Home dialysis supply delivery robot, network, and method

Abstract

A delivery robot is provided for delivering home dialysis supplies to a home dialysis patient's home residence. The delivery robot may be an autonomous delivery robot. The delivery robot may have an outdoor set of wheels or other traction devices and an indoor set of wheels or other traction devices. The delivery robot may be configured to switch between an outdoor configuration for traversing outdoor surfaces and an indoor configuration for traversing interior surfaces inside the home of the home dialysis patient. A network is also provided and may include a robotic delivery vehicle, a warehouse, a remote computer in the patient's home, or combinations thereof. A method of delivering home dialysis supplies utilizing the delivery robot and network is also provided.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001]

[0001] This application claims priority to U.S. patent application Ser. No. 17 / 211,141, filed Mar. 24, 2021, which is incorporated by reference in its entirety into this specification. [Technical field]

[0002]

[0002] The present invention relates to the delivery of supplies using robots. The present invention also relates to a distribution network for delivering supplies to homes. [Background technology]

[0003]

[0003] Home dialysis is often the preferred dialysis treatment because it allows patients to dialyze more frequently on their own schedule and in the comfort of their own homes. Home dialysis is also typically more cost-effective because it does not require the physical infrastructure costs of a clinic, transportation costs, and the associated costs of medical professionals to perform the procedure. However, one of the challenges of home dialysis is the distribution of dialysis supplies to the patient's home.

[0004]

[0004] Current methods of delivering home dialysis supplies involve the use of large delivery trucks that require the driver to use powered pallet jacks and powered hand trucks to package, load, deliver, unload, and unpack the dialysis supplies. Sometimes as many as six pallets' worth of dialysis supplies are delivered. A delivery may include up to a month's worth of dialysis supplies, including, for example, dialysis solution bags, disposable tubing sets, bags of saline, other chemicals, cleaning supplies, masks, gloves, wipes, and related supplies. During a typical work day, six to ten individual deliveries may be made from the truck to different home dialysis patients.

[0005]

[0005] Once delivered to a patient's home, home dialysis supplies require storage. Delivering large quantities of supplies all at once places a storage burden on dialysis patients. Additionally, when moving dialysis supplies from the truck into the home, the driver may bring mud, rain, snow, dirt, sand, grass, leaves, pet waste, and other lawn and yard debris into the patient's home. Another challenge includes reaching isolated patients in remote areas, or reaching patients who live in residences with obstacles to their entry, such as curbs, steps, steep slopes, rough driveways, landings, porches, gates, and fences. Some of these obstacles have previously precluded home dialysis altogether. Summary of the Invention

[0006]

[0006] A feature of the present invention is to provide greater flexibility and convenience to dialysis patients, particularly home dialysis patients.

[0007]

[0007] Another feature of the present invention is to provide a delivery robot, network, and method for increasing the frequency of delivery of dialysis supplies to a residence, such as a dialysis patient's home, thereby reducing storage space requirements at the residence.

[0008]

[0008] A further feature of the present invention is to provide a delivery robot, network, and method that enables the delivery of dialysis supplies to a dialysis patient's home or other residence in a remote location.

[0009]

[0009] A further feature of the present invention is to provide a delivery robot, network, and method that enables delivery of dialysis supplies to residences that have a variety of obstacles along the route to the residence.

[0010]

[0010] An additional feature of the present invention is to provide a delivery robot, network, and method that enables autonomous delivery and residential access to safely and securely drop off dialysis supplies.

[0011]

[0011] An additional feature of the present invention is providing a delivery robot, network, and method that enables the autonomous delivery robot to gain access into a residence to drop off home dialysis supplies without bringing debris into the residence, such as, for example, grass, mud, water, snow, slush, soil, leaves, stones, clay, sand, and animal waste.

[0012]

[0012] Additional features and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by means of the elements and combinations particularly pointed out in the description and the appended claims.

[0013]

[0013] To achieve these and other advantages, and in accordance with the objects of the present invention, as embodied and broadly described herein, the present invention relates to a delivery robot that can be used, for example, for home dialysis supply delivery. The delivery robot can be an autonomous delivery robot. The delivery robot includes a drive train for moving and transforming the delivery robot, and a control unit configured to control the drive train based at least on received signals. A sensor system configured to sense an object and send a signal to the control unit is included. A supply holder configured to hold supplies is provided. The supply holder is connected to the drive train for moving with the movement of the drive train. The delivery robot can include an outdoor motive traction device for traversing outdoor surfaces and an indoor motive traction device for traversing indoor surfaces. A power source can be configured to power the drive train, and the power source can include a rechargeable or disposable battery. Separate drive trains can be provided to separately drive the outdoor and indoor motive traction devices.

[0014]

[0014] The drive train may be configured to be controlled by the control unit to accomplish various tasks. The drive train may be controlled to maintain the indoor powered traction device in a lifted position while the outdoor powered traction device traverses an outdoor surface. The drive train may be controlled to lower the indoor powered traction device into the house at the threshold while the outdoor powered traction device remains in contact with an outdoor surface outside the threshold to the house. The drive train may further be controlled to lift the outdoor powered traction device when the indoor powered traction device contacts an interior surface inside the house. In this way, the outdoor powered traction device does not contact the interior surface and can not bring debris into the house or prevent it.

[0015]

[0015] The delivery robot may further include an outdoor powered traction device shield. The control unit may be configured to control the drive train to move the outdoor powered traction device shield to a position that shields the outdoor powered traction device after the outdoor powered traction device is lifted at a threshold of a house, for example, and before the delivery robot passes through the threshold and moves into the house.

[0016]

[0016] Each of the indoor and outdoor powered traction devices may independently comprise one or more of wheels, tracks, treads, tires, rollers, brushes, rims, walking legs, combinations thereof, etc. Each of the indoor and outdoor powered traction devices may comprise a wheel module, a set of wheels, multiple wheels, single axles, multiple axles, combinations thereof, etc.

[0017]

[0017] According to one or more embodiments, a system for delivering an item is provided. The system may include one or more autonomous ground vehicles (AGVs), including at least a first AGV. The first AGV may include an outdoor powered towing device, an indoor powered towing device, a receptacle configured to retain one or more items therein, and one or more motors configured to drive the outdoor powered towing device and the indoor powered towing device and convert the AGV between the outdoor configuration and the indoor configuration.

[0018]

[0018] The system may further comprise a computing system associated with the first AGV and comprising a processor and a memory. The memory may store or have computer-readable instructions stored therein. The computer-readable instructions, when executed by the processor, may configure the computing system to instruct the first AGV to perform an action. The action may involve (1) driving the first AGV in an outdoor configuration to an entrance of a residence associated with delivery of one or more items parked in the receptacle. The action may involve (2) converting from the outdoor configuration to an indoor configuration at the entrance of the residence, where in the indoor configuration, an indoor powered towing device is deployed from the first AGV such that the indoor powered towing device is engaged with the residence surface, and the outdoor powered towing device is retracted such that the outdoor powered towing device is elevated above the residence surface. The action may involve (3) driving the first AGV in the indoor configuration at the interior residence surface of the residence to an indoor drop-off location. The system may further comprise a delivery vehicle, a warehouse, or both.

[0019]

[0019] The present invention also relates to a method of delivering an item. The method may comprise loading one or more autonomous ground vehicles (AGVs), including a first AGV, onto a delivery vehicle. The first AGV may comprise a receptacle, a powered traction device, a motor, and a computing system with a processor and memory for controlling the motor and the powered traction device to drive autonomously. The method may involve operating a navigation system in communication with the computing system. The method may comprise loading one or more items for delivery into a receptacle of the first AGV, driving the delivery vehicle to an AGV drop-off location, and deploying the first AGV from the delivery vehicle.

[0020]

[0020] The one or more items may comprise dialysis supplies, which may comprise solution bags, disposable tubing sets, saline, chemicals, masks, gloves, wipes, or combinations thereof, etc. The delivery route may comprise a road route and an entrance route. The road route may comprise directions from an AGV drop-off location to a front of a residence associated with the delivery of the one or more items. The entrance route may comprise directions from a front of the residence to an entrance of the residence. The computing system may instruct the first AGV to travel along an indoor route from an entrance of the residence to an indoor drop-off location within the residence. The computing system may instruct the first AGV to transform from an outdoor configuration to an indoor configuration between traveling the entrance route and traveling the indoor route.

[0021]

[0021] The method may involve using a first AGV equipped with an identification tag. The residence may include a reader configured to read the identification tag. The reader may read the identification tag and send a signal. The signal may unlock the entrance, signal the entrance to open, or do both. The reader may read the identification tag using radio frequency transmissions.

[0022]

[0022] The method may also involve dropping off multiple delivery robots at different respective locations and then returning to pick up supplies after each has delivered them to a respective residence. A robotic delivery vehicle, such as a truck, may be used according to the method and may include a charging station, a washing station, and a supply store. The robotic delivery vehicles and delivery robots may all operate autonomously, for example, based on received prescription information for home dialysis patients at different respective residences.

[0023]

[0023] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are intended to provide further explanation of the invention as claimed.

[0024]

[0024] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are intended to provide further explanation of the invention as claimed.

[0025]

[0025] The present invention can be more fully understood with reference to the accompanying drawings, which are intended to illustrate, but not to limit, the present teachings in accordance with embodiments of the invention. [Brief description of the drawings]

[0026] [Figure 1A]

[0026] FIG. 1 is a side view of an autonomous ground vehicle in an outdoor configuration according to one embodiment of the present invention. [Figure 1B]

[0027] 1B is a side view of the autonomous ground vehicle shown in FIG. 1A transitioning from the outdoor configuration shown in FIG. 1A to an indoor configuration at the threshold of a residence. [Figure 1C]

[0028] FIG. 1C is a side view of the autonomous ground vehicle shown in FIGS. 1A and 1B in an indoor configuration within the residence shown in FIG. 1B. [Figure 1D]

[0029] FIG. 1C is a cross-sectional view of a supply receptacle of the autonomous ground vehicle shown in FIGS. 1A-1C, showing a box of home dialysis supplies held therein. [Diagram 2]

[0030] FIG. 2 is a partial perspective side view of an autonomous ground vehicle in an outdoor configuration in accordance with another embodiment of the present invention, showing multiple indoor wheels in a reverse position. [Diagram 3]

[0031] FIG. 1 is a schematic diagram of a computing system for an autonomous ground vehicle, i.e., a delivery robot, in accordance with an embodiment of the present invention. [Figure 4]

[0032] FIG. 1 is a schematic diagram of an autonomous delivery robot network according to an embodiment of the present invention. [Diagram 5]

[0033] FIG. 1 is a schematic diagram of an autonomous delivery robot network configured to deliver supplies to three different residences, according to an embodiment of the present invention. [Figure 6A]

[0034] FIG. 2 is a front view of a dual-wheel propulsion unit for an autonomous ground vehicle in an outdoor configuration, in accordance with one embodiment of the present invention. [Figure 6B]

[0035] FIG. 6B is a front view of the dual wheel propulsion unit shown in FIG. 6A, in an indoor configuration. [Figure 7A]

[0036] FIG. 1 is a front view of an autonomous ground vehicle in an outdoor configuration in accordance with one embodiment of the present invention. [Figure 7B]

[0037] 7B is a front view of the autonomous ground vehicle shown in FIG. 7A beginning a transition from the outdoor configuration shown in FIG. 7A to an indoor configuration. [Figure 7C]

[0038] FIG. 7C is a front view of the autonomous ground vehicle shown in FIGS. 7A and 7B transitioning further from the outdoor configuration shown in FIG. 7A to an indoor configuration. [Figure 7D]

[0039] 7A-7C, further transitioning from the outdoor configuration shown in FIG. 7A to an indoor configuration. FIG. [Figure 7E]

[0040] FIG. 7B is a front view of the autonomous ground vehicle shown in FIGS. 7A-7D transitioning from the outdoor configuration shown in FIG. 7A to an indoor configuration. [Figure 7F]

[0041] 7A-7E is a front view of the autonomous ground vehicle shown in FIG. 7A during the final stages of transition from the outdoor configuration shown in FIG. 7A to an indoor configuration. [Figure 7G]

[0042] FIG. 8 is a front view of the autonomous ground vehicle shown in FIGS. 7A-7F in an indoor configuration. [Figure 8]

[0043] FIG. 8 is a perspective view of a lift of the autonomous ground vehicle shown in FIGS. 7A-7G. [Figure 9A]

[0044] FIG. 1 is a front view of an autonomous ground vehicle in an outdoor configuration in accordance with one embodiment of the present invention. [Figure 9B]

[0045] FIG. 9B is a front view of the autonomous ground vehicle shown in FIG. 9A in an indoor configuration, showing maximum payload width. [Figure 9C]

[0046] 9A and 9B, illustrating a recipient retrieving dialysis supplies from a receptacle on the autonomous ground vehicle. [Figure 9D]

[0047] FIG. 11 is a side view of the autonomous ground vehicle shown in FIGS. 9A-9C in an outdoor configuration. [Figure 10A]

[0048] FIG. 2 is a side view of an autonomous ground vehicle illustrating an intermediate wheel configuration transitioning from an indoor configuration to an outdoor configuration in accordance with an embodiment of the present invention. [Figure 10B]

[0049] FIG. 10B is a front view of the autonomous ground vehicle shown in FIG. 10A in an indoor configuration. [Figure 10C]

[0050] FIG. 1C is a front view of the autonomous ground vehicle shown in FIGS. 10A and 10B in an outdoor configuration. [Figure 11]

[0051] FIG. 1 is a side view of an autonomous ground vehicle in an outdoor configuration in accordance with one embodiment of the present invention. [Figure 12A-12B]

[0052] 12A-12C are side views of a delivery robot system in accordance with the present invention, showing the indoor robot in a piggyback configuration on the outdoor robot (FIG. 12A) and the indoor robot exiting the outdoor robot and entering the residence. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027]

[0053] According to one or more embodiments of the present invention, a delivery robot is provided that can be used, for example, for delivery of home dialysis supplies. According to various embodiments, the delivery robot may include a drive train configured to move the delivery robot and transform the delivery robot into an outdoor configuration and an indoor configuration. The drive train may transform the delivery robot between the outdoor configuration and the indoor configuration. A control unit may be provided configured to control the drive train based at least on a received signal. The delivery robot may have a sensor system configured to sense an object and send a signal to the control unit. The delivery robot may have a supply holder configured to hold supplies. The supply holder may be connected to the drive train for movement with movement of the drive train. The delivery robot may have an outdoor powered traction device for traversing outdoor surfaces and an indoor powered traction device for traversing indoor surfaces.

[0028]

[0054] The drive train may be configured to be controlled by the control unit to perform various operations, which may include (1) maintaining the indoor powered towing device in a raised position while the outdoor powered towing device traverses an outdoor surface in the outdoor configuration, (2) transforming the delivery robot from the outdoor configuration to the indoor configuration, and (3) maintaining the outdoor powered towing device in a raised position while the indoor powered towing device traverses an indoor surface in the indoor configuration.

[0029]

[0055] Both the outdoor and indoor powered traction devices may include sets of wheels. Each set of wheels may include one or more indoor wheels mounted for rotation on a respective pivot bracket and one or more outdoor wheels mounted for rotation on the same respective pivot bracket. Each pivot bracket may include a motorized drive configured to pivot the pivot bracket between (1) an outdoor configuration in which the outdoor wheels of the respective set of wheels are lower relative to the indoor wheels of the respective set of wheels, and (2) an indoor configuration in which the indoor wheels of the respective set of wheels are lower relative to the outdoor wheels of the respective set of wheels. The indoor wheels of each set of wheels may include Mecanum wheels, for example, to enable the robot to move diagonally or vertically through tight spaces in a house.

[0030]

[0056] The delivery robot may have a first maximum height in the outdoor configuration and a second maximum height in the indoor configuration. The second maximum height may be greater than, less than, or the same as the first maximum height. The delivery robot may have a first maximum width in the outdoor configuration and a second maximum width in the indoor configuration. The first maximum width may be greater than, less than, or the same as the second maximum width.

[0031]

[0057] The delivery robot may further include a lift. The lift may be configured to lift the delivery robot to an elevated position such that both the outdoor powered towing device and the indoor powered towing device are lifted away from an outdoor surface, an indoor surface, or both an outdoor surface and an indoor surface. The delivery robot may be configured to transition between the outdoor configuration and the indoor configuration while in the elevated position.

[0032]

[0058] The delivery robot may be an autonomous delivery robot. The delivery robot may include a drive train for moving and transforming the autonomous delivery robot and a control unit configured to autonomously control the drive train based at least on the received signal. A sensor system configured to sense an object and send a signal to the control unit may be included. A supply holder may be provided configured to hold supplies and connected to the drive train for moving with the movement of the drive train. The robot may include an outdoor powered traction device for traversing outdoor surfaces and an indoor powered traction device for traversing indoor surfaces. A power source may be configured to power the drive train. The power source may include a rechargeable or disposable battery.

[0033]

[0059] According to one or more embodiments, the drive train may be configured to be controlled by the control unit to (1) maintain the indoor powered towing device in a lifted position while the outdoor powered towing device traverses an outdoor surface, and (2) lower the indoor powered towing device into the house at the threshold while the outdoor powered towing device remains in contact with an outdoor surface outside the threshold to the house. The drive train may be further configured to (3) be controlled by the control unit to lift the outdoor powered towing device when the indoor powered towing device contacts an interior surface inside the house. In this way, the outdoor powered towing device does not contact or can be prevented from contacting the interior surface.

[0034]

[0060] The delivery robot may further include an outdoor powered traction device shield. The control unit may be configured to control the drive train to move the outdoor powered traction device shield to a position shielding the outdoor powered traction device, for example, after the outdoor powered traction device is lifted at a threshold of the house and before the delivery robot passes the threshold and moves into the house. The delivery robot may include an indoor powered traction device shield. The control unit may be configured to control the drive train to move the indoor powered traction device shield to a position shielding the indoor powered traction device, for example, after the indoor powered traction device is lifted at a threshold of the house and before the delivery robot moves through the threshold and into the house.

[0035]

[0061] The delivery robot may include both an outdoor powered traction device shield and an indoor powered traction device shield. The control unit may be configured to (1) control the drive train to move the outdoor powered traction device shield to a position shielding the outdoor powered traction device, for example, after the outdoor powered traction device is lifted at a threshold of the house and before the delivery robot passes the threshold and moves into the house. The control unit may be further configured to (2) control the drive train to move the indoor powered traction device shield to a position shielding the indoor powered traction device before the indoor powered traction device is lowered into the house at the threshold to the house. The control unit may be further configured to (3) unshield the indoor powered traction device at the threshold so that the indoor powered traction device can be lowered into contact with an interior surface inside the house.

[0036]

[0062] The supply holder may comprise a flatbed. The supply holder may comprise a clamp. The supply holder may comprise a frame including a motor-driven gate. According to one or more embodiments, the delivery robot further comprises, for example, a package of home dialysis supplies held by the supply holder. The supply holder may comprise a lock. The supply holder may be configured to remain locked, for example, at all times, but be unlockable when in a warehouse, when in a delivery truck, when in a home, or combinations thereof. The supply holder may be configured to remain locked during transportation and cannot be unlocked. The supply holder may be unlockable, for example, by using a key. Exemplary keys include physical mechanical keys, electronic keys, codes, key FOBs, bioinformatics, RFID tags, combinations thereof, and the like. The supply holder may be configured to remain locked at all times, except when in a warehouse, when in a delivery truck, when in a patient's home, or combinations thereof, etc., where the supply holder is locked but may be unlockable. The supply holder may be configured to be unlocked only at one or more specific locations and not at others. The supply holder may be configured to be unlockable at different locations, by different users, by using different keys, or by a combination thereof. For example, an individual at a supply company may possess authority or keys to unlock the supply holder at a particular warehouse or in a particular delivery truck, but a patient, the patient's caregiver, or the patient's care partner may possess authority or keys to unlock the supply holder only in the patient's home. The lock may include a keypad for entering information such as a code.

[0037]

[0063] An outdoor powered traction device may comprise one or more of wheels, tracks, treads, tires, rollers, brushes, rims, walking legs, combinations thereof, etc. An indoor powered traction device may comprise one or more of wheels, tracks, treads, tires, rollers, brushes, rims, walking legs, combinations thereof, etc. An outdoor powered traction device may comprise wheel modules, sets of wheels, multiple wheels, single axles, multi-axles, combinations thereof, etc. An indoor powered traction device may comprise wheel modules, sets of wheels, multiple wheels, single axles, multi-axles, combinations thereof, etc.

[0038]

[0064] According to one or more embodiments, a home dialysis supply delivery network is provided. The network may comprise a delivery robot as described herein. The network may comprise a remote network computer configured to send information, instructions, or both to the delivery robot. The delivery robot may be an autonomous delivery robot. The delivery robot may be configured to autonomously respond to information, instructions, or both received from the remote network computer. The home dialysis supply delivery network may further comprise a robotic transport vehicle. The remote network computer may be located, for example, on or within the robotic transport vehicle. The robotic transport vehicle may comprise a lift for loading, unloading, or unloading the delivery robot. The robotic transport vehicle may comprise an autonomous vehicle, for example, an autonomous truck. The robotic transport vehicle may comprise an autonomous truck having a truck bed. One or more additional delivery robots, for example, an autonomous delivery robot, may be stored on the truck bed. The truck bed may have additional space available to store a first delivery robot, for example, a first autonomous delivery robot. A first autonomous delivery robot may be stored on a bed of the truck, and one or more additional autonomous delivery robots may also be stored on the bed of the truck. The robotic transport vehicle may include an autonomous truck with a battery charger, and the delivery robot on or therein may include a rechargeable battery configured to be charged by the battery charger.

[0039]

[0065] A home dialysis supply delivery network is also provided in which a remote network computer may be configured to send prescription information related to a home dialysis patient residing at home. An autonomous delivery robot may be configured to receive the prescription information from the remote network computer. The autonomous delivery robot may be configured to autonomously respond to the received prescription information and, based on the received prescription information, load itself with the prescribed home dialysis supplies and deliver the prescribed home dialysis supplies to the home dialysis patient.

[0040]

[0066] The network may include a robotic transport vehicle that may include a lift for loading, unloading, or unloading the autonomous delivery robot. The robotic transport vehicle may include a storehouse of home dialysis supplies. The lift may be configured to be used by the autonomous delivery robot to load itself with prescribed home dialysis supplies.

[0041]

[0067] According to one or more embodiments, a home dialysis supply delivery network is provided that includes an autonomous delivery robot as described herein and a warehouse comprising a storage of home dialysis supplies. The warehouse may further comprise a lift, a programming computer, or both. The programming computer may comprise a computer interface. The network may also comprise a robotic transport vehicle. The control unit of the autonomous delivery robot may comprise a memory. The autonomous delivery robot may comprise a robot interface configured to interface with the computer interface to receive a program of instructions from the programming computer. The control unit may be configured to store in the memory the program of instructions received via the robot interface. The lift may be configured to lift the autonomous delivery robot into the robotic transport vehicle while the autonomous delivery robot holds a load of prescribed home dialysis supplies. The autonomous delivery robot may comprise a power source to power the drive train. The power source may comprise a rechargeable battery. The warehouse may comprise a battery charger configured to charge the rechargeable battery. The warehouse may further comprise an autonomous supply lift configured to (1) receive prescription information for the home dialysis treatment, (2) retrieve the prescribed home dialysis supplies from storage at the warehouse in fulfillment of the prescription information, and (3) load the prescribed home dialysis supplies onto the autonomous delivery robot. The network may further comprise one or more additional autonomous delivery robots, each of which is identical to the first autonomous delivery robot.

[0042]

[0068] According to one or more embodiments, a home dialysis supply delivery method is provided. The method may comprise loading prescribed home dialysis supplies onto a first autonomous delivery robot to form a first loaded autonomous delivery robot. The method may comprise loading prescribed home dialysis supplies onto a second autonomous delivery robot to form a second loaded autonomous delivery robot. The method may comprise loading the first and second loaded autonomous delivery robots onto a robot transport vehicle. The method may comprise unloading the first loaded autonomous delivery robot from the robot transport vehicle at a first location and leaving the first loaded autonomous delivery robot at the first location while moving the robot transport vehicle to a second location. The method may involve unloading the second loaded autonomous delivery robot from the robot transport vehicle at the second location. The method may involve autonomously delivering prescribed home dialysis supplies from the first loaded autonomous delivery robot to a first home. The method may involve unloading a first loaded autonomous delivery robot at a first home to form a first unloaded autonomous delivery robot. The method may involve returning a robotic transport vehicle from a second location to a first location and loading the first unloaded autonomous delivery robot onto the robotic transport vehicle at the first location. The method may involve autonomously delivering prescribed home dialysis supplies from a second loaded autonomous delivery robot to a second home and unloading the second loaded autonomous delivery robot at the second home to form a second unloaded autonomous delivery robot. The method may involve returning a robotic transport vehicle from a first location to a second location and loading the second unloaded autonomous delivery robot onto the robotic transport vehicle at the second location.

[0043]

[0069] The home dialysis supply delivery method may further comprise transporting the robotic transport vehicle to a warehouse having a storage of home dialysis supplies, and unloading the first unloaded autonomous delivery robot and the second unloaded autonomous delivery robot from the robotic transport vehicle at the warehouse. The method may further comprise reloading each of the first autonomous delivery robot and the second autonomous delivery robot with prescribed home dialysis supplies at the warehouse. Each of the first autonomous delivery robot and the second autonomous delivery robot may comprise a rechargeable battery, and the warehouse may comprise a battery charger, and the method may further comprise charging the rechargeable battery at the warehouse.

[0044]

[0070] According to one or more embodiments, a system for delivering an item is provided. The system may include one or more autonomous ground vehicles (AGVs), including at least a first AGV. The first AGV may include an outdoor powered towing device, an indoor powered towing device, a receptacle configured to park one or more items therein, and one or more motors configured to drive the outdoor powered towing device and the indoor powered towing device and convert the AGV between the outdoor and indoor configurations. The system may further include a computing system associated with the first AGV and including a processor and a memory. The memory may store or have computer-readable instructions. The computer-readable instructions, when executed by the processor, may configure the computing system to instruct the first AGV to perform an action. The action may involve (1) driving the first AGV in the outdoor configuration to an entrance of a residence associated with delivery of one or more items parked in the receptacle. In the outdoor configuration, the outdoor powered towing device may be deployed from the first AGV such that the outdoor powered towing device engages the outdoor surface and the indoor powered towing device is retracted such that the indoor powered towing device is elevated above the outdoor surface. The action may involve (2) converting from the outdoor configuration to the indoor configuration at an entrance to the dwelling, where in the indoor configuration, the indoor powered towing device is deployed from the first AGV such that the indoor powered towing device engages the residential surface and the outdoor powered towing device is retracted such that the outdoor powered towing device is elevated above the residential surface. The action may involve (3) running the first AGV in the indoor configuration at the residential surface inside the dwelling to an indoor drop-off location.

[0045]

[0071] The system may further include a delivery vehicle. The computer readable instructions, when executed by the processor, may configure the computing system to instruct the first AGV to travel from the delivery vehicle to an entrance of the residence. The first AGV may include a global positioning system, and the computing system may be configured to determine a road path from the delivery vehicle to the residence. The delivery vehicle may include an autonomous truck. The first AGV may have a rechargeable power module, and the delivery vehicle may include a docking station, and the docking station may include a charger configured to charge the power module. The docking station may further include a washing station configured to wash at least the outdoor powered traction device.

[0046]

[0072] According to one or more embodiments of the system, the computer readable instructions, when executed by the processor, may configure the computing system to determine when one or more items have been removed from the receptacle and, upon determining when one or more items have been removed from the receptacle, instruct the first AGV to provide follow-up instructions to the first AGV. The follow-up instructions may include (1) instructions to travel from an indoor drop-off location in the indoor configuration to an entrance of the residence. The follow-up instructions may include (2) instructions to convert from the indoor configuration to an outdoor configuration at the entrance of the residence. The follow-up instructions may include (3) instructions to travel back to the delivery vehicle in the outdoor configuration.

[0047]

[0073] The first AGV may include one or more sensors, and the one or more sensors may be configured to detect whether an access barrier at the entrance is open. The one or more sensors may be configured to send an open signal to the computing system when the access barrier is detected as open. The computing system may be configured to instruct the first AGV to convert from an outdoor configuration to an indoor configuration upon receiving the open signal. An entrance path from a drop-off location to the entrance may be stored in memory or streamed to the computing system. An indoor path from an entrance of the residence to an indoor drop-off location may be stored in memory or streamed to the computing system. The computing system may be configured to determine the entrance path and the indoor path. The path may be determined from data loaded into the memory, data acquired by one or more sensors, data acquired by a navigation system, data acquired wirelessly from a remote computing system, or a combination thereof, or the like.

[0048]

[0074] The first AGV of the system may comprise an optical sensor. The first AGV of the system may comprise a distance sensor. The first AGV of the system may comprise a proximity sensor directed to the receptacle and configured to determine if an item is in the receptacle. The residence may have an access barrier, and the access barrier may have a lock. The first AGV may comprise an identification tag, and the residence may comprise a reader configured to read the identification tag. The lock may be configured such that when the identification tag is read by the reader, the lock is unlocked and the access barrier opens. The identification tag may comprise a radio frequency identification (RFID) tag, and the reader may comprise an RFID reader.

[0049]

[0075] The residence may include a remote computing system within the residence. The first AGV may include a wireless transmitter. The computing system may be configured to instruct the first AGV to send a wireless communication to the remote computing system. The wireless communication may include a notification that the first AGV has arrived at the residence, a notification regarding an estimated time of arrival of the first AGV at the residence, or a combination thereof, or the like. The remote computing system may be part of a mobile device, a smart doorbell, a smart lock, a smart TV, a smart speaker, or a combination thereof, or the like.

[0050]

[0076] According to one or more embodiments, the outdoor powered towing device and the indoor powered towing device may be pivotally coupled to the frame. A system may be provided in which one or more motors pivot the indoor powered towing device from an elevated position to a horizontal position through the entrance so that the indoor powered towing device engages a residential surface inside the dwelling when the first AGV converts from the outdoor configuration to the indoor configuration. Converting may involve one or more motors pivoting the outdoor powered towing device from a horizontal position to an elevated position so that the outdoor powered towing device is lifted and clear of the outdoor surface outside the entrance before the first AGV fully enters the dwelling. The first AGV may further include a pivot arm pivotally connecting the receptacle to the frame, and the one or more motors may be configured to pivot the pivot arm so that the receptacle moves from a position above the outdoor powered towing device to a position above the indoor powered towing device while both the outdoor powered towing device and the indoor powered towing device are in a horizontal position.

[0051]

[0077] The first AGV may further comprise at least one shield configured to cover the indoor powered towing device in the outdoor configuration and configured to cover the outdoor powered towing device in the indoor configuration. The at least one shield may comprise a first shield configured to cover the indoor powered towing device in the outdoor configuration and a second shield configured to cover the outdoor powered towing device in the indoor configuration. According to one or more embodiments of the system, the outdoor powered towing device comprises one or more of a wheel, a track, a tread, a tire, a roller, a brush, a rim, a walking leg, a combination thereof, and the like. According to one or more embodiments of the system, the indoor powered towing device comprises one or more of a wheel, a track, a tread, a tire, a roller, a brush, a rim, a walking leg, a combination thereof, and the like. The outdoor powered towing device may comprise a first wheel module comprising a plurality of outdoor wheels. The first wheel module may include a first cluster axis and a pair of first cluster arms rotatable about the first cluster axis, the plurality of outdoor wheels may be rotatable about a member axis fixed relative to the pair of first cluster arms, and the one or more motors may be configured and capable of rotating the first cluster arm about the first cluster axis to move the first wheel module up or down a curb or step. The indoor powered traction device may include a second wheel module including a plurality of indoor wheels. The second wheel module may include a second cluster axis and a pair of second cluster arms rotatable about the second cluster axis, the plurality of indoor wheels may be rotatable about a member axis fixed relative to the pair of second cluster arms, and the one or more motors may be configured and capable of rotating the second cluster arm about the second cluster axis to move the second wheel module up or down a step. The system may include one or more items that are secured within the receptacle, for example, home dialysis supplies that are secured within the receptacle.

[0052]

[0078] According to one or more embodiments, a method of delivering an item is provided. The method may comprise loading one or more autonomous ground vehicles (AGVs), including a first AGV, onto a delivery vehicle. The first AGV may comprise a receptacle, a powered traction device, a motor, and a computing system comprising a processor and memory for controlling the motor and the powered traction device to drive autonomously. The method may involve operating one or more sensors of the first AGV in communication with the computing system. The method may involve operating a navigation system in communication with the computing system. The method may comprise loading one or more items for delivery into a receptacle of the first AGV. The method may comprise driving the delivery vehicle to an AGV drop-off location and deploying the first AGV from the delivery vehicle. The method may involve having the computing system instruct the first AGV to drive along a delivery path from the AGV drop-off location to an entrance of the residence based on coordinates communicated to the computing system. The method may involve determining coordinates for communication to a computing system by using a plurality of sensors, a navigation system, or a combination thereof. The coordinates may be preloaded into a memory.

[0053]

[0079] The one or more items may comprise dialysis supplies, which may comprise solution bags, disposable tubing sets, saline, chemicals, masks, gloves, wipes, or combinations thereof, etc. The delivery route may comprise a road route and an entrance route. The road route may comprise directions from an AGV drop-off location to a front of a residence associated with the delivery of the one or more items. The entrance route may comprise directions from a front of the residence to an entrance of the residence. The computing system may instruct the first AGV to travel along an indoor route from an entrance of the residence to an indoor drop-off location within the residence. The computing system may instruct the first AGV to transform from an outdoor configuration to an indoor configuration between traveling the entrance route and traveling the indoor route.

[0054]

[0080] The method may involve using a first AGV comprising an identification tag. The residence may comprise a reader configured to read the identification tag. The reader may read the identification tag and send a signal. The signal may unlock an entrance, signal the entrance to open, or both. The reader may read the identification tag using radio frequency transmission. The method may involve using a powered traction device of the first AGV, which may comprise a first wheel module comprising a plurality of outdoor wheels and a second wheel module comprising a plurality of indoor wheels. The method may involve switching the first AGV between an outdoor configuration and an indoor configuration, comprising a first wheel module deployed from the first AGV such that the plurality of outdoor wheels are engaged with the outdoor surface, and a second wheel module retracted such that the plurality of indoor wheels are elevated above the outdoor surface. In the indoor configuration, the second wheel module is deployed from the first AGV such that the second plurality of wheels engage a residential surface inside the dwelling, and the first wheel module is retracted such that the outdoor plurality of wheels are elevated above the residential surface.

[0055]

[0081] The computing system may command the first AGV to travel a return path once the computing system determines that the one or more items have been retrieved from the receptacle. The return path may comprise directions from the residence to a meeting location to meet the delivery vehicle. Coordinates of the return path may be loaded or preloaded into a memory. The coordinates may be wirelessly communicated to the computing system. The coordinates may be determined by the computing system using a number of sensors, a navigation system, or a combination thereof, or the like. The return path may include at least a reverse direction to the indoor path, the entrance path, or both. The computing system may command the first AGV to transform from an indoor configuration to an outdoor configuration between traveling the indoor path in the reverse direction and traveling the entrance path in the reverse direction. The delivery vehicle may be an autonomous truck.

[0056]

[0082] An "indoor drop-off location" as used herein refers to any designated location within a residence where one or more delivery items can be delivered, unloaded, and dropped off. An "AGV drop-off location" as used herein refers to any designated location outside a residence where a robotic delivery vehicle drops off one or more AGVs that will then travel to the residence. An AGV drop-off location may also refer herein to a designated location outside a residence where a robotic delivery vehicle drops off one or more non-autonomous delivery robots. A "meet-up location" as used herein refers to any designated location outside a residence where a delivery vehicle meets up with one or more AGVs or other delivery robots to distribute items to one or more delivery robots for delivery to the residence, or to pick up one or more delivery robots and return to a home base, such as a warehouse. A "dwelling" as used herein refers to a home (home) of a home dialysis patient, or any building where a dialysis patient user spends a significant amount of time, and may include a hospital, nursing home, workplace, dormitory, or prison, etc. "Wheel module," as used herein, refers to any group of wheels used together to traverse a ground or surface, whether the wheels are physically joined together, have cluster arms, are physically separate and distinct from one another, driven together, or separately and independently driven.

[0057]

[0083] The delivery robots, networks, and methods of the present invention may be implemented to enable a delivery robot to deliver dialysis supplies, such as, but not limited to, solution bags, disposable tubing sets, bags of saline, other chemicals, masks, gloves, wipes, cleaning solutions, and combinations thereof. The supplies may be packaged in crates, boxes, bags, barrels, or may be provided without such packaging and instead placed directly into the receptacle of the delivery robot. The present invention is not limited to the delivery of dialysis supplies, but may be used to deliver any item that can be delivered to a residence.

[0058]

[0084] Components, machines, systems, and methods related to AGVs and other delivery robots that can be used in or as part of the present invention include those described in U.S. Pat. No. 10,216,188 B2 to Brady et al. and U.S. Pat. No. 10,393,528 B2 to Schubert et al., as well as U.S. Patent Application Publication No. 2018 / 0232839 A1 to Heinla et al. and U.S. Patent Application Publication No. 2019 / 0179329 A1 to Keivan et al., each of which is incorporated by reference in its entirety herein.

[0059]

[0085] The delivery robot or AGV can be sized and shaped to travel on standard sidewalks or roads and fit within doorways or other access points, for example, within the residence of a home dialysis patient. The delivery robot can have one or more receptacles, including, for example, receptacles of different sizes. Various receptacles can be swapped, added, removed, replaced, or exchanged, allowing the delivery robot to carry a load of various supplies. In various implementations, weatherproofing techniques can be utilized to protect the functionality of the delivery robot and any of its operating components, such as receptacles, user interfaces, powered traction devices, computing systems, and antennas. The delivery robot can further include a computing system that controls the operations of the delivery robot, such as routing, charging, navigation, communications, sensors, item engagement features, configuration, and reconfiguration.

[0060]

[0086] Various sensors may be mounted on the delivery robot. For example, sensors may be mounted on the front, back, top, bottom, sides, or combinations thereof of the delivery robot. The sensors may be of various types and may include different types of sensors. In general, certain sensors may be utilized to assist the delivery robot in navigation, object sensing and avoidance, configuration, loading, and unloading, etc. For example, the sensors may include imaging sensors, laser sensors, distance detection sensors, heat sensors, obstacle sensors, light sensors, curb sensors, and step sensors, etc. Distance detection sensors may be used to measure and monitor the distance between the delivery robot and other objects, such as, for example, an obstacle, a roadway, a robotic delivery vehicle, another delivery robot, a threshold, a gate, a fence, or a doorway. The delivery robot and network may include an array of sensors utilized to assist the various functions of the delivery robot.

[0061]

[0087] The delivery robot may include a power source, such as a power module. In certain embodiments, the power module may be removably mounted on the delivery robot. The power module may be in the form of a battery, a solar cell, a gas-powered engine, a supercapacitor, a fuel cell, an alternative power generation source, or a combination thereof. The power module may be coupled to and power the delivery robot computing system and motors, and any other attached input / output devices. The power module may store energy to maintain a corresponding energy level. In various implementations, the stored energy level of the power module may be recharged by various techniques. For example, when the delivery robot is at a docking station, such as in a residence, a robotic delivery vehicle, or a warehouse, the delivery robot may engage a charging component configured to recharge the power module. As another example, the delivery robot may additionally or alternatively utilize other techniques for recharging, such as by utilizing sunlight to recharge with a solar panel. Additionally, in some implementations, the power module may be configured to be autonomously removed and / or replaced with another power module while the delivery robot is at a docking station or power station.

[0062]

[0088] In certain embodiments, the delivery robot includes an article engagement mechanism. For example, the article engagement mechanism may include a robotic arm or other mechanism that may be utilized to engage an article for placement in a receptacle of the delivery robot. The article engagement mechanism may include a robotic arm or other mechanism that may be utilized to retrieve an article from a receptacle as the article is being delivered at an indoor drop-off location. The article engagement mechanism may be in communication with and controlled by a delivery robot computing system, e.g., via wired or wireless communication. In certain embodiments, such an article engagement mechanism may additionally or alternatively be included in a robotic delivery vehicle, a home dialysis patient's residence, or a similar location, for placing and / or retrieving an article from a receptacle of the delivery robot.

[0063]

[0089] The delivery robot computing system may maintain information regarding whether the delivery robot's receptacles are full, empty, damaged, partially loaded, partially unloaded, etc. The delivery robot computing system may include items, access codes, or other identifiers necessary to open a receptacle, close a receptacle, lock a receptacle, or unlock a receptacle, etc. The delivery robot computing system may store, download, stream, or be programmed with any other information necessary to maintain and operate the delivery robot. The delivery robot computing system may lock and unlock one or more receptacles, activate or deactivate sensors, etc. The delivery robot may be configured to obtain information from remote computing resources. The delivery robot may be configured to operate primarily as a standalone unit with limited external communications to receive, provide, order, install, deliver, and transfer information, codes, signals, instructions, and programs. The delivery robot computing system may include wireless connectivity configured to provide wired and / or wireless network connectivity with, for example, a computing system in a user device, a remote computing system, a robotic delivery vehicle, a warehouse, a charging station, or a supply depot, etc. The wireless connectivity may be achieved using a wireless antenna capable of providing both receiving and transmitting capabilities.

[0064]

[0090] The delivery robot may also include a user interface. The user interface may be configured to receive and provide information to a user of the delivery robot. The user interface may include, but is not limited to, a display such as a touch screen display, a scanner, a keyboard, a keypad, a biometric scanner, an audio transducer, one or more speakers, one or more microphones, one or more image capture sensors such as a video camera, and any other type of input or output device that can support interaction between the delivery robot and a user. In certain embodiments, the user interface may be eliminated and control of the delivery robot is provided primarily remotely. For example, to access a receptacle, a user may send a text message to or reply to a text message from a remotely located centralized control system, e.g., a central management system. The central management system may control the delivery robot to unlock and / or open a receptacle door so that a user, loader, or home dialysis patient can retrieve delivered items from the receptacle or place recyclables, biohazards, or waste items in the receptacle. In various implementations, the delivery robot may have the capability to receive such signals directly from a user device, such as a smartphone, smart watch, tablet computer, smart speaker, or other device, which may be, for example, a device in the user's home that provides a signal to open a receptacle.

[0065]

[0091] In certain embodiments, the delivery robot receptacle includes a bottom, sidewalls, and a door configured to together form a cavity within which items may be stored and transported. In addition, the receptacle may include various security, safety, stabilization, or other components. For example, the receptacle may include a locking mechanism that may be controlled directly or remotely by the delivery robot computing system. The receptacle may also be temperature controlled. The receptacle may also include presence detection sensors, motion sensors, image capture sensors, temperature sensors, cameras, and / or other sensors.

[0066]

[0092] In certain embodiments, the delivery robot includes a locator device configured to assist in locating the delivery robot, for example, when a robotic delivery vehicle is searching for the delivery robot to load or unload an item or supply, or to pick up the delivery robot. The locator device may also be used when a recipient desires an update regarding the location of the delivery robot, for example, to obtain an estimated time of arrival (ETA). For example, the locator device may wirelessly transmit an electronic signal that allows the location of the delivery robot to be tracked and / or otherwise determined. The location may then be shown on a display or screen, for example, on a smartphone, computer, smartwatch, or monitoring station, etc. As another example, the locator device may emit various sounds, activate a light, vibrate, buzz, etc. Such signals may be used to assist a carrier or loader who may be delivering items to multiple delivery robots and needs to determine which delivery robot is the correct delivery robot to load a particular item. In certain embodiments, the locator device may be controlled by a delivery robot computing system or a central management system, etc. The delivery robot may also include a radio frequency identification (RFID) tag, a printed circuit board, or any other object or mechanism that can be detected and used to identify the AGV(s), such as by a delivery vehicle, a delivery driver, or an access point to a patient's residence, for security or other purposes.

[0067]

[0093] The delivery robot may be capable of converting from an outdoor configuration to an indoor configuration, e.g., from outdoor wheels to indoor wheels and vice versa. By changing from an outdoor powered traction device to an indoor powered traction device before entering the residence, the delivery robot does not bring water, snow, slush, or lawn or yard debris, e.g., grass, soil, mud, leaves, sand, animal waste, stones, or clay, into the residence. When wheels are used as powered traction devices, the outdoor wheels may be larger than the indoor wheels so that the outdoor wheels can achieve better traction and better navigate outdoor terrain. Meanwhile, the indoor wheels can move smaller and smoother than the larger wheels and better navigate indoor floors through indoor paths. For example, the outdoor wheels may include large rubber pneumatic tires, while the indoor wheels may include smaller, solid plastic or rubber wheels or rollers.

[0068]

[0094] In certain embodiments, the indoor wheel may include a Mecanum wheel configuration for omnidirectional use. Mecanum wheels are tireless wheels with a series of external rollers mounted diagonally around the rim. Each of the rollers has an axis of rotation at approximately 45° to the wheel plane and is angled to the axle line, which may be, for example, 45° to the axle line. Each Mecanum wheel is an independent, non-steering driven wheel with its own powertrain, and as it turns, it generates a propulsive force perpendicular to the roller axis, which may be vectored into longitudinal and lateral components relative to the delivery robot. Mecanum wheels allow the delivery robot to navigate narrow corridors and corners without having to change direction. Components, machines, systems, and methods relating to Mecanum wheel technology that can be used in or as part of the present invention include those described in Diegel et al., “Improved Mecanum Wheel Design for Omni-directional Robots,” Australasian Conference on Robotics and Automation, Nov. 2002, p. 117-121, which is incorporated herein by reference in its entirety.

[0069]

[0095] According to various embodiments of the present invention, the delivery robot may include a frame on which a first powered traction device and a second powered traction device are mounted. The powered traction device may include, for example, a first wheel module and a second wheel module. Each wheel module may include multiple wheels on the same or different axles. Using the wheel modules as exemplary powered traction devices, in certain embodiments, when converting from an outdoor configuration to an indoor configuration, the second wheel module may deploy from the frame by pivoting downward from the bottom of the delivery robot. The pivoting may be powered by one or more motors. The first wheel module may then retract into the frame by pivoting upward toward the bottom of the delivery robot, such pivoting also being powered by one or more motors. Similarly, when converting from an indoor configuration to an outdoor configuration, the first wheel module may deploy from the frame by pivoting downward from the bottom of the delivery robot using one or more motors, and the second wheel module may then retract into the frame by pivoting upward toward the bottom of the delivery robot, also being powered by one or more motors.

[0070]

[0096] In certain embodiments, a shield may cover the wheel modules to prevent soil from falling on or off the respective wheel modules when either the first or second wheel modules are retracted into the frame. The shield may hang from, move over, enclose, house, or otherwise cover the wheel modules or other powered traction devices. The shield may be of single piece construction or may comprise multiple pieces, such as two doors, multiple overlapping arc or circular components, or a rotatable cylinder with side openings.

[0071]

[0097] The shield may comprise any suitable material, such as a plastic material, a metal material, a cloth material, a woven material, or a wood material. The shield may be moved by a stepper motor, a gear system, a hydraulic lift, or a combination thereof, or the like. The shield may include or have an absorbent material or layer, such as a disposable absorbent rag or wipe. In an exemplary embodiment, when the delivery robot is approaching the residence in the outdoor configuration, the shield prevents the indoor wheels from getting dirty or wet. When the delivery robot transforms to the indoor configuration and enters the residence, the shield may then be moved into position to prevent water, mud, snow, or lawn or yard debris or waste from being brought into the residence or falling off the outdoor wheels onto the carpet or floor inside the residence.

[0072]

[0098] In a particular embodiment, the first wheel module and the second wheel module are pivotally coupled together or pivotally coupled to the frame to form an L-shape. One or more motors pivot the first wheel module relative to the second wheel module and pivot the second wheel module relative to the first wheel module. Using the wheel modules as an exemplary powered traction device, in the outdoor configuration, the first wheel module is substantially horizontal and the outdoor wheel engages the ground, while the second wheel module is elevated to a substantially vertical position with the indoor wheel elevated above the ground. To convert from the outdoor configuration to the indoor configuration, the one or more motors pivot the second wheel module downward relative to the first wheel module, such that each of the first wheel module and the second wheel module rests horizontally on a surface. At the threshold of the residence, the outdoor or first wheel module has a wheel that contacts the outdoor surface, and the indoor or second wheel module has a wheel that contacts the indoor surface. The one or more motors then pivot the first wheel module upwardly relative to the second wheel module, such that the first wheel module is raised above the ground to a substantially vertical position with the outdoor wheel above ground. To convert from the indoor configuration to the outdoor configuration, the one or more motors pivot the first wheel module downwardly relative to the second wheel module, such that each of the first and second wheel modules are horizontal, contacting the respective outdoor and indoor surfaces and straddling the threshold. The one or more motors then pivot the second wheel module upwardly relative to the first wheel module, such that the second wheel module is raised above the ground to a substantially vertical position with the indoor wheel above ground.

[0073]

[0099] In such an embodiment, the receptacle may be pivotally connected to the frame by a pivot arm. The pivot arm may allow the receptacle to shift from being disposed on the first wheel module to being disposed on the second wheel module when the delivery robot is transforming from an outdoor configuration to an indoor configuration. The pivot arm may also allow the receptacle to shift back when the delivery robot is transforming from an indoor configuration to an outdoor configuration. For example, in the outdoor configuration, the pivot arm may be positioned at an angle toward the first wheel module such that the receptacle is disposed on the first wheel module and rests on the frame above the first wheel module. During transformation of the delivery robot, one or more motors pivot the pivot arm from being angled above the first wheel module to being angled above the second wheel module while both the first and second modules are horizontally disposed. A pivot axis or point may be provided centrally on one or both sides of the receptacle such that the contents of the receptacle remain horizontally oriented throughout the conversion. The receptacle may pivot relative to a pivot arm, thus allowing the receptacle to maintain a horizontal position while the configuration is being converted without destroying the items within the receptacle.

[0074]

[0100] One or more shields may be provided to prevent water or dirt from shedding off the outdoor wheels or powered traction device while the delivery robot is in the indoor configuration inside the residence. The one or more shields also protect the indoor wheels from collecting or being exposed to water, slush, snow, dust, dirt, or other lawn or yard debris while outdoors in the outdoor configuration. For example, an indoor wheel shield may be provided configured to cover the indoor wheels from the top of the second wheel module and protect the indoor wheels while in the outdoor configuration. When the delivery robot transforms from the outdoor configuration to the indoor configuration, one or more motors may pivot the indoor wheel shield to a retracted position such that the indoor wheel shield does not impede the movement of the delivery robot. The outdoor wheel shield may be in a retracted position in the outdoor configuration, but when the delivery robot transforms from the outdoor configuration to the indoor configuration, the outdoor wheel shield may be pivoted by one or more motors to cover the outdoor wheels from the bottom of the first wheel module to prevent water or dirt from shedding off the outdoor wheels and falling onto the floor inside the residence.

[0075]

[0101] The delivery robot may include other components to repel or protect the delivery robot from outdoor elements. For example, the delivery robot may include a retractable cover, such as a retractable umbrella, to protect the delivery robot from precipitation. The cover or umbrella may detach from the delivery robot at the entrance to the residence. The delivery robot may further include air jets to repel water and dry the delivery robot before it enters the residence.

[0076]

[0102] The first and second powered traction devices, e.g., the first and second wheel modules, may be capable of climbing steps, curbs, and other potential obstacles. Components, machines, systems, and methods related to step climbing techniques that may be used in or as part of the present invention include those described in U.S. Patent No. 6,311,794 B1 to Morrell et al. and U.S. Patent No. 6,571,892 B1 to Kamen et al., and U.S. Patent Application Publication No. 2018 / 0244327 to Liivik et al., each of which is incorporated herein by reference in its entirety.

[0077]

[0103] In an exemplary embodiment, the first powered traction device is a first wheel module including a pair of outdoor wheels on one side of a frame. The first wheel module is mounted to one of the first pair of cluster arms. Another pair of outdoor wheels is mounted to another one of the first pair of cluster arms on another side of the frame. The outdoor wheels are rotatable about a member axis relative to the pair of first cluster arms. The first pair of cluster arms rotate about a first cluster axis. The computing system can independently rotate the first pair of cluster arms and independently rotate the outdoor wheels using one or more motors. Additionally, sensors on the first wheel module can sense variables such as pitch, roll, and yaw of the delivery robot, as well as the angular position and / or rotational speed of the outdoor wheels and the first pair of cluster arms. Signals from the sensors are communicated to a computing system and used by the computing system to drive one or more motors to rotate the first pair of cluster arms about the first cluster axis and to rotate the outdoor wheel so as to cause the first wheel module to go up or down a curb or step.

[0078]

[0104] The second powered traction device may be a second wheel module and may include at least a pair of indoor wheels on one side of the frame mounted to one of the second pair of cluster arms. Another pair of indoor wheels on another side of the frame is mounted to another one of the second pair of cluster arms. The indoor wheels are rotatable about a member axis relative to the pair of second cluster arms. The second pair of cluster arms rotate about a second cluster axis. The computing system may use one or more motors to independently rotate the second pair of cluster arms and independently rotate the indoor wheels. In addition, sensors on the second wheel module may sense variables such as pitch, roll, and yaw of the delivery robot, as well as the angular position and / or rotational speed of the indoor wheels and the second pair of cluster arms. Signals from the sensors are communicated to a computing system and used by the computing system to drive one or more motors to rotate the second pair of cluster arms about the second cluster axis and to rotate the indoor wheel so as to cause the second wheel module to go up or down steps.

[0079]

[0105] In an exemplary embodiment, the powered traction device may include outdoor tracks and indoor tracks. The outdoor tracks may include a first pair or more of outdoor gears or wheels on a first side of the frame and a second pair or more of outdoor gears or wheels on a second side of the frame. A first circular outdoor track may be suspended over the first pair of outdoor gears or wheels, and a second circular outdoor track may be suspended over the second pair of outdoor gears or wheels. The indoor pair of tracks may include a first pair or more of indoor gears or wheels on a first side of the frame and a second pair or more of indoor gears or wheels on a second side of the frame. A first circular indoor track may be suspended over the first pair of indoor gears or wheels, and a second circular indoor track may be suspended over the second pair of indoor gears or wheels. The outdoor tracks, indoor tracks, or combinations thereof may be configured to climb stairs, steps, curbs, or the like. Components, machines, systems, and methods relating to track technology that may be used in or as part of the present invention include those described in U.S. Patent Application Publication No. 2020 / 0283080 A1 to Rudakevych et al., U.S. Patent Application Publication No. 2012 / 0185115 A1 to Dean, U.S. Patent Application Publication No. 2010 / 0152922 A1 to Carlson et al., and U.S. Patent Application Publication No. 2008 / 0265821 A1 to Theobald, each of which is incorporated by reference in its entirety.

[0080]

[0106] A central control system may be used, for example, in a warehouse, to plan orders and fill delivery vehicles with orders. The central control system may be used to transport delivery robots to drop-off or meet-up locations where the delivery robots are either dropped off or met up. The drop-off or meet-up locations may be used to transport items to a user-specified delivery location, such as a home or other residence. The central control system may include a computing system, including, for example, a server, that may be used in the implementations described herein. The server may include a processor, such as one or more redundant processors, a video display adapter, disk drives, input / output interfaces, network interfaces, and memory.

[0081]

[0107] The robotic delivery vehicle may be a car, truck, van, train, robot, commercial haul vehicle, or any large commercial vehicle with a cargo area large enough to hold and transport at least one delivery robot. The delivery vehicle may be an autonomous self-driving vehicle, a non-autonomous vehicle, or a human-driven vehicle, etc. The delivery robot may be assigned or paired to a respective delivery vehicle. The delivery vehicle may carry the delivery robot by including multiple docking stations, each docking station corresponding to a respective delivery robot that is to be transported by the delivery vehicle. Each of the docking stations may include a charging component for charging the respective delivery robot. In certain embodiments, each of the docking stations may further include cleaning components, such as brushes and nozzles, for delivering cleaning solution to a powered traction device, multiple outdoor wheels, or multiple indoor wheels, etc., as well as for cleaning the remainder of the delivery robot.

[0082]

[0108] Delivery robots may also be deployed directly from train cars along established rail lines to make long-distance transportation cheaper compared to costs associated with the use of traditional trucks. The delivery robot may initially leave the warehouse and travel to a meeting point to meet the train. The train may travel to a delivery robot drop-off point where the delivery robot disembarks and travels to the respective residence. The delivery robot may travel along roads to more remote areas with lower population density. For longer trips where battery power may be insufficient, the delivery robot may stop, e.g., autonomously, at one or more designated charging stations along the way. This allows even extremely remote home dialysis patients to receive delivery of supplies and thus access home dialysis capabilities.

[0083]

[0109] In certain embodiments, the delivery items are loaded onto the delivery robots at a warehouse. In such embodiments, each delivery robot may be preprogrammed with a delivery location and delivery route corresponding to the residence to which the item is to be delivered. The delivery robots may then be loaded onto the delivery vehicles. Alternatively, the delivery items may be loaded onto a delivery vehicle separate from the delivery robots. In such embodiments, the delivery items may include an address, such as a packing slip typically used to mail the item, or a computer readable code, such as a barcode, two-dimensional barcode, QR code, or RFID, or other identifier that identifies the location of the residence to which the delivery item is to be delivered. The delivery robot may be capable of reading the identifier using a scanner or reader, or may otherwise be adapted to have the identifier manually entered into the delivery robot, for example, using a user interface. The entry may occur when the delivery items are loaded into the delivery robot's receptacle by a delivery person. The delivery vehicle may drive to a delivery robot drop-off location, open a cargo door, and lower a ramp so that the delivery robot can unfold from the delivery vehicle and drive to the respective residence.

[0084]

[0110] In certain embodiments, the delivery robots are parked at each residence and move out, for example to a curb or the end of a driveway, to meet the delivery vehicle carrying the items. For example, each delivery robot may dock at a docking station located at the residence. The home docking station may also include charging and cleaning components. The delivery vehicle may be deployed from a warehouse without the delivery robot and with only the delivery items. A notification may be received by the delivery robot indicating that the delivery vehicle is expected to arrive at a specified meeting location at a particular time. The delivery robot may automatically drive from the docking station to the meeting location.

[0085]

[0111] As another example, various types of sensors, such as image sensors or sound sensors, may be utilized to determine when a delivery vehicle is approaching an area. In response to an approaching delivery vehicle, a delivery robot may move out to a meet-up location to receive an item from the delivery vehicle. In an exemplary configuration, a start travel time may be established for the delivery robot to begin moving toward the meet-up location so that the delivery robot can arrive before the transport vehicle. The determination of the start travel time may be based at least in part on an estimated time that the delivery vehicle is expected to arrive at the meet-up location. Once the delivery vehicle reaches the designated meet-up location, the item may be transferred to or otherwise retrieved by a specific delivery robot for delivery to an indoor drop-off location, for example, within the residence of a home dialysis patient. It will be appreciated that picking the item directly from the storage area of ​​the delivery vehicle and then further transporting the item using the delivery robot may avoid packaging the item in a shipping package. Additionally, a packing slip, which is typically included on the shipping package, may be applied directly to the item, for example, by a sticker on the item. The packing slip may be printed in the delivery vehicle, printed or generated by the delivery robot upon collection of the item, or otherwise made available. In other examples, items that are pre-packaged, fragile, or require additional protection prior to shipping may be packed in a shipping package.

[0086]

[0112] In various implementations, different types of techniques may be utilized for the delivery robot to receive an item for delivery. For example, the delivery robot and / or delivery vehicle may include an item engagement mechanism, e.g., a robotic arm, for engaging an item that is on the delivery vehicle and is to be received by the delivery robot. The robotic arm may place the item in a receptacle of the delivery robot. As another example, a delivery person operating the delivery vehicle may take an item from the delivery vehicle and place it in a receptacle of the delivery robot. Once the item is placed in the receptacle, the receptacle may be locked or otherwise secured to safely transport the item to an indoor drop-off location.

[0087]

[0113] The receptacle may include an electronic locking mechanism that may be controlled to lock the receptacle once it is determined that an item has been placed in the receptacle. The determination that an item has been placed in the receptacle may be made according to various types of procedures. For example, an input may be received by the delivery robot computing system from a carrier, a delivery vehicle, or a remote computing resource, etc., indicating, for example, that an item has been placed in the receptacle and should be delivered to an indoor drop-off location. As another example, various sensors may be utilized to determine that an item has been placed in the receptacle and thus received by the delivery robot.

[0088]

[0114] A delivery robot may be capable of traversing different routes depending on different configurations of the delivery. For example, a delivery robot may be dropped off and / or picked up by a delivery vehicle. A "delivery route," as used herein, is a route traveled by a delivery robot and may encompass any route from a robotic delivery vehicle to an indoor drop-off location. A delivery route may include a road route, an entrance route, an indoor route, or any combination thereof. A "return route," as used herein, is a route traveled by a delivery robot and may encompass any route from an indoor drop-off location back to the delivery vehicle, such as, but not limited to, a reverse indoor route, an entrance route, a road route, or any combination thereof.

[0089]

[0115] In certain embodiments, the robotic delivery vehicle may drive directly to the front of the residence, and the delivery robot may drive a delivery path that includes an entrance path. Alternatively, the robotic delivery vehicle may drop off multiple delivery robots at one or more delivery robot drop-off locations, and at least one delivery robot may drive a delivery path that includes a road path and an entrance path. The road path may include a path from the delivery vehicle to the residence of the intended recipient. In various implementations, the road path directions, instructions, and / or information may be received by the delivery robot, may be determined by the delivery robot, or may involve a combination thereof. The road path may be calculated or derived from an on-board computing system, on-board sensors, on-board global positioning system, a central management system, the robotic delivery vehicle, a remote computing resource, or a combination thereof, etc. As part of the movement along the road path, one or more motors of the delivery robot may be controlled, for example, by the delivery robot computing system, to navigate the delivery robot along the road path to the front of the residence to deliver the item. The delivery robot may include one or more sensors to determine whether it encounters any obstacles along the road path. If an obstacle is encountered, the road path to the residence location may be altered to avoid the obstacle. In addition to the road path being altered to avoid the obstacle, a determination may also be made as to whether any openable access barriers, e.g., openable doors or gates, have been encountered. If an openable access barrier is encountered, the access barrier may be opened to allow the delivery robot to move through the access barrier. Once the obstacle and / or access barrier has been passed, the delivery robot may continue to move along the road path, and the above-described process may be repeated if additional obstacles and / or access barriers are encountered. Once the delivery robot has passed any remaining obstacles and / or access barriers as it continues to move along the road path, the delivery robot arrives at the threshold of the entrance to the residence.

[0090]

[0116] When the delivery robot arrives in front of the residence, the delivery robot travels an entrance path. The entrance path is, for example, a path from a road in front of the residence to the entrance of the residence. The entrance path directions, instructions, and / or information may be received by the delivery robot, may be determined by the delivery robot, or a combination thereof. The entrance path directions, instructions, and / or information may be received or determined by an on-board computing system, an on-board sensor, an on-board global positioning system, a central management system, a delivery vehicle, a remote computing resource, or a combination thereof, etc. In certain embodiments, the delivery robot's computing system may receive video data showing a demonstration path for navigating the location. Other types of sensor data representing the demonstration path may also be received, including global positioning system (GPS) data and inertial measurement unit (IMU) data. By processing the video data to identify acceptable surfaces of the demonstration path, e.g., paved or unpaved sidewalks, roadways, curbs, and steps, the computing system may develop a navigation path that allows the delivery robot to follow the same general path (entrance path) as the demonstration path, while also accounting for differences from the demonstration path when necessary. In certain embodiments, the computing system may develop a navigation path for the delivery robot to follow at the location by analyzing data provided by a user, e.g., provided by the home dialysis patient and the intended recipient of the package. For example, the user may input waypoints to the delivery robot or may set route beacons or markers that the delivery robot can detect and follow, e.g., RFID tags, RFID readers, bar codes, 2D bar codes, visual reflectors, lights, painted markers, and combinations thereof. Voice recognition technology may be used, whereby the delivery robot recognizes and follows a voice to create a route.Data acquired by the delivery robot regarding the entrance route may be stored in memory for returning from the residence to the road and / or for future deliveries.

[0091]

[0117] According to certain embodiments, a notification may be sent to the home dialysis patient or other intended recipient when the delivery robot arrives at the residence's entrance. For example, the delivery robot or central management system may send a wireless communication to a remote computing system. The wireless communication may include a message indicating that the delivery robot has arrived at the residence or a message indicating an estimated time when the delivery robot will arrive at the residence. The remote computing system may be part of a smartphone, a smart doorbell, a smart lock, or a combination thereof. The message may also include information regarding the identity of the item(s) being delivered, e.g., an item list indicating a number of dialysis solution bags, a number of disposable tubing sets, a number of saline bags, chemicals, masks, gloves, and wipes, etc.

[0092]

[0118] The delivery robot may also include an identification tag configured to transmit a signal to or otherwise cause an access barrier at an entrance to open or otherwise unlock to allow the delivery robot to move through or otherwise pass through the access barrier. For example, the access barrier may include a reader that senses the delivery robot's identification tag to unlock the access barrier and allow the delivery robot to pass through and into the residence. The reader and identification tag may use RFID technology.

[0093]

[0119] According to various embodiments, the delivery robot may sense via a sensor that an entrance access barrier is open and automatically convert or prepare to convert from an outdoor configuration to an indoor configuration. The delivery robot may also include a manual button, touch button icon, or lever that, when applied, converts the delivery robot from an outdoor configuration to an indoor configuration. As an example, when the indoor wheels are deployed from the bottom of the delivery robot, the indoor wheels may be deployed first onto the outdoor floor mat and the outdoor wheels may be retracted. The delivery robot may then drive into the residence. Alternatively, the delivery robot may drive through the open access barrier and stop as soon as it is fully inside the residence. The indoor wheels may then be deployed onto the indoor floor mat and the outdoor wheels may be retracted, at which point the delivery robot may then proceed to an indoor drop-off location.

[0094]

[0120] Alternatively, when the delivery robot includes the L-shaped configuration described herein, the second wheel module may pivot while passing through the open access barrier until the indoor wheels of the second wheel module engage the floor inside the residence. At this point, the first wheel module also engages the ground outside the residence. The first wheel module is then pivoted upward and retracted. The delivery robot then proceeds to the indoor drop-off location. In this configuration, the outdoor wheels never touch the floor inside the residence and the indoor wheels never touch the ground outside the residence.

[0095]

[0121] Once the delivery robot enters the residence, it travels an indoor path. The indoor path may be from an entrance to an indoor drop-off location. The indoor path instructions, information, or both may be received by the delivery robot, determined by the delivery robot, pre-programmed, stored in memory, indicated to the robot by the recipient, or a combination thereof. For example, an on-board computing system, on-board sensors, on-board GPS, a central management system, a delivery vehicle, a remote computing resource, or a combination thereof may be used to define the indoor path. In certain embodiments, the delivery robot's computing system may receive video data showing a demonstration path for navigating the location. Other types of sensor data representing the demonstration path may also be received, including GPS data and IMU data. By processing the video data to identify acceptable surfaces for the demonstration path, such as hallways, staircases, and doorways wide enough to travel on, the computing system can develop a navigation path that enables the delivery robot to follow the same overall path (indoor route) as the demonstration path, while also taking into account differences from the demonstration path when necessary.

[0096]

[0122] In certain embodiments, the computing system may develop a navigation path for the delivery robot to follow at the location by analyzing data provided by a user, the user being the intended recipient of the item or package or another human or entity. For example, the user may input waypoints to the delivery robot, set route beacons or markers that the delivery robot can detect and follow, and / or use voice recognition technology that the delivery robot recognizes and follows to create a route. Exemplary beacons and markers may include RFID tags, RFID readers, bar codes, two-dimensional bar codes, visual reflectors, lights, painted markers, combinations thereof, and the like. Data acquired by the delivery robot regarding the indoor route may be stored in memory to facilitate returning to an entrance, facilitate future deliveries, and the like.

[0097]

[0123] Delivery of an item or package at an indoor drop-off location can be accomplished by a variety of procedures: For example, an item engagement mechanism, such as a robotic arm of the delivery robot or a robotic arm at the delivery location, can be utilized to pick the item or package from a receptacle on the delivery robot and place the item or package at an indoor drop-off location, which can be in a corner of a room, on the floor, on a counter, in a refrigerator, or the like.

[0098]

[0124] As another example, the delivery may include having the delivery robot wait at a drop-off location until a recipient arrives and removes an item or package from the delivery robot's receptacle. In some examples, the recipient may be requested to take an action to complete the delivery. For example, the recipient may be requested to unlock or otherwise open the receptacle, such as by, for example, interacting with a user interface, entering an access code, sending a signal from a remote computer or smartphone, utilizing another electronic or mechanical opening device, or a combination thereof. In response to such unlocking and / or unloading procedures, a locking mechanism may be controlled to unlock the receptacle to allow the item or package to be retrieved from the receptacle by the recipient at the indoor drop-off location. The control may be enabled by a delivery robot computing system, a central management system, a remote computing resource, a robotic delivery vehicle, a smart device, or a combination thereof, or the like. In certain embodiments, the locking mechanism may be controlled to automatically unlock the receptacle when the delivery robot reaches an indoor drop-off location, such as, for example, according to the sensed location of the delivery robot or according to a signal from a transmitting device located within the residence. In response to such an unlocking procedure, the locking mechanism may be controlled to unlock the receptacle to allow the item or package to be collected from the receptacle by a recipient at the indoor drop-off location. In other embodiments, the locking mechanism may be controlled to be unlockable when the delivery robot reaches the indoor drop-off location.

[0099]

[0125] If the delivery robot has a docking station at the residence, the delivery robot may move to the docking station once the item or package has been delivered. If the delivery robot is dropped off by the robotic delivery vehicle and needs to return to the delivery vehicle, the delivery robot may follow a return path that includes at least a reverse indoor path and an entrance path, and may also include a path back to the robotic delivery vehicle if necessary. In this regard, the delivery robot may open the access barrier, or the access barrier may be opened by a user or motor in a manner similar to that described above with respect to the delivery robot entering the residence. Along the reverse path, the delivery robot may transform from an indoor configuration to an outdoor configuration. The delivery robot may then return to the road by following the reverse of the entrance path.

[0100]

[0126] The delivery robot may send a signal to a robotic delivery vehicle, a different robotic pickup vehicle, or a central management system for the delivery robot. The signal may indicate that the delivery robot is ready to be picked up and may include information about where the robotic delivery or pickup vehicle can automatically pick up the delivery robot, for example, at the curb side or the edge of the roadway. Alternatively, the delivery robot may drive back to the delivery vehicle at the delivery robot drop-off location, or the delivery robot and the robotic delivery or pickup vehicle may meet at a meet-up location different from the delivery robot drop-off location. The delivery robot may be configured to charge at a charging station within the residence until the robotic delivery or pickup vehicle is within range for pickup or until a sufficient or full battery charge has been brought to the delivery robot battery.

[0101]

[0127] Certain portions of the above delivery methods may be repeated, particularly with respect to the delivery of multiple items. For example, if a delivery robot is carrying multiple items to be delivered to different delivery locations, the items may be stored in separate receptacles on the delivery robot. The delivery robot may move from one delivery location to another before returning to the robotic delivery vehicle. In configurations in which receptacles are utilized for separate deliveries, separate access codes or other mechanisms may be utilized to open each receptacle, such that each recipient may access or otherwise receive only the one or more items intended for delivery to that recipient.

[0102]

[0128] The present invention is particularly useful for the delivery of dialysis supplies, such as disposable components, saline, and chemicals, required for use with home dialysis devices. Patients with reduced or non-functioning kidneys are highly dependent on regular hemodialysis, hemodiafiltration, or peritoneal dialysis. Home dialysis has been shown to significantly improve the removal of waste products from the body, improve health status, and reduce the need for medication. This is primarily due to the fact that patients can increase dialysis time by performing dialysis more frequently than the typical three times a week. For example, patients can increase dialysis time by performing dialysis daily. However, home dialysis machines utilize numerous disposable components, such as sorbent cartridges, dialyzers, tubing, and other disposables, as well as chemicals and saline. Such disposables are described, for example, in U.S. Patent Application Publication No. 2011 / 0315611 A1 to Fulkerson et al., which is incorporated herein by reference in its entirety.

[0103]

[0129] Previously, home dialysis supplies were delivered to the home once a month, taking up a large amount of space in the user's home. The present invention allows for more frequent delivery of supplies, for example, twice a month, three times a month, once a week, twice a week, three times a week, or more frequently. Thus, less disposables and fluids need to be delivered per delivery, taking up less storage space in the home. As mentioned above, another advantage is that the separate indoor and outdoor powered towing devices, e.g., wheels, ensure that the home is not soiled as a result of the delivery. Furthermore, the present invention allows for delivery to patients in remote areas, reduces product damage and lost shipments, reduces waste, creates a predictable environment for production and warehousing operations, and increases convenience for delivery recipients. In addition, the delivery robots and networks can be operated completely autonomously, providing additional safety, minimizing the spread of germs from person to person, eliminating wait times for robotic delivery and pick-up vehicles, eliminating human error in dispensing and loading the delivery robot, providing battery charging while waiting for the robotic delivery or pick-up vehicles, and maximizing resources.

[0104]

[0130] Referring now to the drawings, FIGS. 1A-1D show a delivery robot 100 according to an exemplary embodiment of the present invention. The delivery robot 100 is in the form of an autonomous ground vehicle (AGV) that can be transformed from an outdoor configuration, shown in FIG. 1A, to an indoor configuration, shown in FIG. 1C. FIG. 1B shows the AGV 100 in the process of transforming from the outdoor configuration to the indoor configuration, at a threshold 180 of a doorway 190 to a residence. In the example shown in FIGS. 1A-1D, the AGV 100 includes a frame 119. A first wheel module 121 and a second wheel module 123 are mounted to the frame 119. The first wheel module 121 has four outdoor wheels 122 mounted on an axle 124 and that can be rotated by one or more motors 120. The second wheel module 123 has four indoor wheels 125 mounted on an axle 127 and that are rotated by one or more motors 130. In both the outdoor and indoor configurations, the first wheel module 121 and the second wheel module 123 are at an angle, for example, 90°, relative to each other, such that the frame 119 defines an L-shape, as illustrated in Figures 1A and 1C. The wheel modules 121, 123 may be at different angles, for example, 45°-135°, or 65°-115°, or 85°-95°, relative to each other. The first wheel module 121 and the second wheel module 123 are pivotally coupled together by the frame 119 at the pivot connection 108. A motor 132 pivots the first wheel module 121 relative to the second wheel module 123 and pivots the second wheel module 123 relative to the first wheel module 121.

[0105]

[0131] In the outdoor configuration, the first wheel module 121 is substantially horizontal and the outdoor wheel 122 engages an outdoor surface, such as the ground, a road, a driveway, or a sidewalk. At the same time, the second wheel module 123 is elevated, such as to a substantially vertical position, with the indoor wheel 125 elevated above a horizontal surface, such as the ground, as shown in FIG. 1A. To convert from the outdoor configuration to the indoor configuration, the motor 132 pivots the second wheel module 123 downward relative to the first wheel module 121 via the pivot connection 108, such that each of the first wheel module 121 and the second wheel module 123 become horizontally disposed, as shown in FIG. 1B. The conversion may occur at the threshold 180 of the doorway 190 such that the first wheel module 121 remains outside the residence but the second wheel module 123 pivots downward to contact an interior horizontal surface of the residence, such as a porch floor, carpet, rug, tile floor, ceramic floor, or vinyl floor, etc. The motor 132 then pivots the first wheel module 121 upward relative to the second wheel module 123, which causes the first wheel module 121 to be moved to a vertical or substantially vertical position with the outdoor wheel 122 elevated above the outdoor horizontal surface as shown in FIG. 1C. The indoor wheels may take the form of Mecanum wheels to enable omnidirectional movement within the home environment.

[0106]

[0132] To convert from the indoor configuration to the outdoor configuration, the motor 132 pivots the first wheel module 121 downward relative to the second wheel module 123, such that each of the first wheel module 121 and the second wheel module 123 are horizontally disposed. The downward pivoting of the first wheel module 121 may again occur at the doorway 190. The motor 132 then pivots the second wheel module 123 upward relative to the first wheel module 121, such that the second wheel module 123 is now in a substantially vertical position and the indoor wheel 125 is elevated above the horizontal plane of the door.

[0107]

[0133] The AGV 100 further includes a receptacle 157 pivotally connected to the frame 119 by a pair of pivot arms 129, one of which is shown in the side views of Figures 1A-1C. The pivot arms 129 allow the receptacle 157 to shift from being disposed above the first wheel module 121 to being disposed above the second wheel module 123 when the AGV 100 is converted from an outdoor configuration to an indoor configuration. The pivot arms 129 also allow the receptacle 157 to shift back to a position above the first wheel module 121 when the AGV 100 is converted from an indoor configuration to an outdoor configuration.

[0108]

[0134] FIG. 1A illustrates the AGV 100 in an outdoor configuration and the pivot arm 129 angled such that the receptacle 157 is disposed on the first wheel module 121 and rests on the frame 119. As illustrated in FIG. 1B, while the AGV 100 is intermediate the outdoor and indoor configurations, the motor 132 uses gear and transmission components to pivot the pivot arm 129 from being angled on the first wheel module 121 (as shown in FIG. 1A) to being angled on the second wheel module 123 (as shown in FIG. 1C). The receptacle 157 can also be pivoted relative to the pivot arm 129 at a respective pivot point 138 by the pair of motors 133, thus allowing the receptacle 157 to maintain a horizontal position during conversion from one configuration to the other without destroying items within the receptacle. 1A-1C, only one pivot point 138 and one motor 133 are visible. In the cutaway or cross-sectional view shown in FIG. 1D, the rear motor 133 and rear pivot point 138 are shown in phantom.

[0109]

[0135] 1A-1C show shields 140, 142 for preventing water, mud, snow, dirt, and other lawn and yard debris from falling off the outdoor wheel 122 while the AGV 100 is traveling inside a residence in the indoor configuration. The shields 140, 142 are also configured to protect the indoor wheel 125 from water, mud, snow, dirt, and other lawn and yard debris while traveling outdoors in the outdoor configuration. FIG. 1A illustrates the shield 140 as an indoor wheel shield 140 that covers the indoor wheel 125 from above the first wheel module 123 and protects the indoor wheel 125 in the outdoor configuration. As shown in FIG. 1B, when the AGV 100 reaches the threshold 180 of the residence's doorway 190, the AGV 100 transforms from the outdoor configuration to the indoor configuration, at which point the motor 132 pivots or moves the indoor wheel shield 140 to a retracted position so that the indoor wheel shield 140 does not impede the movement of the AGV 100.

[0110]

[0136] The shield 142 is in the form of an outdoor wheel shield 142, which is extended to an extended position while the AGV 100 is in the outdoor configuration shown in Figure 1A. When the AGV 100 converts from the outdoor configuration to the indoor configuration, the outdoor wheel shield 142 may be pivoted by the motor 132 to a drooping or lowered configuration, as shown in Figure 1B, and then pivoted or extended to form a catch below the first wheel module 121 and below the outdoor wheel 122, as shown in Figure 1C. Covering the outdoor wheel 122 may prevent water, slush, snow, dirt, and other lawn and yard debris from falling off the outdoor wheel 122 and onto interior surfaces of the residence.

[0111]

[0137] The AGV 100 is also configured to climb steps, curbs, and other potential obstacles. The first wheel module 121 includes two or more pairs of outdoor wheels 122, each pair mounted on a respective cluster arm 150 on either side of the frame 119. The two or more pairs of outdoor wheels 122 are rotatable about member axes fixed relative to the cluster arm 150. The cluster arm 150 rotates about a first cluster axis 152. The second wheel module 123 includes two or more pairs of indoor wheels 125, each pair mounted on a respective cluster arm 156 on either side of the frame 119. The two or more pairs of indoor wheels 125 are rotatable about member axes fixed relative to the cluster arm 156. The cluster arm 156 rotates about a second cluster axis 158.

[0112]

[0138] The computing system 110 can use one or more motors 120 to independently rotate the cluster arms 150, 156 and to independently rotate the outdoor wheel 122 and the indoor wheel 125. Additionally, a sensor 154 on the first wheel module 121 and a sensor 160 on the second wheel module 123 can sense the pitch, roll, and yaw of the AGV 100 and variables such as the angular position and / or rotational speed of the outdoor wheel 122 and the indoor wheel 125 and the cluster arms 150, 156. Signals from the sensor 154 are communicated to the computing system 110 and used by the computing system 110 to drive the one or more motors 120 to rotate the cluster arm 150 about the first cluster axis 152 and to rotate the outdoor wheel 122 to move the first wheel module 121 up and down an outdoor curb, landing, or step in the outdoor configuration. Similarly, signals from the sensor 160 are communicated to the computing system 110 and used by the computing system 110 to drive one or more motors 120 to rotate the cluster arm 156 about the second cluster axis 158 and to rotate the indoor wheel 125 so as to move the second wheel module 123 up and down interior steps and landings in the indoor configuration.

[0113]

[0139] As shown in FIGS. 1A-1C, various sensors 104 may be mounted on the AGV 100. For example, the sensors 104 may be mounted on the front, rear, and sides of the AGV 100, as well as different locations on the frame 119 and on each of the first and second wheel modules 121 and 123. The sensors 104 may include imaging sensors and / or distance detection sensors for measuring and monitoring distances between the AGV 100 and other objects. The AGV 100 also includes a power module 112. The power module 112 is coupled to and provides power to the AGV computing system 110, the one or more motors 120, the one or more motors 130, the motor 132, the motor 133, and any other associated input or output devices.

[0114]

[0140] The receptacle 157 of the AGV 100 includes a bottom and sides and a door 175 configured to form a cavity in which an item may be stored. The receptacle 157 may include a locking mechanism 177 that is controlled directly or remotely by the computing system 110. The locking mechanism 177 may include a padlock or combination lock that the recipient can open with an appropriate key or lock combination. The receptacle 157 may include a presence detection sensor 171, a motion sensor 172, an image capture sensor 173, a temperature sensor 174, one or more other sensors, or combinations thereof, and the like. The AGV 100 includes a user interface 111 configured to receive information and provide it to a user, a programmer, or a home dialysis patient or other intended recipient of the AGV 100.

[0115]

[0141] 2 shows a side view of an AGV 200 according to another embodiment of the present invention. In the exemplary embodiment of FIG. 2, the AGV 200 includes a first wheel module 221 having four outdoor wheels 222 mounted on an axle 224 rotated by one or more motors 220. The first wheel module 221 further includes a pivot arm 219 that pivotally connects the outdoor wheels 222 to the AGV 200. The AGV 200 also includes a second wheel module 223 having four indoor wheels 225 mounted on an axle 227 rotated by one or more motors 220. The second wheel module 223 further includes a pivot arm 229 that pivotally connects the indoor wheels 225 to the AGV 200.

[0116]

[0142] FIG. 2 shows the AGV 200 in an outdoor configuration with the outdoor wheels 222 engaging the ground and the indoor wheels 225 retracted and disposed within a cavity defined in the bottom of the AGV 200. To convert from the outdoor configuration to the indoor configuration, the second wheel module 223 deploys from the bottom of the AGV 200 by a downward pivoting movement of the pivot arm 229 from the bottom of the AGV 200. The pivoting is performed by one or more motors 220. Once the indoor wheels 225 engage the ground to support the AGV 200, the first wheel module 221 is retracted into the bottom of the AGV 200 by an upward pivoting movement of the pivot arm 219 towards the bottom of the AGV 200. Once retracted, the outdoor wheels 222 are disposed within their respective cavities defined in the bottom of the AGV 200.

[0117]

[0143] Similarly, when converting from an indoor to an outdoor configuration, the first wheel module 221 may be deployed from the bottom of the AGV 200 by a pivoting movement of the pivot arm 219 downward from a cavity in the bottom of the AGV 200, thus extending the outdoor wheel 222. The downward pivoting is enabled by the operation of one or more motors 220. Once the outdoor wheel 222 engages the ground to support the AGV 200, the second wheel module 223 may be retracted into the bottom of the AGV 200 by a pivoting movement of the pivot arm 229 that moves the indoor wheel 225 upward into the bottom of the AGV 200, where it is received in its respective cavity. When either the first wheel module 221 or the second wheel module 223 is retracted into the frame, a shield 240 may cover the wheel module to prevent soil from falling or being splashed onto the retracted wheel module. The shield 240 can slide laterally in and out of a sheath provided at the bottom of the AGV 200. The sliding can be powered, for example, by one or more motors 220, and the sliding can provide clearance for the first wheel module 221 and the second wheel module 223 when converting from an indoor configuration to an outdoor configuration or from an outdoor configuration to an indoor configuration.

[0118]

[0144] The AGV 200 further includes a receptacle 257 that holds items to be transported by the AGV 200. An electronic or manual lock may be provided to secure the items in the receptacle 257. As shown in FIG. 2, various sensors 204 may be mounted on the AGV 200. For example, the sensors 204 may be mounted on the front, rear, and sides of the AGV 200. The sensors 204 may include imaging sensors and / or distance detection sensors for measuring and monitoring the distance between the AGV 200 and other objects. The AGV 200 includes a power module 212. The power module 212 is coupled to and provides power to the computing system 210, the one or more motors 220, and any other attached input or output devices, sensors, electronic locks, and other associated components. In the example of FIG. 2, the receptacle 257 of the AGV 200 includes a bottom and sides and a door 275 configured to form a cavity in which the items may be stored. Receptacle 257 may include a locking mechanism 277 that is controlled directly or remotely by AGV computing system 210. Receptacle 257 may also include a presence detection sensor 271, a motion sensor 272, an image capture sensor 273, a temperature sensor 274, one or more other sensors, or a combination thereof, etc. AGV 200 also includes a user interface 211. User interface 211 is configured to receive and provide information to a user, programmer, or home dialysis patient or other intended recipient of AGV 200.

[0119]

[0145] 3 is a block diagram illustrating an exemplary AGV computing system 110 / 210 that may be utilized in accordance with various embodiments of the present invention. The AGV computing system 110 / 210 may be utilized in the AGV 100 shown in FIGS. 1A-1D, the AGV 200 shown in FIG. 2, any of the AGVs shown in FIGS. 6A-11, or any other type of AGV, autonomous delivery robot, or non-autonomous delivery robot described herein.

[0120]

[0146] In various examples, the block diagram of FIG. 3 illustrates one or more aspects of the AGV computing system 110 / 210. The AGV computing system 110 / 210 may be used to implement various networks, systems, methods, movements, deliveries, charging, and other actions described herein. In an example implementation, the AGV computing system 110 / 210 includes one or more processors 350 coupled to a non-transitory computer-readable storage medium 370 via an input / output (I / O) interface 366. The AGV computing system 110 / 210 may also include a propulsion controller 354, a power controller 358, and a navigation system (GPS) 362. The propulsion controller 354 may be configured to control one or more drive motors, sensors, locks, lights, and the like. The power controller 358 may be configured to control, monitor, and regulate the use and charging of the power modules. The AGV control system 110 / 210 further includes an article engagement mechanism controller 386, a network interface 390, and one or more input / output devices 394. The article engagement mechanism controller 386 can be configured to control an engagement mechanism, such as an engagement mechanism described herein.

[0121]

[0147] 4 and 5 are schematic diagrams of an exemplary AGV environment 300 that enables a home dialysis patient, other intended recipient, doctor, pharmacist, programmer, or technician (shown herein as person 302) to communicate that an item needs to be transported by an AGV 100 / 200 to a residence 308. Once the delivery vehicle 332 reaches the AGV drop-off or meet-up location DOL / ML, the AGV 100 / 200 transports the item from the DOL / ML to the user-specified residence 308. For example, the AGV 100 / 200 may be traveling from a home docking station at the residence or residence 308 to the meet-up location ML, or may have been dropped off from the delivery vehicle 332 at the drop-off location DOL. In an exemplary configuration, a docking station 335 at the home dialysis patient's residence or a docking station on the delivery vehicle 332 may include a charging station, a cleaning station, a maintenance station for servicing components of the AGV 100 / 200, or a combination thereof.

[0122]

[0148] The AGV network 300 includes a user interface that allows the person 302 to communicate that an item needs to be delivered by the AGV 100 / 200 or that an item does not need to be delivered. The user interface may include a graphical user interface, an audio-only interface, a multi-mode interface, a touch screen, voice activation, or any other interface for interacting with the person 302. The user interface may be provided to the person 302 via any type of electronic device 306, such as, for example, a tablet computer, a desktop computer, a laptop computer, a smartphone, a personal digital assistant, a smart speaker, or a smart watch. The user interface may be delivered to the electronic device 306 by one or more remote computing resources 310 that constitute part or all of the central management system 326. In other embodiments, the user interface may be communicated directly between the person 302 and an agent at the warehouse 330.

[0123]

[0149] The remote computing resources 310 may form part of a network-accessible computing platform implemented as a computing infrastructure of processors, storage, software, data access, and other components that are maintained and accessible via the network 309. The electronic device 306 may be communicatively coupled to the remote computing resources 310 via the network 309. The network 309 may comprise wired technologies, such as, for example, electrical wires, USB cables and ports, fiber optic cables, Ethernet cables and ports, and Firewire cables and ports, wireless technologies, such as, for example, RF transmitters and receivers, cellular components, satellite components, and Bluetooth components, and / or other connection technologies. The network 309 carries data between the electronic device 306 and the remote computing resources 310.

[0124]

[0150] After receiving an order from person 302 for an item to be transported to residence 308 by AGV 100 / 200, electronic device 306 may send the order information over network 309 to remote computing resource 310. As illustrated, remote computing resource 310 may include one or more servers, such as servers 320(1), 320(2), and 320(N). Servers 320(1)-(N) may be arranged in any number of ways, such as in a server farm, in a stack, and in similar configurations commonly used in data centers. Additionally, servers 320(1)-(N) may include one or more processors 322 and memory 324 that stores information and software and firmware for a central management system 326.

[0125]

[0151] The central management system 326 may be configured to perform order planning and loading of orders into transport vehicles 332, e.g., at a warehouse 330, for transportation to a DOL / ML where one or more AGVs 100 / 200 are then deployed to residences 308. The delivery vehicles 332 and / or one or more AGVs 100 / 200 may be communicatively coupled to a remote computing resource 310 via a network 309. For example, communications with the delivery vehicles 332 and / or AGVs 100 / 200 may utilize wireless transmitters and receiving antennas on or incorporated within the delivery vehicles 332 and AGVs 100 / 200.

[0126]

[0152] The central management system 326 may also be configured to communicate with, for example, the delivery vehicles 332 and / or the AGVs 100 / 200. In various implementations, general activities of the delivery vehicles 332 and the AGVs 100 / 200, including those related to planning and fulfilling the delivery vehicles 332's receipt and transportation of items and the AGVs 100 / 200's receipt and transportation of items to indoor drop-off locations, may be coordinated and / or otherwise controlled by the central management system 326. For example, the central management system 326 may receive or determine schedule data for the movement of the delivery vehicles 332 to drop-off or meet-up locations DOL / ML and the movement of the AGVs 100 / 200.

[0127]

[0153] The AGVs 100 / 200 may be configured to communicate with other AGVs 100 / 200, for example, to receive or send signals, data, or other information, etc. The AGVs 100 / 200 may be configured to communicate with the central management system 326, for example, to receive or send signals, data, or other information, etc. For example, the AGVs 100 / 200 may sense and / or receive movement-related data including data related to travel conditions, obstacles, paths, path changes, previous routes, or previous routes stored in memory, etc. Data regarding movement sensed and / or collected by the AGVs 100 / 200 may be shared with the central management system 326, other AGVs 100 / 200, delivery vehicles 332, people 302, another entity, combinations thereof, etc. The AGVs 100 / 200 may use this information locally, in combination with other received movement-related data to navigate the current travel path, combinations thereof, etc. Such travel-related data may be centrally stored and processed for use in creating and updating travel routes, notifying other AGVs 100 / 200 regarding the availability and status of particular travel routes, notifying systems and personnel of particular travel delays, notifying robots, networks, and personnel about weather conditions, and combinations thereof, etc.

[0128]

[0154] Each of the remote computing resources 310 and the central management system 326 may independently receive tracking data including, for example, but not limited to, GPS coordinate data relating to the coordinates of one or more delivery vehicles 332, one or more AGVs 100 / 200, one or more residences, one or more warehouses, combinations thereof, etc. The GPS data may be utilized for a variety of purposes, such as, for example, responding to location status requests and sending notifications regarding the current location of the delivery vehicles 332 and / or AGVs 100 / 200.

[0129]

[0155] 6A and 6B show front views of a dual wheel propulsion unit 602 of an AGV according to various embodiments of the present invention. The dual wheel propulsion unit 602 allows one motor or drive system to drive both the outdoor wheel 616 and the indoor wheel 628 individually and independently. The dual wheel propulsion unit 602 is coupled to the frame 604 of the AGV by a wheel strut 610. The wheel strut 610 may be adjustable in height to compensate for different wheel sizes when converting from the outdoor configuration to the indoor configuration and from the indoor configuration to the outdoor configuration. A wheel bracket 608 is pivotally coupled to the wheel strut 610 at a pivot point 636. The outdoor wheel 616 is rotatably attached to the wheel bracket 608 by the outdoor wheel axle 612, and the indoor wheel 628 is rotatably attached to the wheel bracket 608 by the indoor wheel axle 624. The outdoor wheel 616 and the indoor wheel 628 may be mounted to the wheel bracket 608 one above the other. The wheel bracket 608 may include a dual drive enclosure 640. The dual drive enclosure 640 may enclose gears, belts, inside wheel drives, etc. that drive the outdoor wheel axle 612 and the indoor wheel axle 624 independently, sequentially, and / or simultaneously. For example, a gear attached to the outdoor wheel axle 612 may mesh with a gear attached to the indoor wheel axle 624. A motor may drive one gear, which rotates the other gear, thereby driving both the outdoor wheel 616 and the indoor wheel 628. Gear engagement and disengagement features may be provided that drive the outdoor wheel axle 612 and the indoor wheel axle 624 independently, sequentially, and / or simultaneously.

[0130]

[0156] 6A shows the dual wheel propulsion unit 602 in an outdoor configuration with the outdoor wheels 616 engaging an outdoor surface. The outdoor wheels 616 may be larger wheels than the indoor wheels 628 and may include treads, e.g., knobby tires, for traversing outdoor terrain.

[0131]

[0157] FIG. 6B shows the dual wheel propulsion unit 602 in an indoor configuration with the indoor wheels 628 engaging an indoor surface. The indoor wheels 628 may be smaller wheels compared to the outdoor wheels 616 and may be Mecanum wheels utilizing multiple rollers disposed at an angle relative to one another. A shield 620 is attached to the wheel bracket 608 and surrounds a portion of the outdoor wheels 616 such that the shield 620 covers the outdoor wheels 616 from the bottom when the dual wheel propulsion unit 602 is in the indoor configuration. The shield 620 captures outdoor debris that may break off and fall from the outdoor wheels 616 and prevents such debris from falling onto the indoor surface. The indoor wheels 628 are also covered when the AGV is in the outdoor configuration to prevent water or other debris from getting on the indoor wheels 628 when the AGV is outdoors. Such indoor wheel covers may include an interior compartment of the AGV, a flap or lid that covers each indoor wheel 628 individually, or an umbrella, shroud, or tarp that covers the entire AGV, or the like. Whatever the indoor wheel cover, it may be manually installed and removed, automatically installed and removed, manually installed and automatically removed, or automatically installed and manually removed, etc. The present invention may also include air jets to dry the indoor wheels 628 and other parts of the AGV, for example, to dry the indoor wheels 628 just before they enter the residence.

[0132]

[0158] 7A-7G show front views of an AGV 700 having dual wheel propulsion units 702a and 702b, according to various embodiments of the present invention. FIGS. 7A-7G sequentially show the AGV 700 converting from an outdoor configuration to an indoor configuration while using a lift 744. The dual wheel propulsion units 702a and 702b include a first dual wheel propulsion unit 702a and a second dual wheel propulsion unit 702b. The system may include one or more additional pairs of such wheel systems. The AGV 700 includes a frame 704. The first dual wheel propulsion unit 702a is coupled to a first side of the frame 704 by a first wheel strut 710a. One or more first wheel brackets 708a are pivotally coupled to the first wheel strut 710a at a first pivot point 736a. The first dual wheel propulsion unit 702a further includes a first outdoor wheel 716a, a first indoor wheel 728a, a first dual drive enclosure 740a, and a first shield 720a. The second dual wheel propulsion unit 702b is coupled to a second side of the frame 704 by a second wheel strut 710b. One or more second wheel brackets 708b are pivotally coupled to the second wheel strut 710b at a second pivot point 736b. The second dual wheel propulsion unit 702b further includes a second outdoor wheel 716b, a second indoor wheel 728b, a second dual drive enclosure 740b, and a second shield 720b.

[0133]

[0159] In the outdoor configuration, the first wheel bracket 708a and the second wheel bracket 708b are pivoted upwards so that the first outdoor wheel 716a and the second outdoor wheel 716b are engaged with the outdoor surface. To convert from the outdoor configuration to the indoor configuration, the lift 744 deploys from the bottom of the frame 704 and lifts the AGV 700 upwards and away from the outdoor / indoor surface so that the dual wheel propulsion units 702a and 702b are elevated above the outdoor / indoor surface. The first wheel bracket 708a and the second wheel bracket 708b then pivot and swing downwards until the indoor wheels face the outdoor / indoor surface and the first outdoor wheel 716a and the second outdoor wheel 716b face away from the outdoor / indoor surface. The lift 744 then lowers the AGV 700 downward so that the first indoor wheel 728a and the second indoor wheel 728b engage the indoor / outdoor surface, and the lift 744 continues to rise upward toward the bottom of the frame 704. The end position shown in Figure 7G shows the indoor wheels 728a and 728b engaging a surface, which may be an interior surface or an exterior surface, such as a porch or patio or carport surface, just outside a doorway or threshold leading into a dwelling.

[0134]

[0160] 8 shows a perspective view of an example lift 800 that may be used to lift the AGV 700 during a wheel change. The lift 800 may be a scissor jack as shown. Alternatively, the lift 800 may be a telescopic lift, a hydraulic lift, a pneumatic lift, or any other type of lift capable of lifting the AGV off an indoor / outdoor surface.

[0135]

[0161] As shown, the scissor jack 800 may include a base 808, a mounting plate 804, a first pair of pivot arms 812, and a second pair of pivot arms 814. The second pair of pivot arms 814 may be pivotally connected to the first pair of pivot arms 812. A foot 820 may be attached to the bottom of the base 808 and extend laterally from the base 808 to provide additional support for the scissor jack 800. The foot 820 may have a width that is the same as, or approximately the same as, the width of the AGV. The mounting plate 804 may be attached to the bottom of a frame of the AGV, for example, the frame 704 of the AGV 700 shown in FIGS. 7A-7G.

[0136]

[0162] When deploying the lift 800, a motor is caused to rotate a worm drive 818 that pivots a first pair of pivot arms 812 and a second pair of pivot arms 814 to extend the lift and drive the base 808 downward. The motor may rotate the worm drive 818 until the feet 820 engage the outdoor / indoor surface and the AGV is lifted away from the outdoor / indoor surface a sufficient distance to allow for a full pivoting movement at pivot points 736a and 736b, for example, as shown in Figures 7A-7G, to allow for a wheel exchange. Actuation, motor engagement, worm drive rotation, extension length, and other events, measurements, movements, and parameters of the lift may be calculated autonomously, and the autonomous system may implement sensors, for example, to determine when the lift 800 is properly extended or retracted. Rather than just sensing the extension length, clearance from the surrounding surface, whether indoor or outdoor, may be sensed. This allows the autonomous system to take into account variables such as sinking into soft ground such as mud, gravel, pebbles, grass, snow, or sand, tilt due to slopes or foreign objects on the surface, and wind conditions that may limit the calculation of a safe center of gravity.

[0137]

[0163] To retract the lift 800, the motor rotates the worm gear 818 in the opposite direction, causing the first pair of pivot arms 812 and the second pair of pivot arms 814 to pivot in opposite directions, respectively, thereby lifting the foot 820 away from the outdoor / indoor surface. The AGV may include and implement one or more lifts 800 to raise and lower the AGV. Two lifts may be used at both ends of the AGV, or four lifts may be used at the four corners of the AGV, etc.

[0138]

[0164] According to various embodiments of the present invention, FIGS. 9A and 9B show a front view of an AGV 900, and FIGS. 9C and 9D show a side view of the AGV 900. The AGV 900 includes multiple dual wheel propulsion units 902. In the embodiment shown in FIGS. 9A-9D, the AGV 900 includes three pairs of dual wheel propulsion units 902a, 902b, and 902c. The pairs may include a front pair of dual wheel propulsion units 902a, a middle pair of dual wheel propulsion units 902b, and a rear pair of dual wheel propulsion units 902c, as shown in FIGS. 9C and 9D. FIGS. 9A and 9B are front views and show only one pair of dual wheel propulsion units, mirror images of each other, generally indicated as 902 and 902. Each of the dual wheel propulsion units 902 is independently coupled to the frame 904 of the AGV 900 via a wheel strut 910. Each of the dual wheel propulsion units 902 includes a wheel bracket 908 pivotally coupled to a wheel strut 910 at a pivot point 936. Each dual wheel propulsion unit 902 further includes an outdoor wheel 916, an outdoor wheel axle 912, an indoor wheel 928, an indoor wheel axle 924, a dual drive enclosure 940, and a shield 920. The AGV 900 includes a navigation sensor 944, a receptacle 948, and a protective shroud 952 that covers the receptacle 948.

[0139]

[0165] In the outdoor configuration, the wheel brackets 908 are disposed on the outside of the respective wheel struts 910, and thus along the outside of the AGV 900. The wheel brackets 908 and the wheel struts 910 are at or about 180 degrees relative to each other, such that the wheel brackets 908 and the wheel struts 910 are folded back relative to each other. The wheel brackets 908 are disposed on the outside of the AGV 900, particularly in the outdoor configuration, allowing for a wider, more stable stance with a lower center of gravity. Such a configuration allows the AGV 900 to traverse uneven outdoor terrain with little or no risk of tipping over.

[0140]

[0166] When switched to the indoor configuration, the wheel bracket 908 pivots 180 degrees, or about 180 degrees, downward along the longitudinal axis of the AGV 900 and folds back under the AGV 900 such that the wheel bracket 908 is located inside the wheel struts 910 and inside the footprint width of the AGV 900. The wheel bracket 908 and wheel struts 910 are still at 180 degrees, or about 180 degrees, relative to one another, but extend away from one another in the indoor configuration. In such a configuration, the AGV 900 is slimmer and can fit through a 30" doorway.

[0141]

[0167] As mentioned above, in the indoor configuration, the wheel brackets 908 and wheel struts 910 extend away from one another. This configuration raises the AGV 900 upward to waist height, allowing the recipient 952 to easily retrieve the dialysis supplies 956 from the receptacle 948. The outdoor configuration includes the wheel brackets 908 and wheel struts 910 folded back against one another, so the AGV 900 is closer to the ground and has a lower center of gravity, allowing the AGV 900 to better navigate outdoor terrain. It can thus be seen that multiple benefits can be obtained from switching between the outdoor and indoor configurations.

[0142]

[0168] FIG. 10A shows a side view of an AGV 1000 according to various embodiments of the present invention. FIG. 10B and FIG. 10C show a front view of the AGV 1000. The AGV 1000 includes multiple dual wheel propulsion units 1002, such as three pairs of dual wheel propulsion units 1002a, 1002b, and 1002c. The three pairs include a front pair of dual wheel propulsion units 1002a, a middle pair of dual wheel propulsion units 1002b, and a rear pair of dual wheel propulsion units 1002c. In FIG. 10B and FIG. 10C, only one pair of dual wheel propulsion units 1002 and 1002 are shown.

[0143]

[0169] Each dual wheel propulsion unit 1002 includes a wheel bracket 1008 that is pivotally coupled to the frame 1004 of the AGV 1000 at a pivot point 1036. Each dual wheel propulsion unit 1002 further includes an outdoor wheel 1016, an outdoor wheel axle 1012, an indoor wheel 1028, an indoor wheel axle 1024, a dual drive enclosure 1040, and a shield 1020.

[0144]

[0170] The AGV 1000 transforms from the indoor configuration shown in Figure 10B to the outdoor configuration shown in Figure 10C by pivoting each dual wheel propulsion unit 1002 180 degrees or approximately 180 degrees along a respective lateral axis of the AGV 1000. Transforming from the indoor configuration to the outdoor configuration, as shown in Figures 10B and 10C, does not change the width or height of the AGV 1000.

[0145]

[0171] During delivery, the AGV 1000 may transform from an outdoor configuration to an indoor configuration by using the outdoor wheels 1016 to drive to the doorway of the residence. Once at the doorway or other threshold of the residence, the front pair of dual wheel propulsion units, e.g., the pair represented by 1002a, may be lifted, rotated, driven over the threshold into the residence, and set down. Subsequently, the middle pair of dual wheel propulsion units 1002b may be lifted, rotated, driven over the threshold into the residence, and set down. Finally, the rear pair of dual wheel propulsion units 1002c may be lifted, rotated, driven over the threshold into the residence, and set down.

[0146]

[0172] To switch from the indoor to the outdoor configuration, the above steps can be reversed. The AGV 900 may travel in the opposite direction and exit the dwelling and the wheel units may be rotated in the opposite direction, or the AGV 900 may turn around inside the dwelling and the same sequence of wheel unit rotation may be used, but with the outdoor wheels placed down outside the threshold of the dwelling. This configuration limits the outdoor wheels 1016 to only contact outdoor surfaces and the indoor wheels 1028 to only contact indoor surfaces.

[0147]

[0173] 11 shows a side view of an AGV 1100 according to various embodiments of the present invention. The AGV 1100 includes two pairs of dual wheel propulsion units, including a front pair of dual wheel propulsion units 1102a and a rear pair of dual wheel propulsion units 1102b. Each of the dual wheel propulsion units 1102a and 1102b includes a wheel bracket 1108 that is pivotally coupled to a frame 1104 of the AGV 1100. Each dual wheel propulsion unit 1102a and 1102b further includes an outdoor wheel 1116, an indoor wheel 1128, and a shield 1120.

[0148]

[0174] The AGV 1100 is configured to balance on the rear pair of dual wheel propulsion units 1102b while the front pair of dual wheel propulsion units 1102a is elevated above the outdoor / indoor surface. The AGV 1100 is also configured to balance on the front pair of dual wheel propulsion units 1102a while the rear pair of dual wheel propulsion units 1102b is elevated above the outdoor / indoor surface. Thus, the AGV 1100 can traverse curbs, steps, and stairs. For example, the AGV 1100 can lift the front pair of dual wheel propulsion units 1102a onto a step, and then lift the rear pair of dual wheel propulsion units 1102b onto the same or the next successive step. Similarly, the AGV 1100 can lower the front pair of dual wheel propulsion units 1102a onto a step, and then lower the rear pair of dual wheel propulsion units 1102b onto the same or the next successive step.

[0149]

[0175] The AGV 1100 may approach the threshold, lift the front pair of dual wheel propulsion units 1102a, and rotate the front pair of dual wheel propulsion units along a horizontal axis so that the outdoor wheels 1116 face upward and the indoor wheels 1128 face downward. The AGV 1100 is then configured to drive forward partially into the dwelling using the rear pair of dual wheel propulsion units 1102b, and then lower the front pair of dual wheel propulsion units 1102a onto the indoor surface. The AGV 1100 then lifts the rear pair of dual wheel propulsion units 1102b away from the outdoor surface and rotates the rear pair of dual wheel propulsion units 1102b along a horizontal axis so that the outdoor wheels 1116 face upward and the indoor wheels 1128 face downward. The AGV 1110 may then drive forward using the front pair of dual wheel propulsion units 1102a until the AGV 1110 is completely inside the dwelling, at which point the rear pair of dual wheel propulsion units 1102b may be lowered onto the indoor surface. To go from the indoor to the outdoor configuration, the above steps may be reversed, or the AGV 1100 may be turned around and the same steps repeated, but with the outdoor wheels in contact with the outdoor surface. This configurability allows the outdoor wheels 1116 to be restricted to contacting only outdoor surfaces, and the indoor wheels 1128 to be restricted to contacting only indoor surfaces.

[0150]

[0176] Yet another embodiment of the invention is shown in Figures 12A and 12B, where an indoor robot 1210 is completely separate from and not constructed with an outdoor robot 1202. The indoor robot 1210 has a number of wheels 1214, including four wheels 1214 in the illustrated example. One or more of the wheels 1214 may be provided with brakes. The indoor robot 1210 may be transported in a piggyback manner by the outdoor robot 1202. The outdoor robot 1202 is provided with a number of wheels 1204, including four wheels 1204 in the illustrated example. One or more of the wheels 1204 may be provided with brakes. The outdoor robot 1202 has a top surface 1203, and the four wheels 1214 of the indoor robot 1210 rest, for example, in grooves, divots, dimples, notches, or other receptacles formed in the top surface 1203. The receiver may be configured to receive, lock, or receive and lock one or more of the wheels 1214 onto the top surface 1203. The outdoor robot 1202 includes a gate 1206 having a gate surface 1207. The indoor robot 1210 has a front surface 1205. The front surface 1205 may rest against the gate surface 1207 while the indoor robot 1210 is resting on the outdoor robot 1202, including, for example, during transport.

[0151]

[0177] As shown in FIG. 12B, upon reaching the threshold of the house or other building, the outdoor robot 1202 may come to a stop adjacent, e.g., abutting, a step 1220. Similarly, the outdoor robot 1202 may come to a stop adjacent a curb, threshold, or wall, etc. Once at a stop, the gate 1206 may open to allow the indoor robot 1210 to abandon or leave the outdoor robot 1202 and roll or move directly into an indoor area, e.g., over the threshold 1224 and into the house. The indoor robot 1210 may move directly from the outdoor robot 1202 into the house or other residence or building without the indoor wheels 1214 of the indoor robot 1210 ever having to touch the outdoor surface. The indoor wheels 1214 traverse the top surface 1203 of the outdoor robot 1202 and traverse the indoor surface beginning at the top surface of the threshold 1224. As shown, the gate 1206 may form a ramp that the wheels 1214 may traverse while exiting the outdoor robot 1202, entering a building, exiting a building, loading onto the outdoor robot 1202, or combinations thereof. A drive train may be provided to raise and lower the gate and may include, for example, sensors, motion sensors, proximity sensors, thermal sensors, combinations thereof, etc., as described herein. The drive train may be configured to provide emergency back drive, for example, to prevent or eliminate undesired gate contact.

[0152]

[0178] The entire contents of all references cited in this disclosure are incorporated herein by reference in their entirety.Furthermore, when an amount, concentration, or other value or parameter is given as either a range, a preferred range, or a list of a preferred upper value and a preferred lower value, this should be understood as specifically disclosing all ranges formed from any pair of any upper range or preferred value and any lower range or preferred value, regardless of whether such ranges are disclosed separately.When a range of numerical values ​​is described herein, unless otherwise stated, the range is intended to include its end points, and all integers and fractions within the range.It is not intended that the scope of the present invention be limited to the specific values ​​described when defining the range.

[0153]

[0179] All patents, patent applications, and published applications mentioned herein are hereby incorporated by reference in their entirety unless otherwise indicated.

[0154]

[0180] Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims and equivalents thereof.

Claims

1. A delivery robot, a drive train configured to move the delivery robot and to transform the delivery robot into an outdoor configuration and an indoor configuration; a control unit configured to control the drivetrain based at least on the received signal; a sensor system configured to sense an object and send a signal to the control unit; a supply holder configured to hold a supply and connected to the drive train for movement with movement of the drive train; an outdoor powered traction device for traversing an outdoor surface; an indoor powered traction device for traversing an indoor surface; Equipped with the drive train is configured to be controlled by the control unit to (1) maintain the indoor powered towing device in a raised position while the outdoor powered towing device traverses an outdoor surface in the outdoor configuration, (2) transform the delivery robot from the outdoor configuration to the indoor configuration, and (3) maintain the outdoor powered towing device in the raised position while the indoor powered towing device traverses an indoor surface in the indoor configuration.

2. 10. The delivery robot of claim 1, further comprising a lift configured to lift the delivery robot to a raised position such that both the outdoor powered towing device and the indoor powered towing device are lifted away from an outdoor surface, an indoor surface, or an outdoor surface and an indoor surface, and the delivery robot is configured to transition between the outdoor configuration and the indoor configuration while in the raised position.

3. An autonomous delivery robot, a drive train for moving and transforming the autonomous delivery robot; a control unit configured to autonomously control the drivetrain based at least on the received signal; a sensor system configured to sense an object and send a signal to the control unit; a supply holder configured to hold a supply and connected to the drive train for movement with movement of the drive train; an outdoor powered traction device for traversing an outdoor surface; an indoor powered traction device for traversing an indoor surface; Equipped with an indoor powered towing device that is adapted to be controlled by the control unit to: (1) maintain the indoor powered towing device in a lifted position while the outdoor powered towing device traverses an outdoor surface; (2) lower the indoor powered towing device into the house at a threshold while the outdoor powered towing device remains in contact with an outdoor surface outside of the threshold; and (3) lift the outdoor powered towing device once the indoor powered towing device contacts an interior surface inside the house such that the outdoor powered towing device does not contact the interior surface.

4. 4. The autonomous delivery robot of claim 3, further comprising an outdoor powered towing device shield, wherein the control unit is configured to control the drive train to move the outdoor powered towing device shield to a position shielding the outdoor powered towing device after the outdoor powered towing device is lifted at a threshold of a house and before the autonomous delivery robot moves through the threshold and into the house.

5. 5. The autonomous delivery robot of claim 4, further comprising an indoor powered towing device shield, wherein the control unit is configured to control the drive train to move the indoor powered towing device shield to a position shielding the indoor powered towing device before the indoor powered towing device is lowered into a house at a threshold to the house.

6. 4. The autonomous delivery robot of claim 3, further comprising an indoor powered towing device shield, wherein the control unit is configured to (1) control the drive train to move the indoor powered towing device shield to a position to shield the indoor powered towing device before the indoor powered towing device is lowered into the house at a threshold to the house, and (2) unshield the indoor powered towing device at the threshold so that the indoor powered towing device can be lowered into contact with an interior surface inside the house.

7. The autonomous delivery robot according to claim 3 ; a remote network computer configured to send information, instructions, or both to the autonomous delivery robot; Equipped with The home dialysis supply delivery network, wherein the autonomous delivery robot is configured to autonomously respond to information, commands, or both received from the remote network computer.

8. The autonomous delivery robot according to claim 3 ; a warehouse having a home dialysis supply storage unit, a lift, and a programming computer, said programming computer having a computer interface; A robot transport vehicle; Equipped with the control unit of the autonomous delivery robot comprises a memory; the autonomous delivery robot comprising a robot interface configured to interface with the computer interface to receive a program of instructions from the programming computer; the control unit is configured to store in the memory a program of instructions received via the robot interface; the lift is configured to lift the autonomous delivery robot into the robot transport vehicle while the autonomous delivery robot is holding a load of prescribed home dialysis supplies.

9. loading the prescribed home dialysis supplies onto a first autonomous delivery robot to form a first loaded autonomous delivery robot; loading the prescribed home dialysis supplies onto a second autonomous delivery robot to form a second loaded autonomous delivery robot; loading the first and second loaded autonomous delivery robots onto a robot transport vehicle; unloading the first loaded autonomous delivery robot from the robot transport vehicle at a first location; depositing the first loaded autonomous delivery robot at the first location while moving the robotic transport vehicle to a second location; unloading the second loaded autonomous delivery robot from the robot transport vehicle at the second location; autonomously delivering the prescribed home dialysis supplies from the first loaded autonomous delivery robot to a first home; unloading the first loaded autonomous delivery robot at the first home to form a first unloaded autonomous delivery robot; returning the robot transport vehicle from the second location to the first location; loading the first unloaded autonomous delivery robot onto the robot transport vehicle at the first location; autonomously delivering the prescribed home dialysis supplies from the second loaded autonomous delivery robot to a second home; unloading the second loaded autonomous delivery robot at the second home to form a second unloaded autonomous delivery robot; returning the robotic transport vehicle from the first location to the second location; loading the second unloaded autonomous delivery robot onto the robot transport vehicle at the second location; A home dialysis supply delivery method comprising:

10. transporting the robotic transport vehicle to a warehouse having a stockpile of home dialysis supplies; unloading the first unloaded autonomous delivery robot and the second unloaded autonomous delivery robot from the robot transport vehicle at the warehouse; reloading each of the first autonomous delivery robot and the second autonomous delivery robot with prescribed home dialysis supplies at the warehouse; 10. The home dialysis supply delivery method of claim 9, further comprising:

11. 1. A system for delivering an item, comprising: one or more autonomous ground vehicles (AGVs), including a first AGV, the first AGV comprising an outdoor powered towing device, an indoor powered towing device, a receptacle configured to retain one or more items therein, and one or more motors configured to drive the outdoor powered towing device and the indoor powered towing device and to transform the AGV between an outdoor configuration and an indoor configuration; a computing system associated with the first AGV, the computing system comprising a processor and a memory; the memory storing computer readable instructions that, when executed by the processor, (1) driving the first AGV in the outdoor configuration to an entrance of a residence associated with delivery of one or more items parked in the receptacle, wherein in the outdoor configuration, the outdoor powered towing device is deployed from the first AGV such that the outdoor powered towing device engages an outdoor surface and the indoor powered towing device is retracted such that the indoor powered towing device is elevated above the outdoor surface; (2) converting from the outdoor configuration to the indoor configuration at an entrance to the dwelling, wherein in the indoor configuration, the indoor powered towing device is deployed from the first AGV such that the indoor powered towing device is engaged with a dwelling surface and the outdoor powered towing device is retracted such that the outdoor powered towing device is elevated above the dwelling surface; (3) driving the first AGV in the indoor configuration on the dwelling surface inside the dwelling to an indoor drop-off location; and configuring the computing system to instruct the first AGV to:

12. 12. The system of claim 11, further comprising a delivery vehicle, wherein the computer readable instructions, when executed by the processor, configure the computing system to instruct the first AGV to travel from the delivery vehicle to the entrance of the residence.

13. 13. The system of claim 12, wherein the first AGV has a rechargeable power module, the delivery vehicle comprises a docking station, the docking station comprises a charger, and the charger is configured to charge the power module.

14. 12. The system of claim 11, wherein the residence has an access barrier, the access barrier has a lock, the first AGV is equipped with an identification tag, the residence is equipped with a reader configured to read the identification tag, and the lock is configured such that when the identification tag is read by the reader, the lock is unlocked and the access barrier opens.

15. The system of claim 11 , wherein the outdoor powered traction device and the indoor powered traction device are pivotally coupled to a frame.

16. 16. The system of claim 15, wherein when the first AGV transforms from the outdoor configuration to the indoor configuration, the one or more motors pivot the indoor powered towing device from an elevated position to a horizontal position through the entrance so that the indoor powered towing device engages the dwelling surface inside the dwelling, and the one or more motors pivot the outdoor powered towing device from a horizontal position to an elevated position so that the outdoor powered towing device is lifted and clear of the outdoor surface outside the entrance before the first AGV fully enters the dwelling.

17. 12. The system of claim 11, wherein the first AGV further comprises at least one shield configured to cover the indoor powered towing device in the outdoor configuration and configured to cover the outdoor powered towing device in the indoor configuration.

18. 20. The system of claim 17, wherein the at least one shield comprises a first shield configured to cover the indoor powered towing device in the outdoor configuration and a second shield configured to cover the outdoor powered towing device in the indoor configuration.

19. 1. A method of delivering an item, comprising: loading one or more autonomous ground vehicles (AGVs) onto a delivery vehicle, the first AGV comprising a receptacle, a powered traction device, a motor, a computing system having a processor and memory for controlling the motor and the powered traction device to travel autonomously, one or more sensors in communication with the computing system, and a navigation system in communication with the computing system; loading one or more items for delivery into the receptacle of the first AGV; driving the delivery vehicle to an AGV drop-off location; deploying the first AGV from the delivery vehicle; Equipped with the computing system commands the first AGV to travel along a delivery route from the AGV drop-off location to an entrance of the residence based on coordinates communicated to the computing system; The method, wherein the coordinates are determined by the computing system using the plurality of sensors, the navigation system, or a combination thereof.

20. 20. The method of claim 19, wherein the first AGV comprises an identification tag, and the residence comprises a reader configured to read the identification tag, and the reader reads the identification tag and sends a signal, the signal unlocking the entrance, opening the entrance, or both.