148, wherein, After detecting that the shipped goods have been removed from the modular cargo storage system, the step of the modular mobility base autonomously moving from the destination location on the return route to the origin location by the modular mobility autonomous control module includes: The modular mobile autonomous control module uses at least one sensor on at least one of the modular mobile autonomous control module and the modular cargo storage system to monitor the unloading status of the modular cargo storage system. Based on sensor data from the at least one sensor, detect when the shipped goods are removed from the modular cargo storage system; and When the sensor data indicates that the shipped item is no longer in the modular cargo storage system, a third chain of custody entry is generated within the first inventory data structure.

150. The method of claim 144, wherein, The scheduling command sent by the scheduling server includes one of a plurality of scheduling commands for different logistics operations from the extended-time centralized base warehouse of pharmaceutical prescription supplies to the remote pharmaceutical export, the scheduling command being sent for the remote pharmaceutical export according to a predetermined schedule.

151. The method according to claim 144, wherein, The scheduling command sent by the scheduling server includes one of a plurality of scheduling commands for different scheduling logistics operations from the extended-time centralized base warehouse of prescription pharmaceutical supplies to remote pharmaceutical exports serving multiple services, wherein the remote pharmaceutical exports are one of the remote pharmaceutical exports served by the extended-time centralized base warehouse of prescription pharmaceutical supplies.

152. The method according to claim 144, wherein, The authentication information related to the scheduled logistics operations includes multi-level authentication information.

153. The method according to claim 152, wherein, The multi-level authentication information includes at least: (a) password authentication information, and (b) identifier information of the external mobile wireless node operated by the authorized delivery receiver.

154. The method according to claim 152, wherein, The multi-level authentication information includes at least: (a) first cryptographic authentication information related to a first communication path with the delivery recipient, and (b) second cryptographic authentication information related to a second communication path with the delivery recipient, wherein the first communication path is different from the second communication path.

155. The method according to claim 152, wherein, The multi-level authentication information includes at least two of the following: password authentication information, biometric identification scanning authentication information, device signature authentication information, and voice authentication information.

156. The method according to claim 46, wherein, The originating location includes the location of the commercial entity where the modular autonomous robotic device is initially held for the delivery service. The scheduling command sent by the scheduling server is initiated based on a scheduling request received by the scheduling server, and the scheduling request is sent from the delivery receiver. The process further includes the following steps: the scheduling server determines, based on multiple fulfillment requirements for the logistics operation of the scheduling related to the scheduling request, whether the logistics operation of the scheduling related to the scheduling request is a fulfillable type of scheduling logistics operation for the business entity used for delivery services, and performs the determination step before the authentication step; The step of having the modular autonomous mobile control module authenticate the modular autonomous mobile control module, the modular mobility base, the modular auxiliary power module, and the modular cargo storage system to be compatible with the scheduled logistics operation includes: the modular autonomous control module verifying, before moving from the originating location, whether each of the modular autonomous mobile control module, the modular mobility base, the modular auxiliary power module, and the modular cargo storage system is compatible with the fulfillment requirements of the scheduled logistics operation related to the scheduling request; and Further steps include: The modular mobile autonomous control module shall notify the supplier of the shipped goods of the following: (a) the upcoming pickup at the intermediate loading location, and (b) the estimated time to reach the intermediate loading location before arrival at the intermediate loading location. Before receiving the shipped goods, the modular mobile autonomous control module receives supplier authentication input from the supplier located outside the modular autonomous robot device assembly at the intermediate loading position. This supplier authentication input is related to a portion of authentication information relating to the scheduled logistics operation, indicating that the supplier providing the supplier authentication input is an authorized supplier of the shipped goods in relation to the scheduled logistics operation. After receiving the shipment at the intermediate loading location, the modular mobile autonomous control module notifies the delivery recipient of the upcoming delivery and informs the delivery recipient of the estimated time of arrival at the destination location.

157. The method according to claim 156, wherein, The modular autonomous robot equipment component includes one of a plurality of modular autonomous robot equipment components leased to the commercial entity at the originating location.

158. The method according to claim 156, wherein, The modular autonomous robot equipment component includes a modular assembly of leased modular autonomous robot equipment parts that are subleased to the commercial entity at the originating location.

159. The method according to claim 156, wherein, At least one of the fulfillment requirements includes a location parameter, which includes the originating location and the destination location.

160. The method of claim 156, wherein, At least one of the fulfillment requirements includes timing parameters for performing logistics operations related to the scheduling in connection with the scheduling request.

161. The method according to claim 156, wherein, At least one of the fulfillment requirements includes payload parameters for transporting the shipped goods as part of the logistics operations of the scheduling in relation to the scheduling request.

162. The method according to claim 156, wherein, The steps of receiving the shipped articles at the intermediate loading location include: The modular mobile autonomous control module generates a loading assistance prompt message on a display mounted on the modular mobile autonomous control module. The loading assistance prompt message provides information about the items to be shipped provided by the supplier and instructions for placing the items to be shipped within the modular cargo storage system as part of the scheduled logistics operation.

163. The method according to claim 156, wherein, After receiving the shipped item at the intermediate loading location and before the modular mobility base moves from the intermediate loading location, the following steps are performed: After receiving the shipped item at the intermediate loading location, the modular mobility autonomous control module notifies the delivery recipient of the upcoming delivery and informs the delivery recipient of the estimated time to reach the destination location.

164. The method according to claim 156, wherein, Once the modular autonomous robot device component is within the threshold notification range of the destination location identified by the destination information, it performs the following steps: after receiving the shipped item at the intermediate loading location, the modular mobile autonomous control module notifies the delivery recipient of the upcoming delivery and informs the delivery recipient of the estimated time of arrival at the destination location.

165. The method of claim 156, further comprising the following steps: The modular mobile autonomous control module receives a delivery change notification in response to notifying the delivery recipient of the upcoming delivery at the destination location; as well as The modular mobile autonomous control module modifies the intermediate delivery route according to the delivery change notification, and the modification of the intermediate delivery route results in a modified delivery of the shipped item according to the delivery change notification.

166. The method according to claim 165, wherein, The modified delivery includes the altered time for delivery at the destination location.

167. The method according to claim 165, wherein, The modified delivery includes a changed destination location for delivering the shipped items.

168. The method according to claim 165, wherein, The modified delivery includes: the modular mobility base autonomously moving to a stop position on the modified return route by the modular mobility autonomous control module, and then moving to the changed destination position for delivery of the shipped items at the changed time, thereby delivering at the changed destination position.

169. The method according to claim 168, wherein, The stopping position includes the intermediate loading position.

170. The method of claim 156, further comprising the following steps: The modular mobile autonomous control module uses one or more sensors on the module to verify the unloading status of the shipped goods, and the sensors monitor the payload area of ​​the modular cargo storage system.

171. The method according to claim 170, wherein, The unloading status reflects the identifier of the shipped item that has been removed from the modular cargo storage system.

172. The method of claim 170, further comprising the following steps: The modular mobile autonomous control module verifies that the object removed from the payload area of ​​the modular cargo storage system using the one or more sensors is the shipped item and is authorized for removal at the destination location according to the scheduled logistics operation.

173. The method of claim 172, further comprising the following steps: When an object removed from the payload area of ​​the modular cargo storage system using the one or more sensors is not the shipped item and is not authorized for removal at the destination location according to the scheduled logistics operation, the modular mobile autonomous control module transmits a warning message to the scheduling server. The warning message indicates unauthorized unloading of the modular cargo storage system and includes sensor data from the one or more sensors.

174. The method of claim 172, further comprising the following steps: When an object removed from the payload area of ​​the modular cargo storage system using the one or more sensors is not the shipped item and is not authorized for removal at the destination location according to the scheduled logistics operation, the modular mobile autonomous control module generates an audio warning message indicating unauthorized unloading of the modular cargo storage system and requesting replacement of the removed object.

175. A method for performing a scheduled pickup logistics operation, the scheduled pickup logistics operation relating to a shipment and using a modular autonomous robot device component and a scheduling server, the modular autonomous robot device component having at least: a modular mobility base for propelling the modular autonomous robot device component; a modular auxiliary power module for providing power to the modular autonomous robot device component; and a modular cargo storage system configured to temporarily hold the shipment within the modular autonomous robot device component; The method includes the following steps: a modular mobile autonomous control module that autonomously controls the operation of the modular autonomous robot equipment components. The modular mobile autonomous control module receives a scheduling command from the scheduling server. The scheduling command is related to the scheduled pickup logistics operation. The scheduling command includes at least destination information related to the pickup location, authentication information related to the authorized pickup entity, and the shipping characteristics of the item to be shipped. The modular mobile autonomous control module authenticates each of the modular mobile autonomous control module, the modular mobility base, the modular auxiliary power module, and the modular cargo storage system as compatible with the scheduled pick-up logistics operation based on the shipping characteristics of the shipped item as indicated in the scheduling command. The modular mobility base is autonomously moved from its starting position on the route to the pickup position identified by the destination information by the modular mobility autonomous control module. The modular mobile autonomous control module receives the entity authentication input from the pickup entity located outside the modular autonomous robot device component. The scheduling command determines whether the authentication input of the picking entity is related to the authentication information associated with the authorized picking entity; Only after the received pickup entity authentication input is associated with the authentication information related to the authorized pickup entity according to the scheduling command is the modular cargo storage system provided with a selective entry point to the payload area of ​​the modular cargo storage system. The modular cargo storage system receives the shipped goods; and After detecting that the shipment has been received in the modular cargo storage system, the modular mobility base is autonomously moved from the pick-up position on the return route to the starting position by the modular mobility autonomous control module.

176. The method according to claim 175, wherein, The scheduling command sent by the scheduling server is initiated based on a scheduling request received by the scheduling server, the scheduling request being sent by the picking entity related to the logistics operation being scheduled, and the scheduling command including the identifier information of the external mobile wireless node operated by the authorized picking entity as part of the authentication information.

177. The method according to claim 176, wherein, The pickup location includes the movement location of the external mobile wireless node operated by the authorized pickup entity.

178. The method according to claim 175, wherein, The steps of receiving the shipped articles include: The modular mobile autonomous control module uses at least one sensor on at least one of the modular mobile autonomous control module and the modular cargo storage system to monitor the payload area within the modular cargo storage system; and The timing of the shipment being received within the modular cargo storage system is determined based on sensor data from the at least one sensor.

179. The method according to claim 175, wherein, The steps of receiving the shipped articles include: The modular mobile autonomous control module monitors the payload area within the modular cargo storage system for wireless nodes associated with the shipped goods; and When the wireless node associated with the shipped item is determined to be located within the payload area of ​​the modular cargo storage system based on one or more detected signals broadcast by the wireless node associated with the shipped item, the timing of the received shipment within the modular cargo storage system is detected.

180. The method of claim 175, wherein, The steps by which the modular mobility autonomous control module autonomously moves the modular mobility base from the pick-up location on the return route to the originating location after detecting that the shipped goods have been received within the modular cargo storage system include: Based on the logistics operation of the second scheduling identified in the subsequent scheduling command, the modular mobile autonomous control module autonomously causes the modular mobile base to move from the pick-up position to the second pick-up position of the attached transported item, and the subsequent scheduling command is received by the modular mobile autonomous control module from the scheduling server; The modular cargo storage system receives the additional shipped items; and After detecting that the additional shipment has been received within the modular cargo storage system, the modular mobility base is autonomously moved from the second pick-up position to the starting position by the modular mobility autonomous control module.

181. The method according to claim 175, wherein, The steps of receiving the shipment include: deploying an articulated arm mounted on the modular autonomous robot device assembly, and using a plurality of proximity sensors and vision sensors mounted on at least one of the modular mobility base and the modular mobile autonomous control module to engage the shipment and place the shipment within the modular cargo storage system.

182. The method according to claim 175, wherein, The steps of receiving the shipped articles include: An articulated arm is deployed on the modular autonomous robot device assembly, and multiple proximity sensors and vision sensors are used on at least one of the modular mobility base and the modular mobile autonomous control module to engage the logistics container currently holding the transported items. The modular mobile autonomous control module uses one or more of the proximity sensor and the vision sensor mounted on at least one of the modular mobility base and the modular mobile autonomous control module to guide the articulated arm to a closable entry point on the logistics container. The hinged arm engages the closable inlet point on the container to allow access to the interior of the logistics container; While the shipped article is held within the logistics container, the hinged arm engages the shipped article; and The articulated arm moves the transported goods from the logistics container to a location within the modular cargo storage system.

183. A method for performing a scheduled logistics operation relating to goods to be shipped and using a modular autonomous robot device assembly and a scheduling server, the modular autonomous robot device assembly having at least: a modular mobility base for propelling the modular autonomous robot device assembly; a modular auxiliary power module for providing power to the modular autonomous robot device assembly; and a modular cargo storage system configured to temporarily hold the goods to be shipped within the modular autonomous robot device assembly; The method includes the following steps: a modular mobile autonomous control module that autonomously controls the operation of the modular autonomous robot equipment components. The modular mobile autonomous control module receives a scheduling command from the scheduling server. The scheduling command includes at least destination information and authentication information related to the logistics operation being scheduled. The modular mobility base, the modular auxiliary power module, and the modular cargo storage system are all certified by the modular mobile autonomous control module to be compatible with the scheduled logistics operations; The modular cargo storage system receives the shipped goods at the originating location; The modular mobility base is autonomously moved from the starting position on the route to the object stopping position identified by the destination information by the modular mobile autonomous control module. The modular mobile autonomous control module transmits a delivery notification message to an external mobile wireless node operated by the delivery recipient of the shipped item. The delivery notification message is transmitted when the modular autonomous robot device component is within a threshold distance from the object's resting position identified by the destination information. The modular mobile autonomous control module receives a responsive final delivery message from the external mobile wireless node, the responsive final delivery message including at least the delivery location of the shipped item; The modular mobility base is autonomously moved from the object's resting position to the delivery position identified by the responsive final delivery message from the external mobile wireless node by the modular mobility autonomous control module. The modular mobile autonomous control module receives authentication input from the delivery recipient, the authentication input being related to a portion of authentication information relating to the scheduled logistics operation, the portion indicating that the delivery recipient providing the authentication input is an authorized delivery recipient of the shipped goods within the modular cargo storage system; and After the received authentication input is associated with the portion of the authentication information indicating that the delivery recipient providing the authentication input is the authorized delivery recipient, the modular cargo storage system provides selective entry to the shipped items within the modular cargo storage system.

184. The method of claim 183, further comprising the following steps: After detecting that the shipped items have been removed from the modular cargo storage system, the modular mobility control module autonomously causes the modular mobility base to move from the delivery location to the originating location.

185. The method of claim 183, further comprising the following steps: After detecting that the shipped item has been removed from the modular cargo storage system, the modular mobility control module autonomously causes the modular mobility base to move from the delivery location to the object's resting location.

186. The method of claim 185, further comprising the following steps: After detecting that the shipped item has been removed from the modular cargo storage system, the modular mobility control module autonomously causes the modular mobility base to move from the delivery position to the object's resting position. The modular mobile autonomous control module transmits a second delivery notification message to a second external mobile wireless node operated by a second delivery recipient of an additional item held within the modular cargo storage system. The second delivery notification message is transmitted when the modular autonomous robot device component is within the threshold distance from the object's resting position. The modular mobile autonomous control module receives a second responsive final delivery message from the second external mobile wireless node, the second responsive final delivery message including at least a second delivery location of the additional item maintained within the modular cargo system; as well as The modular mobility base is autonomously moved from the object's resting position to the second delivery position identified by the second responsive final delivery message from the external mobile wireless node by the modular mobility autonomous control module.

187. The method of claim 185, further comprising the following steps: The modular mobile autonomous control module receives a second scheduling command from the scheduling server. The second scheduling command includes at least second destination information and second authentication information related to the logistics operation of the second scheduling. After detecting that the shipped item has been removed from the modular cargo storage system, the modular mobility control module autonomously causes the modular mobility base to move from the delivery position to the object's resting position. The modular cargo storage system receives the second shipped item at the location where the object is stationary; The modular mobile autonomous control module transmits the second delivery notification message to the second external mobile wireless node operated by the second delivery recipient of the second item; The modular mobile autonomous control module receives a second responsive final delivery message from the second external mobile wireless node, the second responsive final delivery message including at least the second delivery location of the second item; as well as The modular mobility base is autonomously moved from the object's resting position to the second delivery position identified by the second responsive final delivery message from the second external mobile wireless node by the modular mobility autonomous control module.

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