Method, Apparatus and System for Unattended Package Delivery

Abstract

A deployment mechanism and shipping container that enables unmanned delivery of cargo by a vehicle that navigates autonomously on both vehicle lanes and pedestrian walkways. A trailer for an autonomous vehicle for carrying additional cargo and a power source. A method for delivering and picking up goods using a delivery truck, an autonomous vehicle, and a trailer. The deployment mechanism can include a crane, a robotic arm, a forklift, straps, and a sail. The shipping container can include visible, partially visible, or concealed security and gripping features and can be foldable and stackable. The trailer includes a four-bar linkage that can enable consistent pitch between the trailer cargo and the cargo hold of the towing vehicle. The trailer wheels are decoupled from the four-bar linkage and connected by a swing arm and possible shock absorbers.

Description

[Background technology]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims the benefit of U.S. Provisional Application No. 63 / 202,295 (Attorney Docket No. AA589), filed on June 30, 2021, and entitled "SYSTEM AND METHOD FOR UNATTENDED PACKAGE DELIVERY," and U.S. Provisional Application No. 63 / 203,180 (Attorney Docket No. AA618), filed on July 12, 2021, and entitled "TRAILER FOR AUTONOMOUS DELIVERY," which are incorporated herein by reference in their entireties.

[0002] The present teachings generally relate to unmanned package delivery using autonomous vehicles, trailers, and trucks. The package delivery industry has boomed in recent years, especially during the COVID pandemic. Along with the increase in doorstep package delivery, the crime of package theft has also grown. As people emerge from the pandemic and leave their homes again to participate in commerce, theft crime is expected to return to its post-pandemic damage rate, which will result in a net increase in package theft over pre-pandemic levels, as the ease of package delivery is expected to fuel its continued expansion.

[0003] Commonly used are autonomous delivery vehicles that travel on either public roads or sidewalks, but not both. Autonomous delivery vehicles require either attended delivery or delivery to a secure location. In either case, the recipient provides a code or some other means to verify that the package is intended for the recipient. Current autonomous delivery devices cannot perform unattended delivery unless the recipient invests in a secure delivery location, such as a containment vessel or box. However, unattended delivery is the predominant delivery mode today.

[0004] Unmanned autonomous deliveries, whether attended or unattended, may require the same types of handling that would be performed by a deliverer, such as attending to the safety of the contents when depositing the cargo, attending to the security of the cargo until the recipient retrieves it, and ensuring that the recipient and cargo are properly paired. Unmanned deliveries may require that the package be protected from the elements, whether rain, snow, heat, cold, or sun, among other conditions.

[0005] In an exemplary configuration, an autonomous vehicle picks up packages from a package delivery company or a customer of the package delivery company and autonomously delivers the packages to a desired destination under supervision. In an aspect, the autonomous vehicle is docked to a base station where the autonomous vehicle is stationary when not in use. At the docking station, power is recharged and / or replaced. In an aspect, a remote operator or a user or customer of the company types a request to deliver a package to a desired location along a pre-mapped route. In an aspect, a fleet management system receives the request and assigns an autonomous vehicle, and possibly a delivery truck, to perform the delivery. In an aspect, the fleet management system calculates a route from the base station to a pick-up point and then onto a drop-off location. In an aspect, the route is reviewed and approved by an operator. In an aspect, the fleet management system generates a navigation package containing a valid route containing pick-up and drop-off locations for the package, drivable surfaces, curbs, intersections, and traffic signals, and identification information for the delivery that the package can use to self-identify. In one aspect, the fleet management system provides a navigation package to the autonomous vehicle while the autonomous vehicle is at the base station, and possibly at the docking station. If the same route is to be repeatedly executed, the navigation package is preloaded on the autonomous vehicle.

[0006] In one aspect, the remote operator ensures that the remote control for the autonomous vehicle is active and working properly. The operator can enable autonomous driving for the autonomous vehicle. The autonomous vehicle leaves its base station and proceeds to a pickup point. This can include driving on sidewalk traffic or on road traffic. The autonomous vehicle stops at the pickup point, disables autonomous driving, and requests a pickup on the screen from the parcel recipient. When the parcel recipient shows the autonomous vehicle the correct identification information or sends the appropriate command using a handheld device / laptop / tablet / desktop computer, the cargo box door opens. When the appropriate identification information is provided to the autonomous vehicle or the autonomous vehicle receives the appropriate command from a computing device, the autonomous vehicle closes the cargo box door. The autonomous vehicle sends a signal to the remote control operator and waits until the operator enables autonomous driving.

[0007] The autonomous vehicle can proceed on sidewalks and roads to an unloading location, potentially autonomously or under the supervision of a remote control operator. The autonomous vehicle continuously monitors the link to the remote control operator and can optionally bring the autonomous vehicle to a halt if the link is broken. While navigating road traffic, the autonomous vehicle navigates around vehicles parked on the side of the road and avoids road obstacles such as pedestrians and other vehicles. On sidewalks, the autonomous vehicle is expected to interact with pedestrians, animals, and other sidewalk obstacles. If the autonomous vehicle is expected to cross a traffic intersection, it can come to a complete stop and alert the remote control operator, or navigate autonomously through the intersection. If the intersection is to be navigated remotely, the remote control operator verifies that sufficient cellular signal is present and that the remote operator can drive the autonomous vehicle across the intersection in a complex intersection without expecting that the cellular signal will be broken.

[0008] Upon arrival at the unloading location, the autonomous vehicle stops, displays the appropriate screen, and waits until the recipient presents the correct identification information on the device or sends the appropriate command using a computing device. Once the correct identification information is presented, the autonomous vehicle opens the appropriate door and waits until the recipient removes the package. Once the recipient signals that the package has been removed by presenting the identification information or by sending a command using a computing device, the cargo box door closes and the autonomous vehicle alerts the remote control operator. The remote control operator activates a return route for the autonomous vehicle, and the autonomous vehicle returns to the base or docking station in a manner similar to that described above.

[0009] Autonomous vehicles rely on redundant sensors that enable a wide-range view of the environment across a variety of lighting and weather conditions. Autonomous driving systems use complex software to detect and classify other road users and static obstacles, and rely on sophisticated control systems to safely and carefully plan a route through them to efficiently reach a desired destination.

[0010] The autonomous driving system for an autonomous vehicle relies on redundant processing of sensor information to ensure safe operation of the device. All sensor information is processed in a perception system through both machine learning algorithms and traditional image and point cloud processing algorithms. This information is combined before being used by a path planning system. The path planning system for roads includes a free space planner that does not produce collision paths. A parallel emergency stop detection algorithm uses close-range sensors to detect possible collisions and stops the device.

[0011] The system of the present teachings for an autonomous delivery vehicle can include a vehicle having a preselected length, width, and height, such as, but not limited to, 40 inches by 28 inches by 62 inches, with a preselected maximum payload, such as, but not limited to, 100 pounds. The vehicle can travel without recharging its battery for a preselected amount of time, such as, but not limited to, 12 hours, and its battery can be recharged from empty in a preselected amount of time, such as, but not limited to, 1.5 hours. To enable delivery to a destination that requires travel across pedestrian and vehicular paths, the vehicle can navigate discontinuous surfaces of preselected heights and slopes / gradients of preselected angles, avoid obstacles, and change direction based on obstacles in real time. The preselected height of the discontinuous surface can include, but is not limited to, 6 inches. The preselected angle can include, but is not limited to, a 20° vertical straight and a 12° turn. The vehicle can turn within a footprint of the vehicle, for example, but not limited to, a radius of 24 inches. The vehicle can include various sensors, for example, but not limited to, radar, LIDAR, ultrasonic sensors, and cameras.

[0012] What is needed is a system and method that can provide unmanned, secure, autonomous delivery in light of the foregoing circumstances. What is further needed is a method for adding storage capabilities to autonomous vehicles. Summary of the Invention [Means for solving the problem]

[0013] One or more computer systems can be configured to perform a particular operation or action by having software, firmware, hardware, or a combination thereof installed on the system that, when operated, causes the system to perform an action. One or more computer programs can be configured to perform a particular operation or action by including instructions that, when executed by a data processing device, cause the device to perform an action. One general aspect includes a method for autonomous unmanned package delivery. The method also includes receiving a package into a cargo area of ​​an autonomous vehicle (AV), the cargo area including a secure container, receiving a desired destination for the package, autonomously commanding the AV to navigate to the desired destination, and autonomously deploying the secure container containing the package from the AV at the desired destination, the desired destination being unmanned. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the method.

[0014] Implementations may include one or more of the following features. In the method, autonomously receiving the load may include adjusting security settings on the secure container to achieve consistency between the desired destination and the secure container. Autonomously deploying the load may include opening the cargo area, autonomously moving the secure container out of the cargo area using a deployment device, commanding the deployment device to move the secure container to a surface outside the AV, continuously determining a position of the secure container, disengaging the secure container from the deployment device when the secure container reaches the surface, retracting the deployment device into the cargo area, and closing the cargo area. The deployment device may include a crane. The deployment device may include a forklift. The deployment device may include a robotic arm. The deployment device may include a rotating linkage. The deployment device may include an extendable ramp. The deployment device may include a plurality of cables deployed from a telescoping arm. The deployment device may include a plurality of rollers operably coupled to the sail. The cargo area may comprise an at least partially covered area of ​​the AV. The secure container may include at least one secure entry device, at least one location sensing device, at least one camera, at least one alarm system, and at least one device coupling the deployment device with the secure container. The at least one secure entry device may include a keypad. The at least one location sensing device may include a GPS. The at least one camera may include a 360° imaging camera. The at least one alarm system may include an audio tamper alert device. Autonomously navigating the AV to the desired destination may include determining a route between a location of the AV and the desired destination, continuously determining a free space for navigation of the AV proximate to the route, and commanding the AV to traverse the free space.Determining the route may include reading package identification information associated with the package, the package identification information including the desired destination. The method may include autonomously picking up a second package at the desired destination, determining a second desired destination from the identification information on the second package, and navigating to the second desired destination. Implementations of the described techniques may include hardware, methods or processes on a computer-accessible medium, or computer software.

[0015] One general aspect includes a system for autonomous unmanned package delivery. The system also includes an autonomous vehicle (AV) having a cargo area, a receiver on the AV configured to receive a desired destination for the package, a deployment device associated with the cargo area, the deployment device configured to deploy the package at the desired destination, a plurality of sensors configured to receive sensor information about an environment surrounding the AV, and a controller configured to determine a route between a location of the AV and the desired destination, continuously determine a free navigation space along the route based on the at least one sensor information, autonomously generate commands to navigate the AV to the desired destination within the free navigation space, autonomously generate commands to deploy the package, autonomously restore the deployment device, and autonomously provide a notification when the package has completed deployment. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the method.

[0016] One general aspect includes a trailer for autonomous package delivery. The trailer also includes a mast configured to carry a cargo box, a hitch cross configured to connect the trailer to a towing vehicle, a frame structure configured to operably couple with the mast at a first end, the frame structure configured to operably couple with the hitch cross at a second end, and a tie rod configured to operably couple with the mast at a third end, the tie rod configured to operably couple with the hitch cross at a fourth end. The trailer also includes the mast, hitch cross, frame structure, and tie rod configured to form rigid elements of a four-bar linkage, the four-bar linkage maintaining a consistent pitch between the cargo box and a cargo hold of the towing vehicle. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the method.

[0017] Implementations may include one or more of the following features: The trailer may include at least two wheels decoupled from the four-bar linkage, the at least two wheels receiving the load at the trailer. The trailer may include a swing arm configured to operatively couple with the wheels, the swing arm receiving the load at the trailer. The trailer may include a shock absorber configured to operatively couple with the wheels, the wheels receiving the load at the trailer. The trailer may include a spring surrounding the tie rod, the spring damping the fore-and-aft movement of the frame structure. The trailer may include a steering damper operatively coupled to the frame structure. Implementations of the described techniques may include hardware, a method or process on a computer-accessible medium, or computer software.

[0018] One general aspect includes a delivery arm assembly for autonomously moving cargo from a cargo area. The delivery arm assembly also includes a motor. The assembly also includes a sector gear driven by the motor. The assembly also includes at least one delivery arm operatively coupled to the sector gear. The assembly also includes a gear train coupled to the sector gear, the gear train configured to transfer power from the motor to the at least one delivery arm. The assembly also includes the motor, the sector gear, the at least one delivery arm, and the gear train configured to occupy the cargo area. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the method.

[0019] The implementation may include one or more of the following features: In the delivery arm assembly, the cargo area may include a cavity in the autonomous vehicle. The at least one delivery arm may include a base plate and at least one extension tube configured to extend the length of the base plate. The at least one delivery arm may include a latch configured to operably couple with a cargo box delivery device. The cargo box delivery device may include a pin. In the delivery arm assembly, a geared cross shaft may be included that is configured to rotate when the motor is activated, operably coupling a first one of the at least one delivery arm to a second one of the at least one delivery arm. In the delivery arm assembly, at least one rotation limiting device may be included that is configured to limit the rotation of the sector gear. The at least one rotation limiting device may include at least one standoff. In the delivery arm assembly, at least one switch may be included. Implementations of the described techniques may include hardware, methods or processes on a computer-accessible medium, or computer software.

[0020] One general aspect includes a delivery arm assembly for autonomously moving cargo from a cargo area. The delivery arm assembly also includes a motor, a drive gear configured to be rotated by the motor, at least one delivery arm, and a spur gear configured to be driven by the drive gear, the spur gear configured to drive the at least one delivery arm. The assembly also includes the motor, the drive gear, the at least one delivery arm, and the spur gear configured to occupy the cargo area. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the method.

[0021] Implementations may include one or more of the following features: In the delivery arm assembly, the at least one delivery arm may include at least one extension tube configured to move when the spur gear rotates, and at least one roller guide plate including at least one cam channel, the at least one delivery arm slidingly coupled to the at least one extension tube, the at least one delivery arm including a cam follower, the cam follower progressing within the at least one cam channel as the at least one extension tube moves. In the delivery arm assembly, the at least one delivery arm may include a geared cross shaft configured to rotate when the motor is activated, operably coupling a first one of the at least one delivery arms to a second one of the at least one delivery arms. Implementations of the described techniques may include hardware, methods or processes on a computer-accessible medium, or computer software.

[0022] One general aspect includes a secure cargo container. The secure cargo container also includes at least one secure entry device, at least one location sensing device, at least one camera, at least one alarm system, and at least one device coupling a deployment device to the secure cargo container. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the method.

[0023] Implementations may include one or more of the following features: In the secure cargo container, the at least one secure entry device may include a keypad. The at least one location sensing device may include a GPS. The at least one camera may include a 360° imaging camera. The at least one alarm system may include an audio tamper alert device. In the secure cargo container, the at least one connection point may be configured to receive a deployment device. In the secure cargo container, the at least one shock absorbing device may be configured to cushion movement of contents of the secure cargo container. In the secure cargo container, the at least one fold line may be configured to enable crushability of the secure cargo container. In the secure cargo container, the at least one hinge may be configured to enable crushability of the secure cargo container. Implementations of the described techniques may include hardware, methods or processes on a computer-accessible medium, or computer software.

[0024] One general aspect includes a cargo container. The cargo container also includes an outer shell having an exterior wall and at least one end wall, the exterior wall having a first end and a second end, a top panel mounted between a first one of the at least one end walls and the first end, a tote tray mounted between a second one of the at least one end walls and the second end, an interior wall operatively coupled to the tote tray, and a plurality of side panels mounted between the exterior wall and the interior wall, the plurality of side panels configured to enable crushability of the cargo container. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the method.

[0025] Implementations may include one or more of the following features: The cargo container may include a tote device configured to operably couple with the lifting device. The tote device may include a pin. The cargo container may include at least one camera. The cargo container may include at least one alarm system. The cargo container may include at least one handle. Implementations of the described techniques may include hardware, methods or processes on a computer-accessible medium, or computer software.

[0026] One general aspect includes a container lowering apparatus, the container also including a plurality of panels, at least one actuator, at least two link arms configured at an angle relative to one another, the at least two link arms configured to move under control of the at least one actuator, and at least two corners operatively coupled to the at least two link arms, the at least two corners traveling in opposite directions from one another when at least one of the at least two link arms moves and traveling along an edge of at least one of the plurality of panels, the at least two corners releasing the container when the angle increases beyond a threshold. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the method.

[0027] Implementations may include one or more of the following features: The container lowering system may include at least one lifting device. The lifting device may include at least one pin. The plurality of panels may include a first panel, a second panel configured to be larger than the first panel, and a plurality of third panels operatively coupling the first panel with the second panel, the plurality of third panels providing at least one cavity for the at least one lifting device. The first panel may include at least one cavity configured to allow passage of one of the at least two corners. The second panel may include at least one cavity configured to allow passage of one of the at least two corners. Implementations of the described techniques may include hardware, methods or processes on a computer-accessible medium, or computer software.

[0028] One general aspect includes: the delivery system also includes at least one over-the-road vehicle controller associated with the at least one over-the-road vehicle, and at least one autonomous vehicle controller associated with the at least one autonomous vehicle, the at least one autonomous vehicle controller configured to communicate with the at least one over-the-road device controller and execute instructions including issuing a call to the at least one over-the-road vehicle controller, issuing at least one command to the at least one autonomous vehicle, the at least one command configured to receive a delivery from the at least one over-the-road vehicle into the at least one autonomous vehicle, issuing at least one movement command to the at least one autonomous vehicle, the at least one movement command to navigate the at least one autonomous vehicle to a delivery location, and issuing at least one command to the at least one autonomous vehicle, the at least one command configured to enable a delivery at the delivery location. Other embodiments of the present aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, respectively, configured to perform the actions of the present methods.

[0029] Implementations may include one or more of the following features: The delivery system may include at least one trailer configured to operably couple with the autonomous vehicle. The at least one trailer may include at least one power supply. The at least one power supply may include a replacement power supply for the autonomous vehicle power supply. The at least one power supply may include at least one battery. At least one trailer may include a mast configured to carry a cargo box, a hitch cross configured to connect the trailer to the towing vehicle, a frame structure configured to operably couple with the mast at a first end, the frame structure configured to operably couple with the hitch cross at a second end, and a tie rod configured to operably couple with the mast at a third end, the tie rod configured to operably couple with the hitch cross at a fourth end, the mast, the hitch cross, the frame structure, and the tie rod configured to form rigid elements of a four-bar linkage, the four-bar linkage maintaining a consistent pitch between the cargo box and the cargo hold of the towing vehicle. At least one trailer may include at least two wheels decoupled from the four-bar linkage, the at least two wheels receiving the load on the trailer. At least one trailer may include a swing arm configured to operably couple with the wheels, the wheels receiving the load on the trailer. The at least one trailer may include a shock absorber configured to operatively couple to the wheels, the wheels receiving a load on the trailer. The at least one trailer may include a spring surrounding the tie rod, the spring damping fore and aft motion of the frame structure. The at least one trailer may include a steering damper operatively coupled to the frame structure. The delivery system may include at least one scheduler communicatively coupled to the at least one autonomous vehicle, the at least one scheduler communicating a delivery schedule to the at least one autonomous vehicle controller.The delivery system may include at least one scheduler communicatively coupled to at least one over-the-road vehicle, the at least one scheduler communicating a delivery schedule to at least one over-the-road vehicle controller. Implementations of the described techniques may include hardware, methods or processes on a computer-accessible medium, or computer software.

[0030] One general aspect includes a method for autonomously managing delivery of goods. The method also includes determining, by the autonomous vehicle, a problem with the autonomous vehicle. The method also includes, if the problem is an obstacle to the autonomous vehicle, requesting assistance from a delivery truck, by the autonomous vehicle, the delivery truck configured to transport the autonomous vehicle. The method also includes, if the problem is a transportation need of the autonomous vehicle to make at least one delivery, requesting, by the autonomous vehicle, a delivery truck that meets a first preselected delivery criterion. The method also includes, if the problem is that the autonomous vehicle needs more goods to deliver, requesting, by the autonomous vehicle, a delivery truck that contains goods that meet a second preselected delivery criterion. Other embodiments of this aspect include corresponding computer systems, apparatuses, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the method.

[0031] Implementations may include one or more of the following features. In the method, the first preselected delivery criteria may include proximity of the delivery truck to the autonomous vehicle and proximity of the delivery truck to at least one delivery destination of the goods. The second preselected delivery criteria may include substantial proximity of the delivery truck to at least one delivery destination of the goods. In the method, the method may include calling the delivery truck based on a state table, the state table configured to instruct the autonomous vehicle to call the delivery truck under preselected conditions. In the method, the method may include dynamically updating the state table. The state table may include a set of preselected conditions. In the method, the method may include receiving a modification of the state table from a user or a remote operator. In the method, the method may include instructing, by the autonomous vehicle, the delivery truck to open at least one door to a cargo area in the delivery truck, instructing, by the autonomous vehicle, a lifting device in the delivery truck to position the autonomous vehicle, and commanding, by the autonomous vehicle, the lifting device to lift the autonomous vehicle into the delivery truck. The method may include electronically labeling the item with at least one characteristic of the item. The method may include scanning, by the autonomous vehicle, the at least one characteristic and determining a route to at least one delivery destination based on the at least one characteristic. The method may include autonomously moving the item from the autonomous vehicle to the delivery truck using a delivery arm in the autonomous vehicle. The method may include positioning a loading device in the delivery truck and delivering the item to the autonomous vehicle. The method may include opening, by the autonomous vehicle, an autonomous vehicle door of the autonomous vehicle and opening it to a truck door of the delivery truck. The method may include moving, by the autonomous vehicle, the item from the delivery truck to the autonomous vehicle. The method may include moving, by the autonomous vehicle, the item from an autonomous vehicle trailer to the delivery truck. The method may include moving, by the delivery truck, the item from an autonomous device trailer to the delivery truck.The method may include navigating the autonomous vehicle to at least one delivery destination. Implementations of the described techniques may include hardware, a method or process on a computer-accessible medium, or computer software.

[0032] One general aspect includes a method for autonomously managing a pickup of goods. The method also includes determining, by the autonomous vehicle, a problem with the autonomous vehicle. The method also includes, if the problem is an obstacle to the autonomous vehicle, requesting assistance from a truck, by the autonomous vehicle, the truck configured to transport the autonomous vehicle. The method also includes, if the problem is a transportation need of the autonomous vehicle to perform at least one pickup, requesting, by the autonomous vehicle, a truck that meets a first preselected pickup criterion. The method also includes, if the problem is that the autonomous vehicle needs more space to hold the picked goods, requesting, by the autonomous vehicle, a truck that meets a second preselected pickup criterion. Other embodiments of this aspect include corresponding computer systems, apparatuses, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the method.

[0033] Implementations may include one or more of the following features. In the method, the first preselected pick-up criteria may include substantial proximity of the truck to the autonomous vehicle and substantial proximity of the truck to at least one pick-up destination. The second preselected pick-up criteria may include substantial proximity of the truck to at least one pick-up destination. The method may include calling the truck based on a state table, the state table configured to instruct the autonomous vehicle to call the truck under preselected conditions. The method may include dynamically updating the state table. The state table may include a set of preselected conditions. The method may include receiving a modification of the state table from a user or a remote operator. The method may include instructing, by the autonomous vehicle, the truck to open at least one door to a cargo area within the truck, instructing, by the autonomous vehicle, a lifting device within the truck to position the autonomous vehicle, and commanding, by the autonomous vehicle, the lifting device to lift the autonomous vehicle into the truck. The method may include scanning, by the autonomous vehicle, an electronic signature on the item, the electronic signature having at least one characteristic, and determining a route to at least one delivery destination based on the at least one characteristic. The method may include autonomously moving the item from the autonomous vehicle to the truck using a delivery arm in the autonomous vehicle. The method may include positioning a loading device in the truck and receiving the item from the autonomous vehicle. The method may include opening, by the autonomous vehicle, an autonomous vehicle door of the autonomous vehicle and opening it to a truck door of the truck. The method may include moving, by the autonomous vehicle, the item from the autonomous vehicle to the truck. The method may include moving, by the autonomous vehicle, the item from an autonomous vehicle trailer to the truck. The method may include moving, by the truck, the item from an autonomous device trailer to the truck. The method may include navigating the autonomous vehicle to at least one delivery destination.Implementations of the techniques described may include hardware, a method or process on a computer-accessible medium, or computer software. [Brief description of the drawings]

[0034] The present teachings may be more readily understood by reference to the following description taken in conjunction with the accompanying drawings.

[0035] [Figure 1A] FIG. 1A is a pictorial representation of an unattended delivery of a regular shaped package with or without any concealed security features.

[0036] [Figure 1B] FIG. 1B is a pictorial representation of unattended delivery of a regular shaped package with visible security features.

[0037] [Figure 1C] FIG. 1C is a pictorial representation of unattended delivery of irregularly shaped packages with concealed security features or without any security features.

[0038] [Figure 1D] FIG. 1D is a pictorial representation of unattended delivery of irregularly shaped packages with visible security features.

[0039] [Figure 2A] 2A and 2B are pictorial representations of unmanned delivery of packages using a crane deployment mechanism. [Figure 2B] 2A and 2B are pictorial representations of unmanned delivery of packages using a crane deployment mechanism.

[0040] [Figure 2C] 2C and 2D are pictorial representations of unmanned delivery of packages using a delivery arm or forklift deployment mechanism. [Figure 2D]2C and 2D are pictorial representations of unmanned delivery of packages using a delivery arm or forklift deployment mechanism.

[0041] [Figure 3A] 3A and 3B are pictorial representations of unmanned delivery of packages using a robotic arm and a package release mechanism deployment mechanism. [Figure 3B] 3A and 3B are pictorial representations of unmanned delivery of packages using a robotic arm and a package release mechanism deployment mechanism.

[0042] [Figure 4] FIG. 4 is a pictorial representation of an unmanned delivery of a package using a ramp deployment mechanism.

[0043] [Figure 5A] 5A-5D are pictorial representations of unmanned delivery of packages using an exemplary autonomous vehicle, side door delivery, and a retractable package release mechanism. [Figure 5B] 5A-5D are pictorial representations of unmanned delivery of packages using an exemplary autonomous vehicle, side door delivery, and a retractable package release mechanism. [Figure 5C] 5A-5D are pictorial representations of unmanned delivery of packages using an exemplary autonomous vehicle, side door delivery, and a retractable package release mechanism. [Figure 5D] 5A-5D are pictorial representations of unmanned delivery of packages using an exemplary autonomous vehicle, side door delivery, and a retractable package release mechanism.

[0044] [Figure 5E] 5E and 5F are pictorial representations of an exemplary autonomous vehicle, side door delivery, and unmanned delivery of a package using a retractable arm / rope deployment mechanism. [Figure 5F] 5E and 5F are pictorial representations of an exemplary autonomous vehicle, side door delivery, and unmanned delivery of a package using a retractable arm / rope deployment mechanism.

[0045] [Figure 5G]FIG. 5G is a pictorial representation of unmanned delivery of a package using an arm / sail deployment mechanism.

[0046] [Figure 6A] 6A and 6B are pictorial representations of unmanned delivery of a package using an open / convertible, tiltable exemplary autonomous vehicle, rear-loading, wheeled shipping container, and a retractable ramp deployment mechanism. [Figure 6B] 6A and 6B are pictorial representations of unmanned delivery of a package using an open / convertible, tiltable exemplary autonomous vehicle, rear-loading, wheeled shipping container, and a retractable ramp deployment mechanism.

[0047] [Figure 7A] 7A-7N are schematic diagrams of example configurations of unmanned delivery / collection devices of the present teachings. [Figure 7B] 7A-7N are schematic diagrams of example configurations of unmanned delivery / collection devices of the present teachings. [Figure 7C] 7A-7N are schematic diagrams of example configurations of unmanned delivery / collection devices of the present teachings. [Figure 7D] 7A-7N are schematic diagrams of example configurations of unmanned delivery / collection devices of the present teachings. [Figure 7E] 7A-7N are schematic diagrams of example configurations of unmanned delivery / collection devices of the present teachings. [Figure 7F] 7A-7N are schematic diagrams of example configurations of unmanned delivery / collection devices of the present teachings. [Figure 7G] 7A-7N are schematic diagrams of example configurations of unmanned delivery / collection devices of the present teachings. [Figure 7H] 7A-7N are schematic diagrams of example configurations of unmanned delivery / collection devices of the present teachings. [Figure 7I] 7A-7N are schematic diagrams of example configurations of unmanned delivery / collection devices of the present teachings. [Figure 7J] 7A-7N are schematic diagrams of example configurations of unmanned delivery / collection devices of the present teachings. [Figure 7K]7A-7N are schematic diagrams of example configurations of unmanned delivery / collection devices of the present teachings. [Figure 7L] 7A-7N are schematic diagrams of example configurations of unmanned delivery / collection devices of the present teachings. [Figure 7M] 7A-7N are schematic diagrams of example configurations of unmanned delivery / collection devices of the present teachings. [Figure 7N] 7A-7N are schematic diagrams of example configurations of unmanned delivery / collection devices of the present teachings.

[0048] [Figure 8A] 8A-8C are schematic diagrams of a second configuration of an unmanned delivery / collection device of the present teachings. [Figure 8B] 8A-8C are schematic diagrams of a second configuration of an unmanned delivery / collection device of the present teachings. [Figure 8C] 8A-8C are schematic diagrams of a second configuration of an unmanned delivery / collection device of the present teachings.

[0049] [Figure 9] 9A-9D are schematic diagrams of a third configuration of an unmanned delivery / collection device of the present teachings.

[0050] [Figure 10A] 10A-10E are flow charts of a method of the present teachings for unattended delivery of packages. [Figure 10B] 10A-10E are flow charts of a method of the present teachings for unattended delivery of packages. [Figure 10C] 10A-10E are flow charts of a method of the present teachings for unattended delivery of packages. [Figure 10D] 10A-10E are flow charts of a method of the present teachings for unattended delivery of packages. [Figure 10E] 10A-10E are flow charts of a method of the present teachings for unattended delivery of packages.

[0051] [Figure 11]FIG. 11 is a schematic block diagram of a system of the present teachings for unmanned delivery of packages.

[0052] [Figure 12] FIG. 12 is a pictorial representation of a trailer of the present teachings being towed by a tow vehicle over difficult terrain.

[0053] [Figure 13] FIG. 13 is a pictorial representation of a trailer of the present teachings being towed by a tow vehicle over relatively smooth terrain.

[0054] [Figure 14A] 14A and 14B are schematic diagrams of configurations of a trailer of the present teachings being towed by a towing vehicle over difficult terrain and relatively smooth terrain, respectively. [Figure 14B] 14A and 14B are schematic diagrams of configurations of a trailer of the present teachings being towed by a towing vehicle over difficult terrain and relatively smooth terrain, respectively.

[0055] [Figure 15A] 15A and 15B are schematic perspective views of a trailer configuration of the present teachings illustrating the connection to a tow vehicle and the wheel connections, respectively. [Figure 15B] 15A and 15B are schematic perspective views of a trailer configuration of the present teachings illustrating the connection to a tow vehicle and the wheel connections, respectively.

[0056] [Figure 16] FIG. 16 is a schematic perspective view of an arrangement for connection to a towing vehicle.

[0057] [Figure 17] FIG. 17 is a schematic perspective view of a trailer configuration of the present teachings.

[0058] [Figure 18] FIG. 18 is a schematic perspective view of a trailer mast and frame configuration of the present teachings.

[0059] [Figure 19A] 19A and 19B are schematic diagrams of a tie rod and spring configuration of the present teachings. [Figure 19B] 19A and 19B are schematic diagrams of a tie rod and spring configuration of the present teachings.

[0060] [Figure 19C] 19C and 19D are cross-sectional views of a four-bar linkage configuration of the present teachings. [Figure 19D] 19C and 19D are cross-sectional views of a four-bar linkage configuration of the present teachings.

[0061] [Figure 20] FIG. 20 is a perspective schematic diagram of a mounted tie rod configuration of the present teachings.

[0062] [Figure 21A] 21A and 21B are pictorial representations of a secure shipping container of the present teachings, opened and closed, with visible security and gripping features. [Figure 21B] 21A and 21B are pictorial representations of a secure shipping container of the present teachings, opened and closed, with visible security and gripping features.

[0063] [Figure 21C] 21C-21E are pictorial representations of security features of the secure shipping container of the present teachings. [Figure 21D] 21C-21E are pictorial representations of security features of the secure shipping container of the present teachings. [Figure 21E] 21C-21E are pictorial representations of security features of the secure shipping container of the present teachings.

[0064] [Figure 21F] 21F and 21G are pictorial representations of other features of the secure shipping container of the present teachings. [Figure 21G] 21F and 21G are pictorial representations of other features of the secure shipping container of the present teachings.

[0065] [Figure 22A] 22A-22D are pictorial representations of another configuration of a crushable secure shipping container of the present teachings with a compact security feature. [Figure 22B] 22A-22D are pictorial representations of another configuration of a crushable secure shipping container of the present teachings with a compact security feature. [Figure 22C] 22A-22D are pictorial representations of another configuration of a crushable secure shipping container of the present teachings with a compact security feature. [Figure 22D] 22A-22D are pictorial representations of another configuration of a crushable secure shipping container of the present teachings with a compact security feature.

[0066] [Figure 22E] FIG. 22E shows a pictorial representation of another configuration of a crushable secure shipping container of the present teachings with security and gripping features.

[0067] [Figure 22F] FIG. 22F shows a pictorial representation of the configuration of FIG. 22E, also including shock absorbing features.

[0068] [Figure 22G] 22G-22M are pictorial representations of alternative configurations of the crushable / stackable secure shipping containers of the present teachings with partially visible security features. [Fig. 22H] 22G-22M are pictorial representations of alternative configurations of the crushable / stackable secure shipping containers of the present teachings with partially visible security features. [Figure 22I] 22G-22M are pictorial representations of alternative configurations of the crushable / stackable secure shipping containers of the present teachings with partially visible security features. [Figure 22J] 22G-22M are pictorial representations of alternative configurations of the crushable / stackable secure shipping containers of the present teachings with partially visible security features. [Figure 22K] 22G-22M are pictorial representations of alternative configurations of the crushable / stackable secure shipping containers of the present teachings with partially visible security features. [Figure 22L] 22G-22M are pictorial representations of alternative configurations of the crushable / stackable secure shipping containers of the present teachings with partially visible security features. [Figure 22M] 22G-22M are pictorial representations of alternative configurations of the crushable / stackable secure shipping containers of the present teachings with partially visible security features.

[0069] [Figure 22N] 22N and 22O are pictorial representations of closed and open configurations of irregularly shaped secure shipping containers of the present teachings with partially visible security features. [Figure 22O] 22N and 22O are pictorial representations of closed and open configurations of irregularly shaped secure shipping containers of the present teachings with partially visible security features.

[0070] [Figure 23A] 23A-23B are exploded and cross-sectional views of an example configuration of a crushable cargo box of the present teachings. [Figure 23B] 23A-23B are exploded and cross-sectional views of an example configuration of a crushable cargo box of the present teachings.

[0071] [Figure 24] FIG. 24 is an exemplary crushed cargo box of the present teachings.

[0072] [Figure 25A] 25A-25D are pictorial and schematic diagrams of exemplary configurations of opening-top cargo containers of the present teachings. [Figure 25B] 25A-25D are pictorial and schematic diagrams of exemplary configurations of opening-top cargo containers of the present teachings. [Figure 25C] 25A-25D are pictorial and schematic diagrams of exemplary configurations of opening-top cargo containers of the present teachings. [Figure 25D] 25A-25D are pictorial and schematic diagrams of exemplary configurations of opening-top cargo containers of the present teachings.

[0073] [Figure 26] FIG. 26 is an example configuration of an example bottom-opening cargo lift of the present teachings.

[0074] [Figure 27A] 27A-27D are schematic block diagrams of the cargo truck / autonomous vehicle use case. [Figure 27B] 27A-27D are schematic block diagrams of the cargo truck / autonomous vehicle use case. [Figure 27C] 27A-27D are schematic block diagrams of the cargo truck / autonomous vehicle use case. [Figure 27D] 27A-27D are schematic block diagrams of the cargo truck / autonomous vehicle use case. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0075] Detailed Description The autonomous vehicles (AVs), shipping containers, and optional trailers of the present teachings, separately or in combination, can enable unmanned delivery of packages. The AV can safely deploy its contents, which can be stored in a reusable secure shipping container. In certain aspects, the AV can include autonomous navigation features such as, for example, but not limited to, sensors, lights, day and night operation, remote controlled monitoring requirements in high risk areas, and autonomous navigation of discontinuous surface features. Other autonomous navigation features can include user defined operating routes, manual operation, autonomous driving to charging stations, no escort required, and wireless connection between the AV and a central station. In certain aspects, the AV can automatically open its doors, including doors with key card access, without requiring any full-time remote operator. In certain aspects, the AV can navigate around objects and navigate on both pedestrian and vehicular roads. In certain aspects, the AV can include the ability to traverse rough terrain.

[0076] The shipping container can include, for example, but not limited to, environmental shielding and theft protection. In certain aspects, the bottom, sides, and top of the shipping container can include waterproof materials and the inside of the container can include insulation. The shipping container can include cameras, sensors, communications, audio and visual outputs, battery power, and security features. In certain aspects, the camera can indicate someone tampering with the container and the sensor can detect the container's environment. Communication means can be used to communicate with the owner of the box and can include Bluetooth and Wifi. If the container is tampered with by an unauthorized user, the container can automatically protect itself from being moved. For example, audio outputs and accelerometers can be used to discourage would-be thieves from moving the container without authorization. The container can include a GPS, which can be used to track the container. The container can be crushable and can be returned to the supplier for reuse.

[0077] The trailer can include stabilization features that may allow for additional storage, additional power sources, and increased speed of the autonomous vehicle. The trailer can include means for connection to the autonomous vehicle that may coordinate movement and orientation between the autonomous vehicle and the trailer. The trailer can be open or closed.

[0078] 1A-1D, an apparatus of the present teachings for accomplishing unmanned delivery and / or pickup of cargo can include, but is not limited to, at least two major parts: an autonomous vehicle (AV) having a cargo area, and a secure cargo container 13, possibly optionally containing cargo to be delivered or picked up. The AV can be outfitted in a variety of ways to move cargo from inside the AV cargo area to a delivery location without assistance from a desired recipient or provider of the cargo. In one aspect, providing unmanned delivery or pickup from / to an autonomous vehicle (AV), also referred to herein as no-touch cargo operations, includes managing the equilibrium of the AV as cargo is being lowered, managing space considerations at the cargo box, autonomously determining when to open and close the door 15, and autonomously determining when the cargo has been successfully moved from the AV to its desired location or from a target location to the AV.

[0079] Continuing with reference to FIGS. 1A-1D, with regard to managing weight and balance considerations, in some configurations, the AV automatically shifts its weight to balance the various positions the cargo assumes while it is being moved from the AV to the desired delivery location. In some configurations, the on-board weight is advantageously automatically shifted within the cargo box to balance the cargo. In some configurations, the cargo weight is limited based at least on the weight of the AV itself and the weight distribution of the AV. Other means of weight management are also contemplated by the present teachings.

[0080] 1A-1D , with regard to managing space considerations, in one aspect, the device achieving unmanned delivery / collection is advantageously positioned within the cargo area of ​​the AV to maximize free space for one or more delivery containers positioned within the cargo area. In one aspect, the cargo area itself is shaped to accommodate the anticipated cargo payload. For example, as described herein, the cargo area can be square, rectangular, open-top, or many other geometric possibilities. The delivery containers 18 can be sized and shaped according to what they are to carry, can include delivery mechanisms 22, and can be delivered from an appropriately sized cargo area.

[0081] Continuing with still further reference to FIGS. 1A-1D , with regard to autonomously determining when to open and close cargo area doors or otherwise initiate cargo delivery / picking, in one aspect, the AV is equipped with sensors, processors, controllers, and actuators that manage the AV's arrival at a desired location, its manipulation of cargo, and the AV's moving to another location to complete the process and potentially make another delivery or pick up additional cargo to be delivered. In one aspect, when the AV arrives at a deployment location, the arrival triggers a cargo manipulation process. In one aspect, the cargo manipulation process includes the AV's controller commanding a door actuator to open at least one door on the AV. The doors can be located on any portion of the AV, i.e., the front, rear, side, top, or bottom. The doors and cargo manipulation mechanism can be operatively coupled such that the same actuator can control both the status of the doors and the extension and retraction or other movement of the cargo manipulation mechanism. The doors and cargo manipulation mechanism can move simultaneously.

[0082] 2A-2B, a first exemplary configuration in which no-touch unmanned cargo lowering may be accomplished includes a crane-like device mounted inside a cargo box. In one aspect, the device includes a load release mechanism 153 that holds the cargo 13 (FIG. 2B) while the crane lowers the cargo 13 to the ground. At least one door of the cargo box can be automatically opened, the load release mechanism 153 can grab the cargo 13 (FIG. 2B) and exit the cargo door with the cargo 13 (FIG. 2B) in tow, and the crane can lower the cargo 13 (FIG. 2B) to the surface. The load release mechanism 153 can release their hold on the cargo 13 (FIG. 2B), the crane can be elevated to a storage level, and the crane and load release mechanism 153 can be returned to the cargo box for storage. In one aspect, the crane can be mounted outside the AV and deployed therefrom to retrieve the cargo 13 (FIG. 2B), for example, from inside the cargo box or from the ground. In some configurations, the crane stored externally can enter the cargo box through a first door and exit the cargo box through another door with the cargo 13 (FIG. 2B) in tow. In some configurations, the door from which the cargo 13 (FIG. 2B) exits can be determined when the AV arrives at the desired destination and may depend on the current conditions as sensed by sensors mounted on the AV. Sensors inside the cargo box can determine the size of the cargo 13 (FIG. 2B). In some aspects, the sensed and other data is used to instruct the crane to position the load release mechanism 153 so that it can properly grasp the cargo 13 (FIG. 2B), whether vertically, horizontally, or both. In some configurations, the connection mechanism between the crane and the cargo includes suction cups, magnets, or any releasable connector. In some aspects, the telescopic arm 151 is stored in a retracted position as the AV transports the cargo 13 (FIG. 2B) to the desired destination. In one aspect, the telescoping arm 151 is moved by an actuator, possibly used to open and close an AV door through which cargo 13 (FIG. 2B) emerges.In one aspect, the telescopic arm 151 extends and moves the cargo 13 (FIG. 2B) outside the cargo box, for example, to a preselected length of the lowering device 152, to a length determined by the position of the cargo 13 (FIG. 2B), or to a length remotely provided by a user. Once the cargo 13 (FIG. 2B) is deployed, in one aspect, the actuator raises the load release mechanism 153, retracts the arm 151, and closes the door. In one aspect, a controller, operatively coupled to a sensor that detects the position of the cargo 13 (FIG. 2B), determines whether the operation of the cargo 13 (FIG. 2B) is complete by accessing default timing values ​​or by determining, based on the sensor information, whether the cargo 13 (FIG. 2B) has reached the desired surface and the operation mechanism has disengaged the cargo 13 (FIG. 2B). In one aspect, the deployment location is requested by a user and the vertical distance from the cargo area to the storage surface is determined by a sensor on the AV. For example, the crane can automatically stop its downward movement when it encounters some resistance equivalent to that which would be encountered if the cargo 13 (FIG. 2B) reached the surface. In another aspect, the crane is lowered a preselected distance. In another aspect, passive restraints are used to gently place the cargo 13 (FIG. 2B) in the desired location. In another aspect, springs are used to cushion the placement of the cargo 13 (FIG. 2B).

[0083] 2A and 2B, once the AV reaches the desired destination, in one aspect, a command received from the AV processor instructs a control device in the cargo box to open the appropriate cargo box door. In one aspect, once the AV reaches the desired destination, a command is received from a remote controller to open / close the door and, for example, eject the cargo 13 (FIG. 2B) from the cargo box. In one aspect, the AV provides status information about the delivery / pickup on a status area located on the AV, for example, even when the intended recipient is absent from the delivery location, since others at the location may have an interest in the status of the AV. In one aspect, the AV provides status information to the recipient / provider of the cargo 13 (FIG. 2B) by text, email, website posting, automated call, or any other electronic means. In one aspect, the AV provides status information to the remote controller and possibly logs the status information. Status information output can be controlled by user-managed settings, default settings, or possibly dynamically determined settings based on network access availability. In some aspects, the AV determines environmental conditions, e.g., rain or snow, and automatically determines when a delivery / pickup is not prudent in time for the AV to arrive at the destination. In some aspects, the AV informs the user of the inclement weather conditions and / or requests assistance or other alternative action from a remote controller. In some configurations, the AV deploys an environmental barrier to protect the cargo 13 (FIG. 2B). The barrier may include, for example, without limitation, a waterproof cover, a UV protection barrier, and / or a thermal barrier. In some configurations, the environmental barrier is built into the cargo container, for example.

[0084] 2C and 2D, a second exemplary configuration in which no-touch unmanned cargo operations are accomplished includes, for example, but not limited to, an arm 33 mounted on a telescopic lift having a first portion 39 slidably coupled with a second portion 35 deployed from a cargo box in which cargo 13 (FIG. 2D) may rest during transport. In one aspect, the arm 33 lowers the cargo 13 (FIG. 2D) onto a surface free of AVs. The arm can be positioned to deploy the cargo 13 (FIG. 2D) from the side, front, or rear of the AV. Regardless of where the arm 33 operates, an actuator propels the telescopic lift from the cargo box. For example, the telescopic lift is stored in a retracted position as the AV transports the cargo 13 to a desired destination. The telescopic lift is moved by an actuator, potentially used to open and close an AV door from which the cargo 13 (FIG. 2D) emerges. The telescopic lift can move to the outside of the cargo box and move the cargo 13 (FIG. 2D) to the outside of the cargo box. In one aspect, the arm 33 includes a telescoping feature and can deploy the cargo 13 (FIG. 2D), for example, to a preselected length, to a length determined by the position of the cargo 13 (FIG. 2D), or to a length remotely provided by a user. The telescoping lift is commanded to move toward the surface. Upon reaching the surface, the arm 33 is commanded to release the cargo 13 (FIG. 2D). Once the cargo 13 (FIG. 2D) is deployed, an actuator causes the telescoping lift to raise and retract the arm 33 into the cargo box. The actuator can optionally close the door while the arm 33 is retracted. In one aspect, a controller, operatively coupled to a sensor that detects the position of the cargo 13 (FIG. 2D), determines whether the operation of the cargo 13 (FIG. 2D) is complete by accessing default timing values ​​or based on the sensor information to determine whether the cargo 13 (FIG. 2D) has reached the desired surface and the operation mechanism has disengaged the cargo 13. In one aspect, a storage location is requested by a user and the vertical distance from the cargo area to the storage surface is determined by a sensor on the AV.For example, the arms 33 automatically cease their downward movement when they encounter a certain amount of resistance equivalent to that which would be encountered if the cargo 13 (FIG. 2D) reached the surface. In some aspects, the arms 33 are lowered a preselected amount. In some aspects, passive restraints are used to gently place the cargo 13 (FIG. 2D) in the desired location. In some aspects, shock absorbing devices 1016 (FIG. 22G) are used to cushion the placement of the cargo 13 (FIG. 2D).

[0085] 3A and 3B, in a third exemplary configuration, an articulating arm reaches into or is deployed from a cargo box, grabs cargo 13 (FIG. 3B), and lowers the cargo 13 (FIG. 3B) by a desired amount. The articulating arm automatically stores after depositing cargo 13 (FIG. 3B). The articulating arm includes, for example, a robotic arm with a number of degrees of freedom based at least on the storage location of the arm. The number of degrees of freedom is based on the aspect of the movement of the articulating arm. For example, at the joints, the arm may be able to move up / down and / or right / left. The more directions the arm can move, the higher the number of degrees of freedom. The articulating arm can be stored, for example, in a cargo box or attached to an external feature of the AV. The articulating arm can include multiple joints depending on the desired flexibility of the arm. In one aspect, the arm includes a shoulder joint located at the junction of the arm and the cargo box, an elbow joint 163A, a wrist joint 165, and a hand 166 that can grasp and hold a cargo release mechanism 153 that holds cargo 13 (FIG. 3B) until commanded by a controller to release its hold as described herein.

[0086] 4, in a fourth exemplary configuration, a ramp 171 extends from an opening in the cargo box. The ramp 171 may include features that may allow the cargo 13 to slide on the ramp 171 toward a surface. The features may include, but are not limited to, ball bearings, rollers, and / or treads. The treads may include, for example, a "moving walk" device. In one aspect, the ramp 171 includes a device that grabs the cargo 13. For example, the ramp 171 includes a movable hook and the cargo 13 includes a suitably positioned / sized coupling for the hook. A force may be provided to the cargo 13 to propel the cargo 13 toward the ramp 171. For example, a retractable arm as described herein may be used to push the cargo 13 out of the cargo box, land on any features that may be present, and follow the ramp 171 onto the surface.

[0087] 2A-4, other configurations are also contemplated by the present teachings. For example, in one aspect, the arm can be connected, possibly removably, to a backstop, which itself can be connected to a platform or shelf. Alternatively, the backstop and platform or shelf can be a single item. Still further, the arm, backstop, and platform or shelf can be a single item. The arm, backstop, and platform or shelf can be retracted into the cargo box for storage after the cargo is deployed. The backstop can be engaged with a lowering / raising means, such as, for example, but not limited to, a linear actuator. In one aspect, the forks can be retracted into the backstop and extended into a compatible pallet that can support the cargo. The pallet can be deployed with the cargo at the desired destination. In this configuration, the cargo can be placed on the pallet and the forks can extend into the pallet cavity and support the pallet and cargo. The entire structure can be pushed outside the cargo box and lowered to the surface. In one aspect, the forklift-like device can include a plurality of forks coupled with a carriage that can ride along at least one mast to move cargo from a cargo box to a surface. The forks, carriage, and mast can be sized to fit within the cargo box. When the cargo is deployed, the forks, carriage, and mast holding the cargo can be moved outside the cargo box. The deployment strut can include, for example, a telescoping feature and can be operably coupled with the mast. The mast can also include a telescoping feature. The forks can be operably coupled with a mast interface. The mast interface can ride above and below the mast regardless of the telescoping status of the mast. A controller can manage the deployment of the deployment strut. When the cargo is deployed, a sensor can inform the controller when the deployment strut reaches a desired extension, which can then lower the forks (and cargo) and begin telescoping the mast section.Alternatively, the weight of the cargo can provide the force to lower the cargo. The lowering of the cargo can be cushioned by some form of shock absorbing device on the forks. In another aspect, the platform can engage with tracks, which can be built into the cargo box or coupled to the platform, for example. The tracks can be activated to move the platform out of the cargo box. The tracks can include crawler treads that can be activated to move the platform into / out of the cargo box. In some configurations, no backstops are required. In this case, the platform can engage with a deployment mechanism when it has sufficiently cleared the cargo box. Other methods of moving the platform horizontally and / or vertically are also contemplated by the present teachings.

[0088] 5A-6B, an example configuration of an AV that can be used to implement the system of the present teachings is shown. Exemplary AVs are disclosed in U.S. patent application Ser. No. 16 / 435,007 ('007), filed June 7, 2019 and entitled "System and Method for Distributed Utility Service Execution," U.S. patent application Ser. No. 16 / 926,522 ('522), filed July 10, 2020 and entitled "System and Method for Real Time Control of an Autonomous Device," U.S. patent application Ser. No. 16 / 035,205 ('205), filed July 13, 2018 and entitled "Mobility Device," U.S. patent application Ser. No. 15 / 787,613 ('613), filed October 18, 2017 and entitled "Mobility Device," and U.S. patent application Ser. No. 15 / 787,613 ('613), filed May 20, 2017 and entitled "Mobility Device." No. 15 / 600,703 ('703), entitled "Unmanned Cargo Navigation Device," the entirety of which is incorporated herein by reference in its entirety. An exemplary AV configuration is shown, however, other AV configurations are envisioned for implementing the unmanned cargo operations of the present teachings. The AV 101 may include sensors 103 that, along with a processor 117, enable the AV to navigate autonomously. The wheels 113A are controlled by a power base 115, which interfaces with the processor 117 with respect to the direction and speed of the wheels 113A. The casters 111 enable the AV 101 to navigate across various types of terrain.

[0089] 5A-5D, in a fifth exemplary configuration, the AV 101 delivers cargo 109 to be transported in cargo hold 21A through a side opening. In one aspect, the AV 101 includes at least one door that opens to an area wide enough to allow the cargo 109 to pass unimpeded through the opening in the AV 101. In one aspect, the door can open, for example, left and right, up and down, and / or diagonally. In one aspect, a single door is used. The single door can move on both sides, away from or towards the ground. The single door can also move diagonally or at any other angle relative to the surface. In one aspect, two doors are used as shown. In one aspect, the AV 101 includes an arm-like feature 1121 (FIG. 5B) that grasps the shipping container 109 and guides it away from the AV 101 through the door opening. The arm-like feature 1121 (FIG. 5B) can include, for example, a robotic arm whose force on the shipping container 109 can be automatically adjusted based on at least a sensor input from the reaction of the shipping container 109 to pressure from the arm 1121 (FIG. 5B). In an aspect, for example, a cable, strap, cord, band, or belt can be fastened around a surface of the shipping container 109 and the shipping container 109 can be moved outside the cargo box and away from the AV 101. A load release mechanism 1123 (FIG. 5C) can partially or completely surround the shipping container 109. The shipping container 109 can be released from the load release mechanism 1123 (FIG. 5C), for example, but not by way of limitation, by decoupling the load release mechanism 1123 (FIG. 5C) from the shipping container 109. For example, the delivery cargo release mechanism 1123 (FIG. 5C) can terminate in a temporary connector, such as, for example, but not limited to, a hook, VELCRO® strip, or magnet that engages with the recess 2022 (FIG. 22J). In one aspect, the temporary connector is disengaged, for example, when the delivery cargo release mechanism 1123 (FIG. 5C) is moved away from the shipping container 109.The delivery load release mechanism 1123 (FIG. 5C) includes a spacer (not shown) that can be activated, for example, when the shipping container 109 reaches a surface. In one aspect, the spacer forces the load release mechanism 1123 (FIG. 5C) to release the shipping container 109. When the load release mechanism 1123 (FIG. 5C) surrounds the shipping container 109, the spacer (not shown) tilts the shipping container 109 forward and slides out of its engagement with the load release mechanism 1123 (FIG. 5C) while the load release mechanism 1123 (FIG. 5C) is retracted toward the arm 1121 (FIG. 5C). After the load release mechanism 1123 (FIG. 5C) is fully retracted into the arm 1121 (FIG. 5D), in one aspect, the arm 1121 (FIG. 5D) retracts into the cargo area of ​​the AV 101, leaving the shipping container 109 available for collection.

[0090] 5E-5F, in a sixth exemplary configuration, the AV 101 includes an arm 23 and a rope 25, similar to the load release mechanism 1123 (FIG. 5C). The arm 23 may extend from any location on the cargo box 21. For example, the arm 23 can extend from an upper corner of the cargo box 21 as shown. The arm 23 can extend from any location along the top, edge, or bottom of the cargo hold. The arms 23 can extend their full length or any shorter length from the cargo hold, depending, for example, on the size and weight of the shipping container 109. The arms 23 can be constructed from flexible, semi-rigid, or rigid weight-bearing materials, with the material possibly being selected to withstand up to a preselected maximum cargo weight. The rope 25 can be flexible enough to be compactly retracted and stored, but can retain a certain stiffness if needed. The rope 25 may completely encircle the ground-facing surface of the shipping container 109 or may terminate in a connector as discussed herein. The rope 25 may include, but is not limited to, a cable, cord, tie, strand, chain, or string. The arm 23 may include a telescoping feature made from fiberglass, aluminum, steel, or other suitable material. In one aspect, the extension of the arm 23 is actuated by the same mechanism that actuates the opening of the door 105 / 107. The rope 25 is extended, if necessary, to allow the shipping container 109 to reach a desired surface in the vicinity of the AV 101. Other aspects of holding the shipping container 109 as it is moved out of the cargo hold are also envisioned. The rope 25 extends from the arm 23 to allow the shipping container 109 to be deployed to the surface. Once the surface is reached, the rope 25 is disengaged from the shipping container 109. For example, sensor data received from sensor 103 associated with shipping container 109, rope 25, and arm 23 can trigger the engagement and disengagement of rope 25 from shipping container 109. Rope 25 can be temporarily connected to shipping container 109, and the connection can be automatically released once shipping container 109 reaches its desired location.The disconnected cable 25 is retracted, the arm 23 and cable 25 can be repositioned inside the cargo hold and the doors 105 / 107 are closed. A sanitization sequence can optionally be activated.

[0091] 5G, in one aspect, the cargo box 102 includes rollers 211 that sandwich the shipping container 13 therebetween and / or unroll the sail 215 therebetween. The rollers 211 emerge from the cargo area when the door 105 / 107 opens and return to the cargo area when the door 105 / 107 closes. The shipping container 13 / 213 rolls on top of the sail 215 when it is deployed. The sail 215 is retracted into the rollers 211, leaving the shipping container 13 / 213 at its desired destination. The AV can accommodate non-uniformly shaped shipping containers 213 by at least positioning sensors within the cargo box 102, determining sufficient dimensional data, including weight, and appropriately adjusting the deployment device.

[0092] 6A and 6B, in a sixth configuration, the AV includes an open cargo area or a cargo area that can be either open or closed, and can include a support structure 185. The AV can also include an autonomy sensor 103, a processor 117, and a power base 115 for driving the wheels 113A. In one aspect, the cargo area includes a cap (not shown), e.g., a canvas "convertible" top, that can be retracted and stored. Equipment for retracting the top can be mounted to the top of the cargo area, in which case the retracted top can rest on top of the cargo area. Equipment for retracting the top can be mounted to the bottom of the cargo area, in which case the top can be stored under the cargo area after retraction. The cargo area can include an open area 187 without any "convertible" aspects. Additionally, the AV can include a tilting capability, in which the cargo area can accommodate a tilt 193 relative to the AV's wheels 111 / 113 and power base 115. In the sixth configuration, the cargo area includes a capture device 181 to secure the shipping container 109. The capture device 181 can include, but is not limited to, a hook, a suction cup, an arm, or any other device 183 that can grab and hold the cargo 109. The AV includes a ramp 189 or other similar means to automatically deploy the shipping container 109. If the ramp 189 is used, it is stored on the floor of the cargo area, either inside the cargo area or outside the cargo area. The ramp 189 can be extendable, for example, including a telescoping section and rollers or tracks. In one aspect, the ramp 189 extends directly from the AV and performs a tilt 193 with the AV when the AV is tilted to urge the shipping container 109 out of the cargo area. Rollers / tracks on the box-facing side of the ramp 189 can also urge the shipping container 109 out. Additionally, the rollers / tracks may include a braking mechanism that can be automatically controlled to push the shipping container 109 away from the AV and to stop or even reverse the movement of the shipping container 109 away from the AV.Other deployment means can include runners that can conform to the geometry of the shipping container 109 when deployed. The runners can be deployed from both sides of the cargo area and can create a shell-like form around the side edges of the shipping container 109 when deployed. When the shipping container 109 is clear of the runners, the runners are retracted and stored either inside the cargo hold or outside the cargo hold. In some configurations, the shipping container 109 is installed in a wheeled container in the cargo hold. The wheeled shipping container 109 is configured to allow temporary attachment to the capture device 181 / 183. When a wheeled shipping container 109 is used, the capture device 181 / 183 receives assistance from the automatic braking of the wheels 191. In one aspect, the capture device 181 / 183 can simply consist of a brake cable, for example, coupled to the wheels 191 of the wheeled shipping container 109. The brake cables can be deployed and retracted from inside or outside the cargo area, either from the side, top, or bottom of the cargo container. In some configurations, instead of tilting, the AV lowers itself to ground level to deploy the shipping container 109. In one aspect, the cargo hold area includes sensors (not shown) that detect, for example, but not limited to, leaks, hazardous odors, and hazardous cargo. For non-hazardous spills and / or to protect subsequent cargo shipments from possible contamination from previous shipments, the cargo hold can include an automatic sanitization feature (not shown) that can be deployed by the AV controller after the shipping container 109 exits the cargo hold. If hazardous odors and / or hazardous cargo are detected, the AV can seal the cargo hold and not deploy the shipping container 109. The AV can trigger known hazardous materials protocols and provide data about the shipping container 109 to officials, for example, through wireless communications available on the AV or associated with the shipping container 109.

[0093] 7A-7D, an autonomous cargo transport device is illustrated that excludes wheels and a power base. The wheels and power base can be provided in any conventional manner. The cargo transport device includes swinging arms and a gripping / release device on each arm. The gripping / release device engages with a pin located on the cargo box upon contact. The engagement stabilizes until a trigger action that allows the gripping / release device to disengage from the cargo box. The trigger action can include a command issued by a controller in the power base, in the cargo transport device, from a remote command center, from a user's mobile phone, or from another source of command that will control the gripping / release device. The arm includes at least one extension tube 1529 and a base plate 1527. The base plate 1527 provides a rotating latch 1531, which is an exemplary gripping / release device. The base plate 1527 is fully retracted into the extension tube 1529 when stored in the cargo transport device, as shown in FIGS. 7A and 7B. In FIG. 7B, various views of the autonomous device are shown, some relative to the ground 1533. For example, the perspective view 1530P, top view 1530T, front view 1530F, rear view 1530R, and side view 1530S illustrate an example device with an opening for deploying cargo on the side of the device. A cargo box 1535 is shown stored within the transport device alongside the arm. The example autonomous device includes a sensor that can be used, for example, to drive the autonomous device to a target delivery / collection location. Additionally, the sensor can be used to detect identification information associated with the cargo box. The base of the extension tube 1529 rests on the sector gear 1515.

[0094] Continuing with reference to FIGS. 7A-7D, to deploy the arm, the sector gear 1515 is rotated. At the same time, the base plate 1527 extends as it telescopes from within the extension tube 1529, as shown in FIGS. 7A and 7C. When the cargo box is to be deployed, the rotation latch 1531 is operably coupled with the box pin 1537 (FIG. 7C). As the arm moves, the cargo box 1535 moves due to pressure from the arm on the rotation latch 1531 on the box pin 1537 as shown in FIG. 7C from various angles as discussed with respect to FIG. 7B. FIGS. 7B-7D show deployment where the cargo box is released at ground level, on which the autonomous device is also resting. The illustrated system can deploy the cargo box at any height that the geometry of the transport device and the rotation distance of the sector gear 1515 allow. Once the autonomous device determines that the cargo box has reached its target destination, the rotary latch 1531 is released and the arm is retracted. The target destination can be determined by any of a number of methods, including, but not limited to, a sensor that detects the distance to the ground, a sensor that detects when the cargo box exerts backpressure indicating that it has reached a surface, a sensor that detects a fiducial, or a remote indication by a user or remote operator that the cargo box has reached its target, among other methods.

[0095] 7E-7N, schematic perspective views provide details on a first configuration of the lifting / lowering mechanism of the transport device. As shown in FIG. 7E, a bottom panel 1539 is provided as a stationary platform for the cargo box 1535 while it is being transported to its destination. The gear mounting bracket 1507 and the sector gear mounting bracket 1513 / 1514 are operatively coupled to the chassis mounted components mounted to the bottom panel 1539. Between the sector gear mounting brackets 1513 / 1514 is a sector gear 1515 that is driven by the motor 1501 (through a gear train as described herein) to rotate the arm. The arm and arm brace 1541 (FIG. 7E) are operatively coupled to and rotate with the sector gear 1515 between the standoffs that limit the arm rotation. The motor 1501 rotates the geared cross shaft 1511 at the same time that it rotates the sector gear 1515. Specifically, motor 1501 rotates gear 1505 (FIG. 7H), which is operatively coupled to and rotates cross shaft 1511 (FIG. 7H). Gear 1505 (FIG. 7H) also rotates gear 1503 (FIG. 7H) and drive shaft 1525 (FIG. 7H). Drive shaft 1525 (FIG. 7H) rotates pinion gear 1523 (FIG. 7H), which drives gear 1521 (FIG. 7H), which drives sector gear 1515.

[0096] 8A-8C, schematic perspective views provide details on a second configuration of the lift / lower mechanism of the transport device. In the second configuration, a motor 1563 (FIG. 8A) rotates a drive gear 1571 (FIG. 8C), which rotates a spur gear 1553 and a cross shaft gear 1569 (FIG. 8C). The cross shaft 1551 rotationally couples the movement of the arm. The spur gear 1553 drives an extension tube 1561. The extension tube 1561 is slidingly coupled to an arm 1559, which rotates and extends to move the cargo box in and out of the autonomous vehicle. The arm 1559 includes a cam follower 1575, which travels within a channel 1557 to guide and limit the arm 1559 and cargo box travel. In some configurations, a channel flexure 1564 provides a holding force for the cargo box. The shape of the cam channel 1557 and the presence and location of the channel bend 1564 can vary from configuration to configuration. In some configurations, the gear is sandwiched between the roller guide plate 1555 and the roller guide support plate 1567. In some configurations, the motor plate 1579 allows for mounting of the motor 1563 to the arm structure through the frame member 1565. In some configurations, the frame member 1565 includes, for example, a T-slot frame. Other configurations are also contemplated by the present teachings.

[0097] 9A-9D, in another configuration, an extending and rotating linkage can be used to effect unmanned operation of a cargo container 109 transported within an AV to a desired location. Deployment is initiated by commanding the door 303 to unlatch and open (FIG. 9A), which in one aspect moves the cargo container 109 substantially simultaneously onto the linkage arm 301. At a preselected point in the process, the linkage arm 301 (FIG. 9B) rotates about a pivot point 302 and simultaneously extends and rotates due to a second sliding linkage 313 (FIG. 9C). As the linkage arm 301 rotates, the cargo container 109 is lifted out of the cargo hold. The second sliding linkage arm 311 (FIG. 9C) is operatively coupled to the pin 317 (FIG. 9C) at the pin recess 315 (FIG. 9C). As the linkage arm 301 and the second linkage arm 311 are rotated, the cargo container 109 is moved away from the interior of the cargo hold and deployed. At this point, the linkage motion extends to move the cargo container 109 outside the AV's ground footprint while the arms are rotating. When the linkage arms 301 / 311 reach their maximum rotation or when sensor information indicates to the controller to terminate the rotation of the linkage arms 301 / 11, the pins 317 are released by electromechanical latches at the end of each second linkage arm 311. In one aspect, the cargo container 109 continues down to the surface after the pins 317 are released and the cargo container 109 is successfully deployed by the AV. The linkage arms 301 / 311 can reverse their motion and retract into the cargo hold as the door closes and latches.

[0098] 10A, an exemplary method for unmanned delivery and pickup relies on an identifying feature on a cargo box or package to indicate, for example, a target destination to an autonomous device. Method 9100 includes, without limitation, moving away from a docking station 9101, where the autonomous device is either storing a cargo box or package or heading to pick up a cargo box or package. At 9105, if the cargo box or package is loaded directly into the cargo area of ​​the autonomous device, method 9100 includes scanning the identifying feature 9109A as the package is moved into the cargo space. For example, the package can be manually positioned in the cargo area, or the package can be automatically loaded, for example, by a robot. At 9103, if the package is located at a pickup location, method 9100 includes moving the autonomous device to a target pickup location 9107 and scanning the identifying feature 9109A. In some configurations, a user requesting a package pickup can send a request to an autonomous vehicle, for example through a handheld / tablet / desktop device, indicating a target location where the package will be located. The user can remain present at the target location and load the package, or the user can deposit the package at the target location, and in either case the autonomous vehicle can scan the package for, for example, a destination and other types of information. The method 9100 can include using the package information 9111 to determine the target location. The target location can be determined by contacting a remote operator, by contacting the package owner, or by automatically creating an initial route, or possibly by a combination of methods. The method 9100 can include autonomously navigating to the target location according to the initial route and avoiding obstacles detected in real time along the route 9113A. For attended delivery, the method 9100 can include enabling user interaction with the autonomous vehicle when reaching the target location 9115A.User interaction can include, for example, typing in a security code, either directly into the autonomous device or through an application interface resident on a handheld, tablet, laptop, or equivalent. User entry can, for example, allow a door of the autonomous vehicle to open and a cargo box and / or package to be provided to the user. If the delivery / pickup is unattended, the method 9100 includes determining 9117A, by the autonomous device, a location to deposit the cargo. For example, if the autonomous device determines that a surface at the target location has problems, such as moisture or other difficult characteristics, the autonomous device searches for a better location to unfold the cargo during delivery. In some configurations, the autonomous device includes environmental and image sensors that can provide the autonomous device with surface and other information. The autonomous device can use such data in its navigation and perform the additional step of determining a delivery location based on the data. Whether attended or unattended, the method 9100 includes scanning 9119, by the autonomous device, an identification associated with the package or cargo box. The autonomous device can use data from the identification information to inform the recipient, for example, that the package has been delivered, environmental conditions, time of day, and any other information that may be useful to the recipient. The autonomous device in some configurations can inform the remote controller that it has completed a delivery or pickup and can receive the next route, if applicable. In one scenario, the method 9100 includes navigating the autonomous device to a docking station 9121. The autonomous device can route itself to another location for further delivery (if the autonomous device has multiple cargo bays) and / or pickup. The autonomous device can determine where to go next from a daily task list or can receive commands from a remote operator (either human or computer) after each delivery / pickup.

[0099] 10B and 10C, in one aspect, a method 9050 of the present teachings contemplates unattended delivery of cargo by an AV and can include determining 9051 (FIG. 10B) that a desired destination has been reached, and informing a preselected recipient 9053 (FIG. 10B) that the desired destination has been reached. The desired destination can be selected by at least one of the recipients and transmitted to a deployment manager. In an aspect, the recipient can include a person who has purchased the cargo to be delivered unattended. In an aspect, the recipient can include a remote controller of the AV. In an aspect, through appropriate sensors and on-board processing, the AV can determine whether it has reached the desired destination. In an aspect, the remote controller can navigate the AV to the desired destination, either partially or completely. If an instruction to deploy the cargo is not received at 9055 (FIG. 10B), the method 9050 can include waiting for a deployment instruction 9073 (FIG. 10B). If a command to unfold the cargo is received at 9055 (FIG. 10B), the method 9050 can include remotely receiving 9057 (FIG. 10B) security information associated with the cargo from a recipient. If the security information is incorrect at 9059 (FIG. 10B), the method 9050 can include requesting 9075 (FIG. 10B). If correct security information is received at 9059 (FIG. 10B), the method 9050 can include opening 9061 (FIG. 10A) a cargo hold associated with the cargo, the cargo being associated with the recipient and the provided security information, and the method 9050 includes unfolding the cargo. If the cargo is not unfolded at 9063 (FIG. 10B), the method 9050 can include continuing to unfold the cargo 9077 (FIG. 10B). At 9063 (FIG. 10B), if the cargo reaches the deployment surface, the method 9050 can include detaching 9065 (FIG. 10B) the cargo from the deployment device. At 9067 (FIG. 10B), if the cargo is not detached from the deployment device, the method 9050 can include continuing to detach 9079 (FIG. 10B) the cargo from the deployment device.When the cargo is disengaged from the deployment device at 9067 (FIG. 10B), the method 9050 may include retracting the deployment device into the cargo hold 9069 (FIG. 10C) and notifying the recipient 9071 (FIG. 10C).

[0100] 10D and 10E, when a package self-identifies, in one aspect, routing information can be included on or derived from information on the package. In one embodiment, the identification information on the package includes the address of the recipient. Using the address, the autonomous vehicle determines the route in the manner described herein and elsewhere, e.g., in '007, '522, '205, '613, and '703. The identification information on the package can include, for example, but is not limited to, a bar code (UPC, EAN), a QR code, an RFID tag, a pharma code, or a shipping tag. The autonomous vehicle of the present teachings can perform both delivery and pick-up at both vendor and customer locations. For example, an autonomous vehicle can dock at a vendor location and pick up a package ordered by a customer at the vendor. The autonomous vehicle may proceed to a destination location for the parcel, unload the parcel (either autonomously, semi-autonomously, or for receiver's pick-up), potentially pick up other parcels at the same location or proceed to another location to pick up other parcels, deliver a parcel being transported to any location to a desired customer location or to a desired vendor location, and potentially end up at a docking station to recharge and / or replace a power source such as a battery. A method 9150 for autonomous pick-up and delivery performed from the perspective of an autonomous vehicle includes receiving 9151 a desired destination. For example, a remote operator, a user, a self-identified parcel, or a vendor may provide the desired destination. The user may, for example, access an application on a handheld device and call the autonomous vehicle to a location. The autonomous vehicle may, for example, locate the parcel associated with the call. A vendor, such as a drug store, may provide a parcel containing prescription medication and provide the desired destination. Alternatively, the prescription medication parcel may self-identify. The remote operator can manage the delivery schedule and provide it to the autonomous vehicle, for example, periodically or at check-in points or times.The autonomous vehicle can determine its route and desired destination during its duty cycle by gathering instructions from remote operators, users, vendors, and the package itself. Method 9150 includes navigating 9153 to the desired destination. As described herein, the autonomous vehicle starts with a route and dynamically changes its route depending on sensor inputs and obstacles in the path of the autonomous vehicle. Method 9150 includes searching for the package 9155. The autonomous vehicle includes sensors and machine learning models that enable it to locate the package. At 9157, if the package is attended, method 9150 includes receiving 9159 the package into a cargo hold of the autonomous vehicle. The autonomous vehicle can receive a communication from a package provider at a desired location that enables the autonomous vehicle to perform an attended receiving process. Steps leading to receiving the package include receiving identification information from the package provider, which causes the package provider to open the cargo hold for depositing the package. If the package is unattended at 9157, the method 9150 includes deploying a delivery / collection mechanism from the autonomous vehicle 9161 and retrieving the package using the delivery / collection mechanism 9163. The delivery / collection mechanism may include a device as described herein. The method 9150 includes scanning 9165 an identification information from the package, if available. If available, the identification information, possibly in the form of a code, is processed by the autonomous vehicle to parse the information contained within the code. For example, the identification information may include a destination address, a description of the package's contents, a security code required before the package is released from the cargo hold, contact information regarding the intended recipient, or instructions to contact a remote control operator. In one aspect, the identification information includes route information that the autonomous vehicle may use to optimize route generation and / or to seek assistance from the recipient and / or a remote operator regarding navigation. The method 9150 includes accessing or creating a route based on the identification information 9167, whether or not it exists, and when the identification information does not exist, the autonomous vehicle seeks navigation assistance, for example, from a remote operator.The method 9150 includes navigating 9169 to the desired destination determined based on the identification information. At 9171, if the desired destination is unattended, the method 9150 includes accessing delivery information from the identification information. If available, the delivery information can include whether to deliver the package to a specific location, such as a front door, or to a secure area. A secure area may require a passcode, which may be part of the identification information and allow the autonomous vehicle to open the secure area using the passcode. If available, the delivery information can include a location to deliver the package to if environmental conditions are a concern, such as rain or snow. The delivery tote itself can be weatherproof. At 9175, if the delivery information is available, the method 9150 includes deploying 9177 a delivery / collection mechanism with the package grasped by the mechanism (through means described herein) and moving 9179 the package from the cargo hold to the desired location. If no delivery information is available at 9175, the method 9150 includes contacting a recipient or remote operator for instructions 9181, navigating to the commanded location 9183, deploying a delivery / collection mechanism 9177, and moving the package from the cargo hold to the desired location 9179. If the desired destination is attended at 9171, the method 9150 includes prompting a recipient present at the delivery by the autonomous vehicle for identification information 9185. The prompting can be performed on an exterior surface of the autonomous vehicle, and the information can be provided, for example, on a cargo box of the autonomous vehicle, on a keypad, or verbally or through biometric means. In some aspects, the prompting can be performed on a computer application, for example, verbally, visually, or biometrically. The method 9150 includes scanning the package for identification information 9187 before the package is collected by the recipient. Such scanning allows the autonomous vehicle to track deliveries, inform vendors and others who may be interested, and create / update log files.Method 9150 includes opening 9189 the cargo hold so that a recipient may retrieve the package and sensing 9191 when the package is retrieved. Whether the delivery is attended or not, method 9150 includes closing 9193 the cargo hold (if there are no packages to be received and scanned at the location) and receiving further instructions 9195, for example, from a remote control operator, a delivery truck, a vendor, or a calling user. If there are further deliveries or other tasks to be performed by the autonomous vehicle at 9197, and if the autonomous device has sufficient power for another delivery at 9199, method 9150 includes returning to step 9155. If there are no further deliveries at 9197, method 9150 includes navigating 9198 the autonomous vehicle to a docking area and returning to step 9151.

[0101] 11, in one aspect, a system 9100A of the present teachings for unattended handling of cargo by an AV can include a destination processor 9101A configured to determine that a desired destination 9109 has been reached and to inform a preselected recipient 9107A / 9114 through a communication processor 9103 that the desired destination 9109 has been reached. The desired destination 9109 can be selected by at least one of the recipients 9107A / 9114 and transmitted to a deployment manager 9105. In one aspect, the recipient can include a user 9107A waiting for cargo scheduled for unattended delivery / picking. In one aspect, the recipient can include a remote controller 9114 of the AV. In one aspect, the remote controller 9114 can navigate the AV to the desired destination 9109, either partially or completely. In one aspect, the AV can navigate itself to the desired destination 9109. The deployment processor 9113 can receive instructions from the communication processor 9103 that the user 9107A / 9114 desires the cargo to be delivered to a desired destination 9109, and can trigger the security processor 9115 to request and receive security information associated with the cargo from the recipient. Since there is no recipient to type in the security information, the request to receive the security information can be transmitted by the communication processor 9103 to one or more recipients. In an aspect, the recipient can provide alternatives for unattended delivery / collection prior to delivery. Alternatives can include, but are not limited to, providing the sender of the cargo with one or more specified ways in which the security processor 9115 may receive the security information, for example, through the communication processor 9103. The security processor 9115 can receive the security information from the communication processor 9103 and check that the security information is associated with the cargo in an expected manner. In an aspect, the security information is collected by a sensor 9108. The security information may include any combination of a password, a shipment identification, a customer identification, or recipient-specific information.The security process may be as extensive as necessary to protect the cargo, for example, two-factor authentication may be required. The security processor 9115 may notify or designate the recipient if the security information is incorrect and may request additional security information. Once the security information is verified, the security processor 9115 may trigger the deployment processor 9113 to open the cargo hold associated with the recipient and the cargo associated with the provided security information. The deployment processor 9113 may initiate deployment of the cargo. Various deployment methods are contemplated by the present teachings and discussed herein. For example, the deployment processor 9113 may instruct the AV controller 9117 to open the cargo hold door and propel the shipping container supported by the deployment device outside the cargo hold. The deployment processor 9113 may instruct the AV controller 9117 to move the shipping container to a surface. Depending on the delivery destination, the surface may be above or below the level of the cargo hold. When the surface is below the cargo hold, the deployment processor 9113 can instruct the AV controller 9117 to lower the shipping container to the surface. Once the shipping container reaches the surface, whether above or below the level of the cargo hold, the deployment processor 9113 can instruct the AV controller 9117 to detach the deployment device from the shipping container. Methods for detachment are discussed herein. Sensors can indicate when detachment is complete. At this point, the deployment processor 9113 can instruct the AV controller 9117 to retract the deployment device into the cargo hold and close the cargo hold door. The retraction can take different forms depending on the nature of the deployment device. Various retraction techniques are discussed herein. After the retraction is complete, the deployment processor 9113 can instruct the AV controller 9117 to inform the recipient of the completed unmanned cargo deployment.In one aspect, an alternate delivery destination can be selected, for example, if the AV is not able to navigate to the desired delivery destination or if inclement weather conditions exist at the desired delivery destination, among other reasons.

[0102] The trailer of the present teachings can increase the utility of delivery / collection vehicles by (1) providing additional storage space, (2) providing additional energy storage or power source, (3) maintaining a consistent pitch between the cargo section of the delivery vehicle and the cargo section of the trailer regardless of the underlying terrain or delivery vehicle wheel configuration, and (4) cushioning the vertical and horizontal movement of the trailer. The trailer can be used to increase the carrying capacity of delivery / collection vehicles, which may include manually operated and autonomous vehicles. The trailer can be left behind with the delivery, for example, or can be used to deploy cargo in a secure shipping container, for example, but not limited to, or can be used for cargo collection. The trailer can include a suspension system to provide relatively smooth loading stability for the cargo, even over rough terrain. For example, a mountain bike type suspension system can be used in conjunction with sling arms connected to the wheels of the trailer. The trailer can include relatively large wheels when compared to standard roadside curbs, which can facilitate the trailer climbing such curbs. The trailer may further include an auxiliary power supply in some configurations that is wired to the towing vehicle, potentially extending the range of the autonomous vehicle. Storing an auxiliary battery under the trailer frame may provide a lower center of gravity for the trailer. The trailer configuration may include a storage location for an auxiliary power source for the towing vehicle. For example, the auxiliary battery may be stored, for example, under the trailer frame. In certain aspects, the auxiliary power supply may power devices such as sensors and lights on the trailer. In certain aspects, the trailer includes at least one sensor that assists the autonomous vehicle in assessing its environment. The at least one sensor may include, for example, but not limited to, ultrasonic, short-range radar, and / or a camera. The sensor may be located at the rear of the trailer, on the cargo box, and / or on the sides of the trailer and cargo box. In certain aspects, the trailer includes a linkage that allows the trailer's payload to pitch with the autonomous vehicle's cargo box.The linkage may include, for example, a four-bar linkage. The trailer, in some configurations, stabilizes the autonomous vehicle at relatively high speeds. In some configurations, the trailer includes at least one processor that performs, for example, sensor processing and power control, among other actions that aid in either manual or autonomous navigation. The trailer may be connected to a towing vehicle, such as, for example, but not limited to, an autonomous device. In some aspects, a hitch between the trailer and the towing vehicle includes, for example, but not limited to, a four-bar cross hitch or a standard ball hitch. In some aspects, a tie rod is connected to the hitch by a spherical end. In some aspects, a steering damper provides resistance to yaw motion between the trailer and the autonomous device. The steering damper may include, but is not limited to, a hydraulic or oil-filled cylinder including a needle valve that may be used to adjust the resistance.

[0103] 12 and 13, a simplified version of a trailer of the present teachings is shown that includes certain features. For example, trailer 400 includes storage space 421 that can be used to transport cargo. The cargo can include, but is not limited to, loose items, bagged items, boxed items, and / or secured shipping containers. Storage space 421 can be open, covered, partially covered, and / or convertibly covered. Storage space 421 can provide a secure storage location that can be locked and unlocked remotely or locally. Storage space 421 may have some or all of the features of a cargo section of a delivery vehicle as described in U.S. Patent Application No. 16 / 926,522, filed July 10, 2020, and entitled "System and Method for Real time Control of an Autonomous Device," which is incorporated herein by reference in its entirety.

[0104] Continuing with reference to FIGS. 12 and 13, the trailer 400 can also provide a storage location or mount, e.g., outside the cargo area, for a power source 423. In some aspects, the power source 423, such as a battery or fuel cell, can be used to power devices found on the trailer 400, such as sensors and lights. In some aspects, the power source 423 can provide supplemental power to the vehicles enabling the movement of the trailer 400. In some aspects, the power source 423 can be a replacement battery that can be wired to the towing vehicle and replace the battery on the towing vehicle and / or can power devices on the trailer. In some aspects, the power source 423 can include, but is not limited to, batteries, fuel cells, solar thermal collection devices, and wind collection devices. The power source 423 can be mounted below, above, in, or beside the storage space 421.

[0105] Continuing with reference to Figures 12 and 13, a feature of the trailer 400 is that the cargo section carried by the trailer 400 maintains the same pitch as the cargo section carried by the towing vehicle. To enable a linkage between the trailer 400 and the towing vehicle that aids in pitch consistency, the trailer 400 is connected to the towing vehicle to form a four-bar linkage that includes four rigid elements: a tie rod 441, a trailer frame structure 443, a mast 431, and a hitch cross 437 that connects the trailer to the towing vehicle. The rigid elements are arranged in a vertical plane. Here, the vertical plane means a plane that is perpendicular to the plane defined by the driving wheels of the towing vehicle or the base of the storage space 421. The storage space or cargo section 421 is rigidly mounted to the mast 431 and therefore maintains a fixed orientation relative to the mast orientation.

[0106] Continuing with still further reference to FIGS. 12 and 13, the tie rod and trailer base structure are connected to the mast 431 by pivots (425, 427), respectively, that allow for rotation in the vertical plane. In one aspect, the trailer-mast pivot 427 and the tie rod-mast pivot 425 allow for movement only in the vertical plane. The tie rod and trailer base structure are connected to a cross hitch on the towing vehicle with pivots 439, 435, that allow for rotation in both the vertical and horizontal planes. In one aspect, the tie rod-hitch cross pivot 439 and / or the trailer plate-hitch cross pivot 435 are universal joints, pillow block bearings, elastic couplings, or other mechanical joints that allow for rotation in two orthogonal planes. The four-bar linkage, including the tie rod 441, mast 431, trailer base structure 443, and hitch cross 437, forms a parallelogram, with opposite pairs of bars always parallel. In this case, the hitch cross 437 and mast 431 are always parallel so that the pitch of the hitch cross 437, and therefore the cargo section 421, is always the same as the cargo section 361A in the towing vehicle 402 which is securely connected to the hitch cross 437.

[0107] 12 and 13, when the terrain is difficult or variable, including but not limited to steps, uneven ground, or soft ground, each tire 429 can be independently adjusted through swing arms 433. Swing arms 433 may include spring / dampers or shock absorbers to form the suspension of the trailer. The base of cargo section 421 is decoupled from the vertical movement of tires 429 and is decoupled from the four-bar linkage. The pitch of cargo section 421 is tied to the pitch of the cargo section of the towing vehicle through the four-bar linkage.

[0108] Continuing with reference to FIGS. 12 and 13, illustrations of a towing vehicle and trailer of the present teachings are shown. The towing vehicle 402 in the illustration is configured to adjust to the terrain by employing a different number of drive wheels. In FIG. 1A, the towing vehicle 361A is shown with four (two not shown) drive wheels 389 / 391 that contact the ground for the purpose of navigating difficult terrain. The four-bar linkage, including tie rods 441, trailer frame structure 443, mast 431, and hitch cross 437, can maintain a consistent pitch 363 between the load in the towing vehicle 402 and the trailer 400 while the tire 429 maintains ground contact through swing arm 433. In FIG. 13, the towing vehicle 402 is shown with four (two not shown) drive wheels 389 / 391, only one of which (drive wheel 391) contacts the ground. Caster 375 provides the required balance for normal operation on relatively smooth terrain where only two drive wheels are required. Tie rods 441 and trailer frame structure 443, connected to mast 431, can maintain a consistent pitch 363 between the cargo in towing vehicle 402 and trailer 400 while tires 429 maintain ground contact through swing arms 433.

[0109] 14A and 14B, configurations of the trailer of the present teachings are shown that embody the features described herein. The present teachings are not limited to the configurations shown in FIGS. 14A and 14B. These configurations and other figures herein are provided for illustrative purposes only. The towing vehicle 21001 includes a cargo area that rests on a platform 21002. In FIG. 14A, the towing vehicle 21001 is configured for difficult terrain and deploys four (only two are shown) drive wheels 21011 and retracts the casters 21012, as this is not required in this situation. In FIG. 14B, the towing vehicle 21001 is configured for smooth terrain and deploys two (only one is shown) drive wheels 21011, along with the casters 21012, as this is required in this situation. The tie rod 113 and spar (not shown), connected to the mast 321, are angled to maintain a consistent pitch 325 (FIG. 14A) and 301 (FIG. 14B) between the cargo in the towing vehicle 21001 and the trailer 305 while the trailer tire 21011A maintains ground contact through the swing arm 311. It can be seen that the distance between the cargo box of the trailer 305 (FIG. 14A) and the platform above the tie rod 113 (not shown) is lower than the distance 201 (FIG. 14B) between the cargo box of the trailer 305 and the platform above the tie rod 113 (not shown). Other such comparisons include the distance 206 (FIG. 14A) compared to the distance 203 (FIG. 14B) when the autonomous vehicle is in a four-wheel mode (FIG. 14A) where the casters 21012 are elevated versus a standard mode (FIG. 14B) where the casters 21012 are resting on the surface. In four-wheel mode (FIG. 14A), distance 207 exceeds distance 204, i.e., the front wheels are on the surface in four-wheel mode and elevated in standard mode. The distance varies in each case, but the pitch of the cargo box remains the same (and the same as the trailer pitch) in each case. Distance 208 (FIG. 14A) versus distance 205 (FIG. 14B) illustrates why the pitch does not change from one mode to another, specifically because the distance between the cargo box and the rear wheels changes depending on the mode.Nevertheless, in both situations, the pitch 325 / 301 of the cargo in both the towing vehicle 21001 and the trailer 305 is consistent. In one aspect, the trailer 305 can include a conventional steering damper 1114.

[0110] 15A and 15B, a trailer of the present teachings can include wheels 21011A coupled at their axles with swing arms 311. The swing arms 311 are pivotally connected to yoke halves 105 that meet at the hitch cross 107. The yoke halves 105 are operatively coupled to the trailer frame plate 323, which are themselves operatively coupled to the shock absorber tower brace 101A and the shock absorber mount 102A. The swing arms 311 can also provide a mounting feature for a shock absorber 109A, which is also coupled to the shock absorber mount 102A. The shock absorber 109A can include any type of motion damping and absorbing device, including, but not limited to, springs and dampers.

[0111] Referring now to FIG. 16, the trailer of the present teachings can be coupled to the towing vehicle by a brace arrangement. The brace acts as an interface between the trailer and platform 21002 and the wheels of the towing vehicle. One such brace arrangement includes a hitch pin sleeve 169 that provides a means for coupling the trailer's hitch pin with the brace arrangement. A hitch tube 167 operably couples the hitch pin sleeve 169 with a hitch cross member tube 163. The hitch cross member tube 163 provides a means for coupling the tie rods and spars to the brace arrangement, which are coupled with the hitch pin. A second set of hitch tubes 161 operably couples the hitch brace arrangement with the wheels and platform of the towing vehicle. In one aspect, a hitch plate 171A and a four-bar interface plate 172 provide an interface between the hitch brace arrangement and the towing vehicle.

[0112] Referring now to FIG. 17, an exemplary trailer is shown without a cargo bed to illustrate features such as an auxiliary battery. The tie rods 113 include rod ends 129 that operably couple (using nuts 131 (FIG. 19A)) to the hitch cross 107 using a hitch pin (not shown). Note that any type of hitch can be used, including but not limited to various types of ball hitches, hitch cross, hook hitches, round hitches, or pin hitches. The trailer includes a battery 70000, which can be stored, for example, under the platform 145. The battery 70000 can be stored in a cargo container (not shown), beside, in front of, or behind the platform 145, or on top of the cargo container in the case of a covered cargo container. The battery 70000 can rest on the floor pan 147.

[0113] 18, the mast 321 provides a rotation point 322 / 324 for the distal four-bar pivot pin of the tie rod distal end 114 and the trailer frame structure. The mast 321 and platform 145 may be operatively coupled by a mast-platform brace 303A.

[0114] 19A and 19B, in one aspect, the tie rod 113 is surrounded by a spring 125 that buffers pressure from the trailer portions forward and rearward of the spring 125. Held in place by a combination of a piece collar 121 and a pitch spring cup 123, the spring 125 responds to movement of the trailer frame portions as the trailer and towing vehicle stop and go at different rates. Between the springs 125 is a spring stop 127 (FIG. 19B) that separates them and allows for buffering of fore and aft movement.

[0115] 19C and 19D, a cross section is shown illustrating the pivot points of the four-bar linkage. The rigid links of the four-bar linkage can include hitch cross link 211A, tie rod link 213, mast line 215A, and frame structure link 209. The pivot points can include frame structure-hitch cross point 217, hitch cross-tie rod point 219, tie rod-mast point 221A, and mast-frame structure point 223A. As described herein, the four-bar linkage can rotate vertically. Rotation can be enabled, for example, by heavy duty oil bearings 135 (FIG. 19D).

[0116] 20, the tie rod 113 may be mounted within a first trailer cross bridge 133 and may terminate a second trailer cross bridge 133A. A third trailer cross bridge 133B may operatively couple a trailer frame plate 323 that surrounds the tie rod 113.

[0117] 21A-21G, one configuration of the shipping container 221 can include a box in which cargo can be placed. The container 221 can be any shape, including but not limited to, an irregular shape. The container 221 can be, for example, a container in the shape of a grocery bag. The container 221 can be fitted with a device that ensures the safety and protection of the contents. In one aspect, the container 221 can include a device that can trigger the container 221 to activate an unlocking sequence. In one aspect, the container 221 can include a lock entry keypad 223, a finger swipe sensor, or a cell phone or other signal receiver, each of which can allow a user to unlock the shipping container 221 using an unlocking protocol specific to the unlocking mechanism. The shipping container 221 can further include a sensor, such as, for example, but not limited to, an imaging device, such as, for example, a camera 235. The camera 235 can provide a visual image of anything entering the environment of the shipping container 221. The camera 235 can deter malicious actors and potentially allow for identification of malicious actors if they tamper with the shipping container 221. The camera 235 can be operatively coupled to a communication system mounted on the shipping container 221 such that images can be transmitted in real time to anyone authorized to monitor the container 221. Alternatively, collected images can be stored on-board or remotely for later viewing. The camera 235 (FIG. 21C) can be capable of a 360° collection range, for example. In some aspects, multiple cameras, possibly with different collection ranges, can be mounted at various positions on the container 221. When multiple cameras are present, all cameras together can image the surrounding environment around the shipping container 221. In some configurations, the container 221 can include a multi-part cargo holder, where multiple parts can be operatively coupled to enclose cargo within the container 221. In one aspect, the container 221 can include an upper portion 231 and a cargo holding area 233 (FIG. 21D), each of which can take on any geometric shape and volume.The top 231 and the cargo holding area 233 can be operably coupled by fasteners, the selection of which can depend on the type of cargo and, for example, the desired security of the cargo. In certain aspects, the fasteners can include any, some, or all of the following: zippers, buttons, VELCRO® strips, wires, chains, straps, ropes, or glue. The container 221 can include a locator device 229 (FIG. 21E) and / or a theft alarm 227 (FIG. 21E). In certain aspects, the locator device can include a GPS or other location means, and the theft alarm 227 can include, for example, but not limited to, a bicycle alarm, a projector alarm, and / or a panic button. The container 221 can include attachment points 225 (FIG. 21G) for exposing the container 221 to mechanical movement and a tray 237 (FIG. 21F) for positioning cargo within the container 221. Various size and shape configurations of the containers, trays, and associated sensors and attachment points are contemplated by the present teachings.

[0118] 22A-22D, various possible configurations of a shipping container are shown. In one aspect, the shipping container can include multiple sections 253 (FIG. 22A) each available for separate secured storage, the entirety of the multiple sections fitting within a cargo hold area of ​​a preselected size. Secured storage can be enabled by, for example, but not limited to, a keypad area 251, which can include multiple security features. The keypad area 251 can be located anywhere on the container 261 (FIG. 22C) and on the individual sections 253 (FIG. 22A). The keypad area 251 can include, for example, but not limited to, a battery case 252 (FIG. 22B), which can be used to power various features such as lights, cameras, and / or GPS. The keypad area 251 can include, for example, a keypad, RFID, and / or a zipper stop, among other features. The container 261 (FIG. 22C) may include a flexible, foldable, and / or crushable material that may allow for compact storage of the container 261 (FIG. 22C) when the container 261 (FIG. 22C) is not in use or is partially in use. The container 261 (FIG. 22C) may include a gripping adaptation 262 (FIG. 22B). The gripping adaptation 262 (FIG. 22B) may allow for the use of, for example, but not limited to, a handle grip and / or hook to grasp and move the container 261 (FIG. 22C). Other means of attachment are also contemplated by the present teachings.

[0119] 22A-22D, the shipping container of the present teachings can take any geometric shape. The shipping containers shown herein are for illustrative purposes only. Additionally, the opening / closing mechanism of the shipping container can include a zipper 255 (FIG. 22A), a VELCRO® strip, buttons, hooks, and / or other types of fasteners. Where the exemplary shipping container 261 (FIG. 22C) includes a zipper 259 (FIG. 22C), the keypad 251 can include zipper stops 271 / 273. Other fastener stops and attachments are also contemplated by the present teachings. The shipping container 261 (FIG. 22C) can further include recesses 265 / 266 (FIG. 22C) that can be used to attach, for example, a gripping device 267 (FIG. 22C) and a storage handle 269 (FIG. 22C), respectively. The shipping containers of the present teachings can be constructed from flexible materials that can be collapsed for storage or partial use. In one aspect, the top and bottom 289 (FIG. 22D) of the shipping containers of the present teachings can include rigid or semi-rigid materials, such as lightweight plastic or plastic honeycomb. The shipping containers can include retractable edges 268 (FIG. 22D) that can allow for container collapse.

[0120] 22E-22G, the shipping container of the present teachings can be constructed from panels, tucks, and flaps that are organized to allow for folding 334 (FIG. 22G) of the shipping container. The shipping container can be constructed from split panels that can allow for folding of the shipping container into a flat pattern 336 (FIG. 22G). In certain aspects, the panels can be constructed from steel plates that can be split in the middle to allow for folding, or can extend the full width of the shipping container if folding is not required. In one aspect, the shipping container can be constructed from laminated TPU fabric with steel security panels. The shipping container can include a security system for the shipping container, such as, for example, but not limited to, a keypad lock 1013 (FIG. 22E). The security system can also include an imaging system, such as, for example, but not limited to, a camera 1019 (FIG. 22E), possibly imaging a 360° radius around the shipping container. In certain aspects, the shipping container can include at least one alarm 1023 (FIG. 22E). At least one alarm 1023 (FIG. 22E) can generate notifications, for example, if the shipping container is moved, if there is movement around the shipping container, or if there is tampering with the shipping container, among others. The shipping container can include electronics 1021 (FIG. 22E) that can control available features on the shipping container and transmit data that can inform a user or another remote system of the status of the shipment and the shipping container itself. The electronics 1021 (FIG. 22E) can receive information that can be used to control features included with the shipping container, from opening the shipping container to imaging the surroundings and generating notifications about the status of the shipment and the shipping container. The shipping container can include features that can enable automatic movement of the shipping container, such as connection points 1017 (FIG. 22E) that can be used by a deployment mechanism that can be mounted within the cargo hold area. In one aspect, the shipping container can include a top 1011 (FIG. 22E).In one aspect, the top 1011 (FIG. 22E) can include electronics 1021 (FIG. 22E), at least one alarm 1023 (FIG. 22E), and an apparatus for mating the top 1011 (FIG. 22E) and the cargo hold 1015 (FIG. 22E). The apparatus can include a connector 1014 (FIG. 22E) that can operably couple with a security lock 1013 (FIG. 22E). The connector 1014 (FIG. 22E) can be released when the security lock 1013 (FIG. 22E) is unlocked. The means of unlocking depends at least on the type of lock and can take any of a number of conventional forms.

[0121] 22F, in another configuration, a shock absorbing device can be mounted on the shipping container to reduce the possibility of damage to the contents of the shipping container and the shipping container itself. In an aspect, the shock absorbing device can include, for example, but not limited to, a gas shock absorber, a spring, and / or a cushion. In an aspect, the shock absorbing device can be retracted into the shipping container for storage. In an aspect, the shipping container can include a panel 1029 that reinforces the shipping container and, together with a hinge 1028, can allow for collapsibility of the shipping container. In one aspect, the shock absorbing device can include a spring 1016. When the shipping container is deployed from a height and pulled by gravity or otherwise moved to a lower surface, the shock absorbing device 1016 can compress to absorb the impact.

[0122] 22G, an exemplary shipping container that may be mounted within a trailer of the present teachings may be fully crushable and stackable. The shipping container may further include security features. In an aspect, the shipping container may include visible features such as an opening for imaging and collecting security information. The visible features may be mounted anywhere on the shipping container. In an aspect, the imaging feature 2011, security feature 2013, and latch 2023 may be mounted on and within the top 2015 of the shipping container. The security feature 2013 may enable the latch 2023 to be engaged and disengaged to open the shipping container. The top 2015 may include a secure area (not shown) where electronics and communication systems may be located that may automate the security features of the shipping container. In an aspect, the shipping container may include panels 2019 / 2017 that may enable crushability of the shipping container. The shipping container may include features that may be used to grip the shipping container for deployment. In an aspect, the features may include a base 2021. Straps, ropes, and other devices can be connected to the base 2021. The panels 2019 / 2017 can be joined by hinges, for example, and used to fold the shipping container.

[0123] 22H-22M, in another configuration, the shipping container can include a fully crushable and stackable shipping container. The shipping container can further include security features whose operation is largely hidden. In one aspect, the shipping container can include visible features such as openings for imaging and collecting security information. The visible features can be mounted anywhere on the shipping container. In one aspect, the imaging feature 2011 (FIG. 22H) and security feature 2013 (FIG. 22H) and latch 2023 (FIG. 22H) can be mounted on and in the top 2015 (FIG. 22H) of the shipping container. The security feature 2013 (FIG. 22H) can allow for the latch 2023 (FIG. 22H) to be engaged and disengaged to open the shipping container. The top 2015 (FIG. 22H) can include a secure area (not shown) where electronics and communication systems can be located that can automate the security features of the shipping container. In some aspects, the shipping container can include panels 2019 / 2017 (FIG. 22H) that can enable collapsibility of the shipping container. The shipping container can include features that can be used to grip the shipping container for unfolding. In some aspects, the features can include a base 2021 (FIG. 22H). Straps, ropes, and other devices can be connected to the base 2021 (FIG. 22H) at, for example, recesses 2022 (FIG. 22J), as discussed herein. The panels 2019 / 2017 (FIG. 22H) can be joined, for example, by hinges 2025 (FIG. 22I), and can be used to fold, as shown in FIG. 22K. When the boxes are fully folded, as shown in FIG. 22L, a stack of boxes, as shown in FIG. 22M, can be conveniently transported.

[0124] 22N and 22O, the shipping container of the present teachings can take on any shape. In one aspect, the shipping container can include a sectioned top configured with a latching strip. The sectioned top can include a section, a latching mechanism, and a security feature. In one aspect, the top can include two movable sections 2061 / 2063 (FIG. 22O). In one aspect, each movable section can form a single panel with a side of the shipping container. In one aspect, each movable section 2061 (FIG. 22O) can be connected to a side 2057 (FIG. 22O) of the shipping container. In one aspect, the latching strip 2055 can be provided with a security feature. The security feature can include, but is not limited to, a latching mechanism 2051 and at least one sensor 2053. In an aspect, the latching mechanism 2051 can receive a command to open the shipping container and can disengage the latching strip 2055 from the latching receptacle 2059 (FIG. 22O). The latching mechanism 2051 can include, for example, a magnetic latch or an automatic door locking device. The at least one sensor 2053 can include, for example, a camera, a motion sensor, an audio sensor, and / or an environmental sensor.

[0125] 23A-23B, exploded and cross-sectional views of an exemplary tote are shown. The shape of the tote shown is exemplary only. The tote can take any shape. For example, its size can match the amount of space within the autonomous vehicle it is designed to travel in. In some aspects, the tote is smaller than the cargo bay of the autonomous vehicle such that multiple totes may occupy the cargo bay. In some aspects, the tote can take on a variety of shapes, such as, for example, but not limited to, a cube, cylinder, cone, sphere, or pizza box shape. Multiple types of items destined for different target locations can occupy the tote. Identification on the item itself indicates the ultimate recipient of the item. In some aspects, the tote itself includes identification information that is used to indicate the destination of the tote to the autonomous vehicle.

[0126] 23A-23B, in one aspect, the tote is impervious to preselected environmental conditions depending on the materials used in its construction and the extent to which seams are sealed. For example, if the exterior surface of the tote is waterproof, water repellent, or water resistant, the contents will be protected to some degree from water intrusion. If the exterior surface is heat resistant, the exterior surface will withstand thermal flow. If the exterior surface is chemically resistant, the exterior surface will withstand chemical attack for a specific period of time. Other forms of protection and resistance are also contemplated by the present teachings. Combinations of protection and resistance can be applied to protect the contents of the tote from various types of environmental intrusions, e.g., heat and moisture intrusion. In one aspect, the tote exterior includes an outer wall 10023, a top / bottom wall 10029, and a connecting means 10025. The walls 10023 / 10029 can be coated with various materials to achieve resistance or protection, or the walls 10023 / 10029 can be constructed from materials that are inherently protective, such as, for example, polytetrafluoroethylene, a waterproof material. The connecting means 10025 includes some form of fastener that allows accessibility of the contents of the tote. Examples of such fasteners include zippers and hook and loop fasteners.

[0127] 23A-23B, inside the outer shell, an exemplary tote of the present teachings includes a top panel 10027, a small panel 10031, and a large panel 10037. The top panel 10027 is mounted between the top wall 10029 and the outer wall 10023. On one side, the small panel 10031 is mounted between the outer wall 10023 and the inner wall 10035 on the non-pin side of the tote. The multiple small panels 10031 shown in FIG. 23A illustrates a configuration in which the sides of the tote are collapsible and fold at the seams between the small panels 10031. Other configurations are also contemplated by the present teachings. For example, there can be more than two small panels 10031, allowing for different types of folding. The large panel 10037 is mounted between the outer wall 10023 and the inner wall 10035 to provide additional support for the weight that the tote pin 10021 must bear. In one aspect, the tote pin 10021 is gripped by a lift / lower-raise mechanism that allows for attended or unattended delivery / picking of packages. The interior of the tote is bounded by the inner wall 10035 and the tote tray 10033. In one aspect, the tote tray 10033 allows relatively heavy items to be transported within the tote. In one aspect, the tote tray 10033 is removably secured to the large panel 10037 by a flanged bolt combination 10039 (FIG. 23B) that connects to a female hook. Other forms of attachment between the tote tray 10033 and the large / small panels 10021 / 10031 are also contemplated by the present teachings.

[0128] 24, an exemplary collapsed tote is shown. In one aspect, the collapsed tote includes a flexible panel and a tray.

[0129] 25A-25D, an exemplary open-top tote is shown. The exemplary open-top tote as shown in FIG. 25A includes a side panel 10045, a pin panel 10041, a floor 10047, and a tote pin 10043. In one aspect, the tote can be autonomously lifted from the cargo bay by a gripping mechanism that engages the tote pin 10043. The tote can take on any shape depending on its intended use. In one aspect, the tote takes on the shape of the cargo bay of an autonomous vehicle. The side panel 10045, the pin panel 10041, and the floor 10047 can take on any shape. Another configuration of the exemplary tote as shown in FIG. 25B and 25C is constructed from 220 material, plus flattens for stacking and storage. In one aspect, the side panel 10046 is perforated for a fold-back structure. In some aspects, the end panel 10042 includes a pin cavity 10051 and a handheld cavity 10049. In some aspects, the tote can transport multiple packages, as shown in FIG. 25C. In some aspects, the disposable tote can be constructed from cardboard and / or waterproof materials such as, but not limited to, plastic, wood fiber, medium density fiberboard, and / or oriented strand board. In some aspects, referring to FIG. 25D, the crushable box includes folded wings 10101 (FIG. 25D) and 10111 / 10113 (FIG. 25D), both of which allow flat storage of the box but strengthen the sides of the box. In some aspects, the box includes a handhold 10103 / 10107 (FIG. 25D) and a bottom 10115 (FIG. 25D). A folding flap 10109 secures the sides together. In some aspects, the box is open-topped.

[0130] 26, a durable container lowering system is shown. The exemplary container lowering system includes a side 10008, a front 10002, and a rear 10004. The side 10008 includes an actuator 10011, a link arm 10001, a first rail 10005, and a rail carriage 10003. In one aspect, the actuator 10011 energizes the rail carriage 10003, causing it to move up and down the first rail 10005. As the rail carriage 10003 moves up and down the first rail 10005, the angle between the link arms 10001 increases and decreases. As the angle between the link arms 10001 changes, the corner 10009 moves along the second rail 10007. As the corners 10009 move away from the front 10002 and rear 10004, a container (not shown) held by the container lowering device drops through the container lowering bottom opening. In one aspect, the container lowering device is lifted / lowered / raised by an autonomous gripping means that engages with the pins 10006. In one aspect, the actuators 10011 are activated remotely, possibly by a user, a remote operator, or through wireless control in conjunction with the movement of the autonomous device.

[0131] 27A-27D, exemplary interactions between delivery trucks and autonomous vehicles are illustrated. In certain aspects, the delivery trucks and autonomous vehicles are communicatively coupled through direct communication or communication through a scheduler and / or remote operator. Such communicative coupling may be enabled by a network-based cloud. In certain aspects, the delivery trucks call the autonomous vehicles and vice versa. In certain aspects, the delivery trucks call each other, the autonomous vehicles call each other, and / or calls are made cross-vehicle between the delivery trucks and the autonomous vehicles. In certain aspects, activities between the vehicles are coordinated between each other, or by a scheduler and / or remote operator, or by a combination, depending on the situation. In certain aspects, a trailer may accompany the autonomous vehicles. In certain aspects, the trailer communicates with at least one autonomous vehicle and at least one delivery truck. In certain aspects, the trailer carries additional power options for the autonomous vehicles. In some aspects, trailer power is used for locking and anti-theft protection of cargo being carried in the trailer. In some aspects, the trailer may carry at least one battery, for example in a base compartment of the trailer, that may be used by an autonomous vehicle requesting charging. In some aspects, an autonomous vehicle may provide power to another autonomous vehicle that requires charging. In some aspects, the autonomous vehicles are pre-loaded and know their individual target destination. In some aspects, the autonomous vehicles call delivery trucks to take them to their target destination and deliver them as close as possible to the target destination. In some aspects, if an autonomous vehicle needs additional cargo space, trailers or more autonomous vehicles are brought in to join the requesting autonomous vehicle and / or delivery truck.

[0132] Referring now to FIG. 27A, in one aspect, an autonomous vehicle calls a delivery vehicle, such as, for example, a delivery truck. The autonomous vehicle may call a delivery truck if the autonomous vehicle can make a delivery and accommodate additional items to be delivered, or the autonomous vehicle may need to be picked up for any number of reasons. For example, the autonomous vehicle may require charging, or the autonomous vehicle may have been called to a target destination that is too far from the autonomous vehicle's current location for a timely delivery to be made. The delivery truck may transport the autonomous vehicle to a location closer to the target destination, and the autonomous vehicle may proceed the remaining distance if necessary, such as if the remaining distance is not navigable by the delivery truck. In one aspect, the autonomous vehicle informs a scheduler that it has a problem, e.g., a power problem. The delivery truck is called to possibly replace the battery, or alternatively, rescue the autonomous vehicle and / or its cargo. In one aspect, the delivery truck is called to bring additional cargo to the autonomous vehicle, or to pick up items that are preloaded on the autonomous vehicle.

[0133] An example configuration is shown in FIG. 27. The autonomous vehicles communicate, either directly or indirectly, with a delivery truck controller 15017 in a delivery truck 15001. In one aspect, the delivery truck 15001 is a tractor trailer. In one aspect, the truck trailer includes a truck trailer controller 15015. The vehicle controllers communicate with each other and with a communication processor 15003 of a server 15005 through a network 15013. In one aspect, a scheduler 15007 runs in the server 15005 and manages the location and delivery of the autonomous vehicles and the delivery trucks. Such an example configuration can be used and extended in many ways. Exemplary commands exchanged between the calling autonomous vehicle and the delivery truck include: (a) by the autonomous vehicle determining a problem with the autonomous vehicle; (b) by the autonomous vehicle requesting assistance from a delivery truck with room to carry the autonomous vehicle if the autonomous vehicle has an obstacle; (c) by the autonomous vehicle requesting a delivery truck that meets delivery criteria, such as proximity to the autonomous vehicle and / or proximity to a target destination, if the autonomous vehicle needs a ride to make at least one delivery; and (d) by the autonomous vehicle requesting a delivery truck containing cargo to be delivered in the vicinity of the autonomous vehicle if the autonomous vehicle needs more cargo to deliver. Other reasons for calling a delivery truck can also be considered by a state table executed by the autonomous vehicle. The state table can have a set of preselected states that can be dynamically updated, or can be modified by a user or a remote operator.

[0134] 27A , when a delivery truck is called, it travels to the calling autonomous vehicle. The calling autonomous vehicle can issue further commands such as (a) directing the truck trailer, if possible, to open a door to the truck trailer cargo area in response to any issues with the autonomous vehicle, (b) directing a lifting device in the truck trailer, if possible, to position the autonomous vehicle or possibly position a loading device in the truck trailer to deliver cargo to the autonomous device, (c) commanding a lifting device, if possible, to lift the autonomous vehicle into the delivery truck or commanding the door of the autonomous vehicle to open to the door of the truck trailer, and (d) commanding a loading device, if possible, to move cargo from the truck trailer to the autonomous vehicle. In some aspects, the cargo is electronically labeled with its destination and other characteristics. In some aspects, the autonomous vehicle scans the identification information on the cargo and issues commands to determine a route to the target destination based at least on the identification information on the cargo. In one aspect, the autonomous vehicle issues commands to autonomously move cargo from the autonomous vehicle cargo hold and / or from the autonomous vehicle trailer cargo hold to the delivery truck using a delivery arm in the autonomous vehicle as described herein or using mechanisms provided by the truck trailer. In one aspect, the autonomous vehicle navigates to another pickup or delivery target destination.

[0135] Now referring to FIG. 27B, an example configuration with multiple delivery trucks and multiple autonomous vehicles is shown. Although not shown, it should be understood that multiple servers can be used to offload processing from a single processor. In the example configuration shown in FIG. 27B, the autonomous vehicles 15011A-15011D are configured to communicate with each other in a possibly ad-hoc local network. In one aspect, multiple autonomous vehicles 15011x form a platoon and use a local network to communicate the lead autonomous vehicle 15011x, the lead's speed and speed / direction changes, and braking actions. Information about the lead can be transmitted by the lead or inferred from sensors on the non-lead autonomous vehicles 15011x. In one aspect, multiple autonomous vehicles 15011x may call trucks 15001x to multiple locations. Similarly, the delivery trucks 15001A-15001C are configured to communicate with each other in a possibly ad-hoc local network. Each of the local networks, and potentially each individual vehicle, is configured to communicate with the server 15005, either directly or through a conventional communication network. In an aspect, the multiple autonomous vehicles 15011x may call at least one delivery truck 15001x, either directly selecting a delivery truck or through the server 15005, where the scheduler 15007 consults the schedules and locations of the delivery trucks and sends the closest truck, or a truck without any cargo, or a truck with cargo scheduled for delivery to a target destination in the vicinity of the calling autonomous vehicle. In an aspect, the process outlined herein is followed for moving cargo from the cargo hold of the autonomous vehicle and / or the cargo hold of the trailer to the delivery truck. The autonomous vehicles communicate with each other and with the scheduler to coordinate upcoming pickups / deliveries, which may involve more cargo than a single autonomous vehicle and / or trailer and / or delivery truck can handle alone.

[0136] Referring to FIG. 27C, a block diagram illustrating the functions that each of the components performs in an exemplary truck call process is depicted. In one aspect, an autonomous vehicle 15009 calls a truck 15001 (FIG. 27A), and the truck adapter box 15019 receives the call from the autonomous vehicle 15009, proceeds to the location indicated by the call, and informs the scheduler 15007 of its status. When the truck 15001 (FIG. 27A) arrives, the autonomous vehicle 15009 is informed either by the truck 15001 (FIG. 27A) or by the scheduler 15007, or both, and the truck 15001 (FIG. 27A) opens its door. The autonomous vehicle 15009 opens its door, activates its delivery arm, and moves its cargo to the truck 15001 (FIG. 27A). The door is closed and the scheduler 15007 is notified of the status. In one aspect, the activity is logged.

[0137] 27D, in one aspect, the autonomous vehicle trailer 15012 is configured to communicate with the scheduler 15007 and the truck 15001 and provide status and other information about its cargo. In one aspect, the autonomous vehicle trailer 15012, which carries items such as a power supply and cargo, is called by the autonomous vehicle 15011 and / or the truck 15001 to carry cargo that does not fit within the autonomous vehicle 15012 or when power is needed by the autonomous vehicle 15011, such as a charged battery pack. In one aspect, the autonomous vehicle trailer 15012 tracks the status of the power supply it carries and provides that information to, for example, the scheduler 15007, the autonomous vehicle 15011, and the truck 15001. Alternatively, in one aspect, the power supply is charged by a wireless transmitter (not shown). Wireless transmitters can be located beneath the road surface over which the autonomous vehicles 15011 and autonomous vehicle trailer 15012 travel. Wireless transmitters can be located on the truck 15001, the autonomous vehicles 15011, and / or the autonomous vehicle trailer 15012. In one aspect, sensors are located around the cargo of the autonomous vehicle trailer that allow for locking and anti-theft protection, among other features powered on the autonomous vehicle trailer 15012. In one aspect, the autonomous vehicle trailer includes protection from environmental intrusions and sensors to detect such intrusions.

[0138] Configurations of the present teachings are directed to computer systems for performing the methods discussed in the description herein and computer readable media containing programs for performing these methods. Raw data and results can be stored for future retrieval and processing, printed, displayed, transferred to another computer, and / or transferred to another location. Communications links can be wired or wireless, using, for example, cellular, military, and satellite communication systems. Portions of the system can run on computers with varying numbers of CPUs. Other alternative computer platforms can also be used.

[0139] The present configuration is also directed to software / firmware / hardware for performing the methods discussed herein and computer-readable media storing the software for performing these methods. The various modules described herein can be performed on the same CPU or on different CPUs. The present configuration is described in language that is specific with respect to structural and method features. However, it should be understood that the present configuration is not limited to the specific features shown and described herein.

[0140] The method can be implemented, in whole or in part, electronically. Signals representing actions taken by elements of the system and other disclosed configurations can travel over at least one live communication network. Control and data information can be electronically executed and stored on at least one computer readable medium. The system can be implemented to run on at least one computer node in at least one live communication network. Common forms of the at least one computer readable medium can include, for example, but are not limited to, a floppy disk, a flexible disk, a hard disk, a magnetic tape, or any other magnetic medium, a compact disk read-only memory or any other optical medium, a punch card, a paper tape, or any other physical medium with a pattern of holes, a random access memory, a programmable read-only memory, and an erasable programmable read-only memory (EPROM), a flash EPROM, or any other memory chip or cartridge, or any other medium from which a computer can read. Additionally, at least one computer-readable medium may contain graphs in any form, including, but not limited to, Graphics Interchange Format (GIF), Joint Photographic Experts Group (JPEG), Portable Network Graphics (PNG), Scalable Vector Graphics (SVG), and Tagged Image File Format (TIFF), where appropriate pursuant to an appropriate license.

[0141] Although the present teachings have been described above in terms of specific configurations, it should be understood that they are not limited to these disclosed configurations. Numerous modifications and other configurations will occur to those skilled in the art to which this pertains, and are intended to be and will be covered by both this disclosure and the appended claims. It is intended that the scope of the present teachings should be determined by the proper interpretation and interpretation of the appended claims and their legal equivalents, as understood by those skilled in the art relying on the disclosure in this specification and the accompanying drawings.

[0142] Claims

Claims

1. A method for autonomous unmanned cargo delivery, comprising: Receiving a cargo (13) into a cargo area of an autonomous vehicle (AV) (101), wherein the cargo area includes a secure container (109, 221); Receiving a desired destination for the cargo (13); Autonomously commanding the AV (101) to navigate to the desired destination; When the AV (101) reaches the desired destination, automatically determining the environmental conditions of the desired destination and whether the environmental conditions are inclement weather conditions; Autonomously deploying the secure container (18, 109, 221) containing the cargo (13) from the AV (101) at the desired destination, wherein the desired destination is unmanned; When it is determined that the environmental conditions are inclement weather conditions, automatically requesting the inclement weather conditions and / or assistance from a remote controller A method comprising the steps of:

2. Autonomously receiving the cargo (13) includes: Adjusting security settings on the secure container to achieve consistency between the desired destination and the secure container (18, 109, 221), the method of claim 1.

3. Autonomously navigating the AV (101) to the desired destination includes: Determining a route between the location of the AV (101) and the desired destination; Continuously determining free space for navigation of the AV (101) proximate to the route; Commanding the AV (101) to cross the free space A method according to claim 1, comprising the steps of:

4. Autonomously deploying the cargo includes: Opening the cargo area; Using a deployment device (22) to autonomously move the secure container (18, 109, 221) out of the cargo area; Commanding the deployment device (22) to move the secure container (18, 109, 221) to an outer surface of the AV (101); Continuously determining the position of the secure container (18, 109, 221); Releasing the secure container (18, 109, 221) from the deployment device (22) when the secure container (18, 109, 221) reaches the surface retracting the deployment device (22) into the cargo area; closing the cargo area; The method according to claim 2, comprising:

5. The deployment device is a crane, a forklift, a robotic arm (153, 163A, 165, 166, 1121), a rotating link mechanism (301), and an extendable tarp (171), The method according to claim 4, comprising one or more of:

6. The deployment device (22) comprises a plurality of cables (25) deployed from a telescopic arm (23). The method according to claim 4.

7. The deployment device (22) comprises a plurality of rollers (211) operably coupled to a sail (215). The method according to claim 4.

8. The cargo area constitutes an area (421) at least partially covered by the AV (101). The method according to claim 4.

9. The secure container (18, 109, 221) comprises at least one secure entry device (223), at least one location sensing device (229), at least one camera (235), at least one alarm system (227), and at least one device for coupling the deployment device (22) to the secure container (18, 109, 221). The method according to claim 4, comprising:

10. The at least one secure entry device (223) comprises a keypad. The method according to claim 9.

11. The at least one location sensing device (229) comprises a GPS. The method according to claim 9.

12. The at least one camera (235) comprises a 360° imaging camera. The method according to claim 9.

13. The at least one alarm system (227) comprises an audio tampering alert device (1023). The method according to claim 9.

14. Determining the route is reading cargo identification information associated with the cargo (13), the cargo identification information including the desired destination. The method according to claim 3, comprising:

15. autonomously collecting a second piece of cargo at the desired destination; determining a second desired destination from the identification information on the second piece of cargo; navigating to the second desired destination; The method according to claim 1, further comprising:

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