Autonomous Vehicles and Vending Systems

Abstract

The load transfer system is configured to facilitate movement of the autonomous vehicle into and / or out of a room in the vehicle station and is associated with transferring loads to and from another room in the vehicle station and the customer premises. The load transfer system is operable to selectively provide a route into and / or out of the room of the vehicle station for vehicle movement, and the autonomous vehicle is configured to travel along another route into and / or out of the room of the customer premises to facilitate the load transfer.

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of U.S. Provisional Application No. 63 / 413,842, entitled "AUTONOMOUS VEHICLE AND VENDING SYSTEM," filed October 6, 2022, which is incorporated herein by reference in its entirety. [Background technology]

[0002] 1. Field

[0003] The present invention relates generally to shipping systems. More particularly, embodiments of the present invention relate to shipping systems and control systems operable to provide secure package delivery. Summary of the Invention [Problem to be solved by the invention]

[0004] 2. Consideration of Prior Art Prior art shipping methods include secure and non-secure methods for transferring a shipment from a sender or transferring a shipment to a recipient. Traditional postal services utilize secure mailbox equipment to securely hold a sender's shipment before it is shipped. Similarly, traditional secure mailbox equipment is generally provided by post offices or shipping services and can be used to securely hold a recipient's shipment once it is received. Secure mailboxes are known for use at post offices, businesses, or other locations near residential or business locations.

[0005] With the proliferation of online retailers, dropshipping services, and courier services, traditional mailbox equipment and shipping practices have several notable drawbacks. For example, prior art couriers and services are known to leave delivered items unsecured at a location. Cases of theft and tampering are common with unsecured deliveries. Additionally, it is common for courier services to send deliveries to incorrect addresses.

[0006] This background discussion is intended to provide information related to the present invention that is not necessarily prior art. [Means for solving the problem]

[0007] The following summary is provided to indicate the nature of the subject matter disclosed herein. Although certain aspects of the invention are described below, the summary is not intended to limit the scope of the invention.

[0008] Embodiments of the present invention provide a load transfer system that does not suffer from the problems and limitations of prior art devices, including those described above.

[0009] One aspect of the present invention relates to a load transfer system configured to facilitate movement of an autonomous vehicle into and / or out of a room in a vehicle station and associated with transferring loads to and from another room within the vehicle station and a customer premises. The load transfer system is operable to selectively provide a path into and / or out of the vehicle station room for vehicle movement, and the autonomous vehicle is configured to travel along another path into and / or out of the customer premises room to facilitate the load transfer. The load transfer system broadly includes a station panel assembly, a building panel assembly, and a control system. The station panel assembly is operable to be constructed as part of the vehicle station and includes a station panel that is shiftable between an open position and a closed position to selectively provide access to the vehicle station room. The building panel assembly is operable to be constructed as part of the customer premises and includes a building panel that is shiftable between an open position and a closed position to selectively provide access to the customer premises room. The control system is configured to enable movement of the vehicle into and / or out of the room. The control system is configured to control each of the panels to selectively provide a path into and out of the respective room. The control system includes a position sensor configured to sense vehicle position data associated with a position of the vehicle relative to the panel. The control system further includes a system processor configured to receive the vehicle position data associated with the vehicle, open the station panel to allow entry and exit of the station room along the path based on the vehicle position data, move the autonomous vehicle to a position adjacent to the station panel to facilitate movement of the vehicle along the path based on the vehicle position data, open the building panel to allow entry and exit of the building room along another path based on the vehicle position data, and move the autonomous vehicle to a position adjacent to the building panel to facilitate movement of the vehicle along another path based on the vehicle position data.

[0010] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter. Other aspects and advantages of the present invention will become apparent from the following Detailed Description of the Embodiments and the accompanying drawings.

[0011] Preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is an elevation view of a shipping system constructed in accordance with a first preferred embodiment of the present invention, showing the autonomous vehicles, doors, base stations, and network of the shipping system provided as part of a building, with the vehicles located within rooms of the building.

[0013] [Figure 2] FIG. 2 is a schematic diagram of the shipping system shown in FIG. 1.

[0014] [Figure 3] 2 is a front view of the door shown in FIG. 1 showing the panel assembly in an open position where the door allows entry and exit to a room.

[0015] [Figure 4] 4 is a front view of the door similar to FIG. 3 but showing the panel assembly with the door in a closed position for restricting entry and exit to a room.

[0016] [Figure 5] FIG. 5 is a schematic diagram of the shipping system shown in FIGS. 1-4 illustrating steps in the package transfer process by which packages are delivered to building occupants. [Figure 6] FIG. 5 is a schematic diagram of the shipping system shown in FIGS. 1-4 illustrating steps in the package transfer process by which packages are delivered to building occupants. [Figure 7]FIG. 5 is a schematic diagram of the shipping system shown in FIGS. 1-4 illustrating steps in the package transfer process by which packages are delivered to building occupants. [Figure 8] FIG. 5 is a schematic diagram of the shipping system shown in FIGS. 1-4 illustrating steps in the package transfer process by which packages are delivered to building occupants. [Figure 9] FIG. 5 is a schematic diagram of the shipping system shown in FIGS. 1-4 illustrating steps in the package transfer process by which packages are delivered to building occupants. [Figure 10] FIG. 5 is a schematic diagram of the shipping system shown in FIGS. 1-4 illustrating steps in the package transfer process by which packages are delivered to building occupants.

[0017] [Figure 11] 1 is a schematic diagram of several packages for delivery by a shipping system, showing corresponding data structures associated with the packages.

[0018] [Figure 12] FIG. 12 is a schematic diagram of a control method for the shipping system shown in FIGS.

[0019] [Figure 13] FIG. 1 is an elevation view of a shipping system constructed in accordance with a second embodiment of the present invention, showing the autonomous vehicles, doors, base stations, and network of the shipping system provided as part of a building, with the vehicles located within rooms of the building.

[0020] [Figure 14] FIG. 14 is a front view of the door shown in FIG. 13 showing the panel assembly in an open position where the door allows entry and exit to the room.

[0021] [Figure 15] 15 is a front view of the door similar to FIG. 14 but showing the panel assembly with the door in a closed position for restricting entry and exit to a room.

[0022] [Figure 16]10 is a schematic diagram of a shipping system constructed in accordance with a third embodiment of the present invention, illustrating steps in a package transfer process by which packages are delivered to building occupants. [Figure 17] 10 is a schematic diagram of a shipping system constructed in accordance with a third embodiment of the present invention, illustrating steps in a package transfer process by which packages are delivered to building occupants. [Figure 18] 10 is a schematic diagram of a shipping system constructed in accordance with a third embodiment of the present invention, illustrating steps in a package transfer process by which packages are delivered to building occupants. [Figure 19] 10 is a schematic diagram of a shipping system constructed in accordance with a third embodiment of the present invention, illustrating steps in a package transfer process by which packages are delivered to building occupants. [Figure 20] 10 is a schematic diagram of a shipping system constructed in accordance with a third embodiment of the present invention, illustrating steps in a package transfer process by which packages are delivered to building occupants. [Figure 21] 10 is a schematic diagram of a shipping system constructed in accordance with a third embodiment of the present invention, illustrating steps in a package transfer process by which packages are delivered to building occupants.

[0023] [Figure 22] FIG. 22 is a schematic diagram of a shipping system similar to FIGS. 16-21, but showing an alternative delivery vehicle configuration in which an aerial drone is used to transfer packages to an autonomous vehicle. [Figure 23] FIG. 22 is a schematic diagram of a shipping system similar to FIGS. 16-21, but showing an alternative delivery vehicle configuration in which an aerial drone is used to transfer packages to an autonomous vehicle.

[0024] [Figure 24] 10 is a schematic plan view of a shipping system constructed in accordance with a fourth embodiment of the present invention, the shipping system being provided as part of a multi-tenant complex.

[0025] [Figure 25] FIG. 25 is an elevation view of the shipping system shown in FIG. 24, showing the shipping system within the building's shipping and receiving facility. [Figure 26] FIG. 25 is an elevation view of the shipping system shown in FIG. 24, showing the shipping system within the building's shipping and receiving facility.

[0026] [Figure 27] FIG. 27 is a schematic diagram of the shipping system shown in FIGS. 24 to 26. [Figure 28] FIG. 27 is a schematic diagram of the shipping system shown in FIGS. 24 to 26. [Figure 29] FIG. 27 is a schematic diagram of the shipping system shown in FIGS. 24 to 26.

[0027] [Figure 30] FIG. 30 is a schematic diagram of a control method for the shipping system shown in FIGS. 24 to 29.

[0028] [Figure 31] FIG. 10 is a schematic diagram of a shipping system constructed in accordance with a fifth embodiment of the present invention. [Figure 32] FIG. 10 is a schematic diagram of a shipping system constructed in accordance with a fifth embodiment of the present invention. [Figure 33] FIG. 10 is a schematic diagram of a shipping system constructed in accordance with a fifth embodiment of the present invention.

[0029] [Figure 34] FIG. 34 is a schematic diagram of a control method for the shipping system shown in FIGS. 31 to 33.

[0030] [Figure 35] FIG. 10 is a schematic diagram of a shipping system constructed in accordance with a sixth embodiment of the present invention. [Figure 36] FIG. 10 is a schematic diagram of a shipping system constructed in accordance with a sixth embodiment of the present invention. [Figure 37] FIG. 10 is a schematic diagram of a shipping system constructed in accordance with a sixth embodiment of the present invention.

[0031] [Figure 38] FIG. 38 is a schematic diagram of a control method for the shipping system shown in FIGS. 35 to 37. DETAILED DESCRIPTION OF THE INVENTION

[0032] The drawings do not limit the invention to the particular embodiments disclosed and described herein. The drawings do not necessarily provide precise dimensions or tolerances of the components or structures shown, but the drawings, including those that are purely schematic, are to scale with respect to the relationships between the components of the structure shown therein.

[0033] 1 and 2, shipping system 30 is constructed in accordance with a preferred embodiment of the present invention and is configured to facilitate the transfer of package P between room R in building B associated with a shipping order and a delivery vehicle 32 outside room R. As described below, shipping system 30 includes a control system 34 for controlling shiftable panels in building B to selectively provide path T (see FIGS. 6-8 ) into and out of room R, and an autonomous vehicle 36 configured to navigate along the path to receive package P. Shipping system 30 includes autonomous vehicle 36, a base station 38, and a door 40.

[0034] Package P may have a packaging container that holds one or more deliveries. The packaging container may take various forms, such as an envelope, a box, a sack, a can, a tube, etc. Suitable packaging materials may include paper, cardboard, wood, synthetic resin materials, and / or metal materials. Package P may contain multiple items packaged together or separately.

[0035] Package identification data is associated with package P and may be provided in a variety of forms, such as printed indicia (e.g., barcodes) and / or RFID chips.

[0036] The illustrated building B is preferably in the form of a single-family home. However, the principles of the present invention are equally applicable for use in other types of buildings, such as multi-family residential complexes or commercial buildings having one or more commercial occupants. As shown in subsequent embodiments, building B may include a multi-occupancy facility.

[0037] Shipping System 1-12 , door 40 preferably includes a motorized panel assembly 42 for selectively providing a pathway T into and out of room R for entry and exit from the room. As described below, panel assembly 42 facilitates the transfer of packages P between room R associated with a shipping order and a delivery vehicle 32 outside room R.

[0038] The door 40 broadly includes a door frame 44, a swingable door 46, and a panel assembly 42 (see FIGS. 3 and 4). In a typical manner, the swingable door 46 is swingably mounted to the door frame 44 and includes a door handle 48. The door handle 48 preferably includes a door lock 50, which may include a manual door lock or an electronic smart lock. In a typical manner, the swingable door 46 is configured to open and close for personnel to enter and exit the room. The swingable door 46 preferably provides a panel opening 52 for operably receiving a shiftable panel 54 of the panel assembly 42.

[0039] The illustrated panel assembly 42 includes a shiftable panel 54, a panel actuator 56, a servo controller 58, a panel transceiver 60, a user interface 62, a display 64, a processor 66, a memory 68, a battery 70, a line power supply 72, an audio speaker and microphone assembly 74, a communications port 76, an antenna 78, and a sensor and camera suite 80 (see FIGS. 2-4).

[0040] The panel 54 is shiftably supported by guide rails 82 of the swingable door 46 and is shiftable between an open position in which the panel 54 is positioned above the panel opening 52 and a closed position in which the panel 54 spans the door opening 52.

[0041] Each panel actuator 56 preferably includes a linear motor having an electric motor 84 and a telescoping shaft 86 that is vertically shiftable to raise and lower the panel 54 between the open and closed positions. It is within the scope of the present invention for the panel assembly to include alternative actuators, such as alternative linear motors (e.g., hydraulic or pneumatic linear motors), or drive motors other than linear motors (e.g., electric, hydraulic, or pneumatic motors with rotating shafts). The panel actuators are configured to be operated by a servo controller 58 that can be operably connected to the actuators 56 via a wired or wireless connection. The panel assembly 42 also preferably includes an electromagnet 87 configured to removably secure the panel 54 in the closed position.

[0042] The battery 70 is configured to power the other components of the door 40. The battery 70 preferably comprises a conventional rechargeable battery (such as a lithium ion battery) and may be integrated into the swingable door structure.

[0043] Audio speaker and microphone assembly 74 is configured to enable two-way communication between the room occupant and a delivery person outside building B. Communications port 76, which may include a USB port, is configured to be removably and operably connected to an electronic device (e.g., a portable computer, tablet, smartphone, etc.) outside room R via a cable or other line (not shown). Communications port 76 is configured to provide for data transfer between system 30 and the electronic device.

[0044] The illustrated sensor and camera suite 80 is operable to monitor various aspects of the system 30 and the delivery service, particularly during the process of performing a package transfer. The suite 80 includes sensors 88 and cameras 90. For example, as described below, one or more of the sensors 88 (such as a barcode scanner and / or an RFID scanner) and / or the cameras 90 may be used to identify and / or determine the location of package P.

[0045] As used herein, the term "sensor" may include one or more of various types of sensors or cameras for sensing, collecting, and / or generating corresponding sensor data.

[0046] Although the panel assembly 42 is preferably integrated as part of the door, the panel assembly may alternatively be provided as part of building B. For example, the panel assembly may be integrated into an alternative exterior door. The panel assembly may also be integrated into the exterior wall of building B.

[0047] Autonomous vehicle 36 is configured to receive and move load P during a load transfer process (see FIGS. 5-10 and 12). Autonomous vehicle 36 preferably includes a chassis 92, a drive train 94, a transceiver 96, a user interface 98, a display 100, a processor 102, a memory 104, a battery 106, and a sensor and camera suite 108 (see FIGS. 1 and 2).

[0048] Drivetrain 94 is operably supported by chassis 92 and includes an electric motor 110 for driving wheels 112 .

[0049] The illustrated sensor and camera suite 108 is operable to monitor various aspects of the system 30 and the delivery service, particularly during the process of performing a package transfer. The suite 108 includes sensors 114 and cameras 116. For example, one or more sensors 114 (such as a barcode scanner and / or an RFID scanner) and / or cameras 116 may be used to identify and / or determine the location of package P.

[0050] Delivery vehicle 32 is configured to transfer packages P to and from occupants of the building (by delivering packages to or receiving packages from the occupants). Delivery vehicle 32 preferably comprises a commercial truck or van (not shown) configured to carry multiple packages. However, alternative delivery vehicles may include alternative wheeled vehicles (e.g., automobiles, motorcycles, scooters, mopeds, etc.) or air vehicles (e.g., helicopters, drones, etc.) configured to transport one or more packages.

[0051] The delivery vehicle 32 preferably includes a chassis (not shown), a drivetrain (not shown), a transceiver 118, a user interface 120, a display 122, a processor 124, a memory 126, a battery 128, and a sensor and camera suite 130 (see FIG. 2).

[0052] The illustrated sensor and camera suite 130 is operable to monitor various aspects of the system 30 and the delivery service, particularly during the process of performing a package transfer. The suite 108 includes sensors 132 and cameras 134 (see FIG. 2). For example, one or more sensors 132 (such as a barcode scanner and / or an RFID scanner) and / or cameras 134 may be used to identify and / or determine the location of package P.

[0053] As used herein, one or more system processors may include one or more processing units (e.g., multi-core configurations) for executing instructions. The instructions may be executed within a variety of different operating systems, such as UNIX, LINUX, Microsoft Windows, etc. More specifically, the instructions may cause various data operations on data stored on storage devices. It should also be understood that various instructions may be executed during initialization at the start of a computer-based method. Some operations may be required to perform one or more processes described herein, while other operations may be more general and / or specific to a programming language (e.g., C, C#, C++, Java, or other suitable programming language, etc.).

[0054] One or more system processors may be operably coupled to a communication interface such that a corresponding base station, delivery vehicle, autonomous vehicle, panel assembly, etc. can communicate with one or more remote devices. For example, a communication interface associated with a base station may receive wireless or wired communications from a delivery vehicle, an autonomous vehicle, a panel assembly, or another remote device.

[0055] As described herein, memory may include, but is not limited to, random access memory (RAM), such as dynamic RAM (DRAM) or static RAM (SRAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), and non-volatile RAM (NVRAM). The above memory types are exemplary only and thus do not limit the types of memory that may be used for storage of computer programs.

[0056] It will be understood that one or more processors of the system may be operatively coupled to a storage device (not shown). A storage device is any computer-operated hardware suitable for storing and / or retrieving data. In some embodiments, the storage device may be integrated into the base station. In other embodiments, the storage device may be external to the base station, such as a third-party data repository or database. For example, a base station may include one or more hard disk drives as storage devices. In other embodiments, the storage device may be external to the base station and accessed by multiple base stations. For example, the storage device may include multiple storage units, such as hard disks or solid-state disks in a redundant array of inexpensive disks (RAID) configuration. The storage device may include a storage area network (SAN) and / or a network-attached storage (NAS) system.

[0057] In some embodiments, one or more system processors may be operatively coupled to a storage device via a storage interface. A storage interface is any component capable of providing a processor with access to a storage device. A storage interface may include, for example, an Advanced Technology Attachment (ATA) adapter, a Serial ATA (SATA) adapter, a Small Computer System Interface (SCSI) adapter, a RAID controller, a SAN adapter, a network adapter, and / or any component that provides processor 56 with access to a storage device.

[0058] Control system and control method Referring to Figures 2 and 5-12, embodiments of a control system and computer-implemented control method for facilitating the transfer of packages between a room in a building associated with a shipping order and a delivery vehicle outside the room are shown.

[0059] The control systems and computer-implemented control methods may include some or all of the elements and features described above, or may include substantially any suitable additional or alternative conventional or non-conventional techniques for achieving the processes described below. Moreover, although described in the context of exemplary agricultural operations, the control systems and computer-implemented control methods are not limited thereto and may be adapted for use in the context of substantially any other suitable operations.

[0060] One embodiment of a control system 34 is shown for facilitating the transfer of packages between a delivery service and a secure room. Generally, the control system 34 may be configured to communicate with and / or control the delivery vehicle 32 in connection with the transfer of packages to and from the room R. In various embodiments, the autonomous vehicle 36 may autonomously receive and transfer packages P between the room R and the delivery vehicle 32 while maintaining periodic or continuous communication with the base station 38 and the mobile access device 136 via a wireless communications network 138.

[0061] 2 , one embodiment of the base station 38 may include a base memory 140, a base processor 142, a base transceiver 144, an input interface 146, a display 147, a line power supply 148, and a base camera and sensor suite 149. The base station 38 may also include a vehicle dock 150 configured to removably dock the autonomous vehicle 36. The base memory 140 may store management computer programs for initiating, monitoring, or managing the operation of the delivery vehicle 32, the door 40, and / or the autonomous vehicle 36. The base memory 140 may also store operational instructions for a particular job, which may guide one or more operations of the delivery vehicle 32, the door 40, and / or the autonomous vehicle 36 during a particular job. The base processor 142 may execute a management computer program, which includes communicating operational instructions to the delivery vehicle 32, the door 40, and / or the autonomous vehicle 36 via the base transceiver 144, and receiving sensor and / or camera data from the delivery vehicle 32, the door 40, and / or the autonomous vehicle 36 via the base transceiver 144.

[0062] The illustrated sensor and camera suite 149 is operable to monitor various aspects of the system 30 and the delivery service, particularly during the process of performing a package transfer. Suite 149 includes sensors 151 and cameras 152 (see FIG. 2). For example, one or more sensors 151 (such as a barcode scanner and / or an RFID scanner) and / or cameras 152 may be used to identify and / or determine the location of package P.

[0063] In at least one implementation, the operation of some or all of the delivery vehicle 32, door 40, and / or autonomous vehicle 36 may be controlled by a management computer program executed by the base processor 142 using control signals transmitted from the base station 38 and sensor and / or camera data received by the base station 38 via the communications network 138.

[0064] In another implementation, the operation of some or all of the delivery vehicle 32, door 40, and / or autonomous vehicle 36 may be controlled by a local computer program executed by a processor of the delivery vehicle 32, door 40, and / or autonomous vehicle 36 based on operation instructions transmitted from the base station 38 and / or mobile access device 136. The local computer program may communicate with the management computer program periodically or continuously. The base transceiver 144 may facilitate two-way communication between the base station 38 and the delivery vehicle 32, door 40, and / or autonomous vehicle 36 via the communications network 138. The interface 146 may facilitate user interaction with the management computer program, including input of operation instructions. The interface 146 and / or display 147 may facilitate communication of relevant information, including sensor and / or camera data, from the delivery vehicle 32, door 40, and / or autonomous vehicle 36 to the user.

[0065] Base memory 140 may be electronic memory that stores operating instructions and other related information for access and use by processor 142 .

[0066] The base memory 140 may store one or more package lookup tables or other data structures 153 that may include information such as the identifier, location, contents, and status of each package (see FIG. 11). The stored data may also include other information such as the amount of items contained in the package and / or package weight.

[0067] Base station 38 preferably comprises a central computer that can include a variety of devices such as desktop computers, servers, portable computers, smartphones, tablets, and the like.

[0068] Base station 38 can communicate with other system components (e.g., delivery vehicles, autonomous vehicles, panel assemblies, etc.) via wired or wireless communications. For example, communications between components may be established via one or more of a local area network (LAN) or a wide area network (WAN) in typical wired communications. Furthermore, in the case of wireless communications, for example, communications may be established via one or more of Wi-Fi (e.g., implementing the Institute of Electrical and Electronics Engineers / IEEE 802.11 family of standards), radio frequency (RF) communications, Bluetooth communications, and / or cellular networks such as Global System for Mobile Communications (GSM), broadband cellular networks (e.g., 3G, 4G, 5G, etc.), or other mobile data networks, and / or Worldwide Interoperability for Microwave Access (WiMax), etc.

[0069] In some embodiments, it is contemplated that the base station may be implemented as a software application, in which the hardware described above, such as the processor, memory, and / or other components, may be shared with hardware components of a cloud-based system (not shown).

[0070] The delivery vehicle 32 preferably provides the elements of the control system 34, including a transceiver 118, a user interface 120, a display 122, a processor 124, a memory 126, a battery 128, and a sensor and camera suite 130.

[0071] In at least one implementation, the delivery vehicle 32 may be a partially or fully autonomous vehicle, while in other implementations the delivery vehicle may be a traditional manually operated vehicle or a remotely operated vehicle.

[0072] The vehicle memory 126 may be an electronic memory that stores operational instructions and other related information for access and use by the vehicle processor 124. The vehicle processor 124 may be an electronic processor that executes one or more computer programs for controlling the operation of the delivery vehicle 32, including autonomous navigation to and from a job site, alignment with the autonomous vehicle 36, and / or docking and undocking with the autonomous vehicle 36. The vehicle transceiver 118 may facilitate two-way communication between the delivery vehicle 32 and the base station 38, the panel assembly 42, and / or the autonomous vehicle 36 over the communications network 138, including receiving operation instructions for the delivery vehicle 32.

[0073] The vehicle sensor and camera suite 130 may include one or more electronic sensors and / or cameras that monitor the interior and / or exterior operation of the delivery vehicle 32 and facilitate the accomplishment of the functions of the delivery vehicle 32. For example, the delivery vehicle 32 may have any interior and / or exterior sensors 132 and / or cameras 134 desired or necessary to accomplish autonomous navigation to a shipment delivery location and / or shipment pickup location. The delivery vehicle 32 may include one or more cameras that provide images of the delivery vehicle 32, the door 40, and / or the autonomous vehicle 36, and / or the area surrounding the delivery vehicle 32 during operation.

[0074] The delivery vehicle 32 may have one or more external sensors and / or cameras to facilitate alignment relative to the autonomous vehicle 36, e.g., a position sensor for sensing the position of the delivery vehicle 32. In one implementation, the delivery vehicle 32 may present one or more alignment markers (not shown) for alignment with the delivery vehicle 32 that are sensed and / or imaged by the autonomous vehicle 36. The alignment markers may be passive, for example, in that they reflect light (e.g., visible, infrared, laser), the light may be emitted by an emitter on the autonomous vehicle 36, or the alignment markers may be active, for example, in that they emit light.

[0075] The delivery vehicle 32 may have delivery vehicle sensors configured to sense delivery vehicle position data associated with the position of the delivery vehicle 32 relative to the panel 54. For example, the delivery vehicle 32 may include navigation sensors configured to sense and generate navigation data related to a geographic location and / or navigation cameras for collecting or generating vehicle position data.

[0076] The processor 124 of the delivery vehicle 32 and / or another processor of the system 30 may be configured to move the delivery vehicle 32 to a position adjacent to the panel 54 to transfer the package between the delivery vehicle 32 and the room R based on the delivery vehicle position data.

[0077] The delivery vehicle 32 may also include electrical, mechanical, and / or hydraulic controls for controlling the operation of the delivery vehicle 32 in accordance with the operation instructions, as well as control and drive components such as motors and / or engines for achieving the functions of the delivery vehicle 32. This may include autonomous navigation, alignment with an autonomous vehicle 36, and / or coupling and uncoupling with an autonomous vehicle 36 under the control of the vehicle processor 124 and the vehicle control components.

[0078] The panel assembly 42 preferably provides elements of the control system 34, including a panel actuator 56, a wireless servo controller 58, a panel transceiver 60, a user interface 62, a display 64, a processor 66, a memory 68, a battery 70, a line power supply 72, an audio speaker and microphone assembly 74, a communications port 76, an antenna 78, and a sensor and camera suite 80. The door lock 50 may also be provided as part of the control system 34.

[0079] Panel memory 68 may be an electronic memory that stores operating instructions and other related information for access and use by processor 66 .

[0080] The panel memory 66 may store a lookup table or other data structure 153 of one or more packages P that may include information such as the identifier, location, contents, and status of each package (see FIG. 11). The stored data may also include other information such as the amount of goods contained in the package and / or package weight.

[0081] Panel processor 66 may be an electronic processor that executes one or more computer programs for controlling the operation of panel assembly 42 and door lock 50. Panel transceiver 60 may be an electronic transceiver that facilitates communication over communications network 138, including receiving operational instructions for panel assembly 42 and door lock 50.

[0082] The panel transceiver 60 may facilitate two-way communication between the panel assembly 42 and the base station 38, the delivery vehicle 32, and / or the autonomous vehicle 36 via the communication network 138, including receiving operational instructions for the panel assembly 42. In one implementation, the panel assembly 42 may use the panel transceiver 60 to communicate the status of one or more packages P and / or communicate other data associated with the package P.

[0083] The panel sensor and camera suite 80 may include one or more electronic sensors 88 and / or cameras 90 that monitor the operation of the panel assembly 42 and facilitate the accomplishment of functions of the panel assembly 42, including the opening and closing of the panel 54.

[0084] Panel assembly 42 may include sensors for sensing whether autonomous vehicle 36, package P, and / or another item is placed within panel opening 52. Panel assembly 42 may have one or more cameras that provide images of the area outside building B, the interior, and / or autonomous vehicle 36 (e.g., provide images of the delivery person and / or delivery vehicle 32).

[0085] The door 40 preferably includes control and actuation components that may include electrical, mechanical, and / or hydraulic controls for controlling the operation of the panel assembly 42 and / or door lock 50 in accordance with operation commands, as well as electrical, mechanical, and / or hydraulic actuators for achieving the functions of the panel assembly 42 and / or door lock 50. For example, the panel assembly 42 preferably includes an actuator 56 and a servo controller 58 to facilitate raising and lowering of the panel 54 between open and closed positions. The door 40 may include appropriate actuators for locking and unlocking the door lock 50.

[0086] The autonomous vehicle 36 preferably provides the elements of the control system 34, including a transceiver 96, a user interface 98, a display 100, a processor 102, a memory 104, a battery 106, and a sensor and camera suite 108.

[0087] In one implementation, an autonomous vehicle may be fully autonomous, while in other implementations, an autonomous vehicle may be at least sufficiently autonomous to achieve the functions described herein. An autonomous vehicle may be remotely drivable and / or its operation may otherwise be remotely controllable in the event of an emergency or other special situation.

[0088] Vehicle memory 104 may be electronic memory that stores operating instructions and other related information for access and use by vehicle processor 102 .

[0089] The vehicle processor 102 may be an electronic processor that executes one or more computer programs for controlling the operation of the vehicle 36, including movement to a load transfer location for the delivery vehicle 32, movement to a load transfer location for a delivery person, transfer of one or more loads between the load transfer location and a location within the room R, and / or other autonomous movement / travel, such as autonomous movement along an interior space (such as a room or hallway) or an exterior space (e.g., a porch, driveway, sidewalk, or street, etc.). The vehicle transceiver 96 may facilitate two-way communication between the autonomous vehicle 36 and the base station 38, the delivery vehicle 32, and / or the panel assembly 42 via the communication network 138, including receiving operation instructions for the autonomous vehicle 36.

[0090] Vehicle sensor and camera suite 108 may include one or more electronic sensors 114 and / or cameras 116 that monitor the operation of autonomous vehicle 36 and facilitate autonomous vehicle 36 accomplishment of functions, including moving to a transfer location for delivery vehicle 32, moving to a transfer location for a delivery person, transferring one or more packages between the transfer location and a location within room R, autonomously propelling itself through panel opening 52, and / or other autonomous movements / traveling. In particular, autonomous vehicle 36 may include any internal and / or external sensors and / or cameras desired or necessary to accomplish autonomous movement along an interior space (such as a room or hallway) or an exterior space (e.g., a porch, driveway, sidewalk, or street, etc.).

[0091] The sensors 114 may include speed sensors configured to sense and generate speed data related to the speed at which the autonomous machine is moving across a location, weight sensors configured to sense and / or generate weight data related to the weight of a load being supported, motor and / or engine sensors configured to sense and generate motor performance, navigation sensors configured to sense and generate navigation data related to the geographic location of the autonomous vehicle 36, and one or more cameras configured to provide images of the autonomous vehicle 36 and / or the area surrounding the autonomous vehicle 36 while in operation.

[0092] The vehicle processor 102 can effect movement and operation of the autonomous vehicle 36 at the building location according to a set of operational instructions based at least in part on speed, weight, motor, navigation, camera, and any other sensor and / or camera data.

[0093] The autonomous vehicle 36 may have external sensors and / or cameras to facilitate alignment with the delivery vehicle 32 (such as alignment sensors that sense alignment markers on the delivery vehicle) or to facilitate docking and undocking with the delivery vehicle 32.

[0094] In particular, the autonomous vehicle 36 may have external sensors and / or cameras to facilitate the transfer of packages, for example, an alignment sensor that senses whether the autonomous vehicle 36 is properly aligned with the delivery vehicle 32. The suite of external sensors and / or cameras 108 may sense or provide images of the autonomous vehicle 36, the delivery vehicle 32, and / or the package to facilitate docking and undocking with the delivery vehicle and / or package identification and transfer.

[0095] Similarly, the autonomous vehicle 36 may have external sensors and / or cameras to facilitate docking and undocking with the vehicle dock 150 of the base station 38. The external sensor and / or camera suite 108 may sense or provide images of the dock 150 and / or the autonomous vehicle 36 to facilitate docking and undocking with the vehicle dock 150.

[0096] In one implementation, the autonomous vehicle 36 may include alignment sensors configured to sense and generate alignment data regarding the relative positions of the delivery vehicle 32, the package P, the panel assembly 42, and / or the dock 150. The delivery vehicle 32, the package P, the panel assembly 42, and / or the dock 150 may present one or more alignment markers 154 (see, e.g., FIG. 11 ) that the docking alignment sensors sense or photograph and use to align with themselves (e.g., during docking or undocking).

[0097] The alignment marker 154 may be passive, for example, in that it reflects light (e.g., visible, infrared, laser), which may be initially emitted by an emitter on the autonomous vehicle 36, or the alignment marker 154 may be active, for example, in that it emits light. The processor 102 may align the autonomous vehicle 36 with the delivery vehicle 32, the package P, the panel assembly 42, and / or the dock 150 based on the alignment data from the alignment sensor. For example, the machine processor 102 may align the autonomous vehicle 36 with the delivery vehicle 32 to facilitate the transfer of a particular package between the delivery vehicle 32 and the autonomous vehicle 36.

[0098] The location, contents, and status of the packages may be provided in a lookup table or other data structure 153 stored in a memory (e.g., vehicle memory 104) of the system 30, and the processor 102 may reference such data to identify the location of the package for transfer. Additionally or alternatively, package identification indicia or data for each package may be indicated by a bar code or other machine-readable label 156 (see FIG. 11 ) on the package exterior, and the autonomous vehicle 36 may sense and / or image the label to determine or confirm the package's identity.

[0099] The autonomous vehicle 36 may have control and drive components, such as electrical, mechanical, and / or hydraulic controls, for controlling the operation of the autonomous vehicle 36 in accordance with operational instructions, and motors and / or engines for achieving functions of the autonomous vehicle 36, including autonomous movement along or adjacent to a transfer location (in some implementations, autonomous driving to and from a transfer location), alignment with a delivery vehicle 32, panel assembly 42, or dock 150, docking and undocking with the delivery vehicle 32, and docking and undocking with the dock 150, under the control of the processor 102 and the control components.

[0100] The mobile access device 136 may provide auxiliary input and output interfaces for inputting operational commands and for communicating sensor and / or camera data from the delivery vehicle 32, the autonomous vehicle 36, the base station 38, and / or the panel assembly 42. The mobile access device 136 may be a smartphone, a tablet, a portable computer, or virtually any other suitable conventional or non-conventional technology. The mobile access device 136 may be used by building occupants and / or delivery personnel.

[0101] Communications network 138 may be substantially any suitable network using substantially any suitable communications technology.

[0102] Control system 34 may include more, fewer, or alternative components and / or perform more, fewer, or alternative operations, including those described elsewhere herein, and particularly those described in the computer-implemented control methods described below.

[0103] 5-10 and 12, one embodiment of a control method 200 for facilitating the delivery of one or more packages, including aligning and / or docking an autonomous vehicle 36 with a delivery vehicle, and including transferring packages between the autonomous vehicle and the delivery vehicle, is shown. Control method 200 may be the result of functionality of control system 34 described above, and may be implemented using various components of control system 34 within the exemplary operating environment described above or within other contexts. Generally, control method 200 may proceed substantially as follows. Some or all of the steps may be accomplished under partial or complete computer control.

[0104] Operational instructions may be initially provided to at least the autonomous vehicle 36. A room occupant and / or delivery person may input the operational instructions, which may be any relevant instructions such as a start time, pause time, end time, travel speed, etc. The operational instructions may include whether the autonomous vehicle 36 is to be used to facilitate a package transfer. The operational instructions may include whether the autonomous vehicle 36 is to be positioned at a transfer location outside of building B for the package transfer or whether it is to be positioned within room R (e.g., adjacent to the panel assembly). Relevant operational instructions may be input for the panel assembly 42 and / or delivery vehicle 32 as well.

[0105] The operation instructions may be entered at the transfer location, at base station 38, or at any other location. The operation instructions may be entered using interface 146 or virtually any other suitable input interface. The operation instructions may be entered individually or selected from base memory 140 or vehicle memory 104 as a subset or a complete set of previously entered operation instructions, which may be modified as desired or needed.

[0106] It will be appreciated that the control methods described herein may be used in connection with an inbound delivery process in which a package is delivered from a shipper (e.g., a supplier) at another location to a person (i.e., a recipient) in building B via a delivery vehicle, and / or an outbound delivery process in which a package is delivered from a person (i.e., a shipper) in building B to a recipient at another location via a delivery vehicle.

[0107] System 30 may be activated to initiate and perform a package transfer, as shown at 202. In one implementation, a delivery person or delivery vehicle may provide package identification data to system 30 (e.g., by transmitting data to a base station) as part of the process of initiating a package transfer. For example, the delivery person may manually enter the data via a device (see FIG. 5). Similarly, the delivery person may position the package adjacent to door 40 so that sensors (e.g., barcode scanners, RFID readers, etc.) and / or cameras of system 30 can collect sensor and / or camera data from the package.

[0108] The base station 38, the autonomous vehicle 36, the panel assembly 42, the delivery vehicle 32, and / or another device associated with the delivery service may provide sensors and / or cameras used to collect package identification data. The sensor and / or camera data may be collected from a barcode, RFID chip, or other identification element provided with the package, including package identification data.

[0109] The sensor and / or camera data may be transmitted from the autonomous vehicle 36, the panel assembly 42, the delivery vehicle 32, and / or another device via its corresponding transceiver over the network 138 to the transceiver 144 of the base station 38. In this manner, the transceiver 144 of the base station 38 may be configured to receive package identification data associated with the package P and / or other data associated with the package transfer.

[0110] System 30 can then compare the package identification data with the stored identifier to verify that package P corresponds to the shipping order. A processor of system 30, such as base processor 142, is operable to receive package identification data associated with package P.

[0111] In particular, the processor of system 30 is configured to access a data structure (e.g., data structure 152) that includes an identifier for package P. The identifier is generated in connection with creating a shipping order. The system processor is configured to compare the identifier with the sensed package identification data to confirm a match, where a match indicates that the package corresponds to the shipment.

[0112] The system processor is also configured to open the panel 54 to allow entry and exit to the room upon confirmation that the identifier and the package identification data match one another.

[0113] The system processor is also configured to move the autonomous vehicle 36 based on confirmation that the identifier and the package identification data match one another.

[0114] In another implementation, the package transfer may begin when the system 30 senses the presence of a delivery person or delivery vehicle 32. In another implementation, the package transfer may begin when the system 30 communicates with a delivery person or delivery vehicle 32. In another implementation, the package transfer may begin when an occupant of building B manually authorizes the system 30 to begin the package transfer.

[0115] In another implementation, package location data associated with the location of the package relative to the panel may be provided to the system 30 .

[0116] For example, the autonomous vehicle 36, the panel assembly 42, the delivery vehicle 32, or another device associated with the delivery service may include position sensors (e.g., navigation sensors configured to sense and generate navigation data regarding a geographic location and / or cameras) used to collect or generate package location data that can be transmitted to another portion of the system 30 (e.g., by transmitting data to a base station). It will also be understood that package location data may be collected by the system 30 as part of a process to initiate a package transfer. For example, a delivery person may position a package adjacent to the door 40 so that sensors (e.g., barcode scanners, RFID readers, etc.) and / or cameras of the panel assembly 42 can collect sensor and / or camera data associated with the package location proximate the door 40.

[0117] Package location data provided by sensor and / or camera data may be transmitted from the autonomous vehicle 36, the panel assembly 42, the delivery vehicle 32, or another device (e.g., a portable computer, a tablet, a smartphone, etc.) via its corresponding transceiver over the network 138 to the transceiver 144 of the base station 38. For example, the package location data may be transmitted from a transceiver associated with the delivery vehicle 32 over the network 138 to the transceiver 144 of the base station 38. In this manner, the transceiver 144 of the base station 38 may be configured to receive package location data associated with package P.

[0118] In various embodiments, the delivery vehicle 32 may have a motorized loading device 158 (see FIG. 2 ) configured to transfer packages P into or out of the delivery vehicle 32. The loading device 158 may be operable to transfer packages to or from a transfer location adjacent to a building (e.g., a porch, a sidewalk, a driveway, a street, etc.). The loading device 158 may be operable to transfer packages to or from an autonomous vehicle 36. The system processor may be configured to move the autonomous vehicle 36 to a transfer location that may be adjacent to the delivery vehicle 32 based on the vehicle position data to transfer packages between the autonomous vehicle and the delivery vehicle.

[0119] If the package identifier does not match the collected package identification data, the system 30 is configured to keep the panel closed, as shown at 204 .

[0120] If the package identifier matches the collected package identification data, the system 30 can cause the panel assembly 42 to open the panel 54, as shown at 206, to allow entry and exit to the room through the panel opening (see FIGS. 6 and 12). In particular, the system 30 can operate the actuator to raise the panel 54 from a closed position. In the closed position, the panel 54 is preferably secured to restrict entry and exit to the room along path T. The system 30 can deactivate the actuator 56 when sensor and / or camera data confirms that the panel 54 is in the open position.

[0121] The panel assembly 42 is preferably configured so that the panels 54 are actuated between open and closed positions by actuators 56, although the panel assembly may be alternatively configured within the scope of the present invention. Alternative panel assemblies may have panels that are shiftable between open and closed positions without the use of actuators.

[0122] For example, an alternative panel assembly can have panels that are swingably supported along an upper margin that allows the panels to return to a closed position. In such an embodiment, the panel assembly can include a panel locking device that shifts between a locked state in which the panels are secured in a closed position and an unlocked state in which the panels are unlocked and shifted to an open position to allow entry and exit of rooms along the pathway.

[0123] If the package identifier matches the collected package identification data, the system 30 may prepare the autonomous vehicle for package transfer (see 206). For example, if the autonomous vehicle is docked at a dock, the system 30 may uncouple the autonomous vehicle 36 from the dock 150. The system 30 may advance the autonomous vehicle 32 to a ready position adjacent the panel 54, where the autonomous vehicle 36 is preferably aligned with the panel opening 52.

[0124] The system 30 is configured to align the autonomous vehicle 36 with the panel opening 52, another element of the panel assembly 42, and / or another element of the door 40 via alignment markers (not shown) located on the panel assembly 42 or another portion of the door 40.

[0125] In one implementation, with the autonomous vehicle 36 in the ready position and the panel 54 open, the autonomous vehicle 36 can be configured to receive a package or have a package removed therefrom.

[0126] In another implementation, with the autonomous vehicle 36 in the ready position and the panel 54 open, the autonomous vehicle 36 may be configured to proceed through the panel opening 52 to exit the room to receive or retrieve a package.

[0127] Again, the operational instructions may include whether the transfer location for the autonomous vehicle is outside of building B or inside room R. For example, the transfer location may be outside of building B (e.g., a porch adjacent to the building, a sidewalk, a driveway, a street, etc.) to receive a package from a delivery service or to provide a package for pickup by a delivery service.

[0128] Vehicle position data associated with the position of the autonomous vehicle 36 relative to the panel 54 may be provided to the system 30 .

[0129] Base station 38, autonomous vehicle 36, and / or panel assembly 42 may include sensors and / or cameras used to collect vehicle position data that may be transmitted to another portion of system 30 (e.g., by transmitting the data to base station 38). For example, autonomous vehicle 36 may include sensors (e.g., navigation sensors configured to sense and generate navigation data regarding geographic location and / or navigation cameras) used to collect or generate vehicle position data.

[0130] It will also be appreciated that package location data may be collected by system 30 as part of the process of initiating a package transfer. For example, a delivery person may position a package adjacent door 40 so that sensors (e.g., barcode scanners, RFID readers, etc.) and / or cameras on panel assembly 42 can collect sensor and / or camera data associated with the package location proximate door 40.

[0131] Package location data provided by sensor and / or camera data may be transmitted from the autonomous vehicle 36, panel assembly 42, delivery vehicle 32, or other device via its corresponding transceiver over network 138 to transceiver 144 of base station 38. In this manner, transceiver 144 may be configured to receive vehicle location data associated with vehicle 36.

[0132] The load transfer data may be associated with the removal of a load P from the autonomous vehicle 36 (e.g., when the load is removed from a location supported by the vehicle or otherwise detached or decoupled from the vehicle 36). Similarly, the load transfer data may be associated with the receipt of a load by the autonomous vehicle 36 (e.g., when the vehicle 36 supports or is otherwise connected or coupled to the load P).

[0133] The base station 38, the autonomous vehicle 36, the delivery vehicle 32, and / or the panel assembly 42 may include sensors and / or cameras used to collect package transfer data that may be transmitted to another part of the system 30 (e.g., where the data may be transmitted to the base station 38).

[0134] For example, the autonomous vehicle 36 may include a weight sensor configured to indicate a change in weight supported by the autonomous vehicle 36. In another implementation, the parcel transfer data is provided by sensor data (such as data from a proximity sensor) and / or camera data from the system 30 and indicates the addition or removal of parcels supported by or coupled to the autonomous vehicle 36. The associated sensor or camera data may be provided by the delivery vehicle 32, the autonomous vehicle 36, the panel assembly 42, and / or the base station 38. In another implementation, the parcel transfer data may be generated by manual input into a user interface of the system 30 by the delivery driver and / or building occupant.

[0135] It will also be appreciated that package transfer data may be collected by system 30 as part of the process of initiating a package transfer. For example, a building occupant may place a package on autonomous vehicle 36 such that sensors and / or cameras of system 30 may collect sensor and / or camera data associated with package receipt on vehicle 36.

[0136] The load transfer data provided by the sensor and / or camera data may be transmitted from the autonomous vehicle 36, panel assembly 42, delivery vehicle 32, or other device via its corresponding transceiver over the network 138 to a transceiver 144 of the base station 38. In this manner, the transceiver 144 may be configured to receive load transfer data associated with the load P.

[0137] If the transfer location is outside of Building B, the autonomous vehicle proceeds to the transfer location for load transfer through panel opening 52, as shown at 208 (see FIGS. 6 and 12). At the transfer location, system 30 verifies that the load transfer is complete. The transfer location outside of Building B may be adjacent panel assembly 42 to receive the load.

[0138] In one implementation, completion of the load transfer may be confirmed by sensor data from a load transfer sensor of the system 30 configured to sense removal of the load from the autonomous vehicle 36 (e.g., when the load is removed from its position supported by the vehicle or otherwise detached or uncoupled from the vehicle), as shown at 210. Completion of the load transfer may also be confirmed by sensor data from a load transfer sensor of the system 30 configured to sense receipt of the load by the autonomous vehicle 36 (e.g., when the vehicle is supporting or otherwise connected to the load).

[0139] After autonomous vehicle 36 exits the room, and while vehicle 36 remains outside building B, system 30 may keep panel 54 open. However, in at least some embodiments of the present invention, system 30 may return panel 54 to a closed position during this period.

[0140] Following confirmation of the load transfer at 210, the system 30 returns the autonomous vehicle to room R by driving the autonomous vehicle through the panel opening and into room R, as shown at 212 (see FIGS. 9 and 12 ). In one implementation, the system 30 may sense the autonomous vehicle 36 and confirm that the vehicle is inside room R. The vehicle's return may be confirmed by sensor data (e.g., from a barcode scanner or RFID reader) and / or camera data from the system 30. The sensor or camera data confirming the vehicle's location within room R may be provided by the delivery vehicle 32, the autonomous vehicle 36, the panel assembly 42, the base station 38, and / or another device.

[0141] In another implementation, when package P is being received by a building occupant, system 30 can sense the package and confirm that both vehicle 36 and the package are inside room R. The location of the package within room R can be confirmed by sensor data (e.g., from a barcode scanner or RFID reader) and / or camera data from system 30.

[0142] Based on a determination that the cargo has been transferred into or out of room R via route T and / or based on confirmation that the vehicle has been returned to room R, system 30 may cause panel assembly 42 to secure panel 54 in a closed position, as shown at 214, to restrict entry and exit into and out of the room through panel opening 52 (see Figures 10 and 12).

[0143] For example, the system 30 may operate the actuator 56 to lower the panel 54 from an open position to a closed position and secure the panel in the closed state. The system 30 may deactivate the actuator 56 if the sensor and / or camera data confirms that the panel 54 is in the closed position. The system 30 may prevent the actuator 56 from lowering the panel 54 if the sensor and / or camera data identifies an obstruction extending through, across, or adjacent to the panel opening.

[0144] As discussed above, alternative panel assemblies may have panels that are alternatively shiftable between open and closed positions and / or alternatively secured in open and closed positions. For example, the panel assembly may include a panel locking device that shifts between a locked state in which the panel is secured in a closed position to restrict entry and exit from the room, and an unlocked state in which the panel is unlocked and shifted to an open position to allow entry and exit from the room along the path.

[0145] If the transfer location is inside building B, the autonomous vehicle 36 may proceed to the transfer location adjacent the panel 54 for load transfer, as shown at 216. At the transfer location, the system 30 confirms that the load transfer is complete (see 218). Completion of the load transfer may be confirmed by sensor data from the system 30, as described above.

[0146] Upon confirming completion of the load transfer, the system 30 may cause the panel assembly 42 to close the panel 54, as shown at 220, to restrict entry and exit to the room through the panel opening 52 (see FIG. 12 ). In particular, the system 30 may operate the actuator 56 to lower the panel 54. The system 30 may deactivate the actuator 56 when the sensor and / or camera data confirms that the panel 54 is in the open position. Again, the system 30 may prevent the actuator 56 from lowering the panel 54 if the sensor and / or camera data identifies an obstruction extending through, across, or adjacent to the panel opening.

[0147] In some embodiments of the present invention, load transfer may be performed without the use of an autonomous vehicle, such as autonomous vehicle 36. For example, if the load identifier matches the collected load identification data, system 30 may cause panel assembly 42 to open panel 54 to allow room entry and exit through panel opening 52. In particular, system 30 may operate actuator 56 to raise panel 54. Again, system 30 may deactivate actuator 56 when sensor and / or camera data confirms that panel 54 is in the open position.

[0148] It will be appreciated that to transfer a package without using an autonomous vehicle, package P may be advanced through panel opening 52 to a transfer location within room R by various means. For example, package P may be manually advanced through panel opening 52 by a delivery driver. Package P may also be advanced using a motorized device (e.g., a vehicle, conveyor, etc.) or a manually operated device, which may or may not be in communication with system 30.

[0149] The system 30 confirms that the luggage transfer is complete if the transfer location is inside building B. The completion of the luggage transfer can be confirmed by the sensor data from the system 30, as described above.

[0150] Upon confirming completion of the load transfer, the system 30 can cause the panel assembly 42 to close the panel 54 to restrict entry and exit to the room through the panel opening 52. As described above, the system 30 can operate the actuator to lower the panel 54. The system 30 can stop the actuator when the sensor and / or camera data confirms that the panel is in the open position. The system 30 can prevent the actuator from lowering the panel if the sensor and / or camera data identifies an obstruction extending through, across, or adjacent to the panel opening.

[0151] Alternative Embodiments 13-15, an alternative system 300 is constructed in accordance with a second embodiment of the present invention. The following description of system 300 will primarily focus on the differences between system 300 and system 30.

[0152] The alternative system 300 includes, among other things, an alternative autonomous vehicle 302 , a base station 304 , and an alternative door 306 .

[0153] The door 306 preferably includes an alternative swingable door 308 and a motorized panel assembly 310. The panel assembly 310 has an alternative shiftable panel 311 and an alternative panel actuator 312. The door 308 presents a panel opening 314 that allows entry and exit of the room when the panel 310 is opened. The door 308 preferably includes a bottom door rail 316 that defines a lower margin of the panel opening 314. The door rail 316 preferably restricts the vehicle 302 from driving through the panel opening 314 regardless of whether the panel opening 314 is open or closed. In this manner, the door 306 is configured to restrict the vehicle 302 from exiting the room while allowing cargo transfer through the panel opening 314.

[0154] The panel actuator 312 includes an electric motor 318 , a shaft 320 , opposing pulleys 322 mounted on the shaft 320 , and lines 324 attached to the pulleys 322 for raising and lowering the panel 310 .

[0155] Autonomous vehicle 302 is configured to receive and move load P during a load transfer process. Autonomous vehicle 302 preferably includes a chassis 326, a drive train 328, and a temperature-controlled enclosure 330 supported by chassis 326.

[0156] Enclosure 330 preferably includes an enclosure cover 332 that can be raised and lowered between open and closed positions to provide selective access to enclosure chamber 334. Enclosure 330 preferably includes a heating and cooling device (not shown) configured to maintain chamber 334, along with the cargo therein, at a temperature above or below room temperature.

[0157] The heating and cooling device is operably coupled to the vehicle processor and the battery, such that the vehicle processor is configured to control heating and cooling of the chamber 334 and the cargo.

[0158] 16-23, an alternative system 400 is constructed in accordance with a third embodiment of the present invention. The following description of system 400 will primarily focus on the differences between system 400 and system 30.

[0159] The alternative system 400 includes, among other things, an alternative autonomous vehicle 402 , an alternative delivery vehicle 404 , and a door 406 .

[0160] Autonomous vehicle 402 is configured to receive and move load P during a load transfer process. Autonomous vehicle 406 preferably includes a chassis 408, a drive train 410, and an enclosure 412 supported by chassis 408.

[0161] The enclosure 412 preferably includes a powered enclosure lid 414 that can swing between open and closed positions to provide selective access to the enclosure chamber 416 (see FIG. 19). For example, the lid 414 can be swung open to manually transfer a package for receipt by the enclosure 412 (see FIGS. 16-21). However, the enclosure 412 can also be swung open to automatically transfer a package into the enclosure by the delivery vehicle 404. The illustrated delivery vehicle 404 preferably includes an autonomous drone configured to deposit a package within the chamber of the enclosure 412 (see FIGS. 22 and 23).

[0162] Alternative embodiments of the autonomous wheeled vehicle may be configured to support various devices for other tasks or functions inside or outside a building. For example, an alternative vehicle embodiment may have a chassis configured to selectively couple and decouple with one of multiple devices or systems that perform a corresponding task, such as transporting items within a building. In one such embodiment, the vehicle may be configured to support a fire suppression system (not shown) configured to autonomously deploy itself to extinguish a fire within a building when a fire is detected by the system.

[0163] 24-30, an alternative shipping system 500 is constructed in accordance with a fourth embodiment of the present invention. The following description of system 500 will primarily focus on differences between system 500 as compared to system 30.

[0164] Shipping system 500 is preferably used in connection with a multi-tenant complex 502. The illustrated complex 502 includes a secure shipping and receiving facility 504 and a series of secure spaces / rooms 506 associated with corresponding tenants / occupants. Facility 504 and rooms 506 are accessible along a corridor 508.

[0165] In a preferred embodiment, complex 502 may comprise a single building that houses facilities 504, rooms 506, and hallways 508. In other preferred embodiments, complex 502 may include multiple buildings that cooperatively house facilities 504 and rooms 506. It will be understood that in various embodiments, hallways 508 or other transportation areas connecting facilities 504 and rooms 506 may be located inside buildings of complex 502, outside any of the buildings of complex 502, or may have portions located inside and outside.

[0166] Each room 506 is preferably associated with a room door 510 having a panel assembly (similar to door 40) that provides secure access from the hallway 508 to the room 506 for loading and unloading.

[0167] Shipping system 500 includes a control system 512 for controlling load transfers associated with facility 504 and room 506. Shipping system 500 also preferably includes a delivery vehicle 514, an autonomous vehicle 516, a base station 518, a room door 510, and a network 520. Additionally, shipping system 500 preferably includes an interior facility door 522, an exterior facility door 524, a facility robot 526, and a conveyor 528.

[0168] Each interior facility door 522 preferably includes a powered panel assembly 532 (similar to panel assembly 42) for selectively providing a path between facility 504 and hallway 508 for entry and exit of the facility. Panel assembly 532 facilitates transport of cargo P between facility 504 and hallway 508 outside facility 504 (e.g., for cargo transfer to or from one or more of rooms 506).

[0169] Similarly, exterior facility door 524 preferably includes a powered panel assembly 534 (similar to panel assembly 42) for selectively providing a path into and out of facility 504 for entry and exit of the facility. Panel assembly 534 facilitates the transfer of packages P between facility 504 and a delivery vehicle 514 outside facility 504. Facility doors 524, 526, including panel assemblies 532, 534, provide elements of control system 512, similar to door 40 in the first embodiment described above.

[0170] Delivery vehicle 514 preferably provides elements of control system 512 including transceiver 538 , user interface 540 , display 542 , processor 544 , memory 546 , battery 548 , and sensor and camera suite 550 .

[0171] The delivery vehicle 514 may also have a motorized loading device 552 configured to transfer packages P into or out of the delivery vehicle 514. The loading device 552 may include one or more motors 553 and may be operable to transfer packages to or from the conveyor 528 and / or the robot 526. Based on the vehicle position data, the system processor may be configured to move the conveyor 528 and / or the robot 526 to a transfer location that may be adjacent the delivery vehicle 514 to transfer the package between a location within the facility 504 (e.g., a shelf or rack 554) and the delivery vehicle 514.

[0172] Robot 526 is configured to carry and transport one or more loads P within facility 504. Robot 526 preferably implements elements of control system 512, including transceiver 556, user interface 558, display 560, processor 562, memory 564, battery 566, line power 568, and sensor and camera suite 570 having camera 572 and sensor 574.

[0173] In one implementation, the robot 526 may be fully autonomous, while in other implementations the robot 526 may be at least sufficiently autonomous to accomplish the functions described herein. The robot 526 may also be remotely controllable (e.g., in the case of an emergency or other special situation).

[0174] Memory 564 may be electronic memory that stores operating instructions and other related information for access and use by processor 562 .

[0175] The processor 562 may be an electronic processor that executes one or more computer programs to control the operations of the robot 526, including movement to a load transfer location relative to the delivery vehicle 514 and / or conveyor 528, movement to a load transfer location relative to a delivery person, movement to a load transfer location relative to the autonomous vehicle 516, transfer of one or more loads between a transfer location and a location within the facility 504 (e.g., a location on a shelf 554), and / or other autonomous movements / travels. The transceiver 556 may facilitate two-way communication between the robot 526 and the base station 518, the delivery vehicle 514, and / or the panel assembly 534 via the communications network 520, including receiving operation instructions for the robot 526.

[0176] Robot sensor and camera suite 570 can include one or more electronic cameras 572 and / or sensors 574 that monitor the operation of robot 526 and facilitate the accomplishment of functions of robot 526, including movement to a transfer location for delivery vehicle 514 and / or conveyor 528, movement to a transfer location for autonomous vehicle 516, movement to a transfer location for a delivery person, transfer of one or more packages between a transfer location and a location within facility 504 (e.g., a location on shelf 554), and / or other autonomous movement / navigation. In particular, robot 526 can include any internal and / or external sensors and / or cameras desired or required to accomplish autonomous movement within the facility.

[0177] Sensors 570 may include speed sensors configured to sense and generate speed data related to the speed at which robot 526 moves across a location, weight sensors configured to sense and / or generate weight data related to the weight of a load being supported, motor and / or engine sensors configured to sense and generate motor performance, navigation sensors configured to sense and generate navigation data related to the geographic location of robot 526, and one or more cameras configured to provide images of robot 526 and / or the area surrounding robot 526 during operation.

[0178] The processor 562 can effectuate the movement and operation of the robot 526 within the facility 504 according to a set of motion instructions based at least in part on speed, weight, motor, navigation, camera, and any other sensor and / or camera data.

[0179] The robot 526 may have external sensors and / or cameras to facilitate alignment and / or engagement with the delivery vehicle 514 (such as an alignment sensor that senses alignment markers on the delivery vehicle), the conveyor 528, and / or the package P, and / or to facilitate docking and undocking with the delivery vehicle 514, the conveyor 528, the autonomous vehicle 516, and / or the package P.

[0180] In particular, robot 526 may have external sensors and / or cameras to facilitate package transfer, for example, an alignment sensor that senses whether robot 526 is properly aligned and engaged with delivery vehicle 514, conveyor 528, and / or package P moving through door 524. A suite of external sensors and / or cameras 570 may sense or provide images of robot 526, delivery vehicle 514, conveyor 528, and / or package P to facilitate alignment, engagement, coupling and decoupling, and / or package identification and transfer.

[0181] The robot 526 may also have external sensors and / or cameras to facilitate alignment with the autonomous vehicle 516 (such as alignment sensors that sense alignment markers on the autonomous vehicle) and / or to facilitate docking and undocking with the autonomous vehicle 516 and / or payload P.

[0182] In particular, robot 526 may have external sensors and / or cameras to facilitate load transfer, for example, an alignment sensor that senses whether robot 526 is properly aligned and engaged with autonomous vehicle 516 and / or load P moving through door 522. A suite of external sensors and / or cameras 570 may sense or provide images of robot 526, autonomous vehicle 516, and / or load P to facilitate alignment, engagement, coupling and uncoupling, load identification, and / or load transfer.

[0183] In one implementation, the robot 526 may include alignment sensors configured to sense and generate alignment data regarding the relative positions of the delivery vehicle 514, the package P, the panel assemblies 532, 534, the autonomous vehicle 516, and / or the conveyor 528. The delivery vehicle 514, the package P, the panel assemblies 532, 534, the autonomous vehicle 516, and / or the conveyor 528 may exhibit one or more alignment markers that the docking alignment sensor senses or images and uses to align itself with (e.g., during alignment, engagement, coupling and uncoupling, package identification, and / or package transfer).

[0184] The processor 562 may align the robot 526 with the delivery vehicle 514, the package P, the panel assemblies 532, 534, the autonomous vehicle 516, and / or the conveyor 528 based on the alignment data from the alignment sensors. For example, the processor 562 may align the robot 526 with the delivery vehicle 514 and / or the conveyor 528 to facilitate the transfer of packages between the robot 526 and the facility 504. Similarly, the processor 562 may align the robot 526 with the autonomous vehicle 516 to facilitate the transfer of packages between the robot 526 and the autonomous vehicle 516.

[0185] The location, contents, and status of packages may be provided in a look-up table or other data structure stored in the memory of the system 500, and the processor 562 may reference such data to identify the location of packages for transfer. Additionally or alternatively, package identification indicia or data for each package may be indicated by a bar code or other machine-readable label on the package exterior, and the robot 526 may sense and / or image the label to determine or confirm the package's identity.

[0186] The robot 526 may have control and drive components such as electrical, mechanical, and / or hydraulic controls to control the movement of the robot 526 according to operation instructions, and motors and / or engines to achieve functions of the robot 526, including autonomous movement along or adjacent to a transfer location, alignment and / or engagement with the delivery vehicle 514, package P, panel assemblies 532, 534, autonomous vehicle 516, and / or conveyor 528, or coupling and decoupling with the delivery vehicle 514, package P, panel assemblies 532, 534, autonomous vehicle 516, and / or conveyor 528 under the control of the processor 562 and the control components.

[0187] Robot position data associated with the location of the robot 562 (e.g., relative to the delivery vehicle 514, the package P, the panel assemblies 532, 534, the autonomous vehicle 516, and / or the conveyor 528) can be provided to the system 500.

[0188] The base station 518, the robot 526, the delivery vehicle 514, the panel assemblies 532, 534, and / or the autonomous vehicle 516 may include sensors and / or cameras used to collect robot position data that can be transmitted to another portion of the system 500 (e.g., by transmitting the data to the base station 518). For example, the robot 526 may include sensors (e.g., navigation sensors configured to sense and generate navigation data regarding a geographic location and / or navigation cameras) used to collect or generate the robot position data.

[0189] It will also be appreciated that robot position data may be collected by the system 500 as part of the process of initiating a load transfer.

[0190] 30 , one embodiment of a control method 600 for facilitating delivery of one or more packages to facility 504 is illustrated. It will be appreciated that the control methods described herein may be used in connection with an inbound delivery process in which a package is delivered from a shipper (e.g., a supplier) at another location to a person (i.e., a recipient) within facility complex 502 via a delivery vehicle, and / or an outbound delivery process in which a package is delivered from a person (i.e., a shipper) within facility complex 502 to a recipient at another location via a delivery vehicle. Additionally, the control methods described may be used in connection with a delivery process in which a package is delivered from a shipper within facility complex 502 to a recipient within facility complex 502.

[0191] System 500 can be activated to initiate and perform a package transfer, as shown at 602. In one implementation, a delivery person or delivery vehicle can provide package identification data to system 500 (e.g., by transmitting the data to a base station) as part of the process of initiating a package transfer. For example, the delivery person may manually enter the data via a device (see FIG. 5). Similarly, the delivery person can position the package adjacent to facility 504 so that sensors (e.g., barcode scanners, RFID readers, etc.) and / or cameras of system 500 can collect sensor and / or camera data from the package.

[0192] The base station 518, the autonomous vehicle 516, the panel assemblies 532, 534, the delivery vehicle 514, and / or another device associated with the delivery service may provide sensors and / or cameras used to collect package identification data. The sensor and / or camera data may be collected from a barcode, RFID chip, or other identification element provided with the package, including package identification data.

[0193] Sensor and / or camera data may be transmitted from the autonomous vehicle 516, the panel assemblies 532, 534, the delivery vehicle 514, and / or another device via its corresponding transceiver over the network 520 to the transceiver of the base station 518. In this manner, the transceiver of the base station 518 may be configured to receive package identification data associated with the package P and / or other data associated with the package transfer.

[0194] The system 500 can then compare the package identification data with the stored identifier to verify that package P corresponds to the shipping order. A processor of the system 500 is operable to receive package identification data associated with package P.

[0195] If the package identifier does not match the collected package identification data, the system 500 is configured to keep the panel closed, as shown at 604 .

[0196] If the luggage identifier matches the collected luggage identification data, the system 500 can cause the panel assemblies 532, 534 to open the panels, as shown at 606, to allow entry and exit to the room through the panel opening.

[0197] If the package identifier matches the collected package identification data, the system 500 can prepare the robot 526 for package transfer (see 606). The system 500 can advance the robot 526 to a ready position adjacent the respective panel assembly 532, 534, where the robot 526 can be aligned with the corresponding panel opening.

[0198] The system 500 is configured to align the robot 526 with a panel opening, other elements of the panel assemblies 532, 534, and / or other structures within the facility 504 via alignment markers (not shown).

[0199] In one implementation, with the robot 526 in the ready position and the panel open, the robot 526 may be configured to receive or release a package therefrom. In another implementation, with the robot 526 in the ready position and the panel open, the robot 526 may be configured to exit the room by proceeding at least partially through the panel opening to receive or release a package.

[0200] Robot position data associated with the location of the robot 526 may be provided to the system 500. It will also be appreciated that load position data and / or load transfer data may be collected by the system 500 as part of the load transfer process.

[0201] The base station 518, the autonomous vehicle 516, the delivery vehicle 514, the robot 526, and / or the panel assemblies 532, 534 may include sensors and / or cameras used to collect parcel transfer data and / or parcel transfer data that may be transmitted to another portion of the system 500.

[0202] For example, the robot 526 may include a weight sensor configured to indicate a change in load weight supported by the robot 526. In another implementation, the load transfer data is provided by sensor data (such as data from a proximity sensor) and / or camera data from the system 500 and indicates the addition or removal of loads supported by or coupled to the robot 526. The associated sensor or camera data may be provided by the delivery vehicle 514, the autonomous vehicle 516, the panel assemblies 532, 534, the robot 526, and / or the base station 518. In another implementation, the load transfer data may be generated by manual input into a user interface of the system 500 by the delivery driver and / or a building occupant.

[0203] In one implementation, completion of the load transfer can be confirmed by sensor data from a load transfer sensor in the system 500 configured to sense the load transfer to the robot 526 (e.g., when the load is released by the robot 526 onto the conveyor 528 or autonomous vehicle 516), as shown in 608.

[0204] Following confirmation of the load transfer at 608, based on a determination that the load has been transferred into or out of the facility 504, the system 500 may cause the panel assemblies 532, 534 to lock their respective panels in a closed position, restricting entry and exit to the room through the panel openings, as shown at 610.

[0205] The processor of the system 500 can be configured to move the robot 526 to transfer packages between the delivery vehicle 514 and the robot 526 .

[0206] The processor 544 of the delivery vehicle 514 may be configured to operate the loading device 552 to transfer packages into or out of the delivery vehicle 514. The robot sensor may be configured to sense robot position data associated with the position of the loading device 552 relative to the delivery vehicle 514. The processor 544 of the delivery vehicle 514 and / or another processor of the system 500 may be configured to move the loading device 552 to a position adjacent to the delivery vehicle 514 for transferring packages between the loading device 552 and the delivery vehicle 514 based on the robot position data.

[0207] The robot sensors may be configured to sense robot position data associated with the position of the loading device 552 relative to the delivery vehicle 514, the package P, the panel assemblies 532, 534, the autonomous vehicle 516, and / or the conveyor 528. The processor 544 of the delivery vehicle 514 and / or another processor of the system 500 may be configured to move the robot 526 and / or the autonomous vehicle 516 adjacent to one another to transfer the package between the robot 526 and the autonomous vehicle 516 based on the robot position data and / or the vehicle position data.

[0208] 31-33, an alternative shipping system 700 is constructed in accordance with a fifth embodiment of the present invention. The following description of system 700 will primarily focus on differences between system 700 as compared to system 30.

[0209] Shipping system 700 is preferably used in connection with kiosk 702. The illustrated kiosk 702 includes a secure building 704 with a supply facility for supplying products to one or more customers and having one or more secure spaces / rooms 706. In the illustrated embodiment, kiosk 702 can be configured to prepare and store food products for subsequent purchase and delivery by customers. To that end, kiosk 702 preferably includes a food preparation area 708, an oven 710, and a food storage area 712 housed within building 704.

[0210] It is also within the scope of certain aspects of the invention that embodiments of the kiosk may be used for the preparation, manufacturing, packaging, storage, and / or distribution of products other than food or other perishable items. In such embodiments, the kiosk may be configured to facilitate the preparation, manufacturing, packaging, storage, and / or distribution of non-perishable goods.

[0211] In preferred embodiments, the equipment within the kiosk may be configured to perform one or more automated tasks, which may include, but are not limited to, product preparation, manufacturing, packaging, storage, and / or distribution. Such automated tasks may require some degree of human intervention to complete the task, or none at all. In at least certain embodiments, the operation of the kiosk may be largely or fully automated, such that no human workers are required within the kiosk to complete the one or more automated tasks. However, it will be understood that kiosk embodiments may be configured to accommodate one or more human workers within one or more rooms of the kiosk.

[0212] For at least certain aspects of the present invention, building structures other than kiosks (e.g., warehouses, offices, residences, manufacturing facilities, etc.) can be configured as supply facilities for supplying products to one or more customers. Alternative supply facilities may be used as an alternative to or in addition to kiosks. Thus, preferred embodiments may include relatively large supply facilities, such as post offices, fulfillment warehouses, logistics hubs, etc., for providing products to customers. It will be appreciated that to accommodate the use of multiple supply facilities, the system may operate one or more automated vehicles such that the vehicles are configured to travel to transport packages between facilities and / or to transport packages between one or more of the facilities and one or more customer locations.

[0213] In a preferred embodiment, the building 704 of the kiosk 702 may be single or may include multiple buildings to house various aspects of the facility, such as equipment and storage elements. The building 704 preferably provides secure access to the room 706 from outside the kiosk 702 for package transfer and is associated with a panel assembly 714 (including shiftable panels 714 a) that facilitates transport of packages P into and / or out of the building 704.

[0214] Shipping system 700 includes a control system 716 for controlling cargo transfers associated with building 704. Shipping system 700 also preferably includes one or more autonomous vehicles 718, a base station 720, and a network 722.

[0215] Shipping system 700 can also be used in connection with one or more other buildings 724 that may be associated with one or more customers or other package recipients that receive one or more package deliveries. The illustrated building 724 may include a secure building having one or more secure spaces / rooms 726. Building 724 preferably is associated with a building door 728 having a panel assembly 730 (similar to door 40) that provides secure access to the rooms 726 from outside the building 724 for package transfers and facilitates transport of packages P into and / or out of building 724. Panel assembly 730 preferably includes shiftable panels 730a.

[0216] In preferred embodiments, the recipient premises can include a residence or apartment building. In at least certain aspects of the invention, the recipient premises can also include other types of enclosed building structures (e.g., warehouses, offices, residences, manufacturing facilities, etc.) for receiving package shipments. It is also within the scope of at least certain aspects of the invention for the recipient location to include venues other than buildings, such as "open-air" locations that may or may not have a roof or other covering (e.g., yards, docks, lots, fields, driveways, pavilions, tents, terraces, etc.).

[0217] In the illustrated embodiment, autonomous vehicle 718 may include the autonomous vehicle features disclosed above and may also include the delivery vehicle features disclosed above.

[0218] Autonomous vehicle 718 is configured to receive and move load P during the load transfer process. Autonomous vehicle 718 preferably includes a chassis 732, a drive train 734, and an enclosure 736 supported by chassis 732.

[0219] The enclosure 736 preferably includes a powered enclosure door 738 (see FIG. 31 ) that can be vertically shifted between open and closed positions to provide selective access to the enclosure chamber. For example, the door 738 can be opened to manually transfer a package for receipt by the enclosure 736. However, the enclosure 736 may also be opened to automatically transfer a package into and / or out of the enclosure 736 by another mechanism (such as an automated device at a kiosk).

[0220] The autonomous vehicle 718 is configured to carry and transport one or more loads P within the building 704, 724. The autonomous vehicle 718 preferably provides elements of a control system 716 including a transceiver 742, a user interface 744, a display 746, a processor 748, a memory 750, a battery 752, a sensor and camera suite 754 having a camera 756 and a sensor 758, a drive train 734 having one or more motors 760, and a panel shifter 762 having one or more motors 764.

[0221] The illustrated panel shifter 762 preferably includes a vertically shiftable arm 766 powered by a motor 764. The illustrated arm 766 is configured to removably directly engage the panels 714a, 730a to shift the panels 714a, 730a between open and closed positions. The physical engagement between the arm 766 and the panels 714a, 730a can be provided by a variety of structures within the scope of the present invention. For example, the arm 766 and the panel can include complementary male and female connector elements that engage with each other.

[0222] In other embodiments, the arm and panel may releasably frictionally engage one another. For example, the arm may include a frictionally engaging end provided by an elastomeric element. The element may be cup-shaped to create a "suction" between the element and panel to enhance the frictional engagement between them.

[0223] Memory 750 may be electronic memory that stores operating instructions and other related information for access and use by processor 748 .

[0224] The processor 748 may be an electronic processor executing one or more computer programs for controlling operation of the vehicle 718, including movement to a package transfer location for a person or device associated with the kiosk, movement to a package transfer location for a person or device associated with another building (such as building 724) or delivery vehicle, movement to a package transfer location for a delivery person, movement to a transfer location for another autonomous vehicle 718, transfer of one or more packages between a transfer location and a location within the building 704 (e.g., a location on a shelf or a location supported by another storage structure), and / or other autonomous movement / travel. The transceiver 742 may facilitate two-way communication between the vehicle 718 and the base station 720, the delivery vehicle, and / or the panel assembly (e.g., panel assemblies 714, 730) via the communications network 722, including receiving operation instructions for the vehicle 718.

[0225] The sensor and camera suite 754 may include one or more electronic cameras 756 and / or sensors 758 that monitor the operation of the vehicle 718, the panel assemblies 714, 730, and / or other features of the system. The sensor and camera suite 754 may facilitate the accomplishment of functions for the vehicle 718, including movement to a transfer location for a building (such as building 704 or 724), a delivery vehicle 514, another autonomous vehicle 516, a delivery person, transferring one or more packages between a transfer location and a location (e.g., a location on a shelf) within the facility 704, 724, and / or other autonomous movement / travel. In particular, the vehicle 718 may include any internal and / or external sensors and / or cameras desired or required to accomplish autonomous movement inside and / or outside of a building.

[0226] The sensors 758 may include speed sensors configured to sense and generate speed data regarding the speed of movement of the vehicle 718 across a location, weight sensors configured to sense and / or generate weight data regarding the weight of a supported load, motor and / or engine sensors configured to sense and generate motor performance, navigation sensors configured to sense and generate navigation data regarding the geographic location of the vehicle 718, one or more cameras configured to provide images of the vehicle and / or the area surrounding the vehicle in operation, and / or sensors (proximity sensors, optical sensors, accelerometers, etc.) associated with the panel shifter 762 for monitoring the position and movement of the panel shifter 762.

[0227] The processor 748 can effectuate the movement and operation of the vehicle 718 inside and / or outside the building according to a set of operational instructions based at least in part on speed, weight, motor, navigation, camera, and any other sensor and / or camera data.

[0228] The vehicle 718 may have external sensors and / or cameras to facilitate alignment and / or engagement with the panel assemblies 714, 730 (such as alignment sensors that sense alignment markers on the delivery vehicle), the delivery vehicle, another autonomous vehicle, equipment located inside and / or outside the building, and / or package P, and / or to facilitate docking and undocking with the delivery vehicle, another autonomous vehicle, equipment located inside and / or outside the building, and / or package P.

[0229] In particular, vehicle 718 may have external sensors and / or cameras to facilitate the transfer of packages, for example, an alignment sensor that senses whether vehicle 718 is properly aligned and engaged with a delivery vehicle, another autonomous vehicle, equipment located inside and / or outside a building, and / or package P. A suite of external sensors and / or cameras 754 can sense or provide images of vehicle 718, a delivery vehicle, another autonomous vehicle, equipment located inside and / or outside a building, and / or package P to facilitate alignment, engagement, coupling and decoupling, and / or package identification and transfer.

[0230] The location, contents, and status of packages may be provided in a look-up table or other data structure stored in the memory of system 700, and processor 748 may reference such data to identify the location of packages for transfer. Additionally or alternatively, package identification indicia or data for each package may be indicated by a bar code or other machine-readable label on the package exterior, and vehicle 718 may sense and / or image the label to determine or confirm the package's identity.

[0231] The vehicle 718 may have control and drive components such as electrical, mechanical, and / or hydraulic controls for controlling the operation of the vehicle 718 in accordance with operational instructions, and a motor and / or engine for achieving functions of the vehicle 718, including autonomous movement along or adjacent to a transfer location, alignment and / or engagement with a load P, a panel assembly 714, 730, another autonomous vehicle, and / or a delivery vehicle, or coupling and decoupling with a load P, a panel assembly 714, 730, another autonomous vehicle, and / or a delivery vehicle, under the control of the processor 748 and the control components.

[0232] Vehicle position data associated with the location of the vehicle 718 (e.g., relative to the package P, the panel assemblies 714, 730, another autonomous vehicle, and / or a delivery vehicle) may be provided to the system 700.

[0233] The base station, panel assemblies 714, 730, and / or autonomous vehicle 718 may include sensors and / or cameras used to collect vehicle position data that can be transmitted to another portion of system 700 (e.g., by transmitting the data to the base station). For example, vehicle 718 may include sensors (e.g., navigation sensors configured to sense and generate navigation data regarding a geographic location and / or navigation cameras) used to collect or generate vehicle position data.

[0234] It will also be appreciated that vehicle location data may be collected by the system 700 as part of the process of initiating a load transfer.

[0235] 34 , one embodiment of a control method 800 for facilitating the transfer of one or more packages to a kiosk and a building is shown. It will be understood that the control methods described herein can be used in connection with a kiosk-supplied delivery process in which a package is delivered from a shipper (e.g., a supplier) at another location (not shown) to a location or person (i.e., a recipient) within the building (e.g., a kiosk) via an automated vehicle 718 or another delivery vehicle, and / or a customer-supplied delivery process in which a package is delivered from a building (e.g., a kiosk) or a person (i.e., a shipper) within the building via an automated vehicle 718 or another delivery vehicle to a recipient within the building or at another location. Additionally, the described control methods may be used in connection with delivery processes in which a package is delivered from a shipper at a kiosk or another location to a recipient at a kiosk, building, or another location.

[0236] The system 700 may be activated to initiate and perform a package transfer. Initially, a vehicle 718 and package can be presented to the panel assembly 714 of the kiosk 702 for transfer, as shown at 802. In one implementation, a vehicle or person associated with a delivery can provide package identification data to the system 700 (e.g., by transmitting data to a base station) as part of the process of initiating the package transfer. For example, the person can manually enter the data via a device or position the package adjacent to a door so that sensors (e.g., barcode scanners, RFID readers, etc.) and / or cameras of the system 700 can collect sensor and / or camera data from the package.

[0237] The system 700 can then compare the package identification data with the stored identifier to verify that package P corresponds to the shipping order. A processor of the system 700, for example, the vehicle processor 748 or a processor of the panel assembly or base station, is operable to receive package identification data associated with package P.

[0238] In particular, the processor of system 700 is configured to access a data structure that includes an identifier for package P. The identifier is generated in connection with creating a shipping order. The system processor is configured to compare the identifier with the sensed package identification data to confirm a match, where a match indicates that the package corresponds to the shipment.

[0239] The system processor is also configured to open panel 714a of panel assembly 714 to allow deployment of vehicle 178 and luggage to kiosk 702 based on confirmation that the identifier and luggage identification data match, as shown at 804. The system processor is also configured to move autonomous vehicle 718 based on confirmation that the identifier and luggage identification data match.

[0240] In another implementation, package deployment may begin when system 700 senses the presence of a vehicle 718 and / or a person authorizing delivery adjacent to panel assembly 714. In another implementation, package deployment may begin when system 700 communicates with a vehicle 718 and / or a person authorizing delivery. In another implementation, package deployment may begin when an occupant of building B manually authorizes system 700 to begin package deployment.

[0241] The panel assemblies 714 may be configured to be shiftable between open and closed positions without the use of actuators within the scope of the present invention. For example, the panel assemblies may be shiftable via vehicles 718. In various embodiments, the vehicles 718 may have panel shifters 752 that engage with corresponding panels 714a to raise and / or lower the panels 714a.

[0242] Following deployment, the vehicle 718 and package may be presented to a panel assembly 730 of the building 724 for package transfer, as shown at 806. In one implementation, a vehicle or person associated with a delivery can provide package identification data to the system 700 (e.g., by transmitting the data to a base station) as part of the process of initiating the package transfer. For example, the person can manually enter the data via a device or position the package adjacent to a door so that sensors (e.g., barcode scanners, RFID readers, etc.) and / or cameras of the system 700 can collect sensor and / or camera data from the package.

[0243] The system 700 can then compare the package identification data with the stored identifier to verify that package P corresponds to the shipping order. A processor of the system 700, for example, the vehicle processor 748 or a processor of the panel assembly or base station, is operable to receive package identification data associated with package P.

[0244] Again, the processor of system 700 is configured to access a data structure containing an identifier for package P. The identifier is generated in connection with creating a shipping order. The system processor is configured to compare the identifier with the sensed package identification data to confirm a match, which indicates that the package corresponds to the shipment.

[0245] The system processor is also configured to, based on the confirmation that the identifier and the package identification data match, open panel 730a of panel assembly 730 to allow the package to be transferred to building 724, as shown at 808. The system processor is also configured to move autonomous vehicle 718 based on the confirmation that the identifier and the package identification data match.

[0246] In another implementation, the load transfer can begin when the system 700 senses the presence of a vehicle 718 adjacent to the panel assembly 714 and / or a person authorizing delivery. In another implementation, the load deployment can begin when the system 700 communicates with the vehicle 718 and / or a person authorizing delivery. In another implementation, the load transfer can begin when an occupant of Building B manually authorizes the system 700 to begin the load transfer.

[0247] The panel assemblies 730 may be configured to be shiftable between open and closed positions without the use of actuators within the scope of the present invention. For example, the panel assemblies may be shiftable via the vehicle 718. In various embodiments, the vehicle 718 may have a panel shifter 752 that engages with a corresponding panel 730a and raises and / or lowers the panel 730a.

[0248] In one implementation, with the autonomous vehicle 718 in a ready position and the panel 730a open, the autonomous vehicle 718 can be configured to have a package removed therefrom.

[0249] In another implementation, with the autonomous vehicle 718 in the ready position and the panel 730a open, the autonomous vehicle 36 may be configured to drive through the panel opening and enter the room to retrieve the package.

[0250] Again, the operation instructions may include whether the transfer location for the autonomous vehicle is outside or inside building B. For example, the transfer location may be outside building B (e.g., a porch adjacent to the building, a sidewalk, a driveway, a street, etc.) to receive a package from a delivery service or to provide a package for pickup by a delivery service.

[0251] Following the load transfer, the system 700 may leave the panel 730a open while the vehicle 718 is positioned outside of building B. However, in at least some embodiments of the invention, the system 700 may return the panel 730a to the closed position.

[0252] Following confirmation of the load transfer, the system 700 returns the autonomous vehicle 718 to the kiosk, as shown at 810. The vehicle 718 is returned to the kiosk and presented on panel 714a of the kiosk.

[0253] In one implementation, the vehicle 718 or a person associated with the delivery can provide vehicle identification data to the system 700 (e.g., by transmitting data to a base station) as part of the process of returning the vehicle 718 to the kiosk. For example, the vehicle 718 can transmit the vehicle identification data to the system 700 when in proximity to the panel 714a to initiate the opening of the panel 714a. Alternatively, a person can manually enter data via a device to allow the vehicle to return and initiate the opening of the panel 714a.

[0254] The system 700 can then compare the vehicle identification data with the stored identifier to verify that the vehicle 718 is authorized to gain access to the kiosk. A processor of the system 700, for example, the vehicle processor 748 or a processor of the panel assembly or base station, is operable to receive vehicle identification data associated with the vehicle 718.

[0255] The processor of the system 700 is configured to access a data structure that includes an identifier for the vehicle 718. The identifier is generated in connection with creating a shipping order. The system processor is configured to compare the identifier with the sensed vehicle identification data to confirm a match, where a match indicates that the vehicle corresponds to the shipment.

[0256] The system processor is also configured to open panel 714a of panel assembly 714 to allow entry of vehicle 718 to the kiosk based on confirmation that the identifier and vehicle identification data match, as shown at 812. The system processor is also configured to move autonomous vehicle 718 based on confirmation that the identifier and vehicle identification data match.

[0257] In another implementation, vehicle entry to the kiosk may be initiated when the system 700 senses the presence of a vehicle 718 adjacent to the panel assembly 714 and / or a person authorizing the vehicle to return. In another implementation, vehicle entry to the kiosk may be initiated when the system 700 communicates with the vehicle 718 and / or a person authorizing the vehicle to return (such as a person inside or outside the kiosk).

[0258] Baggage transfer system 35-38, an alternative load transfer system 900 is constructed in accordance with a sixth embodiment of the present invention. The following description of system 900 will primarily focus on the differences between system 900 as compared to system 30.

[0259] The load transfer system 900 preferably includes a vehicle station 902 that is preferably located in association with an order fulfillment system 904. In the illustrated embodiment, the fulfillment systems 904 each preferably comprise a vending machine having an enclosure 905 configured to dispense one or more product items to one or more customers. In that regard, each enclosure 905 includes one or more secure spaces / rooms 906 and provides a secure facility for supplying products to customers. As illustrated, the vehicle station 902 and the fulfillment system 904 preferably include respective panel assemblies 908 and 910 similar to doors 40.

[0260] The illustrated fulfillment system 904 can be configured to hold perishable and / or non-perishable items for subsequent purchase and delivery to a customer. It is within the scope of various embodiments for the fulfillment system to comprise alternative fixed structures for holding one or more products, such as a building, housing, warehouse, office, residence, manufacturing facility, fulfillment center, post office, logistics hub, kiosk, etc. In certain aspects of the invention, fulfillment system embodiments may include mobile enclosures, such as collapsible buildings (e.g., folding tents, shelters, or modular buildings), shipping containers, and / or wheeled enclosures (such as trailers or self-powered vehicles).

[0261] While the illustrated enclosure 905 is primarily provided for the selected storage and dispensing of products, it is within the scope of certain aspects of the invention that embodiments of the enclosure may be used for the preparation, manufacturing, packaging, storage, and / or distribution of products, which may include perishable and / or non-perishable goods.

[0262] It will be appreciated that to accommodate the use of multiple supply facilities, the system may operate one or more automated vehicles such that the vehicles are configured to travel to transport packages between the facilities and / or to transport packages between one or more of the facilities and one or more customer locations.

[0263] In preferred embodiments, equipment within a fulfillment system may be configured to perform one or more automated tasks, which may include, but are not limited to, product preparation, manufacturing, packaging, storage, and / or distribution. Such automated tasks may require some degree of human intervention to complete the task, or none at all. In at least certain embodiments, the operation of the fulfillment system may be largely or fully automated such that no personnel are required within the fulfillment system enclosure to complete one or more automated tasks. However, it will be understood that embodiments of the fulfillment system may be configured to accommodate one or more personnel within one or more rooms of the fulfillment system.

[0264] In a preferred embodiment, the fulfillment system enclosure may be single or may include multiple structures to house various aspects of the facility, such as equipment and storage elements. Enclosure 905 is preferably associated with station 902, which defines a room 912 outside enclosure 905 for load transfer and to facilitate transport of loads P into and / or out of building 914.

[0265] The load transfer system 900 includes a control system 916 for controlling load transfers associated with the enclosure 904 and / or building 914. The shipping system 900 also preferably includes one or more autonomous vehicles 918, a base station 920, and a network 922.

[0266] Package transfer system 900 can also be used in connection with one or more other buildings 914 that may be associated with one or more customers or other package recipients that receive one or more package deliveries. The illustrated building 914 may include a secure building having one or more secure spaces / rooms 926. The building 914 preferably is associated with a building door 928 having a panel assembly 930 (similar to door 40) that provides secure access to the rooms 926 from outside the building 914 for package transfer and facilitates transport of packages P into and / or out of the building 914. The panel assembly 930 preferably includes a shiftable panel 930a.

[0267] In a preferred embodiment, the recipient premises 914 may comprise a residence or apartment complex. In at least certain aspects of the invention, the recipient premises may also comprise other types of enclosed building structures (e.g., warehouses, offices, residences, manufacturing facilities, etc.) for receiving package shipments. It is within the scope of at least certain aspects of the invention for the recipient location to include locations other than buildings, such as "open air" locations that may or may not have a roof or other covering (e.g., yards, docks, lots, fields, driveways, pavilions, tents, terraces, etc.).

[0268] In the illustrated embodiment, autonomous vehicle 918 can include the autonomous vehicle features disclosed above and can also include the delivery vehicle features disclosed above.

[0269] Autonomous vehicle 918 is configured to receive and move load P during the load transfer process. Autonomous vehicle 918 preferably includes a chassis 932, a drive train 934, and a vehicle enclosure 936 supported by chassis 932.

[0270] The vehicle enclosure 936 preferably includes a powered enclosure door 938 (see FIG. 35 ) that can be shifted between open and closed positions to provide selective access to the enclosure chamber via an upwardly facing enclosure opening 940. For example, the door 938 can be opened to manually transfer packages for receipt by the enclosure 936. However, the enclosure 936 may also be opened to automatically transfer packages into and / or out of the enclosure 936 by another mechanism (such as a dispensing mechanism of the enclosure 904 or another automated device). In the illustrated embodiment, the enclosure door 938 preferably comprises a powered accordion-style door having multiple door segments arranged in series and slidable along a door track (not shown). It is within the scope of at least certain aspects of the invention for the enclosure door to include alternative shiftable doors.

[0271] Autonomous vehicle 918 is configured to carry and transport one or more payloads P between station 902, enclosure 904, and building 914. Autonomous vehicle 918 preferably provides elements of control system 916 including a transceiver 942, a user interface 944, a display 946, a processor 948, a memory 950, a battery 952, a sensor and camera suite 954 having a camera 956 and a sensor 958, a drive train 934 having one or more motors 960, and a panel shifter 962 having one or more motors 964.

[0272] The illustrated panel shifter 962 preferably includes a vertically shiftable arm (not shown) powered by a motor 964. The arm is configured to removably directly engage a panel of one or more panel assemblies 908, 910, and / or 930 to shift the panel between an open position and a closed position. The physical engagement between the arm and the panel can be provided by a variety of structures within the scope of the present invention. For example, the arm and panel can include male and female connector elements that complementarily engage with each other.

[0273] In other embodiments, the arm and panel may releasably frictionally engage one another. For example, the arm may include a frictionally engaging end provided by an elastomeric element. The element may be cup-shaped to create a "suction" between the element and panel to enhance the frictional engagement between them.

[0274] Memory 950 may be electronic memory that stores operating instructions and other related information for access and use by processor 948 .

[0275] Processor 948 may be an electronic processor executing one or more computer programs for controlling operation of vehicle 918, including movement to a load transfer location for a person or device associated with system 900, movement to a load transfer location for a person or device associated with another housing, enclosure, or building (such as building 914) or delivery vehicle, movement to a load transfer location for a delivery person, movement to a transfer location for another autonomous vehicle 918, transfer of one or more loads between a transfer location and a location within enclosure 904 (e.g., a location on a shelf or a location supported by another storage structure), and / or other autonomous movement / travel. Transceiver 942 can facilitate two-way communication between vehicle 918 and base station 920, delivery vehicle, and / or panel assembly (e.g., panel assemblies 908, 910, 930) via communications network 922, including receiving operation instructions for vehicle 918.

[0276] The sensor and camera suite 954 can include one or more electronic cameras 956 and / or sensors 958 that monitor the operation of the vehicle 918, the panel assemblies 908, 910, 930, and / or other features of the system. The sensor and camera suite 954 can facilitate the accomplishment of functions for the vehicle 918, including movement to a transfer location for a building (such as the enclosure 904 or the building 914), a delivery vehicle, another autonomous vehicle 918, a delivery person, transferring one or more packages between a transfer location and a location within the facility 904, 914 (e.g., a location on a shelf), and / or other autonomous movement / travel. In particular, the vehicle 918 can include any internal and / or external sensors and / or cameras desired or required to accomplish autonomous movement inside and / or outside a building.

[0277] The sensors 958 may include speed sensors configured to sense and generate speed data regarding the speed of movement of the vehicle 918 across a location, weight sensors configured to sense and / or generate weight data regarding the weight of a supported load, motor and / or engine sensors configured to sense and generate motor performance, navigation sensors configured to sense and generate navigation data regarding the geographic location of the vehicle 918, one or more cameras configured to provide images of the vehicle and / or the area surrounding the vehicle in operation, and / or sensors (proximity sensors, optical sensors, accelerometers, etc.) associated with the panel shifter 962 for monitoring the position and movement of the panel shifter 962.

[0278] The processor 948 can effectuate the movement and operation of the vehicle 918 inside and / or outside the building according to a set of operational instructions based at least in part on speed, weight, motor, navigation, camera, and any other sensor and / or camera data.

[0279] The vehicle 918 may have external sensors and / or cameras to facilitate alignment and / or engagement with adjacent structures such as the panel assemblies 908, 910, 930, the station 902, the enclosure 904, a delivery vehicle, another autonomous vehicle, equipment located inside and / or outside a building, and / or a package P (such as alignment sensors that sense alignment markers on adjacent structures), and / or to facilitate coupling and decoupling with the panel assemblies 908, 910, 930, the station 902, the enclosure 905, a delivery vehicle, another autonomous vehicle, equipment located inside and / or outside an enclosure or building, and / or a package P.

[0280] In particular, vehicle 918 may have external sensors and / or cameras to facilitate the transfer of packages, e.g., alignment sensors that sense whether vehicle 918 is properly aligned and engaged with a delivery vehicle, another autonomous vehicle, equipment located inside and / or outside an enclosure (e.g., enclosure 904, building 914, and / or station 902), and / or package P. A suite of external sensors and / or cameras 954 can sense or provide images of vehicle 918, a delivery vehicle, another autonomous vehicle, equipment located inside and / or outside an enclosure, and / or package P to facilitate alignment, engagement, coupling and uncoupling, and / or package identification and transfer.

[0281] The location, contents, and status of packages may be provided in a look-up table or other data structure stored in the memory of the system 900, and the processor 948 may reference such data to identify the location of packages for transfer. Additionally or alternatively, package identification indicia or data for each package may be indicated by a bar code or other machine-readable label on the package exterior, and the vehicle 918 may sense and / or image the label to determine or confirm the package's identity.

[0282] The vehicle 918 may have control and drive components such as electrical, mechanical, and / or hydraulic controls for controlling the operation of the vehicle 918 in accordance with operational instructions, and a motor and / or engine for achieving functions of the vehicle 918, including autonomous movement along or adjacent to a transfer location, alignment and / or engagement with a load P, a panel assembly 908, 910, 930, a station 902, an enclosure 904, another autonomous vehicle, and / or a delivery vehicle, or coupling and uncoupling with a load P, a panel assembly 908, 910, 930, a station 902, an enclosure 905, another autonomous vehicle, and / or a delivery vehicle, under the control of the processor 948 and the control components.

[0283] Vehicle position data associated with the location of the vehicle 918 (e.g., relative to the package P, the panel assemblies 908, 910, 930, the station 902, the enclosure 905, another autonomous vehicle, and / or a delivery vehicle) can be provided to the system 900.

[0284] The base station, panel assemblies 908, 910, 930, and / or autonomous vehicle 918 may include sensors and / or cameras used to collect vehicle position data that can be transmitted to another portion of system 900 (e.g., by transmitting the data to the base station). For example, vehicle 918 may include sensors (e.g., navigation sensors configured to sense and generate navigation data regarding a geographic location and / or navigation cameras) used to collect or generate vehicle position data.

[0285] It will also be appreciated that vehicle location data may be collected by the system 900 as part of the process of initiating a load transfer.

[0286] Each enclosure 904 preferably comprises a vending machine for receiving and dispensing a plurality of packages P. The enclosure 904 preferably includes a plurality of shelves or racks 968, a panel assembly 910, and a robotic dispensing mechanism 970. In a typical manner, the racks 968 are configured to receive and store the packages P within the enclosure 904. The illustrated racks 968 are vertically spaced apart from one another and may extend horizontally to provide a package support surface. However, the racks may be variously configured and / or positioned within the scope of the present invention. For example, one or more racks may extend along an upright direction (e.g., to provide efficient storage of the packages P).

[0287] Each panel assembly 910 includes a shiftable panel 972 and a panel actuator (not shown). The shiftable panel 972 is configured to open and close a respective panel opening 974 in the enclosure 905. Each pair of panel openings 974 is preferably horizontally aligned with each other and with a corresponding distribution mechanism 970 to facilitate load transfer between the enclosure 905 and one or more vehicles (such as vehicle 918). It is contemplated that loads P may be transferred from the enclosure 905 to one or more vehicles 918 and / or from one or more vehicles 918 to the enclosure 905. It will be understood that in alternative embodiments, the panel openings may be alternatively positioned relative to each other and / or the distribution mechanism.

[0288] It is within the scope of the present invention for one or more panel assemblies 910 to enable load transfer between the enclosure 905 and the autonomous vehicle 918. In at least certain aspects of the present invention, embodiments of the system 900 may facilitate load transfer between the enclosure and other types of vehicles, such as other autonomous vehicles (e.g., drones), other automated machines (e.g., robotic arms, conveyors, etc.), manually operated vehicles, and / or manually operated machines.

[0289] Vehicle station 902 preferably includes an enclosure 976 defining a room 912 for receiving one or more vehicles 918 to facilitate load transfer between fulfillment system 904 and vehicles 918. Preferably, vehicle station 902 also includes panel assemblies 908 and 910. Vehicle station 902 also preferably includes a charging station 977 for charging the batteries of vehicles 918. More preferably, charging station 977 comprises an inductive charging station extending along the length of vehicle station 902, although the use of other battery charging devices is contemplated.

[0290] As described above, each panel assembly 910 includes a shiftable panel 972 and a panel actuator (not shown). The shiftable panels 972 of the vehicle station 902 are configured to open and close respective panel openings 978 of the enclosure 976. The panel openings 978 are preferably horizontally aligned with corresponding panel openings 974 and distribution mechanism 970 in the enclosure 905 to facilitate load transfer between the enclosure 905 and one or more vehicles (e.g., vehicle 918) located in the room 912. It is contemplated that loads P may be transferred from the enclosure 905 to one or more vehicles 918 located in the enclosure 976 and / or from one or more vehicles 918 located in the enclosure 976 to the enclosure 904. It will be understood that in alternative embodiments, the panel openings of the vehicle stations may be alternatively positioned relative to each other, the enclosure 904, and / or the distribution mechanism.

[0291] Each of the illustrated panel assemblies 908 preferably includes a shiftable panel 980 and a panel actuator (not shown). The shiftable panels 980 are configured to open and close respective vehicle openings 982 in the enclosure 976. The vehicle openings 982 are preferably aligned with one another to facilitate vehicle entry and exit from the enclosure 976 and vehicle placement relative to the enclosure 905. Each shiftable panel 980 preferably comprises a powered accordion-style door having multiple door segments arranged consecutively and slidable along a door track (not shown). It is within the scope of at least certain aspects of the invention that the shiftable door include alternative shiftable doors.

[0292] In alternative embodiments, the load transfer system may include multiple vehicle stations arranged across an area (e.g., along a neighborhood, suburb, borough, town, county, state, region, country, etc.) to provide multiple locations for selective receipt and deployment of vehicles (such as vehicle 918). The multiple vehicle stations may operate through a common control station 916 or through multiple control stations. In various embodiments, one or more control stations associated with the multiple vehicle stations may operate on a common network or respective networks.

[0293] An embodiment of load transfer system 900 is preferably disclosed as having vehicle station 902 used in combination with one or more embodiments of a fulfillment system (e.g., fulfillment system 904). In at least certain aspects of the invention, an embodiment of a load transfer system may include one or more vehicle stations (e.g., vehicle station 902) without a fulfillment system attached to (or otherwise physically associated with) the vehicle station. In such embodiments, it will be understood that one or more alternative vehicle stations may be deployed at each location to facilitate load transfer between two or more locations, sites, buildings, enclosures, etc. that are not physically associated with the vehicle station. For example, one or more vehicle stations may be completely separate from any locations, sites, buildings, enclosures, etc. serviced by the vehicle station.

[0294] Vehicles (e.g., autonomous vehicles 918) may be used in cooperation with multiple vehicle stations to facilitate cargo transfers. In such embodiments, multiple vehicle stations and vehicles may be associated with a common control station 916, such that the control station facilitates vehicle access to each of the vehicle stations, cargo transfers to and / or from one or more vehicles while the vehicles are located within (or otherwise physically associated with) the vehicle station (e.g., placing and / or retrieving cargo onto and from) the vehicles, vehicle battery charging by the vehicle station, communication and / or data transfer between the vehicles and the vehicle station, and / or other types of interoperable operations / steps performed cooperatively by the vehicle station and the vehicles. While each vehicle may be configured to travel between and be operable with multiple vehicle stations, it will be understood that each vehicle may have a single vehicle station selected or otherwise identified as a “home base.” For example, each vehicle may have a vehicle station designated for that vehicle as a home base to which the vehicle must return for vehicle storage, vehicle parking, vehicle maintenance, vehicle charging, and / or other vehicle operations. It will also be understood that one or more of such operations may be performed at a vehicle station not designated as a home base under at least some circumstances (e.g., when the vehicle is out of service, when the vehicle battery requires recharging, and / or for other reasons that prevent the vehicle from proceeding to the home base).

[0295] In at least certain aspects of the invention, one or more alternative vehicle stations may include alternative enclosure structures for receiving one or more vehicles. In some aspects of the invention, alternative embodiments of the vehicle station may also lack an enclosure. For example, the vehicle station may include a ground framework or other structure defining an at least partially exposed interior area. In other such embodiments, the vehicle station may lack a housing or other structure for receiving one or more vehicles. For example, the vehicle station may include a designated area on the floor or ground.

[0296] The illustrated vehicle station 902 (as well as other alternative vehicle stations contemplated herein) preferably comprises a portable structure so that the vehicle station can be transported to various operating locations. Although not shown, one or more vehicle stations may include or be supported on a wheeled chassis so that the vehicle station can be rolled into and out of a location (e.g., for operation, storage, maintenance, etc.). It is also within the scope of certain aspects of the invention for one or more vehicle stations to be permanently mounted or otherwise installed at a location.

[0297] Dispense mechanism 970 is configured to carry and transport one or more packages P within system 900. Dispense mechanism 970 preferably provides elements of control system 916 and may also include a transceiver (not shown), a user interface (not shown), a motor (not shown), a display (not shown), a processor (not shown), memory (not shown), a battery (not shown), a line power source (not shown), and / or a suite of sensors and cameras 984.

[0298] In one implementation, the dispensing mechanism 970 may be fully autonomous, while in other implementations the dispensing mechanism 970 may be at least sufficiently autonomous to achieve the functions described herein. The dispensing mechanism 970 may be remotely controllable (e.g., in the case of an emergency or other special situation).

[0299] The memory may be an electronic memory that stores operating instructions and other related information for access and use by the processor.

[0300] The processor may be an electronic processor executing one or more computer programs for controlling operations of the distribution mechanism 970, including movement to a load transfer location for a delivery vehicle, movement to a load transfer location for a delivery person, movement to a load transfer location for an autonomous vehicle 918, movement to a transfer location for another transport mechanism, transfer of one or more loads between a transfer location and a location within the enclosure 905 (e.g., a location on a shelf 968), and / or other autonomous movements / travels. The transceiver may facilitate two-way communication between the distribution mechanism 970 and the base station 920, delivery vehicle 918, and / or panel assemblies 908, 910 via the communications network 922, including receiving operational instructions for the distribution mechanism 970.

[0301] The illustrated distribution mechanism 970 includes a shiftable platform and / or gripping device 986 configured to vertically shift one or more loads relative to the enclosure 905. The device 986 is supported for vertical movement by elongated tracks 988 extending vertically between each panel assembly 910. In a preferred embodiment, the distribution mechanism may have a gripping device configured to grip one or more loads from the rack 968. It is also within the scope of the present invention for the system 900 to include a motorized device associated with the rack for moving one or more loads into engagement with the device 986.

[0302] The sensor and camera suite 984 of the distribution mechanism 970 may include one or more electronic cameras and / or sensors that monitor the operation of the distribution mechanism 970 and facilitate the accomplishment of functions of the distribution mechanism 970, including movement to a transfer position for a delivery vehicle and / or conveyor mechanism, movement to a transfer position for an autonomous vehicle 918, movement to a transfer position for a delivery person, transfer of one or more packages between a transfer position and a location within the system 900 (e.g., a location on a shelf 968), and / or other autonomous movement / travel. In particular, the distribution mechanism 970 may include any internal and / or external sensors and / or cameras desired or required to accomplish autonomous movement within the facility.

[0303] The sensors may include speed sensors configured to sense and generate speed data related to the speed of movement of the distribution mechanism 970 across a location, weight sensors configured to sense and / or generate weight data related to the weight of the load being supported, motor and / or engine sensors configured to sense and generate motor performance, navigation sensors configured to sense and generate navigation data related to the geographic location of the distribution mechanism 970, and one or more cameras configured to provide images of the distribution mechanism 970 and / or the area surrounding the distribution mechanism 970 during operation.

[0304] The processor can effect movement and operation of the dispensing mechanism 970 within the system 900 according to a set of operational instructions based at least in part on speed, weight, motor, navigation, camera, and any other sensor and / or camera data.

[0305] The distribution mechanism 970 may have external sensors and / or cameras to facilitate alignment and / or engagement with the delivery vehicle or autonomous vehicle (such as an alignment sensor that senses an alignment marker on the vehicle), the conveyor 528, and / or the package P, and / or to facilitate docking and undocking with the delivery vehicle, conveyor, autonomous vehicle, and / or package P.

[0306] In particular, the distribution mechanism 970 may have external sensors and / or cameras to facilitate the transfer of packages, for example, an alignment sensor that senses whether the distribution mechanism 970 is properly aligned and engaged with a delivery vehicle, autonomous vehicle, conveyor, and / or package P moving through the panel assembly. The set of external sensors and / or cameras may sense or provide images of the distribution mechanism 970, delivery vehicle, autonomous vehicle, conveyor, and / or package P to facilitate alignment, engagement, coupling and uncoupling, and / or package identification and transfer.

[0307] The distribution mechanism 970 may also have external sensors and / or cameras to facilitate alignment with the autonomous vehicle (such as alignment sensors that sense alignment markers on the autonomous vehicle) and / or to facilitate docking and undocking with the autonomous vehicle and / or cargo P.

[0308] In particular, the distribution mechanism 970 may have external sensors and / or cameras to facilitate the transfer of packages, for example, an alignment sensor that senses whether the distribution mechanism 970 is properly aligned and engaged with an autonomous vehicle and / or package P moving through a panel assembly or other door. The set of external sensors and / or cameras may sense or provide images of the distribution mechanism 970, the autonomous vehicle, and / or the package P to facilitate alignment, engagement, coupling and uncoupling, package identification, and / or package transfer.

[0309] In one implementation, the distribution mechanism 970 can include alignment sensors configured to sense and generate alignment data regarding the relative positions of the delivery vehicle, the package P, the panel assemblies 908, 910, the autonomous vehicle 918, and / or the conveyor. The delivery vehicle, the package P, the panel assemblies 908, 910, the autonomous vehicle 918, and / or the conveyor can exhibit one or more alignment markers that the docking alignment sensor senses or images and uses to align itself with (e.g., during alignment, engagement, coupling and uncoupling, package identification, and / or package transfer).

[0310] The processor may align the distribution mechanism 970 with a delivery vehicle, a package P, a panel assembly 908, 910, an autonomous vehicle 918, and / or a conveyor based on the alignment data from the alignment sensor. For example, the processor may align the distribution mechanism 970 with an autonomous vehicle 918 to facilitate the transfer of packages between the distribution mechanism 970 and the system 904. Similarly, the processor may align the distribution mechanism 970 with another vehicle (whether autonomous or manually operated) to facilitate the transfer of packages between the distribution mechanism 970 and the vehicle.

[0311] The location, contents, and status of packages may be provided in a look-up table or other data structure stored in the memory of the system 900, and the processor may reference such data to identify the location of packages for transfer. Additionally or alternatively, package identification indicia or data for each package may be indicated by a bar code or other machine-readable label on the package exterior, and the dispensing mechanism 970 may sense and / or image the label to determine or confirm the package's identity.

[0312] The distribution mechanism 970 may have control and drive components such as electrical, mechanical, and / or hydraulic controls for controlling operation in accordance with operational instructions, and motors and / or engines for achieving functions of the distribution mechanism 970, including autonomous movement along or adjacent to a transfer location, alignment and / or engagement with a delivery vehicle, autonomous vehicle 918, package P, panel assemblies 908-910, and / or conveyors, or coupling and decoupling with a delivery vehicle, autonomous vehicle 918, package P, panel assemblies 908, 910, and / or conveyors under the control of the processor and control components.

[0313] Location data associated with the location of the distribution mechanism 970 (e.g., relative to the delivery vehicle, package P, panel assemblies 908, 910, autonomous vehicle 918, and / or conveyor) can be provided to the system 900.

[0314] The base station, distribution mechanism 970, delivery vehicle, panel assemblies 908, 910, and / or autonomous vehicle 918 may include sensors and / or cameras used to collect robot position data that may be transmitted to another portion of system 900 (e.g., by transmitting the data to base station 920). For example, distribution mechanism 970 may include sensors (e.g., navigation sensors configured to sense and generate navigation data regarding geographic location and / or navigation cameras) used to collect or generate robot position data.

[0315] It will also be appreciated that robot position data may be collected by the system 900 as part of the process of initiating a load transfer.

[0316] A preferred embodiment of the system 900 may include one or more disinfection devices (not shown) for disinfecting various elements of the system 900 and / or one or more packages P handled by the system 900. Suitable disinfection devices may include powered devices configured to emit ultraviolet light (such as a UV-C light disinfection device). However, it is within the scope of certain aspects of the invention for the system to include one or more alternative disinfection devices, such as a powered sprayer (e.g., an electrostatic sprayer) configured to dispense a chemical disinfectant (e.g., hydrogen peroxide) or an ozone generator.

[0317] 38 , one embodiment of a control method 1000 for facilitating the transfer of one or more packages to and from fulfillment system 904 and building 914 is shown. It will be understood that the control methods described herein can be used in connection with an enclosure-supplied delivery process in which a package is delivered from a shipper (e.g., a supplier) at another location (not shown) to a location or person (i.e., recipient) within an enclosure (e.g., enclosure 905) via an automated vehicle 918 or another delivery vehicle, and / or a customer-supplied delivery process in which a package is delivered from a person (i.e., a shipper) within an enclosure (e.g., enclosure 905) or building via an automated vehicle 918 or another delivery vehicle to a recipient within the building or at another location. Additionally, the described control methods may be used in connection with a delivery process in which a package is delivered from a shipper associated with another building or another location to a recipient in enclosure 905, building 914, or at another location.

[0318] The system 900 may be activated to initiate and perform a package transfer. Initially, a vehicle 918 and package may be presented to one or more panel assemblies 908, 910, 930 for transfer, as shown at 1002. In one implementation, a vehicle or person associated with a delivery may provide package identification data to the system 900 (e.g., by transmitting data to a base station) as part of the process of initiating the package transfer. For example, the person may manually enter the data via a device or may position the package adjacent to a door so that sensors (e.g., barcode scanners, RFID readers, etc.) and / or cameras of the system 900 can collect sensor and / or camera data from the package.

[0319] The system 900 can then compare the package identification data with the stored identifier to verify that package P corresponds to the shipping order. A processor of the system 900, for example, the vehicle processor 948 or a processor of the panel assembly or base station, is operable to receive package identification data associated with package P.

[0320] In particular, the processor of system 900 is configured to access a data structure that includes an identifier for package P. The identifier is generated in connection with creating a shipping order. The system processor is configured to compare the identifier with the sensed package identification data to confirm a match, where a match indicates that the package corresponds to the shipment.

[0321] The system processor is also configured to open panel 980 of panel assembly 908 to allow entry and / or exit of vehicle 918 and / or luggage to station 902 based on confirmation that the identifier and luggage identification data match, as shown at 804. The system processor is also configured to move autonomous vehicle 918 based on confirmation that the identifier and luggage identification data match.

[0322] In another implementation, load deployment can begin when the system 900 senses the presence of a vehicle 918 and / or a person authorizing delivery adjacent to the panel assemblies 908, 910. In another implementation, load deployment can begin when the system 900 communicates with the vehicle 918 and / or a person authorizing delivery. In another implementation, load deployment can begin when an operator of the system 900 manually authorizes the system 900 to begin load deployment.

[0323] The panel assemblies 908, 910 may be configured to be shiftable between open and closed positions without the use of actuators within the scope of the present invention. For example, one or more panel assemblies may be shiftable via a vehicle 918. In various embodiments, the vehicle 918 may have a panel shifter that engages with a corresponding panel to open and / or close the panel.

[0324] Following deployment, the vehicle 918 and package may be presented to a panel assembly 930 of the building 914 for package transfer, as shown at 1006. In one implementation, a vehicle or person associated with a delivery can provide package identification data to the system 900 (e.g., by transmitting the data to a base station) as part of the process of initiating the package transfer. For example, the person can manually enter the data via a device or position the package adjacent to a door so that sensors (e.g., barcode scanners, RFID readers, etc.) and / or cameras of the system 1000 can collect sensor and / or camera data from the package.

[0325] The system 1000 can then compare the package identification data with the stored identifier to verify that package P corresponds to the shipping order. A processor of the system 1000, for example, the vehicle processor 948 or a processor of the panel assembly or base station, is operable to receive package identification data associated with package P.

[0326] Again, the processor of system 900 is configured to access a data structure containing an identifier for package P. The identifier is generated in connection with creating a shipping order. The system processor is configured to compare the identifier with the sensed package identification data to confirm a match, which indicates that the package corresponds to the shipment.

[0327] The system processor is also configured to, based on the confirmation that the identifier and the package identification data match, open panels of one or more panel assemblies 930 to allow the package to be transferred to or from building 914, as shown at 1008. The system processor is also configured to move the autonomous vehicle 918 based on the confirmation that the identifier and the package identification data match.

[0328] In another implementation, the load transfer can begin when the system 900 senses the presence of a vehicle 918 and / or a person authorizing delivery adjacent to one or more panel assemblies 908, 910, 930. In another implementation, the load transfer can begin when the system 900 communicates with the vehicle 918 and / or a person authorizing delivery. In another implementation, the load transfer can begin when an occupant of the building 914 manually authorizes the system 900 to begin the load transfer.

[0329] One or more panel assemblies may be configured to be shiftable between open and closed positions without the use of an actuator within the scope of the present invention. For example, one or more panel assemblies may be shiftable via vehicle 918. In various embodiments, vehicle 918 may have a panel shifter that engages a corresponding panel and raises and / or lowers the panel.

[0330] In one implementation, with the autonomous vehicle 918 in the ready position and the panel open, the autonomous vehicle 918 can be configured to have a package removed from it.

[0331] In another implementation, with the autonomous vehicle 918 in the ready position and the panel open, the autonomous vehicle 918 may be configured to drive through the panel opening and enter the room to retrieve the package.

[0332] Again, the operational instructions may include whether the transfer location for the autonomous vehicle is outside or within a corresponding room of station 902, enclosure 905, building 914. For example, the transfer location may be outside building 914 (e.g., a porch adjacent to the building, a sidewalk, a driveway, a street, etc.) to receive a package from or provide a package for pickup by a delivery service.

[0333] Following the load transfer, the system 900 may leave the panel 930a open while the vehicle 918 is positioned outside the building 914. However, in at least some embodiments of the invention, the system 900 may return the panel 930a to the closed position.

[0334] Following confirmation of the load transfer, the system 900 returns the autonomous vehicle 918 to the system 900, as shown at 1010. The vehicle 918 is returned to the station 902 and presented at panels 972 and 980 of the vehicle station 902 and / or at panel 972 of the fulfillment system 904.

[0335] In one implementation, vehicle 918 or a person associated with the delivery can provide vehicle identification data to system 900 (e.g., by transmitting data to a base station) as part of the process of returning vehicle 918 to vehicle station 902 and / or fulfillment system 904. For example, vehicle 918 can transmit vehicle identification data to system 900 when in proximity to panel 972 and / or panel 980 to initiate the opening of panel 972 and / or panel 980. Alternatively, a person can manually enter data via a device to authorize the return of the vehicle and initiate the opening of panel 972 and / or panel 980.

[0336] System 900 can then compare the vehicle identification data with the stored identifier to verify that vehicle 918 is authorized to gain access to vehicle station 902 and / or fulfillment system 904. A processor of system 700, for example, vehicle processor 748 or a processor of panel assembly 908, 910 or base station, is operable to receive vehicle identification data associated with vehicle 918.

[0337] The processor of the system 900 is configured to access a data structure that includes an identifier for the vehicle 918. The identifier is generated in connection with creating a shipping order. The system processor is configured to compare the identifier with the sensed vehicle identification data to confirm a match, where a match indicates that the vehicle corresponds to the shipment.

[0338] The system processor is also configured to, based on the confirmation that the identifier and the vehicle identification data match one another, open the panels of panel assembly 908 and / or panel assembly 910 to allow entry of vehicle 918 to vehicle station 902 and / or enclosure 905, as shown at 1012. The system processor is also configured to move autonomous vehicle 918 based on the confirmation that the identifier and the vehicle identification data match one another.

[0339] In another implementation, vehicle entry into the system 900 can be initiated when the system 900 senses the presence of a vehicle 918 and / or a person authorizing the vehicle to return adjacent to the panel assembly 908 and / or panel assembly 910. In another implementation, vehicle entry into the system 900 can be initiated when the system 900 communicates with the vehicle 918 and / or a person authorizing the vehicle to return (such as a person inside or outside the vehicle station 902 and / or enclosure 905).

[0340] While the above description presents features of preferred embodiments of the present invention, other preferred embodiments may be constructed in accordance with the principles of the present invention. Such other preferred embodiments may, for example, comprise features drawn from one or more of the above-described embodiments. Furthermore, such other preferred embodiments may include features from more than one of the above-described embodiments, particularly when such features are compatible for use together, even though they are presented independently as part of separate embodiments in the above description.

[0341] The preferred embodiments of the present invention described above should be used only as examples and should not be used in a limiting sense when interpreting the scope of the present invention. As mentioned above, obvious modifications to the exemplary embodiments can be easily made by those skilled in the art without departing from the spirit of the present invention.

[0342] The inventors hereby state their intention to rely on the doctrine of equivalents to determine and assess the reasonably equitable scope of the present invention in connection with devices outside, but not substantially departing from, the literal scope of the invention as set forth in the following claims.

Claims

1. 1. A load transfer system configured to facilitate movement of an autonomous vehicle into and / or out of a room at a vehicle station and associated with transferring loads to and from another room within the vehicle station and a customer premises, the load transfer system being operable to selectively provide a route into and / or out of the vehicle station room for vehicle movement, the autonomous vehicle being configured to travel along a different route into and / or out of the customer premises room to facilitate the load transfer, the load transfer system comprising: a station panel assembly operable to be constructed as part of the vehicle station and including a station panel shiftable between an open position and a closed position to selectively provide access to a room of the vehicle station; a building panel assembly operable to be constructed as part of the customer premises, the building panel assembly including a building panel shiftable between an open position and a closed position to selectively provide access to rooms of the customer premises; a control system configured to enable movement of the vehicle into and / or out of the room; and Equipped with the control system is configured to control each of the panels to selectively provide a path to and from each of the rooms; the control system a position sensor configured to sense vehicle position data associated with a position of the vehicle relative to the panel; receiving vehicle location data associated with the vehicle; opening the station panels to allow entry and exit of station rooms along the route based on the vehicle position data; moving the autonomous vehicle to a position adjacent the station panel based on the vehicle position data to facilitate vehicle movement along the path; based on the vehicle position data, opening the building panels to allow entry and exit to building rooms along the alternative route; and and moving the autonomous vehicle to a position adjacent to the building panel based on the vehicle position data to facilitate vehicle movement along the alternative path. a system processor configured to A load transfer system including:

2. An enclosure configured to receive and distribute a plurality of packages the enclosure is associated with the vehicle station, and the enclosure and the vehicle station cooperate to enable the transfer of one or more loads between the enclosure and the autonomous vehicle. The luggage transfer system according to claim 1 .

3. the enclosure and the vehicle station including respective shiftable panels, the shiftable panels having panel openings that align with one another to facilitate cargo transfer when the autonomous vehicle is located within the vehicle station; The luggage transfer system according to claim 2 .

4. the enclosure is attached to the vehicle station; The luggage transfer system according to claim 3.

5. a distribution mechanism configured to transfer one or more loads between the enclosure and the autonomous vehicle; the distribution mechanism is operably supported within one of the vehicle station and the enclosure, and the distribution mechanism is configured to removably extend within the other of the vehicle station and the enclosure during load transfer. The luggage transfer system according to claim 4.

6. the enclosure is mounted above the vehicle station, the vehicle station configured to lower one or more loads into the autonomous vehicle; The luggage transfer system according to claim 4.

7. a distribution mechanism configured to facilitate the transfer of cargo between the enclosure and the autonomous vehicle; The luggage transfer system according to claim 2 , further comprising:

8. the enclosure and the vehicle station are aligned to facilitate cargo transfer when the autonomous vehicle is located within the vehicle station; the distribution mechanism is operably located within the enclosure and / or the vehicle station for transferring one or more packages between the autonomous vehicle and the enclosure; The luggage transfer system according to claim 7.

9. in response to determining that the vehicle has been transferred into or out of the station room via the path, closing the station panel to restrict entry and exit of the room along the path. The luggage transfer system according to claim 1 .

10. and in response to determining that the vehicle has been transferred into or out of a room of the building via the alternate route, closing the building panel to restrict entry and exit of the room along the alternate route. The luggage transfer system according to claim 9.

11. the system processor is configured to receive package identification data associated with the package; and a package identification sensor configured to sense the package identification data; The luggage transfer system according to claim 1 .

12. the system processor is configured to access a data structure including an identifier for the package, the identifier being generated in connection with creating a shipping order, and the system processor, based on the data structure, compares the identifier with the package identification data to confirm a match therebetween so that the package corresponds to the shipment; The luggage transfer system according to claim 11.

13. the system processor is configured to open each of the panels to allow entry and exit to the room based on confirmation that the identifier and the luggage identification data match each other. The luggage transfer system according to claim 12.

14. the system processor is configured to move the autonomous vehicle based on a confirmation that the identifier and the package identification data match one another. The luggage transfer system according to claim 12.

15. an autonomous vehicle configured to travel along the path to transfer the load; a vehicle sensor configured to sense vehicle position data associated with a position of the autonomous vehicle relative to the panel; and The luggage transfer system of claim 1 , further comprising:

16. 1. A method of using a system to transfer a load from a vehicle station to a customer premises using an autonomous vehicle, comprising: (a) presenting the autonomous vehicle and the cargo to a shiftable panel assembly of the vehicle station for deployment to the customer premises; (b) causing the system to open the shiftable panel assembly of the vehicle station to deploy the autonomous vehicle and the cargo from the vehicle station for transport to the customer premises; (c) presenting the autonomous vehicle and the load to a shiftable panel assembly of the customer premises; (d) causing the system to open the shiftable panel assembly at the customer premises to allow entry of the autonomous vehicle and the cargo to the customer premises; A method comprising:

17. (e) after step (b), causing the system to close the shiftable panel assembly of the vehicle station to restrict access to and egress from the vehicle station.

17. The method of claim 16, further comprising:

18. (e) after delivering the package, returning the autonomous vehicle to the vehicle station and presenting it to the shiftable panel assembly of the vehicle station; (f) after step (e), causing the system to close the shiftable panel assembly of the vehicle station to restrict access to and egress from the vehicle station; 17. The method of claim 16, further comprising:

19. (g) causing the system to open the shiftable panel assembly of the vehicle station to allow entry of the autonomous vehicle to the vehicle station.

20. The method of claim 18, further comprising:

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